Linkage control method and control system

Abstract

The invention relates to the technical field of automation control, and provides a linkage control method and a control system.The linkage control method is applied to the linkage control system.The linkage control method comprises the following steps that in an operation mode, current position information of a climbing assembly in a current tower drum is obtained, the current position information is the current running height of the climbing assembly in the ascending direction or the descending direction. Under the condition that the current position information is determined to be target position information, operation information is sent to a cover plate controller, so that a corresponding platform cover plate responds to the operation information and executes opening or closing operation; the target position information is that the climbing assembly reaches a preset distance position from a target layer platform, and the operation information is the number of layers of the platform and execution of an action of opening or closing a platform cover plate or only execution of an action of opening or closing the platform cover plate. Linkage control of the climbing assembly and the platform cover plate is achieved, safe operation of the climbing assembly is ensured, and accidents of collision of the platform and the platform cover plate are avoided.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a linkage control method and a control system. Background Art

[0002] A wind turbine is a device that converts the kinetic energy of wind into mechanical energy, and then converts the mechanical energy into electrical energy. The principle of a wind turbine is to use wind power to drive the blades of the windmill to rotate, and then increase the speed of rotation through a speed increaser to drive the generator to generate electricity. Based on the on-site safety management requirements of wind turbines, platform covers are installed on each platform in the current tower.

[0003] When the climbing device (such as a climbing assembly) passes through the corresponding platform, the corresponding platform cover is opened; when the climbing device leaves the corresponding platform, the corresponding platform cover is closed. In actual use, since the platform cover and the climbing device operate independently of each other, the climbing device cannot know the status of the platform cover, which may easily cause accidents such as collision with the platform and the platform cover. Summary of the invention

[0004] The first aspect of the present invention provides a linkage control method to solve the above-mentioned technical defects in the prior art, by wirelessly connecting the linkage controller of the climbing component and the cover controller of the platform cover to achieve linkage control of the climbing component and the platform cover, thereby ensuring the safe operation of the climbing component and avoiding accidents of collision with the platform and the platform cover.

[0005] A second aspect of the present invention provides a linkage control system.

[0006] A first aspect of the present invention provides a linkage control method, which is applied to a control system, wherein the linkage control system includes a climbing component, a linkage controller, a platform cover and a cover controller, wherein the climbing component is suitable for running along the ladder of the current tower, the linkage controller is arranged on the climbing component, the platform cover is arranged on each platform of the current tower, and the cover controller is wirelessly connected to the linkage controller for controlling the corresponding platform cover to open or close.

[0007] The linkage control method comprises: in an operation mode, obtaining current position information of a climbing component in a current tower, wherein the current position information is a current operation height of the climbing component in an ascending direction or a descending direction.

[0008] When it is determined that the current position information is the target position information, operation information is sent to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

[0009] According to the linkage control method provided by the present invention, before obtaining the current position information of the climbing component, the following steps are also included.

[0010] When the platform cover of each platform is fully opened, switch to the self-learning mode, and control the climbing component to perform the first operation in the current tower, and obtain the position information of the climbing component after touching the position detection switch during operation. The position detection switch is arranged on the upper and lower sides of each platform in the current tower.

[0011] For each platform, the platform position information of the platform is determined based on the position information corresponding to the position detection switches on the upper and lower sides of the platform.

[0012] The target position information is determined based on the platform position information.

[0013] According to the linkage control method provided by the present invention, the platform position information of the platform is determined based on the position information corresponding to the position detection switches on the upper and lower sides of the platform, including: Acquire first position information of a position detection switch of the climbing component at the lower side of the current platform, and acquire second position information of a position detection switch of the climbing component at the upper side of the current platform; The average position information of the first position information and the second position information is calculated, and the average position information is used as the platform position information of the current platform.

[0014] According to the linkage control method provided by the present invention, the step of obtaining the current position information of the climbing assembly in the current tower includes: Based on the initial position, obtaining speed information or position information of the climbing component in the current running direction in real time; The current position information of the climbing assembly in the current tower is determined according to the speed information or the position information.

[0015] According to the linkage control method provided by the present invention, the sending of operation information to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation includes: Sending operation information to the cover controller of the designated layer, so that the platform cover of the designated layer responds to the operation information and performs an opening or closing operation; or,

[0016] Operation information is sent to the cover controller of each layer, so that the cover controller of the platform cover on each layer performs identity recognition after receiving the operation information. When it is confirmed that it corresponds to the platform layer number of the platform cover requested to be opened or closed, the cover controller of the corresponding platform layer controls the platform cover to perform the opening or closing operation.

[0017] According to the linkage control method provided by the present invention, the method further includes: in the case of receiving a fault signal sent by the cover plate controller, controlling the climbing assembly to stop running according to the fault signal.

[0018] According to the linkage control method provided by the present invention, the method further comprises: controlling the voice module to output voice prompt information, wherein the voice prompt information is used to remind the user that the platform cover has a fault.

[0019] A second aspect of the present invention provides a linkage control system, including a climbing component, a linkage controller, a platform cover and a cover controller.

[0020] The climbing component is used to run in an ascending direction or a descending direction on the ladder of the current tower; the linkage controller is arranged on the climbing component, and is used to obtain the current position information of the climbing component in the current tower in the operation mode, and send operation information to the cover plate controller when it is determined that the current position information is the target position information; the current position information is the current operating height of the climbing component in the ascending direction or the descending direction; the target position information is the preset distance position reached by the climbing component from the target layer platform.

[0021] The cover controller is wirelessly connected to the linkage controller via a wireless radio frequency chip or a wireless routing chip. The cover controller is used to respond to the operation information and control the platform cover corresponding to the operation information to perform an opening or closing operation.

[0022] The linkage control system provided according to the present invention further includes a mode switch, which is electrically connected to the linkage controller and is used to switch between a self-learning mode and an operating mode.

[0023] The linkage control system provided by the present invention further includes a position or height detection sensor and a reset switch, wherein the position or height detection sensor is arranged at the climbing component and is used to detect the operating height or operating position of the climbing component, and the reset switch is arranged at the bottom of the ladder and is used to reset the ladder.

[0024] determining an initial position of the climbing assembly after being triggered by the climbing assembly in an operating mode and a self-learning mode; The reset switch is also used to reset the position information of the climbing component obtained during the last round-trip operation after being triggered by the climbing component in the operation mode.

[0025] According to the linkage control system provided by the present invention, the cover controller is provided with a dip switch; when the linkage controller sends operation information to the cover controller of each platform respectively, the cover controller determines whether it is the number of floors corresponding to itself through the address information of the dip switch, and when it is determined that the address information is the number of floors corresponding to itself, it controls its own platform cover to perform corresponding opening or closing operations.

[0026] According to the linkage control system provided by the present invention, the linkage controller is provided with a voice module; when a fault signal sent by the cover controller is received, the climbing component is controlled to stop running according to the fault signal, and the voice module is controlled to issue a voice prompt message.

[0027] The linkage control method provided by the present invention obtains the current position information of the climbing component in the current tower, and when the current position information is determined to be the target position information, sends operation information to the cover plate controller, so that the corresponding platform cover plate responds to the operation information and performs an opening or closing operation. The linkage controller of the climbing component and the cover plate controller of the platform cover plate are wirelessly connected to realize linkage control of the climbing component and the platform cover plate, thereby ensuring the safe operation of the climbing component and avoiding accidents of collision with the platform and the platform cover plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is one of the flow charts of the linkage control method provided by the embodiment of the present invention.

[0030] Figure 2 This is the second flow chart of the linkage control method provided in the embodiment of the present invention.

[0031] Figure 3 It is a system block diagram of a linkage control system provided by an embodiment of the present invention.

[0032] Figure 4It is a structural diagram of a linkage control system provided by an embodiment of the present invention.

[0033] Figure 5 It is a structural schematic diagram of a climbing component in a linkage control system provided in an embodiment of the present invention.

[0034] Figure 6 It is a partial structural schematic diagram of the climbing component in the linkage control system provided in the present invention.

[0035] Figure 7 It is a structural schematic diagram of a platform cover plate in a linkage control system provided by the present invention.

[0036] Figure 8 An example physical structure diagram of an electronic device is provided.

[0037] Reference numerals: 1. Cover assembly; 2. Drive motor; 3. Cover controller; 4. Crank arm; 5. Platform cover; 6. Second wireless RF chip; 8. First wireless RF chip; 9. Zeroing switch; 10. Linkage controller; 12. Lower platform deceleration switch; 13. Battery; 14. Emergency stop button; 16. Climbing assembly; 17. Air pressure sensor; 18. Upper platform deceleration switch; 19. Mode switch. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0040] In the embodiments of the present application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application.

[0041] In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0042] Figure 1 It is one of the flow charts of the linkage control method provided by the embodiment of the present invention; Figure 2 This is the second flow chart of the linkage control method provided in the embodiment of the present invention.

[0043] See also Figure 1 and Figure 2 An embodiment of the present invention provides a linkage control method, which is applied to a linkage control system. The linkage control system includes a climbing component 16, a linkage controller 10, a platform cover 5 and a cover controller 3. The climbing component 16 is suitable for running along the ladder of the current tower. The linkage controller 10 is arranged on the climbing component 16. The platform cover 5 is arranged on each platform of the current tower. The cover controller 3 is wirelessly connected to the linkage controller 10 for controlling the corresponding platform cover 5 to open or close.

[0044] The linkage control method is controlled by the linkage controller 10 arranged on the climbing component 16 as the execution body, and the linkage control method includes the following steps S200 and S300.

[0045] Step S200: in the operation mode, obtaining the current position information of the climbing assembly 16 in the current tower, where the current position information is the current operation height of the climbing assembly 16 in the ascending direction or the descending direction.

[0046] It can be understood that the climbing component 16 includes a lifting body and a driving device, the driving device includes a driving motor (not shown in the figure) and a transmission mechanism (not shown in the figure), and the driving motor drives the lifting body to move up and down along the ladder through the transmission mechanism, that is, the movement of the lifting body in the ascending direction is recorded as upward, and the movement of the lifting body in the descending direction is recorded as downward.

[0047] A position or height detection sensor is provided on the climbing component 16 for detecting the operating height or operating position of the climbing component 16 , so as to obtain the current position information of the climbing component 16 in the current tower according to the operating height or operating position.

[0048] The position or height detection sensor may be an air pressure sensor, a speed sensor, a distance sensor, etc. Any sensor that can obtain the current position information of the climbing component 16 in the current tower may be used.

[0049] For example, in an embodiment of the present invention, an air pressure sensor 17 is provided on the climbing component 16. The air pressure sensor 17 is electrically connected to the linkage controller 10 and is used to obtain air pressure information and / or speed information of the climbing component 16. The air pressure information can be used to determine whether the climbing component 16 is running in an ascending direction or a descending direction on the ladder of the current tower. The operating height of the climbing component 16 can also be obtained through the air pressure sensor.

[0050] When the climbing component 16 is running along the ladder in the current tower, the air pressure sensor 17 starts to work to obtain the current operating height of the climbing component 16 in the current tower. When determining whether the climbing component 16 is currently in an ascending or descending state, the current operating direction of the climbing component 16 can be confirmed based on the multiple increasing or decreasing operating height value changes of the climbing component 16 along the same operating direction obtained from the air pressure sensor. Generally, when the climbing component 16 is running in the ascending direction, the operating height value change of the climbing component 16 is increasing, and when the climbing component 16 is running in the descending direction, the operating height value change of the climbing component 16 is decreasing.

[0051] When obtaining the current operating height of the climbing component 16, in addition to the above implementation method, the running time of the climbing component 16 from the starting position to the current position can also be obtained through a timer, and the current operating height of the climbing component 16 can be determined based on the speed information during the running time period.

[0052] Step S300: When it is determined that the current position information is the target position information, operation information is sent to the cover controller 3 so that the corresponding platform cover 5 responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component 16 from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

[0053] It is understandable that after the linkage controller 10 obtains the current position information in the current tower, it determines whether the current position information is the target position information. If it is determined that the current position information is the target position information, it sends the operation information to the cover controller 3, so that the corresponding platform cover 5 responds to the operation information and performs the opening or closing operation. If it is determined that the current position information is not the target position information, the linkage controller 10 will not send the operation information to the cover controller 3.

[0054] The target position information is the preset distance position from the target layer platform reached by the climbing component 16. For example, the target layer platform reached by the climbing component 16 at this time is the second layer platform from bottom to top, and the position 5 meters below the second layer platform is the target position information. When the climbing component 16 moves to the position 5 meters below the second layer platform, the linkage controller 10 sends the operation information to the cover controller 3, so that the corresponding platform cover 5 responds to the operation information and performs the opening or closing operation.

[0055] The preset distance position from the target layer platform can be adaptively adjusted according to the distance that the climbing assembly 16 can run during the time when the platform cover performs the opening process and the closing process. The above-mentioned position 5 meters below the second layer platform as the target position information is an exemplary description. The driving motor 2 of the platform cover 5 controls the platform cover 5 to perform the opening and closing time at the same time, and the platform cover 5 performs the opening process as the platform cover 5 is the process from being fully closed to being fully opened; the platform cover 5 performs the closing process as the platform cover 5 is the process from being fully opened to being fully closed.

[0056] Among them, the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action. It can be understood that when the linkage controller 10 obtains that the current position information of the climbing component 16 is consistent with the target position information, the linkage controller 10 can send the operation information of the platform cover 5 corresponding to the target position information to the cover controller 3 of the platform cover 5, and directly open or close the platform cover 5 controlled by itself through the cover controller 3. At this time, it is equivalent to that the linkage controller 10 sends the operation information one-to-one to the cover controller 3 of the platform cover 5 of a certain layer of the platform corresponding to the target position information.

[0057] Alternatively, when the linkage controller 10 obtains that the current position information of the climbing component 16 is consistent with the target position information, the linkage controller 10 can send the operation information of opening or closing the platform cover 5 of a certain platform layer corresponding to the target position information to the cover controller 3 of the platform cover 5 of each platform layer. After receiving the operation information, the cover controller 3 of each platform cover 5 performs identity recognition. When it is confirmed that it corresponds to the platform layer number requested to open or close the platform cover 5, the cover controller 3 of the corresponding platform layer controls the platform cover 5 to perform the opening or closing operation. At this time, it is equivalent to that the linkage controller 10 sends the operation information one-to-many to the cover controller 3 of each layer. After receiving the operation information, the cover controller 3 of each platform layer performs identity recognition, and then the cover controller 3 of the corresponding platform layer controls the corresponding platform cover 5 to perform the opening or closing operation.

[0058] It should also be noted that wireless data transmission is used to transmit data between the linkage controller 10 and the cover controller 3, wherein the wireless data transmission can be implemented by respectively setting a wireless radio frequency chip or a wireless routing chip on the linkage controller 10 and the cover controller 3. For example, the linkage controller 10 and the first wireless radio frequency chip 8 can be set on the climbing component 16, and the cover controller 3 and the second wireless radio frequency chip 6 can be set on the platform cover 5. Wireless data transmission is performed between the linkage controller 10 and the cover controller 3 through the first wireless radio frequency chip 8 and the second wireless radio frequency chip 6, thereby realizing the linkage control between the climbing component 16 and the platform cover 5.

[0059] When the climbing component 16 obtains the current position information in the current tower, and determines that the current position information is the target position information, the linkage controller 10 sends operation information to the cover controller 3, so that the corresponding platform cover responds to the operation information and performs an opening or closing operation to ensure the safe operation of the climbing component 16 and avoid accidents of colliding with the platform and the platform cover 5.

[0060] Continue reading Figure 2 In some embodiments of the present invention, before obtaining the current position information of the climbing component 16, the linkage control method also includes the following steps S110, S120 and S130.

[0061] Step S110: When the platform cover 5 of each platform is fully opened, switch to the self-learning mode, and control the climbing component 16 to perform the first operation in the current tower, and obtain the position information of the climbing component 16 after touching the position detection switch during operation. The position detection switch is arranged on the upper and lower sides of each platform in the current tower.

[0062] Step S120: for each platform, the platform position information of each platform is determined based on the position information corresponding to the position detection switches on the upper and lower sides of the platform.

[0063] Step S130: Determine target location information based on the platform location information.

[0064] It is understandable that, considering that the platform position information set for different towers may be different, when the linkage control method of the present invention is used in a wind turbine tower, the platform position information of the applied tower is not clear. In order to make the linkage control method of the present invention applicable to tower platforms of different specifications, it is necessary to use the methods of steps S110 and S120 on the linkage controller 10 of the climbing component 16 to pre-record the platform position information of each platform on the corresponding tower.

[0065] When the climbing component 16 is used in different towers, that is, after the linkage control system is built in the corresponding tower, the platform cover 5 of each platform in the current tower is fully opened, and the mode switch 19 is switched to the self-learning mode by manual operation. The climbing component 16 is located at the bottom of the tower before use. At this time, the climbing component 16 will touch the zeroing switch 9 installed on the ladder, and it is determined that the climbing component 16 is at the starting position (i.e., zero position) at this time.

[0066] Then, the climbing component 16 is operated to perform the first operation in the current tower, that is, the climbing component 16 is operated to perform the first round trip operation between the bottom and the top of the current tower. At this time, the air pressure sensor 17 or the speed sensor starts to work and transmits the air pressure information or the speed information to the linkage controller 10 to determine the operating height of the climbing component 16.

[0067] At least one group of position detection switches is set at symmetrical positions on both sides of each platform, and one position detection switch is set at the same distance from the corresponding platform on the upper and lower sides of each platform to form the above-mentioned group of position detection switches. The normally closed or normally open contact of each position detection switch can be connected to the corresponding input terminal of the linkage controller 10 of the climbing component 16. The position information corresponding to the position detection switches on the upper and lower sides of each platform is pre-set in the linkage controller 10. When the climbing component 16 triggers each position detection switch located above and below each platform during operation, the linkage controller 10 can obtain the position information corresponding to the triggered position detection switch after receiving the trigger signal of the position detection switch, so that the linkage controller 10 can determine the platform position information (that is, the height of the corresponding platform) of the platform based on the position information corresponding to the position detection switches on the upper and lower sides of each platform, and determine the above-mentioned target position information according to the platform position information.

[0068] It should be noted that the position detection switch can be a contact switch, such as a travel switch, a two-dimensional matrix position sensor, etc. The position detection switch can also be replaced by a proximity switch, such as an electromagnetic, photoelectric, differential transformer, eddy current, capacitor, reed switch or Hall switch, etc. The proximity switch does not need to be in direct contact with the climbing component 16. When the climbing component 16 runs to the preset trigger position of the proximity switch, the proximity switch can be triggered to obtain the corresponding position information. Among them, the position information corresponding to the position detection switch is the height from the starting position of the climbing component 16.

[0069] It should be noted that the position detection switch can be the platform deceleration switch on the upper and lower sides of each platform of the current tower, that is, the position detection switch uses the platform deceleration switch of each platform in the current tower. The position detection switch can also be a position detection component preset at the corresponding position of the current tower, used to detect the position information of the climbing component 16 relative to the current tower.

[0070] For example, a lower platform deceleration switch 12 is provided below each platform at a distance of 2 meters from the corresponding platform, and an upper platform deceleration switch 18 is provided above each platform at a distance of 2 meters from the corresponding platform. During operation, the climbing component 16 triggers the lower platform deceleration switch 12 and the upper platform deceleration switch 18 located on the upper and lower sides of a certain platform, and the linkage controller 10 can obtain the corresponding position information of the lower platform deceleration switch 12 and the upper platform deceleration switch 18 of the platform, and determine the platform position information (i.e., the height of the platform) of the platform based on the corresponding position information of the corresponding platform deceleration switches on the upper and lower sides of the platform, and determine the above-mentioned target position information according to the platform position information.

[0071] Further, for example, when the climbing component 16 triggers the lower platform deceleration switch 12 located below the first platform during operation, after the linkage controller 10 receives the trigger signal of the lower platform deceleration switch 12, the linkage controller 10 learns that the current position height of the climbing component 16 is 28 meters; the climbing component 16 continues to run in the ascending direction, triggering the upper platform deceleration switch 18 located above the first platform, after the linkage controller 10 receives the trigger signal of the upper platform deceleration switch 18, the linkage controller 10 learns that the current position height of the climbing component 16 is 32 meters, and then the linkage controller 10 takes the average of the position heights corresponding to the two deceleration switches of the lower platform deceleration switch 12 and the upper platform deceleration switch 18, and derives that the height of the first platform is 30 meters, that is, the target position information requested to be opened by the climbing component 16 is the first platform with a corresponding height of 30 meters.

[0072] This is equivalent to the climbing component 16 obtaining position information corresponding to the respective platform deceleration switches by triggering the platform deceleration switches at the preset positions on the upper and lower sides of a certain platform during operation. For example, taking the first-layer platform as an example, the platform deceleration switch below the first-layer platform is recorded as the first platform deceleration switch, and the platform deceleration switch above the first-layer platform is recorded as the second platform deceleration switch; by analogy, the platform deceleration switch below the second-layer platform is recorded as the third platform deceleration switch, and the platform deceleration switch above the second-layer platform is recorded as the fourth platform deceleration switch.

[0073] When the climbing component 16 moves from bottom to top, the first platform deceleration switch is triggered first. After the linkage controller 10 receives the trigger signal of the first platform deceleration switch, the linkage controller 10 obtains the first position information of the current climbing component 16; then, the climbing component 16 continues to move upward to trigger the second platform deceleration switch. After the linkage controller 10 receives the trigger signal of the second platform deceleration switch, the linkage controller 10 obtains the second position information of the current climbing component 16; since the first position information and the second position information are both the height values ​​of the climbing component 16, the linkage controller 10 can determine the height information of the first platform by calculating the average position information (i.e., the average value) of the first position information and the second position information. Among them, the height information of each platform calculated by the linkage controller 10 can be directly stored in the linkage controller 10, of course, the premise is that the linkage controller 10 has the function of storing data. If the linkage controller 10 does not have the storage function, the linkage controller 10 needs to be connected to a storage chip separately to store the calculated height information of each platform.

[0074] Since multiple platforms are arranged at intervals along the height direction of the tower, at least one platform deceleration switch can be symmetrically arranged above and below each platform. They can be calculated according to the following formula:

[0075] in, The total number of platform deceleration switches set on both sides of a certain platform. The position information corresponding to each platform deceleration switch set on the upper and lower sides of a certain platform.

[0076] According to the linkage control method provided by the embodiment of the present invention, after the first operation of the climbing component 16 is completed, it is necessary to manually switch the mode switch 19 from the self-learning mode to the operation mode. Each time the climbing component 16 runs from the top of the tower to the bottom of the tower, the climbing component 16 will trigger the zeroing switch 9 installed on the ladder. After the linkage controller 10 receives the zeroing signal, the position information of the climbing component 16 obtained in the linkage controller 10 during the last round-trip operation is cleared, and it is determined that the climbing component 16 is in the starting position (i.e., the zero position) at this time. In this way, each time the climbing component 16 starts a round-trip operation from the bottom of the tower and returns to the bottom of the tower, it can be ensured that the current position information of the climbing component 16 obtained in the next round-trip operation is more accurate.

[0077] Then, the climbing component 16 can run with load, and the linkage controller 10 obtains the current operating height of the climbing component 16 according to the detection of the air pressure sensor 17 . The linkage controller 10 determines whether the current operating height of the climbing component 16 is the target position information based on the current operating height of the climbing component 16 obtained. If it is determined to be yes, it means that the climbing component 16 has run to a preset distance position from the target layer platform. At this time, the linkage controller 10 sends a signal that the platform cover 5 of the target layer needs to be opened to the cover controller 3 in a wireless transmission manner, so that the cover controller 3 controls the operation of the drive motor 2 of the platform cover 5 of the target layer platform. The drive motor 2 controls the opening of the platform cover 5 through the crank arm 4. After the platform cover 5 is fully opened, the climbing component 16 passes the target layer platform, and the climbing component 16 continues to run upward. Similarly, the linkage controller 10 determines whether the current operating height of the climbing component 16 is the target position information based on the current operating height of the climbing component 16 obtained. If it is determined to be yes, it means that the climbing component 16 has run to a preset distance position beyond the target layer platform. The linkage controller 10 sends a signal that the platform cover 5 of the target layer platform needs to be closed to the cover controller 3, so that the cover controller 3 The driving motor 2 controlling the platform cover 5 of the target layer platform is operated, and the driving motor 2 controls the platform cover 5 to be closed through the crank arm 4 .

[0078] When the climbing assembly passes the target platform and the platform cover 5 of the platform is completely closed, the climbing assembly 16 leaves the target platform and continues to move in the direction of the next platform. The same control method as the target layer described above is used to realize the linkage controller 10 to feedback the signal that the platform cover 5 on the next and higher platforms needs to be opened or closed. When the climbing assembly 16 moves downward, the specific control logic is the same as the control logic when the climbing assembly 16 moves upward, which will not be repeated here.

[0079] Among them, when the linkage controller 10 adopts a one-to-many method of sending operation information to the cover controller 3 of each platform layer, the identity information can be agreed upon by setting a dip switch on the cover controller 3 of each platform layer, that is, the platform layers are set in sequence, the first layer is set to 1, the second layer is set to 2, the third layer is set to 3, and so on. When the linkage controller 10 sends a request to open the platform cover 5 of the corresponding layer, the cover controller 3 determines whether it is the corresponding layer through the address information, and if so, performs the opening or closing operation.

[0080] It is equivalent to that the platform cover 5 of each platform has its own cover controller 3. When the corresponding cover controller 3 receives the signal sent by the linkage controller 10 that the platform cover 5 needs to be opened or closed, it first determines whether it is the platform cover 5 controlled by itself. If so, it opens the platform cover 5 controlled by itself, and vice versa. In order to make the control system more reliable, one cover controller 3 is used to control one layer of platform cover 5.

[0081] Continue reading Figure 2 In some embodiments of the present invention, the linkage control method also includes step S400: when a fault signal is received from the cover controller 3, the climbing component 16 is controlled to stop running according to the fault signal to avoid accidents such as collision between the climbing component 16 and the platform cover 5.

[0082] When controlling the climbing component 16 to stop running, the climbing component 16 can be controlled to stop running by cutting off the emergency stop signal of the emergency stop button 14 in the climbing component 16 running control circuit, and the climbing component 16 can also be controlled to stop running by cutting off the power.

[0083] For example, if the platform cover 5 is not opened according to the set instruction or is not opened properly when the platform cover 5 needs to be opened, it indicates that the platform cover 5 fails when performing the opening operation. If the platform cover 5 is not closed according to the set instruction or is not closed properly when the platform cover 5 needs to be closed, it indicates that the platform cover 5 fails when performing the closing operation.

[0084] The situation that the platform cover 5 is not opened or not fully opened can be monitored by a position sensor set on the platform, or by an angle sensor of the drive motor 2 of the platform cover 5. For example, when the platform cover 5 is switched from a closed state to a normal open state, the angle sensor of the drive motor 2 detects that the angle of the output shaft of the drive motor 2 changes from 0° to 100°. If the angle sensor detects that the angle of the output shaft of the drive motor 2 does not change or does not reach 100°, it means that the platform cover 5 fails when performing the opening operation.

[0085] In addition, the situation where the platform cover 5 fails when performing a closing operation is opposite to the situation where the platform cover 5 fails when performing an opening operation. The situation where the platform cover 5 fails when performing a closing operation can be judged based on the above-mentioned failure situation, which will not be elaborated here.

[0086] Furthermore, the linkage control method further includes step S500: controlling the voice module to output voice prompt information, the voice prompt information is used to remind the user that the platform cover 5 has a fault. This is equivalent to, when receiving a fault signal sent by the cover controller 3, while cutting off the emergency stop signal of the emergency stop button 14 according to the fault signal, controlling the voice module to issue a voice prompt information to remind the operator to pay attention to the fact that the platform cover 5 of this layer of the platform is not opened or closed. Among them, the voice module can be implemented by combining an existing voice chip and a speaker that can realize the voice playback function, and its working principle will not be repeated here.

[0087] For example, when the cover controller 3 receives the operation information sent by the linkage controller 10, it controls the platform cover 5 corresponding to the target position information to open or close to ensure the safe operation of the climbing component 16 and avoid accidents of collision with the platform and the platform cover 5.

[0088] When the platform cover 5 fails to perform the corresponding opening or closing action as required, it indicates that the platform cover 5 or the driving motor 2 of the platform cover 5 fails. The cover controller 3 wirelessly transmits the fault signal to the linkage controller 10. The linkage controller 10 controls the climbing component 16 to stop running. At the same time, a voice prompt message is sent through the voice module to remind the operator to pay attention to the fact that the platform cover 5 of this platform is not opened or closed, so as to ensure the safe operation of the climbing component 16, avoid accidents of collision with the platform and the platform cover 5, and avoid accidental falling accidents.

[0089] When the platform cover 5 is not completely opened or closed, the cover controller 3 sends a fault signal to the linkage controller 10, and the linkage controller 10 controls the climbing assembly 16 to stop running to avoid a collision. At the same time, the linkage controller 10 controls the voice module to issue a voice prompt to remind the operator to pay attention to the fact that the platform cover of this layer of the platform is not opened or closed, and remind the operator to pay attention.

[0090] It should be noted that the wireless communication frequency between the linkage controller 10 of the climbing assembly 16 and the cover controller 3 of the platform cover 5 should be different from the communication frequency of the climbing assembly 16 itself to avoid mutual interference.

[0091] Figure 3 It is a system block diagram of a linkage control system provided by an embodiment of the present invention. Figure 4 is a schematic diagram of the structure of a linkage control system provided by an embodiment of the present invention; Figure 5It is a structural schematic diagram of a climbing component in a linkage control system provided by an embodiment of the present invention; Figure 6 It is a partial structural schematic diagram of a climbing component in the linkage control system provided in the present invention; Figure 7 It is a structural schematic diagram of a platform cover plate in a linkage control system provided by the present invention.

[0092] See also Figures 3 to 7 An embodiment of the present invention further provides a linkage control system, which includes a cover assembly 1, a climbing assembly 16 and a linkage controller 10, wherein the cover assembly 1 includes a cover controller 3 and a platform cover 5, and the cover controller 3 is used to control the platform cover 5 to open or close.

[0093] The climbing component 16 is used to run in an ascending direction or a descending direction on the ladder of the current tower; the linkage controller 10 is arranged on the climbing component 16, and is used to obtain the current position information of the climbing component 16 in the current tower in the operation mode, and send operation information to the cover controller 3 when the current position information is determined to be the target position information; the current position information is the current operating height of the climbing component 16 in the ascending direction or the descending direction; the target position information is the preset distance position reached by the climbing component 16 from the target layer platform.

[0094] The cover controller 3 is wirelessly connected to the linkage controller 10 via a wireless radio frequency chip or a wireless routing chip. The cover controller 3 is used to respond to operation information and control the platform cover 5 corresponding to the operation information to perform an opening or closing operation.

[0095] The cover controller 3 is also used to generate a fault signal when a failure occurs in the opening or closing operation of the platform cover 5, and send the fault signal to the linkage controller 10. The linkage controller 10 is also used to control the climbing assembly 16 to stop running according to the received fault signal.

[0096] In some embodiments of the present invention, the linkage control system further includes a mode switch 19, which is electrically connected to the linkage controller 10 and is used to switch between the self-learning mode and the operating mode. That is, the mode switch 19 is switched to the self-learning mode or the operating mode by manual operation, so that the linkage controller 10 controls the climbing assembly 16 to operate in different modes.

[0097] In some embodiments of the present invention, the linkage control system further includes a position or height detection sensor, which is disposed on the climbing component 16 and is used to detect the operating height or operating position of the climbing component 16 .

[0098] The position or height detection sensor may be an air pressure sensor, a speed sensor, a distance sensor, etc. Any sensor that can obtain the current position information of the climbing component 16 in the current tower is acceptable.

[0099] For example, in an embodiment of the present invention, an air pressure sensor 17 is provided on the climbing component 16. The air pressure sensor 17 is electrically connected to the linkage controller 10 and is used to obtain air pressure information and / or speed information of the climbing component 16. The air pressure information can be used to determine whether the climbing component 16 is running in an ascending direction or a descending direction on the ladder of the current tower. The operating height of the climbing component 16 can also be obtained through the air pressure sensor.

[0100] In some embodiments of the present invention, the linkage control system further includes a reset switch 9, which is disposed at the bottom of the ladder and is used to determine the initial position of the climbing component 16 after being triggered by the climbing component 16.

[0101] Each time the climbing component 16 runs from the top of the tower to the bottom of the tower, the climbing component 16 will trigger the reset switch 9 installed on the ladder. After the linkage controller 10 receives the reset signal, the position information of the climbing component 16 obtained in the linkage controller 10 during the last round trip operation is reset, and it is determined that the climbing component 16 is at the starting position (i.e., the zero position) at this time. In this way, each time the climbing component 16 starts a round trip operation from the bottom of the tower and returns to the bottom of the tower again, it can be ensured that the current position information of the climbing component 16 obtained in the next round trip operation is more accurate.

[0102] In some embodiments of the present invention, the cover controller 3 is provided with a rotary switch. When the linkage controller 10 sends operation information to the cover controller 3 of each platform respectively, the cover controller 3 determines whether it corresponds to the layer number through the address information of the rotary switch. When it is determined that the address information is the layer number corresponding to itself, it controls its own platform cover 5 to perform the corresponding opening or closing operation.

[0103] When the linkage controller 10 adopts a one-to-many method of sending operation information to the cover controller 3 of each platform layer, the identity information can be agreed upon by setting a dip switch on the cover controller 3 of each platform layer, that is, the platform layers are set in sequence, the first layer is set to 1, the second layer is set to 2, the third layer is set to 3, and so on. When the linkage controller 10 sends a request to open the platform cover 5 of the corresponding layer, the cover controller 3 determines whether it is the layer corresponding to itself through the address information, and if so, performs the opening or closing operation.

[0104] It is equivalent to that the platform cover 5 of each platform has its own cover controller 3. When the corresponding cover controller 3 receives the signal sent by the linkage controller 10 that the platform cover 5 needs to be opened or closed, it first determines whether it is the platform cover 5 controlled by itself. If so, it opens the platform cover 5 controlled by itself, and vice versa. In order to make the control system more reliable, one cover controller 3 is used to control one layer of platform cover 5.

[0105] The component for identifying the number of floors or identities provided on the cover controller 3 is not only a dial switch, but may also be other components capable of identifying the number of floors or identities.

[0106] In some embodiments of the present invention, the linkage controller 10 is provided with a voice module; when receiving a fault signal sent by the cover controller 3, the climbing component 16 is controlled to stop running according to the fault signal, and the voice module is controlled to issue a voice prompt message.

[0107] It should be emphasized that the linkage control system provided by the present invention implements the control steps of the above-mentioned linkage control method through the above-mentioned components, and its specific implementation process has been described in detail in the above-mentioned linkage control method, which will not be repeated here.

[0108] In some embodiments of the present invention, the climbing assembly further includes an upper limit switch and a lower limit switch, the upper limit switch cooperates with the upper limit member provided at the top of the ladder to limit, the lower limit switch cooperates with the lower limit member provided at the bottom of the ladder to limit, the position of the lower limit switch corresponds to the position of the zeroing switch 9, and the climbing assembly 16 can simultaneously touch the zeroing switch 9 when touching the lower limit switch. Among them, the upper limit switch and the lower limit switch are both electrically connected to the linkage controller 10, and both the upper limit switch and the lower limit switch can be contact sensors or proximity sensors, that is, the limit switch is not limited to mechanical switches such as travel switches, but can also be other types of switches such as photoelectric switches and Hall switches.

[0109] When the climbing assembly 16 reaches the upper limit piece or the lower limit piece, the lifting body of the climbing assembly 16 stops running, and the main power supply is cut off when the upper limit piece is reached, thereby improving the safety of the climbing assembly 16.

[0110] In addition, a remote control transmitter is provided on the lifting body of the climbing assembly 16, and a power cord with a USB interface is provided on the remote control transmitter, and the battery 13 supplies power to the remote control transmitter via the USB interface. A portable remote control transmitter can also be provided, and a remote control up button, a remote control down button and a start button are provided on the remote control transmitter, and the climbing assembly 16 is remotely controlled to operate.

[0111] The linkage control method and system provided by the present invention obtain the current position information of the climbing component in the current tower, and when the current position information is determined to be the target position information, send operation information to the cover controller, so that the corresponding platform cover responds to the operation information and performs an opening or closing operation. The linkage controller of the climbing component and the cover controller of the platform cover are wirelessly connected to realize linkage control of the climbing component and the platform cover, thereby ensuring the safe operation of the climbing component and avoiding accidents of collision with the platform and the platform cover.

[0112] It should be noted that the linkage controller 10 and the cover controller 3 can both be embedded single-chip microcomputers, such as microcontrollers such as MCU, or the frequency and specifications of the central processing unit (CPU) can be appropriately reduced, and the memory, counter, USB, A / D conversion, UART, PLC, DMA and other peripheral interfaces, and even LCD drive circuits can be integrated on a single chip to form a chip-level computer structure.

[0113] Figure 8 An example physical structure diagram of an electronic device is provided.

[0114] like Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the linkage control method, which includes: in the operation mode, obtaining the current position information of the climbing component in the current tower, and the current position information is the current operation height of the climbing component in the ascending direction or the descending direction.

[0115] When it is determined that the current position information is the target position information, operation information is sent to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

[0116] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0117] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the linkage control method provided by the above-mentioned methods. The method includes: in an operating mode, obtaining current position information of a climbing component in a current tower, and the current position information is the current operating height of the climbing component in an ascending direction or a descending direction.

[0118] When it is determined that the current position information is the target position information, operation information is sent to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

[0119] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the linkage control method provided by the above-mentioned methods is implemented. The method includes: in an operating mode, obtaining current position information of a climbing component in a current tower, wherein the current position information is the current operating height of the climbing component in an ascending direction or a descending direction.

[0120] When it is determined that the current position information is the target position information, operation information is sent to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

[0121] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A linkage control method, characterized in that: Applied to a linkage control system, the linkage control system includes a climbing component, a linkage controller, a platform cover and a cover controller, the climbing component is suitable for running along the ladder of the current tower, the linkage controller is arranged on the climbing component, the platform cover is arranged on each platform of the current tower, and the cover controller is wirelessly connected to the linkage controller for controlling the corresponding platform cover to be opened or closed; The linkage control method comprises: In the operation mode, the current position information of the climbing assembly in the current tower is obtained, wherein the current position information is the current operation height of the climbing assembly in the ascending direction or the descending direction; When it is determined that the current position information is the target position information, operation information is sent to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation; the target position information is the preset distance position reached by the climbing component from the target layer platform, and the operation information is the platform layer number and the execution of the opening or closing platform cover action or only the execution of the opening or closing platform cover action.

2. The linkage control method according to claim 1, characterized in that: Before obtaining the current position information of the climbing component, the method further includes: When the platform cover of each platform is fully opened, switch to the self-learning mode, and control the climbing component to perform the first operation in the current tower, and obtain various position information after the climbing component touches the position detection switch during operation, and the position detection switch is arranged on the upper and lower sides of each platform in the current tower; For each platform, based on the position information corresponding to the position detection switches on the upper and lower sides of the platform, the platform position information of the platform is determined; The target position information is determined based on the platform position information.

3. The linkage control method according to claim 2, characterized in that: The determining the platform position information of the platform based on the position information corresponding to the position detection switches on the upper and lower sides of the platform includes: Acquire first position information of a position detection switch of the climbing component at the lower side of the current platform, and acquire second position information of a position detection switch of the climbing component at the upper side of the current platform; The average position information of the first position information and the second position information is calculated, and the average position information is used as the platform position information of the current platform.

4. The linkage control method according to claim 1, characterized in that: The obtaining of the current position information of the climbing assembly in the current tower includes: Based on the initial position, obtaining speed information or position information of the climbing component in the current running direction in real time; The current position information of the climbing assembly in the current tower is determined according to the speed information or the position information.

5. The linkage control method according to claim 1, characterized in that: The sending of operation information to the cover controller so that the corresponding platform cover responds to the operation information and performs an opening or closing operation includes: Sending operation information to the cover controller of the designated layer, so that the platform cover of the designated layer responds to the operation information and performs an opening or closing operation; or, Operation information is sent to the cover controller of each layer, so that the cover controller of the platform cover on each layer performs identity recognition after receiving the operation information. When it is confirmed that it corresponds to the platform layer number of the platform cover requested to be opened or closed, the cover controller of the corresponding platform layer controls the platform cover to perform the opening or closing operation.

6. The linkage control method according to any one of claims 1 to 5, characterized in that: The method further comprises: When a fault signal sent by the cover plate controller is received, the climbing assembly is controlled to stop running according to the fault signal.

7. The linkage control method according to claim 6, characterized in that: The method further comprises: The voice module is controlled to output voice prompt information, where the voice prompt information is used to remind the user that the platform cover has a fault.

8. A linkage control system, characterized in that: It includes climbing components, linkage controller, platform cover and cover controller; The climbing component is used to run in an ascending direction or a descending direction on the ladder of the current tower; the linkage controller is arranged on the climbing component and is used to obtain the current position information of the climbing component in the current tower in the operation mode, and send operation information to the cover plate controller when it is determined that the current position information is the target position information; the current position information is the current operating height of the climbing component in the ascending direction or the descending direction; the target position information is the preset distance position reached by the climbing component from the target layer platform; The cover controller is wirelessly connected to the linkage controller via a wireless radio frequency chip or a wireless routing chip. The cover controller is used to respond to the operation information and control the platform cover corresponding to the operation information to perform an opening or closing operation.

9. The linkage control system according to claim 8, characterized in that: It also includes a mode switch, which is electrically connected to the linkage controller and is used to switch between a self-learning mode and an operating mode.

10. The linkage control system according to claim 8, characterized in that: It also includes a position or height detection sensor and a reset switch, wherein the position or height detection sensor is arranged on the climbing assembly and is used to detect the operating height or operating position of the climbing assembly, and the reset switch is arranged at the bottom of the ladder and is used to determine the initial position of the climbing assembly after being triggered by the climbing assembly in the operating mode and the self-learning mode; The reset switch is also used to reset the position information of the climbing component obtained during the last round-trip operation after being triggered by the climbing component in the operation mode.

11. The linkage control system according to claim 8, characterized in that: The cover controller is provided with a dial switch; When the linkage controller sends the operation information to the cover controller of each platform respectively, the cover controller determines whether it is the corresponding layer through the address information of the dip switch. When it is determined that the address information is the corresponding layer, it controls its own platform cover to perform the corresponding opening or closing operation.

12. The linkage control system according to claim 8, characterized in that: The linkage controller is provided with a voice module; When a fault signal sent by the cover plate controller is received, the climbing component is controlled to stop running according to the fault signal, and the voice module is controlled to output voice prompt information.

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