Protection system and method for self-walking crane with low ground bearing capacity

Abstract

The invention relates to the technical field of crane protection, in particular to a self-walking crane ground low-load protection system and method.The method comprises the steps that geological investigation is conducted on an operation site, and the maximum load capable of being borne by the operation site is evaluated; the field operation ground is reinforced, and a supporting leg base plate is installed based on the type and the quality of the crane and the supporting leg layout; a monitoring module is installed on a supporting leg or a chassis of the crane, pressure borne by the ground and the posture of the crane are dynamically monitored and transmitted to a controller, and an emergency processing mechanism is established; according to the method, related data in the operation process of the crane are recorded, the change rule of ground bearing is analyzed based on the related data, and the ground bearing state is accurately analyzed and judged by monitoring the pressure of the supporting legs on the ground, the inclination angle of the crane and the sinking displacement of the supporting legs or the deformation condition of the ground in real time. And when abnormal conditions such as low ground load are detected, early warning is performed at the first time, so that the operation safety of the crane under the condition of low ground load is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of crane protection, and in particular to a system and method for protecting a low-load ground load of a self-propelled crane. Background Art

[0002] Self-propelled cranes (such as tire-mounted cranes and crawler cranes) are widely used in construction, bridge engineering, petrochemical installation, and port operations. They are characterized by their high maneuverability and large lifting loads, but they also require a high load-bearing capacity of the operating surface. In complex working conditions (such as soft soil, backfill areas, and unpaved roads), insufficient ground load capacity can cause the crane's outriggers to sink, the crane body to tilt, and even cause a capsize, resulting in equipment damage, casualties, and project delays.

[0003] Common reasons for insufficient ground bearing capacity of self-propelled cranes include the presence of shallow soft soil layers, underground cavities, and uneven settlement at the work site. Traditional survey methods make it difficult to fully predict all risks. When the crane is operating, in addition to its own weight, actions such as lifting, boom length adjustment, and rotation will generate dynamic impact loads, further increasing the burden on the ground. Rainy days and groundwater infiltration will reduce soil strength, resulting in a temporary decrease in the ground bearing capacity.

[0004] Traditional ground load protection methods for self-propelled cranes only expand the contact area through outrigger pads, or rely on operators to observe the tilt of the fuselage with the naked eye, which cannot achieve real-time dynamic monitoring and active early warning. Summary of the Invention

[0005] The purpose of the present invention is to provide a self-propelled crane ground low load protection system and method, aiming to solve the problem that traditional self-propelled crane ground load protection methods cannot achieve real-time dynamic monitoring and active early warning.

[0006] To achieve the above-mentioned object, in a first aspect, the present invention provides a method for protecting a self-propelled crane from low ground load, comprising the following steps:

[0007] Conduct geological surveys of the work site, obtain survey information, and assess the maximum load that the work site can withstand;

[0008] Reinforce the working ground on site and install outrigger pads based on the crane model, mass and outrigger layout;

[0009] Install a monitoring module on the crane's outriggers or chassis to dynamically monitor the ground pressure and crane posture, transmit the information to the controller, and establish an emergency response mechanism;

[0010] Record relevant data during the crane operation process, and analyze the changing pattern of ground load based on the relevant data.

[0011] The specific method of conducting geological survey on the work site, obtaining survey information, and evaluating the maximum load that the work site can withstand is as follows:

[0012] Conduct geological surveys of the work site by drilling or static penetration methods to obtain the soil type and bearing capacity of the ground at the work site and obtain survey information;

[0013] Based on the survey information, the maximum load that the work site can withstand is assessed, and warning signs are set up in areas where the ground load-bearing capacity is insufficient.

[0014] The specific method of reinforcing the working ground on site and installing the outrigger pads is based on the crane model, quality and outrigger layout:

[0015] Compact the ground for on-site operations;

[0016] Select appropriate outrigger pads based on crane model, mass, and outrigger layout;

[0017] The outrigger pads are subjected to anti-skid treatment and are installed on the working ground at the site.

[0018] The specific method of installing a monitoring module on the crane's legs or chassis to dynamically monitor the ground pressure and crane posture, transmit the information to the controller, and establish an emergency response mechanism is as follows:

[0019] Install a monitoring module on the crane's outriggers or chassis and set thresholds;

[0020] Dynamically monitoring the ground pressure and crane posture based on the monitoring module, acquiring monitoring data, and transmitting the data to the controller;

[0021] Establish an emergency response mechanism based on low ground load or dangerous crane conditions.

[0022] The crane posture includes the tilt angle and the displacement parameters of the outriggers.

[0023] The relevant data include ground pressure changes, inclination changes and outrigger displacements.

[0024] The stop operation means that when the system detects a serious problem with the ground load, such as obvious ground subsidence or excessive tilt angle of the crane, the controller immediately issues a command to stop all actions of the crane, including lifting, luffing, slewing and traveling;

[0025] The posture adjustment is that if the ground load is uneven, causing the crane to tilt, the posture of the crane can be adjusted by controlling the extension and contraction of the outrigger cylinders to keep it level;

[0026] The load transfer is to slowly lower or transfer the heavy objects hanging on the crane to other locations when conditions permit, so as to reduce the bearing pressure on the ground;

[0027] The reinforced support means that if the ground bearing capacity is close to the limit, pads and sleepers can be added under the legs to expand the contact area between the legs and the ground, disperse the pressure, and improve the bearing capacity of the ground.

[0028] In a second aspect, the present invention further provides a protection system for a self-propelled crane with a low ground load, which is applied to the protection system for a self-propelled crane with a low ground load as described in the first aspect above, and includes a sensor module, a control module, a display module, an early warning module, and an execution module, wherein the control module is connected to the sensor module, the display module, the early warning module, and the execution module respectively;

[0029] The sensor module monitors the pressure of the outriggers on the ground, the tilt angle of the crane, the sinking displacement of the outriggers or the deformation of the ground in real time based on sensor technology to obtain sensor data;

[0030] The control module is used to analyze and process the sensor data and determine whether the ground bearing state is normal based on a preset algorithm and threshold;

[0031] The display module is used to display various operating parameters of the crane and the evaluation results of the ground load status in real time;

[0032] The warning module is used to issue an alarm to remind the operator to stop working when the ground load state is abnormally low;

[0033] The execution module executes corresponding protection actions based on the instructions issued by the control module.

[0034] The present invention provides a method for protecting a self-propelled crane from low ground load, which includes conducting a geological survey of the work site, obtaining survey information, and evaluating the maximum load that the work site can withstand; reinforcing the on-site working ground, and installing leg pads based on the crane model, mass, and leg layout; installing a monitoring module on the crane's legs or chassis, dynamically monitoring the pressure on the ground and the crane's posture, transmitting the data to a controller, and establishing an emergency processing mechanism; recording relevant data during the crane operation process, and analyzing the changing pattern of the ground load based on the relevant data. This method can accurately analyze and determine the ground load status by monitoring the pressure of the legs on the ground, the tilt angle of the crane, and the sinking displacement of the legs or the deformation of the ground in real time, and when abnormal conditions such as low ground load are detected, the operator is warned in the first time to ensure the safety of the crane's operation under low ground load conditions, thereby solving the problem that traditional ground load protection methods for self-propelled cranes cannot achieve real-time dynamic monitoring and active warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 The present invention provides a flowchart of a method for protecting a self-propelled crane from low ground load.

[0037] Figure 2 This is a flowchart of the specific method for conducting a geological survey of the work site, obtaining survey information, and evaluating the maximum load that the work site can withstand.

[0038] Figure 3 This is a flow chart showing how to reinforce the working ground on site and install outrigger pads based on crane model, mass, and outrigger layout.

[0039] Figure 4 It is a flowchart of a specific method of installing a monitoring module on the outriggers or chassis of a crane, dynamically monitoring the pressure on the ground and the crane posture, transmitting the information to the controller, and establishing an emergency response mechanism.

[0040] Figure 5 The present invention provides a connection diagram of a low-load protection system for a self-propelled crane on the ground.

[0041] In the figure: 1-sensor module, 2-control module, 3-display module, 4-warning module, 5-execution module, 6-pressure sensing unit, 7-tilt sensing unit, 8-displacement sensing unit, 9-control unit, 10-storage unit. DETAILED DESCRIPTION

[0042] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0043] See also Figures 1 to 4 In a first aspect, the present invention provides a method for protecting a low-load bearing on the ground of a self-propelled crane, comprising the following steps:

[0044] S1 conducts geological survey of the work site, obtains survey information, and assesses the maximum load that the work site can withstand;

[0045] Specific method:

[0046] S11 conducts geological survey of the work site by drilling or static penetration method to obtain the soil type and bearing capacity of the ground at the work site and obtain survey information;

[0047] In an embodiment of the present invention, a probe with a sensor is pressed vertically into the soil layer at a constant rate using a mechanical or hydraulic device. By measuring parameters such as the cone head resistance (qc), side wall friction resistance (fs) and pore water pressure (u), combined with empirical formulas in geotechnical engineering, the physical and mechanical properties of the soil layer (such as soil type, bearing capacity, compressibility, etc.) are inferred.

[0048] Specifically, the cone resistance (qc) and friction ratio (Rf = fs / qc × 100%) are used to classify soil types. Refer to the following empirical table:

[0049]

[0050] The penetration parameters are converted into foundation bearing capacity characteristic value (fak) or compression modulus (Es) through the empirical formula:

[0051] Clayey soil: fak = α·qc + c, where α is the empirical coefficient, which is 0.03-0.05 for clay, and c is the cohesion correction value;

[0052] Sandy soil: fak = β·qc, where β is an empirical coefficient, ranging from 0.08 to 0.12 for medium sand and 0.12 to 0.15 for coarse sand;

[0053] Standard reference: The values ​​can be obtained by referring to the relevant tables in the "Code for Geotechnical Engineering Investigation" (GB 50021) or the "Code for Design of Building Foundations" (GB 50007).

[0054] S12 evaluates the maximum load that the work site can withstand based on the survey information, and sets warning signs in areas where the ground bearing capacity is insufficient.

[0055] In an embodiment of the present invention, based on the survey results, obvious warning signs are set in areas where the ground bearing capacity is insufficient to remind operators to avoid working in such areas.

[0056] S2 reinforces the working ground on site and installs outrigger pads based on the crane model, mass and outrigger layout;

[0057] Specific method:

[0058] S21 compacts the ground for on-site operations;

[0059] In the embodiment of the present invention, the working ground is compacted or tamped, or pile foundations, foundation reinforcements, etc. are used to improve the bearing capacity of the ground. For example, on some construction sites, strong tamping is used to treat soft foundations to enhance the bearing capacity of the foundation.

[0060] S22 selects appropriate outrigger pads based on crane model, mass, and outrigger layout;

[0061] In the embodiments of the present invention, appropriate outrigger pads are selected based on the crane model, weight, and outrigger layout. The pads should possess sufficient strength and rigidity to withstand the crane's load without deformation or cracking. Furthermore, the pads' size and shape should match the outriggers to ensure good contact between the outriggers and the pads. For example, polyethylene outrigger pads, with a load capacity range of 4 to 300 tons, effectively distribute the pressure on the crane's outriggers.

[0062] S23 performs anti-skid treatment on the outrigger pads and installs the outrigger pads on the working ground at the site.

[0063] In an embodiment of the present invention, the surface of the outrigger pad is subjected to anti-slip treatment to prevent the crane from sliding.

[0064] S3 installs a monitoring module on the crane's outriggers or chassis to dynamically monitor the ground pressure and crane posture, transmit the information to the controller, and establish an emergency response mechanism;

[0065] Specific method:

[0066] S31 installs a monitoring module on the crane's outriggers or chassis and sets thresholds;

[0067] In an embodiment of the present invention, a monitoring module is installed on the legs or chassis of the crane, and a threshold is set for the monitoring module based on factors such as the model, weight, operating conditions and bearing capacity of the ground of the crane (set according to actual conditions).

[0068] S32 dynamically monitors the pressure on the ground and the crane posture based on the monitoring module, obtains monitoring data, and transmits it to the controller;

[0069] In an embodiment of the present invention, the crane posture includes an inclination angle and displacement parameters of the outriggers.

[0070] S33 establishes an emergency response mechanism based on low ground load or dangerous crane conditions.

[0071] In this embodiment of the present invention, the emergency response mechanism includes the following:

[0072] Stop operation: When the system detects a serious problem with the ground bearing, such as obvious ground subsidence or excessive tilt angle of the crane, the controller immediately issues a command to stop all actions of the crane, including lifting, luffing, slewing and traveling, to prevent the accident from further escalating.

[0073] Adjust the posture: If the ground load is uneven, causing the crane to tilt, you can adjust the crane's posture by controlling the extension and retraction of the outrigger cylinders to keep it level and reduce local ground pressure.

[0074] Transfer load: If conditions permit, heavy objects hanging from the crane can be slowly lowered or transferred to other locations to reduce the bearing pressure on the ground and reduce safety risks.

[0075] Strengthen support: If the ground bearing capacity is close to its limit, you can add pads, sleepers and other supports under the outriggers to expand the contact area between the outriggers and the ground, disperse the pressure and improve the ground bearing capacity.

[0076] S4 records relevant data during the crane operation process, and analyzes the changing pattern of the ground load based on the relevant data.

[0077] In this embodiment of the present invention, relevant data during crane operation is recorded, including information such as changes in ground pressure, inclination angle, and outrigger displacement. By analyzing this data, it is possible to determine the changing patterns of ground loads in different work sites and under different operating conditions, providing a reference for subsequent operations and helping to optimize crane performance and protection systems.

[0078] Data analysis methods and load-bearing pattern mining

[0079] Time Domain Analysis: Dynamic Response Characteristics

[0080] Lifting phase:

[0081] Pressure mutation amplitude: At the moment the load is applied, the peak pressure of the outrigger is usually 1.2 to 1.5 times the static load (affected by the dynamic coefficient);

[0082] Displacement hysteresis: The settlement of the outrigger lags behind the pressure loading, and the lag time in soft soil foundation can reach 5 to 10 seconds.

[0083] Walking phase:

[0084] Track pressure waveform: shows periodic fluctuations (related to the track pitch), with the peak corresponding to the moment the track shoe touches the ground;

[0085] Cumulative settlement: For every 10 meters of walking, the cumulative settlement of soft soil foundation may increase by 2 to 5 mm.

[0086] Spatial analysis: pressure distribution patterns

[0087] Outrigger pressure difference:

[0088] Under normal working conditions, the pressure difference between each leg should be ≤15% of the average pressure; if it exceeds 20%, there may be uneven foundation or eccentric load.

[0089] Case: The pressure of a certain measuring point's outrigger was 30% higher than that of other outriggers. Consequently, hidden fill was found underneath, indicating insufficient bearing capacity.

[0090] Track ground pressure distribution:

[0091] The pressure at the front end is higher than that at the rear end (because the center of gravity is biased forward), and the difference can reach 10 to 20 kPa; the difference is even greater in soft soil, which can easily lead to the "knocking" phenomenon.

[0092] Frequency Domain Analysis: Foundation Stiffness Assessment

[0093] Perform fast Fourier transform (FFT) on the pressure fluctuation signal to extract the main frequency component:

[0094] Rigid foundation: The main frequency is concentrated in 5-10Hz (fast response, high-frequency fluctuation);

[0095] Soft soil foundation: The main frequency is lower than 2Hz (slow response, low-frequency fluctuation), which may be accompanied by the risk of low-frequency resonance.

[0096] Regression Modeling: Carrying Capacity Prediction:

[0097] Multiple linear regression: Establish the relationship between pressure (P) and load (Q), outrigger displacement (S), and inclination angle (θ): P = aQ + bS + cθ + d

[0098] The coefficient a reflects the load-pressure transfer efficiency, and the value of a in soft soil is usually greater than that in hard soil (due to the wide diffusion range).

[0099] Limit state identification: Through load test data, draw a "pressure-settlement curve" to determine the proportional limit load (critical plastic load) and ultimate load of the foundation:

[0100] When the settlement rate suddenly increases (e.g. >0.1mm / s), the corresponding pressure value is the critical load, and the operating load must be controlled below this value.

[0101] Please refer to Figure 5 In a second aspect, the present invention further provides a protection system for a self-propelled crane with a low ground load, which is applied to the protection system for a self-propelled crane with a low ground load as described in the first aspect above, and includes a sensor module 1, a control module 2, a display module 3, an early warning module 4, and an execution module 5, wherein the control module 2 is connected to the sensor module 1, the display module 3, the early warning module 4, and the execution module 5, respectively;

[0102] The sensor module 1 monitors the pressure of the outriggers on the ground, the tilt angle of the crane, and the sinking displacement of the outriggers or the deformation of the ground in real time based on sensor technology to obtain sensor data;

[0103] The control module 2 is used to analyze and process the sensor data and determine whether the ground bearing state is normal based on a preset algorithm and threshold;

[0104] The display module 3 is used to display various operating parameters of the crane and the evaluation results of the ground load status in real time;

[0105] The warning module 4 is used to issue an alarm to remind the operator to stop working when the ground load state is abnormally low;

[0106] The execution module 5 executes corresponding protection actions based on the instructions issued by the control module 2.

[0107] In this embodiment of the present invention, the sensor module 1 uses sensor technology to monitor the pressure of the outriggers on the ground, the crane's tilt angle, and the downward displacement of the outriggers or ground deformation in real time to obtain sensor data. The control module 2 analyzes and processes the sensor data and, based on a preset algorithm and threshold, determines whether the ground load condition is normal. The display module 3 displays various crane operating parameters and the assessment results of the ground load condition in real time, allowing operators to intuitively understand the crane's operating status and the ground load condition. The warning module 4 is used to issue an alarm warning to remind the operator to stop operations when the ground load condition is abnormally low. The execution module 5 executes corresponding protective actions based on the instructions issued by the control module 2.

[0108] Furthermore, the sensor module 1 includes a pressure sensing unit 6, a tilt sensing unit 7 and a displacement sensing unit 8;

[0109] The pressure sensing unit 6 is used to monitor the pressure of the outrigger on the ground in real time;

[0110] The tilt sensor unit 7 is used to monitor the tilt angle of the crane in real time;

[0111] The displacement sensing unit 8 is used to monitor the sinking displacement of the legs or the deformation of the ground in real time.

[0112] In an embodiment of the present invention, the pressure sensing unit 6 monitors the pressure of the outrigger on the ground in real time. By obtaining accurate pressure data, the control module 2 can determine the load borne by the ground, and then analyze whether the ground can bear the weight of the crane and the various loads generated during operation. The tilt sensing unit 7 monitors the tilt angle of the crane in real time. When the crane tilts due to insufficient ground load, the tilt sensing unit 7 can detect the angle change in time and transmit the signal to the control module 2 so that corresponding protective measures can be taken; the displacement sensing unit 8 monitors the sinking displacement of the outrigger or the deformation of the ground in real time. Among them, a small displacement change may indicate a gradual decline in the ground bearing capacity or potential danger, providing early warning information for the system.

[0113] Furthermore, the control module 2 includes a control unit 9 and a storage unit 10;

[0114] The control unit 9 is used to analyze and process the sensor data and determine whether the ground bearing state is normal based on a preset algorithm and threshold value;

[0115] The storage unit 10 is used to store the historical data collected by the sensor module 1 and the operation data of the crane.

[0116] In this embodiment of the present invention, the control unit 9 analyzes and processes the sensor data and, based on preset algorithms and thresholds, determines whether the ground bearing capacity is normal. For example, if the pressure detected by the pressure sensor unit 6 exceeds the set threshold for the ground bearing capacity, or if the tilt sensor unit 7 detects that the crane's tilt angle exceeds a safe range, the control unit 9 triggers the corresponding protective action. The storage unit 10 is used to store historical data collected by the sensor module 1 and crane operation data. This helps operators analyze the crane's ground bearing capacity under different operating conditions, providing a reference for subsequent maintenance, operation planning, and ground handling. It also facilitates the tracing and analysis of accident causes.

[0117] The above disclosure is merely a preferred embodiment of a low-load protection system and method for a self-propelled crane according to the present invention. It is of course not intended to limit the scope of the present invention. A person skilled in the art will understand that any equivalent changes made by implementing all or part of the above-described embodiments in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A method for protecting a self-propelled crane from low ground load, characterized in that: The following steps are included: Conduct geological surveys of the work site, obtain survey information, and assess the maximum load that the work site can withstand; Reinforce the working ground on site and install outrigger pads based on the crane model, mass and outrigger layout; Install a monitoring module on the crane's outriggers or chassis to dynamically monitor the ground pressure and crane posture, transmit the information to the controller, and establish an emergency response mechanism; Record relevant data during the crane operation process, and analyze the changing pattern of ground load based on the relevant data.

2. The method for protecting a self-propelled crane from low ground load as claimed in claim 1, characterized in that; The specific method of conducting geological survey on the work site, obtaining survey information, and evaluating the maximum load that the work site can withstand is as follows: Conduct geological surveys of the work site by drilling or static penetration methods to obtain the soil type and bearing capacity of the ground at the work site and obtain survey information; Based on the survey information, the maximum load that the work site can withstand is assessed, and warning signs are set up in areas where the ground load-bearing capacity is insufficient.

3. The method for protecting a self-propelled crane from low ground load as claimed in claim 1, It is characterized by: The specific method of reinforcing the on-site working ground and installing the outrigger pads is based on the crane model, mass and outrigger layout: Compact the ground for on-site operations; Select appropriate outrigger pads based on crane model, mass, and outrigger layout; The outrigger pads are subjected to anti-skid treatment and are installed on the working ground at the site.

4. The method for protecting a self-propelled crane from low ground load as claimed in claim 1, It is characterized by: The specific method of installing a monitoring module on the crane's legs or chassis to dynamically monitor the ground pressure and crane posture, transmit the information to the controller, and establish an emergency response mechanism is as follows: Install a monitoring module on the crane's outriggers or chassis and set thresholds; Dynamically monitoring the ground pressure and crane posture based on the monitoring module, acquiring monitoring data, and transmitting the data to the controller; Establish an emergency response mechanism based on low ground load or dangerous crane conditions.

5. The method for protecting a self-propelled crane from low ground load according to claim 4, characterized in that ； The crane posture includes the tilt angle and the displacement parameters of the outriggers.

6. The method for protecting a self-propelled crane from low ground load according to claim 1, characterized in that ； The relevant data include ground pressure changes, inclination changes and outrigger displacements.

7. The method for protecting a self-propelled crane from low ground load as claimed in claim 4, It is characterized by: The emergency response mechanism includes stopping operation, adjusting posture, transferring load and strengthening support; The stopping operation means that when the system detects a serious problem with the ground load, such as obvious ground subsidence or excessive tilt angle of the crane, the controller immediately issues a command to stop all actions of the crane, including lifting, luffing, slewing and traveling; The posture adjustment is that if the ground load is uneven, causing the crane to tilt, the posture of the crane can be adjusted by controlling the extension and contraction of the outrigger cylinders to keep it level; The load transfer is to slowly lower or transfer the heavy objects hanging on the crane to other locations when conditions permit, so as to reduce the bearing pressure on the ground; The reinforced support means that if the ground bearing capacity is close to the limit, pads and sleepers can be added under the legs to expand the contact area between the legs and the ground, disperse the pressure, and improve the bearing capacity of the ground.

8. A protection system for a low-load bearing on a self-propelled crane on the ground, applied to the protection system for a low-load bearing on a self-propelled crane on the ground as claimed in any one of claims 1 to 7, characterized in that ； It includes a sensor module, a control module, a display module, an early warning module and an execution module, wherein the control module is connected to the sensor module, the display module, the early warning module and the execution module respectively; The sensor module monitors the pressure of the outriggers on the ground, the tilt angle of the crane, the sinking displacement of the outriggers or the deformation of the ground in real time based on sensor technology to obtain sensor data; The control module is used to analyze and process the sensor data and determine whether the ground bearing state is normal based on a preset algorithm and threshold; The display module is used to display various operating parameters of the crane and the evaluation results of the ground load status in real time; The warning module is used to issue an alarm to remind the operator to stop working when the ground load state is abnormally low; The execution module executes corresponding protection actions based on the instructions issued by the control module.

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