An anti-collision device of an AMHS system based on electromagnetic induction principle and a control method thereof

Abstract

The application discloses an AMHS system anti-collision device based on an electromagnetic induction principle and a control method thereof, which is used for preventing collision of an AMHS crown during travel on an AMHS track, power supply rails are laid on both sides of the AMHS track, a current is obtained from the power supply rails by a current collector in a sliding contact or non-contact mode, and the AMHS system anti-collision device comprises a signal conversion module, a magnetic core multiplexing module and a control module; the signal conversion module comprises a resonance detection module, and the resonance detection module comprises a detection coil L2 and a second compensation capacitor C2. The current signal of the power supply rails is directly converted by the current collector, a traditional inverter module is omitted, the system structure is simplified, and energy consumption is reduced; the compensation capacitor is connected in series in the detection coil, a sensitivity of inductance change to external magnetic core movement is improved to a millisecond level, meanwhile, a resonance loop quality factor (Q value) is optimized, and signal stability is enhanced; the electromagnetic induction mechanism is not sensitive to environmental factors such as dust and illumination, and is suitable for industrial scenes with high electromagnetic compatibility requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of AMHS crane, and particularly relates to an AMHS system anti-collision device based on electromagnetic induction principle and a control method thereof. BACKGROUND

[0002] The existing anti-collision scheme of the AMHS system (Automated Material Handling System, also known as a crane system) mostly adopts photoelectric sensing technology (such as laser, infrared, etc.), and the position detection is realized by installing a light strip and a photoelectric sensor on the side of the track and a receiver carried by the crane. Although this scheme can solve the basic collision problem, it still has the following limitations.

[0003] The photoelectric sensor is easily affected by dust, oil stains or environmental light, resulting in misjudgment or failure, especially in a semiconductor clean room or an industrial complex environment, and the reliability is insufficient; the optical element needs to be cleaned and calibrated regularly, and the complex wiring of multiple sensors increases the system deployment and operation and maintenance cost; the photoelectric signal processing relies on a high-frequency controller, and the anti-collision response is easily delayed due to signal transmission delay.

[0004] In comparison, the anti-collision technology based on electromagnetic induction has natural anti-interference characteristics, and does not require additional power supply or complex signal processing modules. However, the existing electromagnetic scheme mostly relies on an inverter for signal conversion, resulting in a large system size, high power consumption, and insufficient sensitivity of the detection coil, which is difficult to meet the requirements of high-speed dynamic scenes. SUMMARY

[0005] Therefore, it is necessary to provide an AMHS system anti-collision device based on electromagnetic induction principle without an inverter module, with simple system structure and reduced energy consumption, and a control method thereof.

[0006] An AMHS system anti-collision device based on electromagnetic induction principle is used to prevent collision of an AMHS crane during travel on an AMHS track, and power supply rails are laid on both sides of the AMHS track, and a current is obtained from the rails by a current collector in a sliding contact or a non-contact manner. The AMHS system anti-collision device comprises a signal conversion module, a magnetic core multiplexing module and a control module, the signal conversion module comprises a resonance detection module, wherein,

[0007] The resonance detection module comprises a detection coil L2 and a second compensation capacitor C2, and the detection coil L2 and the second compensation capacitor C2 are arranged in parallel to form a parallel resonance circuit; the resonance detection module is used to detect the inductance change of the signal conversion module caused by the change of the resonance state of the parallel resonance circuit due to the proximity of the current collector;

[0008] The signal conversion module further comprises a first inductor L1, a third inductor L3 and a first compensation capacitor C1, the first compensation capacitor C1, the first inductor L1 and the third inductor L3 are arranged in series with the parallel resonant circuit to form a signal detection circuit; the signal conversion module is configured to convert the current signal of the power supply rail into a voltage signal by the power taker, and in combination with the parallel resonant circuit, the inductance change of the signal detection circuit is monitored in real time.

[0009] Preferably, the first inductor L1 is configured to convert the current signal of the power supply rail into a voltage signal U1 by the power taker, and after compensation by the first compensation capacitor C1, the third inductor L3 is provided with a voltage source.

[0010] Preferably, the resonance detection module further comprises a sensitivity enhancement module, the sensitivity enhancement module comprises a third compensation capacitor Cp connected in series on one side of the detection coil L2; the sensitivity enhancement module is configured to reduce the inductance base to improve the sensitivity of the inductance to the movement of the external magnetic core.

[0011] Preferably, the AMHS system anti-collision device further comprises a magnetic core multiplexing module, the magnetic core multiplexing module comprises a built-in magnetic core of the power taker, and the magnetic core multiplexing module uses the built-in magnetic core of the power taker as a detection coil inductance adjustment element.

[0012] Preferably, the third inductor L3 is a receiving coil on the power taker, and the third inductor L3 is configured to sense the change signal of the parallel resonant circuit and input the change signal to the controller after rectification and filtering.

[0013] Preferably, the AMHS system anti-collision device further comprises a control module, the control module is configured to determine whether there is a collision risk according to the voltage change rate of the detection coil L2, and when it is determined that there is a collision risk, the control module is configured to send a PWM speed reduction instruction to the AMHS headstock, cut off the power supply rail, and start an alarm.

[0014] Furthermore, a control method of the AMHS system anti-collision device based on the electromagnetic induction principle is provided, which is configured to prevent the AMHS headstock from colliding when moving on the AMHS track by using the AMHS system anti-collision device based on the electromagnetic induction principle, and the specific steps comprise:

[0015] Step one, installing the power supply rail and the power taker; the power supply rail is arranged in parallel on both sides of the AMHS track, and the power taker obtains current from the power supply rail through sliding contact or non-contact mode;

[0016] Step two, circuit connection of the signal conversion module; the first compensation capacitor C1 is connected in series at the output end of the power taker to convert the current signal of the rail into a voltage signal U1; the voltage signal U1 is input to the resonance detection module after filtering by a filtering circuit;

[0017] Step three, configure the resonance detection module; the detection coil L2 and the second compensation capacitor C2 constitute a parallel resonance circuit;

[0018] Step four, optimize the sensitivity enhancement module; a third compensation capacitor Cp is connected in series on one side of the detection coil L2 to reduce the inductance base;

[0019] Step five, signal processing and control module linkage; the third inductor L3 senses the change signal of the resonance circuit, and the changed signal is input into the control module after rectification and filtering;

[0020] Step six, the control module performs analog-to-digital conversion on the changed signal, and when the change value of the signal exceeds the set threshold, the anti-collision instruction is triggered to control the AMHS overhead crane to slow down or stop.

[0021] Preferably, the resonance frequency calculation formula of the parallel resonance circuit in the step three is shown in formula (1):

[0022] (1);

[0023] Wherein, under normal circumstances, the parallel resonance circuit is in a resonant state, the impedance is maximum, and the induced line current is close to zero; when the magnetic core approaches, the inductance L2 changes, the resonance condition is destroyed, and the induced line generates an exciting current.

[0024] Preferably, the specific steps of the control module in the step five include:

[0025] System initialization; the control module calibrates the resonance parameters and synchronizes the position information of the AMHS overhead crane;

[0026] Real-time monitoring; the detection coil L2 continuously detects the change of the inductance value.

[0027] Preferably, the specific steps of the control module in the step six include:

[0028] Anti-collision monitoring; when the magnetic core enters the predetermined range, the voltage change rate exceeds the set threshold, and it is determined that there is a collision risk;

[0029] Anti-collision triggering; the control module outputs a PWM speed reduction instruction, cuts off the power supply of the power supply rail, and starts the alarm;

[0030] Fault recovery: regularly self-check the loop state, upload fault codes when abnormal, and support local / remote reset.

[0031] In the AMHS system anti-collision device based on the electromagnetic induction principle and the control method thereof, the power supply rail current signal is directly converted by the current collector, the traditional inverter module is omitted, the system structure is simplified, and the energy consumption is reduced; the compensation capacitor is connected in series in the detection coil, the inductance base is reduced, the sensitivity of inductance change to the external magnetic core movement is improved to the millisecond level, the quality factor (Q value) of the resonance circuit is optimized, and the signal stability is enhanced; the electromagnetic induction mechanism is not sensitive to environmental factors such as dust and light, and is suitable for industrial scenes with high electromagnetic compatibility requirements. The circuit structure of the present application is simple, easy to implement, low in cost, and convenient to popularize. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a circuit structure schematic diagram of the AMHS system anti-collision device based on the electromagnetic induction principle of the embodiment of the present application.

[0033] Figure 2 is a circuit structure schematic diagram of the AMHS system anti-collision device based on the electromagnetic induction principle of the embodiment of the present application (adding a third compensation capacitor Cp).

[0034] Figure 3 is a flowchart of the control method of the AMHS system anti-collision device based on the electromagnetic induction principle of the embodiment of the present application. DETAILED DESCRIPTION

[0035] The present application will be described in detail below with reference to specific embodiments and drawings.

[0036] Please refer to Figure 1 and Figure 2 , which show an AMHS system anti-collision device based on the electromagnetic induction principle provided by the embodiment of the present application, which is used to prevent the collision of the AMHS headstock during the travel of the AMHS headstock on the AMHS track, and the power supply rails are laid on both sides of the AMHS track. The current collector obtains current from the rails in a sliding contact or non-contact manner, the AMHS system anti-collision device includes a signal conversion module, a magnetic core multiplexing module and a control module, the signal conversion module includes a resonance detection module, wherein,

[0037] The resonance detection module includes a detection coil L2 and a second compensation capacitor C2, the detection coil L2 and the second compensation capacitor C2 are connected in parallel, and a parallel resonance circuit is formed; the resonance detection module is used to detect the inductance change of the signal conversion module caused by the change of the resonance state of the parallel resonance circuit due to the approach of the current collector;

[0038] The signal conversion module further comprises a first inductor L1, a third inductor L3 and a first compensation capacitor C1, the first compensation capacitor C1, the first inductor L1 and the third inductor L3 are arranged in series with the parallel resonant circuit to form a signal detection circuit; the signal conversion module is configured to convert the current signal of the power supply rail into a voltage signal by the power extractor, and in combination with the parallel resonant circuit, to monitor the inductance change of the signal detection circuit in real time.

[0039] Preferably, the first inductor L1 is configured to convert the current signal of the power supply rail into a voltage signal U1 by the power extractor, and after compensation by the first compensation capacitor C1, to provide a voltage source for the third inductor L3.

[0040] Specifically, when the detection coil L2 changes in inductance due to the proximity of the overhead crane, the resonance state of the parallel resonant circuit is destroyed, the internal current of the third inductor L3 is increased, and an enhanced magnetic field signal is radiated to the outside world; the coil of the external overhead crane senses the change in the magnetic field and sends a collision warning signal to the current overhead crane.

[0041] Preferably, the resonance detection module further comprises a sensitivity enhancement module, the sensitivity enhancement module comprises a third compensation capacitor Cp connected in series on one side of the detection coil L2; the sensitivity enhancement module is configured to reduce the inductance base to improve the sensitivity of the inductance to the movement of the magnetic core in the outside world.

[0042] Specifically, the third compensation capacitor Cp is connected in series with the detection coil L2, which reduces the inductance base in the parallel resonant circuit, so that the sensitivity enhancement module can improve the response speed to the millisecond level.

[0043] Preferably, the AMHS system anti-collision device further comprises a magnetic core multiplexing module, the magnetic core multiplexing module comprises a built-in magnetic core of the power extractor, and the magnetic core multiplexing module uses the built-in magnetic core of the power extractor as a detection coil inductance adjustment element.

[0044] Specifically, the built-in magnetic core of the power extractor serves as a detection coil inductance adjustment element. The built-in magnetic core of the power extractor is usually made of ferrite or silicon steel sheet. When it moves to the vicinity of the detection coil L2, the change in its magnetic permeability will disturb the magnetic field distribution of the detection coil L2, thereby changing the inductance of the detection coil L2. This design does not require an additional magnetic core. When the power extractor (overhead crane) runs to the installation position of the parallel resonant circuit, the magnetic core automatically participates in inductance adjustment, realizing hardware multiplexing.

[0045] Specifically, using the built-in magnetic core of the power extractor as a detection coil inductance adjustment element reduces redundant components and improves system integration.

[0046] Preferably, the third inductor L3 is a receiving coil on the power taker, and the third inductor L3 is used to induct the changing signal of the parallel resonant circuit, and the signal is input to the controller after rectification and filtering.

[0047] Specifically, the first inductor L1 and the third inductor L3 are dynamically connected with the power supply rail through the sliding contact or non-contact coupling (such as electromagnetic induction) of the power taker, the first inductor L1 is used to obtain the voltage signal U1 from the power supply rail through the power taker, and the third inductor L3 is a receiving coil on the power taker. The parallel resonant circuit is fixedly arranged at a key node (such as a crossing point or a curve) of the track, and a closed loop is formed through the rail and the moving first inductor L1 / third inductor L3, without the need for physical wiring.

[0048] Specifically, a plurality of parallel resonant circuits are distributedly deployed in high-risk areas of the track (such as intersection areas or buffer areas). Each parallel resonant circuit works independently, is uniformly powered by the power supply rail, obtains current through the rail, and detects signals wirelessly transmitted to the overhead crane controller through the third inductor L3, thereby realizing segmented anti-collision monitoring.

[0049] Preferably, the AMHS system anti-collision device further comprises a control module, which is used to judge whether there is a collision risk according to the voltage change rate of the detection coil L2, and send a PWM speed reduction instruction to the AMHS overhead crane when it is judged that there is a collision risk, cut off the power supply rail, and start the alarm.

[0050] Specifically, the control module has data processing function, early warning function and obstacle avoidance function, which can improve the environmental perception accuracy. When it is judged that there is a collision risk according to the voltage change rate of the detection coil L2, sound and light alarm (such as image prompt for first-level early warning, sound and light alarm + external warning for second-level early warning) is issued according to the risk level, the running path or speed of the equipment is adjusted through the control execution equipment to avoid collision, and the execution equipment implements braking or other risk avoidance operations according to the control instruction.

[0051] And, please refer to Figure 3 , a control method of an AMHS system anti-collision device based on the principle of electromagnetic induction is shown, which is used to prevent the AMHS overhead crane from colliding when running on the AMHS track through the AMHS system anti-collision device based on the principle of electromagnetic induction as described above. The specific steps include:

[0052] Step S10, installing the power supply rail and the power taker; the power supply rail is arranged in parallel on both sides of the AMHS track, and the power taker obtains current from the power supply rail through sliding contact or non-contact mode.

[0053] Specifically, the power taker is built-in magnetic core, and the material is preferably ferrite or silicon steel sheet, which is used to adjust the inductance of the detection coil.

[0054] Step S20, the circuit of the signal conversion module is connected; the output end of the power receiver is connected in series with the first compensation capacitor C1, the rail current signal is converted into a voltage signal U1; the voltage signal U1 is input into the resonance detection module after passing through the filter circuit.

[0055] Specifically, the filter circuit is preferably an RC low-pass filter.

[0056] Step S30, the resonance detection module is configured; the detection coil L2 and the second compensation capacitor C2 constitute a parallel resonance circuit.

[0057] Specifically, the resonance frequency calculation formula of the parallel resonance circuit is shown in formula (1):

[0058] (1);

[0059] Wherein, in normal state, the parallel resonance circuit is in a resonance state, the impedance is maximum, and the induced line current is close to zero; when the magnetic core is close, the inductance of L2 changes, the resonance condition is destroyed, and the induced line generates an exciting current.

[0060] Step S40, the sensitivity enhancement module is optimized; the third compensation capacitor Cp is connected in series on one side of the detection coil L2 to reduce the inductance base.

[0061] Specifically, the third compensation capacitor Cp is added in the parallel resonance circuit, so that the sensitivity of the inductance change of the induced line to the movement of the external magnetic core is improved to the millisecond level response, and by adjusting the capacitance value of the third compensation capacitor Cp, the sensitivity requirement in different electromagnetic environments can be adapted.

[0062] Step S50, the signal processing and control module are linked; the third inductor L3 senses the change signal of the resonance circuit, and the changed signal is input into the control module after rectification and filtering.

[0063] The operation steps of the control module include:

[0064] System initialization; the control module calibrates the resonance parameters, and synchronizes the position information of the AMHS trolley;

[0065] Real-time monitoring; the detection coil L2 continuously detects the change of the inductance value.

[0066] Step S60, the control module performs analog-digital conversion on the changed signal; when the change value of the signal exceeds the set threshold value, the anti-collision instruction is triggered, and the AMHS trolley is controlled to slow down or stop.

[0067] The operation steps of the control module include:

[0068] Anti-collision monitoring; when the magnetic core enters the predetermined range, the voltage change rate exceeds the set threshold value, and it is determined that there is a collision risk;

[0069] Anti-collision trigger; the control module outputs a PWM speed reduction instruction, cuts off the power supply of the power supply rail, and starts an alarm;

[0070] Fault recovery: regularly check the loop state, upload fault codes when abnormal, and support local / remote reset.

[0071] Among them, cutting off the power supply of the power supply rail is an optional step.

[0072] Specifically, in this embodiment, the change threshold of the voltage signal is: the voltage change rate > 5V / ms.

[0073] Specifically, the anti-collision device in this embodiment is detected, the self-inductance change of the detection coil L2 is simulated and tested, and the feasibility of the scheme is verified:

[0074] When there is only a detection coil, the coil is 2m long and 40mm wide, and when 10 turns of 5A current are passed through, the self-inductance is 103.83uh.

[0075] When there is a magnetic core with a length of 50mm moving above the detection coil, the self-inductance is 169.96uh.

[0076] When there is a magnetic core with a length of 50mm moving above the detection coil and a coil with 10 turns of 10A current passing through, the self-inductance of the detection coil is 169.96uh, the mutual inductance with the newly added coil is 6.45uh, and the self-inductance of the newly added coil is 3.6511uh.

[0077] The technical scheme achieves the beneficial effects:

[0078] 1. Signal conversion and resonance detection integrated design: through voltage signal conversion, the system structure is simplified, the need for each power extractor to install an inverter in the traditional scheme is eliminated, and the cost and power consumption are reduced.

[0079] 2. Magnetic core multiplexing: the power extractor magnetic core is multiplexed as a detection coil inductance adjustment element, reducing redundant design and reducing system size.

[0080] 3. Inductance sensitivity optimization: series compensation capacitor in the detection coil, reduce the total inductance of the external base, can make the response speed of inductance change to external magnetic interference improve to millisecond level.

[0081] 4. Modular resonant loop: through the high impedance characteristic of parallel resonant circuit, realize zero static power consumption, only activate energy transmission when there is a risk of collision, improve system energy efficiency ratio.

[0082] The present application realizes efficient anti-collision control of dynamic WPT system through inductance dynamic detection and magnetic core multiplexing technology, has the advantages of simplified structure, sensitive response and cost advantage, and provides a reliable solution for multi-device cooperative power supply scene.

[0083] In the anti-collision device and control method of the AMHS system based on the electromagnetic induction principle, the power supply rail current signal is directly converted by the power receiver, the traditional inverter module is omitted, the system structure is simplified, and the energy consumption is reduced; the compensation capacitor is connected in series in the detection coil, the inductance base is reduced, the sensitivity of inductance change to the movement of the external magnetic core is improved to the millisecond level, the quality factor (Q value) of the resonance circuit is optimized, and the signal stability is enhanced; the electromagnetic induction mechanism is not sensitive to environmental factors such as dust and light, and is suitable for industrial scenes with high electromagnetic compatibility requirements. The circuit structure of the present application is simple, easy to implement, low in cost, and easy to popularize.

[0084] It should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can be variously modified and changed. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An anti-collision device for an AMHS system based on the principle of electromagnetic induction, used to prevent collisions of an AMHS trolley during its travel on an AMHS track, both sides of which are paved with power supply rails, and a current is obtained from the rails by a current collector in a sliding contact or non-contact manner, characterized in that, Including signal conversion module, magnetic core multiplexing module and control module, the signal conversion module includes resonance detection module, wherein, The resonance detection module includes a detection coil L2 and a second compensation capacitor C2, the detection coil L2 is provided in parallel with the second compensation capacitor C2, and a parallel resonance circuit is formed, the resonance detection module is used for detecting the inductance change of the signal conversion module caused by the resonance state change of the parallel resonance circuit due to the proximity of the power receiver, The signal conversion module further includes a first inductor L1, a third inductor L3 and a first compensation capacitor C1, the first compensation capacitor C1, the first inductor L1 and the third inductor L3 are provided in series with the parallel resonance circuit, forming a signal detection circuit, the signal conversion module is used for converting the current signal of the power supply rail into a voltage signal by the power receiver, and the inductance change of the signal detection circuit is monitored in real time in combination with the parallel resonance circuit, The first inductor L1 is used for converting the current signal of the power supply rail into a voltage signal U1 by the power receiver, and providing a voltage source for the third inductor L3 after compensation by the first compensation capacitor C1, The resonance detection module further includes a sensitivity enhancement module, the sensitivity enhancement module includes a third compensation capacitor Cp, and the third compensation capacitor Cp is connected in series on one side of the detection coil L2, the sensitivity enhancement module is used for reducing the inductance base to improve the sensitivity of the inductance to the movement of the external magnetic core, The magnetic core multiplexing module includes a built-in magnetic core of the power receiver, and the magnetic core multiplexing module uses the built-in magnetic core of the power receiver as a detection coil inductance adjusting element.

2. The AMHS system anti-collision device based on the principle of electromagnetic induction of claim 1, wherein, The third inductor L3 is a receiving coil on the power receiver, and the third inductor L3 is used for sensing the change signal of the parallel resonance circuit and inputting the rectified and filtered signal into the controller.

3. The AMHS system anti-collision device based on the principle of electromagnetic induction of claim 1, wherein, The control module is used for judging whether there is a collision risk according to the voltage change rate of the detection coil L2, and sending a PWM speed reduction instruction to the AMHS headstock to cut off the power supply rail and start the alarm when it is judged that there is a collision risk.

4. A control method of the collision prevention device of the AMHS system based on the principle of electromagnetic induction, for preventing the collision of the AMHS trolley when traveling on the AMHS track by the collision prevention device of the AMHS system based on the principle of electromagnetic induction according to any one of claims 1-3, characterized in that, The specific steps include: Step one, installing the power supply rail and the power receiver; the power supply rail is arranged parallel on both sides of the AMHS track, and the power receiver obtains current from the power supply rail through sliding contact or non-contact mode; Step two, circuit connection of the signal conversion module; the first compensation capacitor C1 is connected in series at the output end of the power receiver to convert the rail current signal into a voltage signal U1; the voltage signal U1 is input into the resonance detection module after filtering by the filtering circuit; Step three, configuring the resonance detection module; the detection coil L2 and the second compensation capacitor C2 form a parallel resonance circuit; Step four, optimizing the sensitivity enhancement module; the third compensation capacitor Cp is connected in series on one side of the detection coil L2 to reduce the inductance base; Step five, signal processing and control module linkage; the third inductor L3 senses the change signal of the resonance circuit, and inputs the rectified and filtered signal into the control module; Step six, the control module performs analog-digital conversion on the changed signal, triggers the anti-collision instruction when the change value of the signal exceeds the set threshold, and controls the AMHS headstock to slow down or stop.

5. The control method of the collision avoidance device of the AMHS system based on the principle of electromagnetic induction according to claim 4, characterized in that, The resonance frequency calculation formula of the parallel resonant circuit in the third step is shown in formula (1): （1）； wherein, f r is the resonant frequency of the parallel resonant circuit, L2 is the inductance value of the detection coil, and C2 is the capacitance value of the second compensation capacitor. In normal state, the parallel resonant circuit is in resonance state, the impedance is maximum, and the current of the induction line is close to zero; when the magnetic core is close, the inductance L2 changes, the resonance condition is destroyed, and the induction line generates excitation current.

6. The control method of the collision avoidance device of the AMHS system based on the principle of electromagnetic induction according to claim 4, characterized in that, The specific steps of the control module in the fifth step include: System initialization; the control module calibrates the resonance parameters and synchronizes the position information of the AMHS trolley; Real-time monitoring; the coil L2 continuously detects the change of the inductance value.

7. The control method of the collision avoidance device of the AMHS system based on the principle of electromagnetic induction according to claim 4, characterized in that, The specific steps of the control module in the sixth step include: Anti-collision monitoring; when the magnetic core enters the predetermined range, the voltage change rate exceeds the set threshold, and it is determined that there is a collision risk; Anti-collision triggering; the control module outputs the PWM speed reduction instruction, cuts off the power supply of the power supply rail, and starts the alarm; Fault recovery: periodically self-check the loop state, upload fault code when abnormal, and support local / remote reset.

Images