CN101704471A - Tower crane safety monitoring system based on CAN bus distributed structure - Google Patents
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Abstract
The invention relates to a tower crane safety monitoring system based on a CAN bus distributed structure, and belongs to the technical field of engineering machinery. The system comprises a human-computer interface module, a relay control module, a lifting capacity detection module, an amplitude detection module, a height detection module and an angle detection module; each module comprises a CAN communication interface and is connected into a distributed system through a CAN bus. Each node of the invention can read the information from the bus in real time, namely the communication between the nodes does not need the conversion of the intermediate node, the communication process is greatly simplified, the system has better real-time performance, the structural configuration of the system is more reasonable, the reliability is ensured, and the invention has outstanding flexibility.
Description
Technical field
The present invention relates to a kind of safety monitoring system of using electromechanical integration, information acquisition and intelligent control technology, especially a kind of tower crane safety monitoring system based on the CAN bus distributed structure belongs to technical field of engineering machinery.
Background technology
Tower crane has characteristics such as scope of work is big, load-carrying capacity is strong as the elevator machinery of carrying material, and flourish along with building industry obtained application more and more widely, now become key equipment indispensable on the construction site.But in recent years, all kinds of tower machine safety misadventures that cause because of violation operations such as overloading, transfinite have also been beaten alarm bell for people.How to have guaranteed the safety of its operation and effectively reduced becoming of this type of accident to need the urgent problem that solves.For this reason, the national newest standards of GB5114-2006 " tower crane safety procedure " is clearly stipulated to be equipped with moment, hoisting capacity, amplitude, revolution and high safety killer on the tower machine.Usually, the tower machine is devices such as meeting mounting torque killer, position limiter and speed restrictor when dispatching from the factory, and its principle of work is a power alarm when monitored parameter surpasses certain limit.Though the fender guard of this class mechanical type is simple in structure, cost is lower, have following shortcoming: (1) is the working parameter of monitoring tower machine in real time, its running state can't be shown to operating personal intuitively, so that it in time adjusts; (2) can not complete documentation tower machine working process, so as for produce in the future, maintenance and accident are judged that the support of failure-free data is provided; (3) reliability reduces greatly after the long-term use.Therefore, how to provide the problem that a kind of reliability is higher, can become to press for solution to the safety system of the real-time synchronous monitoring of each working parameter of tower machine.
Domestic prior art article and patent documentation are carried out the retrieval analysis discovery, and the safety system that is used for tower crane that has proposed can be divided into wireless system and wired system.Because system works at the construction field (site), its communication environment changes greatly, and wireless system exists network access and connects problems such as difficulty, the instability that goes offline easily, communicates by letter, and its cost is higher at present, is unfavorable for promoting.Wired system mainly is divided into central control system and distribution control system.Central control system adopts the single host structure; promptly be distributed in each position of tower machine from machine testing tower machine relevant work parameter; the main frame collection is respectively from machine information; and finish controllable function according to system requirements; as: the Chinese utility model patent of the patent No. 200620111911.2 is disclosed, and " tower crane operating mode record and limiting and protecting device are host center with the micro controller system; each slave constitutes by the relevant detection sensor with the micro controller system that is for data processing; the slave collection is also handled the signal of sensor separately; main frame is inquired about the information of each slave in real time to realize tower machine hoisting capacity by the RS485 bus; hoisting moment; dolly amplitude; the monitoring of height under hook etc. and record; be characterized in that each slave all possesses signal processing function; alleviated the burden of main frame; but with the RS485 bus is the master-slave system of representative; the communication circulation address lookups that adopt more; handshake communication; the many more transmission efficiency of node are low more; upload the no priority level of communication; wait calling even need the anxious abnormal data that passes also to get sequential queue; real-time is poor; and the individual node mistake can influence the total system performance, and system reliability is low.
And for example: the Chinese invention patent of the patent No. 99115812.1 disclosed " tower crane monitoring running state safety system and method " is the main frame core with the micro controller system; pulling force sensor and each opto-electronic pickup are slave; the information that slave will collect separately sends to HPI; main frame receives and handles these information, finishes the monitoring to tower machine moment, lift heavy, height under hook and speed, dolly position and speed, degreeof turn and speed.
(patent No.: 200610070800.6) disclosed " multifunctional safety control system for tower crane " is the main frame core with the ARM microprocessor to Chinese invention patent, from hoisting capacity, amplitude, send into main frame after the signal process signal condition resume module of angle and height sensor, host software is a platform with embedded system μ COS-II, whole system function is divided into a plurality of tasks, finishing total system control by multi-task scheduling. the latter compares with the former in these two patents, its main frame adopts the stronger ARM chip of processing capacity and the software platform of multitask, system real time and reliability all increase, but all exist following shortcoming: (1) host-guest architecture can't constitute the system of many masters or redundancy structure, guarantee the realization of controllable function, main frame must possess stronger data-handling capacity, even adopt the stronger chip of processing capacity, in case but main frame occurs unusually, the reliability of system also can't be guaranteed, and its maintenance cost is also higher in addition; (2) gather tower machine working parameter with channel mode, be unfavorable for the adding of new monitoring parameter and new functional node, the system expandability is poor; (3) be distributed in tower machine slave everywhere and all link to each other with main frame, it is comparatively loaded down with trivial details to connect up. and dcs adopts many main or redundancy structures.
(patent No.: 200810200417.7) total linearize field data collection terminal is responsible for collecting the relevant working parameter of tower machine and is converted into CAN message form and sends on the bus in disclosed " modularization, bus real-time monitoring system for tower crane ", and total linearize functional unit is responsible for receiving from the information on the bus and is finished systemic-functions such as demonstration, control, radio communication as Chinese invention patent.Though the structure that this patent is announced has compatibility and extensibility preferably, but communicating by letter between its described field data collection terminal and the functional unit need be through the protocol translation of a total linearize data processing module, it is complicated more that whole communication process becomes, in case and the information loads on the bus increases, middle total linearize data processing module very easily becomes the communication performance bottleneck of system, if it occurs unusual, the reliability of system works can't be guaranteed, the characteristics of the inreal performance CAN of this system bus distributed system.
Summary of the invention
The objective of the invention is to: at the problem and shortage of above-mentioned prior art existence; a kind of tower crane safety monitoring system based on the CAN bus distributed structure is proposed; this system not only possesses complete defencive function; and can be in the work of monitoring tower machine its working process of complete documentation, for produce in the future, maintenance and accident are judged that foundation is provided.
The tower crane safety monitoring system that the present invention is based on the CAN bus distributed structure is realized by following basic technical scheme:
Comprise human-machine interface module, relay control module, hoisting capacity detection module, amplitude detection module, height detection module, angular detection module; Described each module all contains the CAN communication interface, and connects into a distributed system by the CAN bus;
The input end of described each detection module connects the senser element that is positioned at tower machine relevant position respectively, in order to gather corresponding tower machine working parameter, after conversion and handling, sends on the bus with the CAN message format of doing respective markers;
Described human-machine interface module contains demonstration mouth and the storage area that connects telltale, in order to the information of collecting on bus, is saved in corresponding storage area after the parsing, and corresponding tower machine working parameter is outputed to the telltale demonstration;
The control output end of described relay module connects the corresponding relay of tower electrical-mechanical system, has the CAN message of special sign (for example warning mark) on bus in order to collect, and sends into corresponding relay after the parsing, the start and stop of control tower machine corresponding motor.
The further technical scheme of the present invention is:
Described hoisting capacity detection module, amplitude detection module, height detection module and angular detection module mainly are made of microprocessor, CAN controller, CAN transceiver and signal digitalized switching device (A/D converter or magnetic coder) respectively; The microprocessor of described hoisting capacity detection module, amplitude detection module, height detection module and angular detection module is connected with corresponding senser element by corresponding signal digitalized switching device respectively, and connect the CAN transceiver by the CAN controller, and then be connected to the CAN bus by the CAN communication interface, in order to receive the detection signal of respective sensor part, judge that this detection signal is in normal operation region, prewarning area or alarm region, and do and be assembled into the CAN message after the respective markers and send on the bus.
Because in the CAN system, arbitrary node all can send message to bus when bus is idle, when if a plurality of nodes send on bus simultaneously, system will solve this access conflict by the arbitration by turn of CAN message identifier, simultaneously each node all can freely receive the message from bus, and " filtering " of the examination filter by the CAN controller acts on and determines whether intactly to receive this message.And the message that each node that each detection module among the present invention and its respective sensor part constitute sends on the bus all possesses unique identifier, be that each priority of messages is unique, therefore guarantee that the message on the bus can not produce conflict and cause system jams, has improved its reliability; Simultaneously by each node being checked and accepted the setting of filter, make the man machine interface node can receive message from detection node, the relay Control Node receives only the message from sign having of detection node specific (warnings), and output realization control corresponding.In addition, each detection node also receives the control command from the man machine interface node, and the hoisting capacity detection node can receive the message from the amplitude node, and each node reads complete message according to demand separately from bus like this, has reduced work capacity separately.
Description of drawings
The present invention is further illustrated below in conjunction with accompanying drawing.
Fig. 1 is the structured flowchart of one embodiment of the invention;
Fig. 2 is a hoisting capacity detection module block diagram among Fig. 1 embodiment;
Fig. 3 is amplitude among Fig. 1 embodiment (or height, an angle) detection module block diagram;
Fig. 4 is a man machine interface communication module block diagram among Fig. 1 embodiment;
Fig. 5 is Fig. 1 embodiment repeat circuit control module block diagram.
The specific embodiment
Embodiment one
Present embodiment comprises human-machine interface module, relay control module, hoisting capacity detection module, amplitude detection module, height detection module, angular detection module based on the tower crane safety monitoring system of CAN bus distributed structure as shown in Figure 1.Each module all contains the CAN communication interface, and connects into a distributed system by the CAN bus.Wherein, human-machine interface module is placed in the operator's compartment, is convenient to operating personal control.Relay module and tower machine self regulator cubicle links and is installed in its next door.
Hoisting capacity detection module and the pulling force sensor that links to each other with its input end constitute the hoisting capacity detection node, and this pulling force sensor is installed on the tower machine hoisting wirerope, and connect microprocessor in the hoisting capacity detection module by 16 A/D converters.Timing microprocessor is gathered the digital quantity that A/D converter is sent here, disappear through filtering and to tremble, be converted to the actual hoisting capacity of tower machine after a series of processing such as scale conversion, multiplying power conversion, and judge that this value is in normal operation region, prewarning area or alarm region:, be in the normal region if less than rated value 90%; If be between the rated value 90%～105%, be in prewarning area; If greater than 105%, be in alarm region, then the lifting value is done corresponding sign and be assembled into the CAN message and send on the bus.In addition, the hoisting capacity detection module can read the amplitude node and send to message on the bus, after the parsing current range value and lifting value done to calculate and obtain current moment values, and judge that this value is in normal region, prewarning area or alarm region (judging identical with hoisting capacity), then moment values is done corresponding sign and be assembled into the CAN message and send on the bus.
The amplitude detection module, the height detection module is identical with the hardware configuration of angular detection module, form amplitude with sensitive member respectively, height and angular detection node. each sensitive member is placed in the motor shaft end of driving tower machine or coupled limiting device axle head respectively, be connected with microprocessor in each module by magnetic coder, the induction motor corner changes and output impulse singla correspondingly. and timing microprocessor reads pulsed quantity and carries out corresponding conversion and calculating: the amplitude detection module is translated into the dolly range value, the height detection node is translated into the height under hook value, the angular detection module is translated into the degreeof turn value, and calculate crab traversing speed according to time of run separately, suspension hook lifting velocity and tower machine speed of revolutions. similar with the hoisting capacity detection node, amplitude, height and angular detection node also need during message to carry out correspondingly to declare in assembling: be in as if the work at present value maximum limit 10%～90% between, be in normal operation region; If the work at present value less than maximum limit 10% or greater than maximum limit 90%, is in prewarning area; If the work at present value is less than maximum limit 5% or greater than maximum limit 95%, be in alarm region, do corresponding sign then and be assembled into the CAN message format and send on the bus.
The man machine interface communication module constitutes the man machine interface node referring to Fig. 4 with USB flash disk, keyboard and Liquid Crystal Display (LCD).Wherein the extension storage unit in the man machine interface communication module is used for preserving necessary parameter of communication process and operating process data, interface unit comprises USB flash disk interface, display screen interface, keyboard interface, RS232 interface and RS485 interface, and (the RS232 interface can carry out communication with computing machine, the RS485 interface can join with other peripheral hardwares and be convenient to expansion, USB flash disk interface in the present embodiment realizes that by the CH375 chip its external 2G Byte capacity USB flash disk can write down the job record at least one year of tower machine).The CAN transceiver is sent preceding several bytes of message on the bus into the CAN controller, whether continue to receive subsequently data byte by latter decision, send into the extension storage unit when determining the complete CAN message that will receive after the reception, microprocessor reads these messages and resolves according to the CAN agreement, send into telltale in the lump from clock unit time for reading parameter then and show, deposit respective regions in the USB flash disk in by the USB flash disk interface simultaneously; When microprocessor finds that the message of resolving has early warning or warning mark, driving LED lamp group and buzzer phone are noted to remind operating personal.
Relay control module constitutes the relay Control Node, in the middle of it R/G respectively with the tower machine in the regulator cubicle relay of control suspension hook lifting motor, trolley walking motor and turning motor be connected, to control its startup and to stop.Relay control module only gives a response the message that has warning mark on the bus: promptly find that when it this message is when having warning mark, the data byte that takes out is thereafter resolved according to the CAN agreement:, then control lifting motor suspension hook is descended if hoisting capacity is reported to the police or highly reported to the police; If moment is reported to the police or amplitude is reported to the police, then the span of control limit of control motor makes dolly to reverse direction operation; If degreeof turn is reported to the police, then control turning motor and make the opposite spin of tower machine.
More than main devices model in each module be respectively: the AT89C51 of microprocessor atmel corp, the SJA1000 of CAN controller Philips company, the TJA1050 of CAN transceiver Philips company, 16 bit A/D converters--AD7705, the 2SA-10 of magnetic coder SENTRON company.
Facts have proved that with respect to prior art, present embodiment has following outstanding advantage:
(1) each node all can read in real time from the information on the bus, and promptly internodal communication does not need the conversion of intermediate node, and communication process is simplified greatly, and the system that makes has good real-time performance;
(2) function that will finish of system distributes equably to each node, has alleviated the burden of each node, makes the hardware and software expense of each node significantly reduce, and the system architecture configuration is more reasonable;
(3) by the setting to error register in each node CAN controller, but the output of mistake node SELF CL can not influence the normal operation of total system, and system reliability has obtained guarantee;
(4) each detection node directly sends to detected risky operation information on the bus, and the relay node has outstanding sensivity to these alerting signals simultaneously, has guaranteed the safety of system and the promptness that risky operation is handled;
(5) distributed system architecture makes things convenient for the adding (but new node only need possess all plug and play of CAN packet sending and receiving ability) of new node, and flexible extension also is convenient in the modular design of simultaneity factor functional unit and detecting unit, and system has outstanding alerting ability.
In addition to the implementation, the present invention can also have other embodiments. and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of requirement of the present invention.
Claims (4)
1. the tower crane safety monitoring system based on the CAN bus distributed structure comprises human-machine interface module, relay control module, hoisting capacity detection module, amplitude detection module, height detection module, angular detection module; It is characterized in that: described each module all contains the CAN communication interface, and connects into a distributed system by the CAN bus;
The input end of described each detection module connects the senser element that is positioned at tower machine relevant position respectively, in order to gather corresponding tower machine working parameter, after conversion and handling, sends on the bus with the CAN message format of doing respective markers;
Described human-machine interface module contains demonstration mouth and the storage area that connects telltale, in order to the information of collecting on bus, is saved in corresponding storage area after the parsing, and corresponding tower machine working parameter is outputed to the telltale demonstration;
The control output end of described relay module connects the corresponding relay of tower electrical-mechanical system, has the CAN message of special sign (for example warning mark) on bus in order to collect, and sends into corresponding relay after the parsing, the start and stop of control tower machine corresponding motor.
2. according to the described tower crane safety monitoring system based on the CAN bus distributed structure of claim 1, it is characterized in that: described hoisting capacity detection module, amplitude detection module, height detection module and angular detection module mainly are made of microprocessor, CAN controller, CAN transceiver and signal digitalized switching device respectively; The microprocessor of described hoisting capacity detection module, amplitude detection module, height detection module and angular detection module is connected with corresponding senser element by corresponding signal digitalized switching device respectively, and connect the CAN transceiver by the CAN controller, and then be connected to the CAN bus by the CAN communication interface, in order to receive the detection signal of respective sensor part, judge that this detection signal is in normal operation region, prewarning area or alarm region, and do and be assembled into the CAN message after the respective markers and send on the bus.
3. according to the described tower crane safety monitoring system of claim 2 based on the CAN bus distributed structure, it is characterized in that: the input termination pulling force sensor of described hoisting capacity detection module, described pulling force sensor is connected with microprocessor in the described hoisting capacity detection module by A/D converter.
4. according to the described tower crane safety monitoring system based on the CAN bus distributed structure of claim 3, it is characterized in that: cooresponding each senser element of described amplitude detection module, height detection module and angular detection module is connected with microprocessor in described amplitude detection module, height detection module and the angular detection module by magnetic coder respectively.
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| CN101969660A (en) * | 2010-10-26 | 2011-02-09 | 北京全路通信信号研究设计院 | Method, device and system for monitoring Igsmr interface |
| CN102050363A (en) * | 2010-12-22 | 2011-05-11 | 重庆伊士顿电梯有限责任公司 | High-rise elevator control master command board and control method thereof |
| CN102416915A (en) * | 2011-10-22 | 2012-04-18 | 成都市翻鑫家科技有限公司 | Hardware system of controller area network (CAN) communication module for vehicle |
| CN102627231A (en) * | 2012-03-29 | 2012-08-08 | 中国科学院自动化研究所 | Amplitude limiting device and method |
| CN102963827A (en) * | 2012-11-02 | 2013-03-13 | 宜昌市创星电子技术发展有限公司 | Tower crane safety management system |
| CN103896157A (en) * | 2013-12-30 | 2014-07-02 | 徐州徐工随车起重机有限公司 | Synchronous control system and method of side crane |
| CN104058336A (en) * | 2013-12-18 | 2014-09-24 | 徐州重型机械有限公司 | Front lifting crane and control method and system thereof |
| CN105203343A (en) * | 2014-11-28 | 2015-12-30 | 徐州重型机械有限公司 | Crane hoisting weight detection system and crane hoisting weight detection method |
| CN105883620A (en) * | 2016-05-24 | 2016-08-24 | 扬州市东宇环保设备有限公司 | Movable crane height detecting and alarming system |
| CN108529456A (en) * | 2018-06-12 | 2018-09-14 | 徐州建机工程机械有限公司 | A kind of novel tower crane moment safety control system and method |
| CN111377359A (en) * | 2020-04-14 | 2020-07-07 | 上海宏英智能科技有限公司 | Tower crane control device |
| CN112822082A (en) * | 2021-01-11 | 2021-05-18 | 明峰医疗***股份有限公司 | High-stability high-speed CAN communication method |
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| CN115361254A (en) * | 2022-08-03 | 2022-11-18 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three large mechanisms of tower crane |
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| CN101969660B (en) * | 2010-10-26 | 2014-01-08 | 北京全路通信信号研究设计院有限公司 | Method, device and system for monitoring Igsmr interface |
| CN101969660A (en) * | 2010-10-26 | 2011-02-09 | 北京全路通信信号研究设计院 | Method, device and system for monitoring Igsmr interface |
| CN102050363A (en) * | 2010-12-22 | 2011-05-11 | 重庆伊士顿电梯有限责任公司 | High-rise elevator control master command board and control method thereof |
| CN102050363B (en) * | 2010-12-22 | 2013-08-28 | 重庆伊士顿电梯有限责任公司 | High-rise elevator control master command board and control method thereof |
| CN102416915A (en) * | 2011-10-22 | 2012-04-18 | 成都市翻鑫家科技有限公司 | Hardware system of controller area network (CAN) communication module for vehicle |
| CN102627231A (en) * | 2012-03-29 | 2012-08-08 | 中国科学院自动化研究所 | Amplitude limiting device and method |
| CN102963827A (en) * | 2012-11-02 | 2013-03-13 | 宜昌市创星电子技术发展有限公司 | Tower crane safety management system |
| CN102963827B (en) * | 2012-11-02 | 2015-07-01 | 宜昌市创星电子技术发展有限公司 | Tower crane safety management system |
| CN104058336A (en) * | 2013-12-18 | 2014-09-24 | 徐州重型机械有限公司 | Front lifting crane and control method and system thereof |
| CN104058336B (en) * | 2013-12-18 | 2016-02-24 | 徐州重型机械有限公司 | Front-handling mobile crane and control method thereof and system |
| CN103896157B (en) * | 2013-12-30 | 2016-04-20 | 徐州徐工随车起重机有限公司 | Side crane synchronous control system and method |
| CN103896157A (en) * | 2013-12-30 | 2014-07-02 | 徐州徐工随车起重机有限公司 | Synchronous control system and method of side crane |
| CN105203343A (en) * | 2014-11-28 | 2015-12-30 | 徐州重型机械有限公司 | Crane hoisting weight detection system and crane hoisting weight detection method |
| CN105883620A (en) * | 2016-05-24 | 2016-08-24 | 扬州市东宇环保设备有限公司 | Movable crane height detecting and alarming system |
| CN108529456A (en) * | 2018-06-12 | 2018-09-14 | 徐州建机工程机械有限公司 | A kind of novel tower crane moment safety control system and method |
| CN111377359A (en) * | 2020-04-14 | 2020-07-07 | 上海宏英智能科技有限公司 | Tower crane control device |
| CN112822082A (en) * | 2021-01-11 | 2021-05-18 | 明峰医疗***股份有限公司 | High-stability high-speed CAN communication method |
| CN114384846A (en) * | 2022-01-11 | 2022-04-22 | 长沙普洛电气设备有限公司 | Multifunctional integrated tower crane controller, control system and control method |
| CN115361254A (en) * | 2022-08-03 | 2022-11-18 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three large mechanisms of tower crane |
| CN115361254B (en) * | 2022-08-03 | 2024-01-19 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three major mechanisms of tower crane |
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Open date: 20100512 |