CN118101736A - Remote control safety guarantee method and system for engineering machinery and engineering machinery - Google Patents
Remote control safety guarantee method and system for engineering machinery and engineering machinery Download PDFInfo
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- CN118101736A CN118101736A CN202311845591.8A CN202311845591A CN118101736A CN 118101736 A CN118101736 A CN 118101736A CN 202311845591 A CN202311845591 A CN 202311845591A CN 118101736 A CN118101736 A CN 118101736A
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Abstract
The embodiment of the application provides a remote control safety guarantee method and system for engineering machinery and the engineering machinery. The method comprises the following steps: remotely controlling the operation of the executing mechanism through a remote control terminal; the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last received heartbeat data packets sent by a remote control terminal according to a preset period; the main controller determines the waiting time between the current time point and the historical time point; under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state; under the condition that the communication state is abnormal, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected, so that the engineering machinery stops running in time, and the safety of the engineering machinery in remote control is improved.
Description
Technical Field
The application relates to the technical field of mechanical control, in particular to a remote control safety guarantee method and system for engineering machinery and the engineering machinery.
Background
At present, the operation of the engineering machine is that an operator of the engineering machine operates in a cab matched with the engineering machine. In the running process of the engineering machinery, if any unexpected situation occurs, an operator can take operations such as emergency stop buttons or power off on site, and the engineering machinery can be stopped immediately and safely. If the remote operation engineering machine is involved, at this time, no operator is in the cab of the general engineering machine, and after receiving a remote control instruction, the engineering machine controls the corresponding executing mechanism to execute the corresponding action.
However, when an actuator of a remote control construction machine is operated, there may be a case where communication is interrupted. For example, when the engineering machinery is taken as a tower crane for example and the swing mechanism of the remote control crane moves, the communication is suddenly interrupted, the crane is still executing the last operation instruction at the moment, and the crane is not controlled by the remote control terminal, so that unnecessary safety accidents can be caused to the crane. Therefore, when the engineering machine is remotely controlled to operate, if communication interruption occurs between the engineering machine and the remote control terminal, the engineering machine is out of control, and the operation safety of the engineering machine is low.
Disclosure of Invention
The embodiment of the application aims to provide a remote control safety guarantee method and system for engineering machinery and the engineering machinery, which are used for solving the problem of low operation safety of the remote control engineering machinery in the prior art.
In order to achieve the above object, a first aspect of the present application provides a remote control safety guarantee method for a construction machine, the construction machine including an actuator and a power supply contactor corresponding to the actuator, including:
Remotely controlling the operation of the executing mechanism through a remote control terminal;
the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last received heartbeat data packets sent by a remote control terminal according to a preset period;
the main controller determines the waiting time between the current time point and the historical time point;
under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state;
When the communication state is abnormal, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
In the embodiment of the application, the method further comprises the following steps: under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller determines that the communication state is a normal state; under the condition that the communication state is normal, the main controller controls the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate; wherein the first preset time period is longer than the second preset time period.
In the embodiment of the application, the method further comprises the following steps: the remote control terminal comprises an emergency stop button, and the method further comprises: triggering a scram button to send a scram instruction to a main controller based on the field condition before the engineering machinery stops running; the main controller receives the scram instruction and controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
In an embodiment of the present application, the construction machine further includes a STO circuit, the STO circuit includes a scram switch, and the method further includes: the scram switch is in an open state in response to the scram instruction, so that the STO loop is opened, and the engineering machinery is controlled to stop running.
In an embodiment of the present application, the construction machine further includes a remote operation on-tower receiver, and the method further includes: the remote operation tower receiver determines abnormal communication with the remote control terminal under the condition that the remote operation tower receiver does not receive the heartbeat data packet sent by the remote control terminal after the first preset time length is exceeded; the emergency stop switch is in an off state in response to abnormal communication between the receiver on the remote operation tower and the remote control terminal, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
In the embodiment of the application, the engineering machinery further comprises a tower linkage table scram button and/or a remote control terminal scram button, the tower linkage table scram button is connected with a scram switch in the STO loop, and the remote control terminal scram button is connected with the scram switch in the STO loop, and the method further comprises: according to the on-site situation, a sudden stop command is sent through a sudden stop button of a linkage table on the tower or a sudden stop button of a remote control terminal, and a sudden stop switch in the STO loop is triggered to be disconnected, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
A second aspect of the present application provides a remote control safety guarantee system for a construction machine, including:
the remote control terminal is used for remotely controlling the execution mechanism to work;
The main controller is used for maintaining heartbeat communication with the remote control terminal, acquiring a historical time point of last received heartbeat data packets sent by the remote control terminal according to a preset period, determining a waiting time between the current time point and the historical time point, and determining that the communication state between the main controller and the remote control terminal is an abnormal state under the condition that the waiting time reaches a first preset time length and the heartbeat data packets are not received;
and the power supply contactor is corresponding to the execution mechanism and is used for disconnecting the power supply contactor when the communication state is abnormal, and the execution mechanism stops working so as to stop the operation of the engineering machinery.
In an embodiment of the present application, the system further includes: the remote operation tower receiver is used for receiving the heartbeat data packet sent by the remote control terminal and detecting whether the communication between the remote control terminal and the heartbeat data packet is abnormal or not; and the scram switch of the STO loop is used for triggering to be disconnected to disconnect the STO loop so as to stop the operation of the engineering machinery under the condition that the communication between the receiver on the remote operation tower and the remote control terminal is abnormal.
In an embodiment of the present application, the system further includes: and the tower linkage table emergency stop button and/or the emergency stop button of the remote control terminal are/is used for directly triggering the emergency stop switch to be disconnected after any emergency stop button is pressed, so that the STO loop is disconnected, and the engineering machinery stops running.
The third aspect of the application provides a construction machine comprising the remote control safety guarantee system for the construction machine.
According to the technical scheme, when the main controller determines that the communication state between the main controller and the remote control terminal is abnormal, the main controller controls the power supply contactor corresponding to the execution mechanism to be disconnected, and the engineering machinery gradually stops running through soft scram, so that the safety of the engineering machinery during remote control is ensured. When communication between the remote control terminal and the receiver on the remote operation tower is abnormal, the STO function of the frequency converter of the engineering machinery can be automatically triggered, so that the STO loop is disconnected, and the emergency stop of the engineering machinery in remote control can be realized by the hard emergency stop on the engineering machinery or when no person is at the remote control terminal, so that the safety of the engineering machinery in remote control is ensured. The emergency stop button of the linkage table on the tower or the emergency stop button of the remote control terminal is used for sending an emergency stop instruction to trigger the emergency stop switch of the STO loop to be disconnected, so that the STO loop is disconnected, and the emergency stop of the engineering machinery in remote control can be realized by the hard emergency stop when a user exists on the engineering machinery or the remote control terminal, and the safety of the engineering machinery in remote control is ensured.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
fig. 1 schematically shows a flow diagram of a remote control safety assurance method for a construction machine according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a remote control safety assurance method for a work machine according to another embodiment of the present application;
fig. 3 schematically shows an internal structural view of a computer device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is only for descriptive purposes, and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow chart of a remote control safety guarantee method for a construction machine according to an embodiment of the application. As shown in fig. 1, in an embodiment of the present application, there is provided a remote control safety guarantee method for a construction machine, including the steps of:
step 101: and the execution mechanism is remotely controlled to operate through the remote control terminal.
The work machine may include an actuator and a power supply contactor corresponding to the actuator. The engineering machine may be a crane, in particular a tower crane. The tower crane may include a luffing jib tower crane, a non-luffing jib tower crane, and a flat-jib tower crane. The implement of the work machine may comprise a plurality of implements. If the engineering machinery is a tower crane, the actuating mechanism may include a lifting mechanism, a slewing mechanism and an amplitude-changing mechanism. The hoisting mechanism can be used for executing hoisting operation of the crane, the slewing mechanism can be used for executing slewing operation of the crane, and the luffing mechanism can be used for executing luffing operation of the crane. The remote control terminal can remotely control the operation of the execution mechanism of the engineering machinery. The remote control terminals may include, but are not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, as well as remote consoles.
Step 102: the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last receiving a heartbeat data packet sent by a remote control terminal according to a preset period.
The remote control terminal can send the heartbeat data packet to the main controller of the engineering machinery according to a preset period. The preset period may be customized according to the actual situation, for example, the preset period may be 20 ms/time. The heartbeat packet may be used to define a communication situation between the remote control terminal and the main controller of the work machine. The main controller of the engineering machinery can acquire the historical time point of last receiving the heartbeat data packet sent by the remote control terminal.
Step 103: the main controller determines a waiting time period between the current time point and the historical time point.
The master controller may determine a waiting period between the current point in time and the historical point in time. Specifically, the main controller may determine a time difference between the current time point and the history time point as the waiting time period.
In an embodiment of the present application, the construction machine may further include a timer, and the waiting time period may be determined by the timer. For example, the main controller may set the duration recorded in the timer to 0 when the heartbeat packet sent by the remote control terminal last time is acquired. After the master controller acquires the historical time point of last receiving the heartbeat data packet, the timer may start to count from the historical time point to the current time point. The timer may send its counted duration to the main controller, which may determine the duration counted by the timer as a waiting duration between the current time point and the historical time point.
Step 104: and under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state.
Step 105: when the communication state is abnormal, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
And under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state. The first preset duration can be determined according to actual requirements. For example, the first preset duration may be 500ms.
Under the condition that the communication state between the main controller and the remote control terminal is abnormal, at the moment, the engineering machine can still execute corresponding operation, remote control of the engineering machine is uncontrolled, and in order to ensure the operation safety of the engineering machine, the main controller can control the power supply contactor corresponding to the execution mechanism to be disconnected, so that the engineering machine stops operating.
In the embodiment of the application, the engineering machine further comprises a counter, and the counter can be used for accumulating the cycle number of the heartbeat data packet which is not acquired by the main controller and sent by the remote control terminal. The communication state between the main controller and the remote control terminal is determined by the value of the counter. For example, the main controller may set the value in the counter to 0 when the heartbeat packet sent by the remote control terminal last time is acquired. After the master controller acquires the historical time point of last receiving the heartbeat data packet, the counter may count from the historical time point to the current time point. When the heartbeat data packet sent by the remote control terminal is not acquired in each preset period from the historical time point, the counter can accumulate the counted values, the counter can send the accumulated values in the waiting time from the historical time point to the current time point to the main controller, and the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state under the condition that the accumulated values reach the preset values and the heartbeat data packet is not received. The preset value may be customized according to the actual situation, for example, the preset value may be 25 times.
In the embodiment of the application, the main controller can also clear remote control data during the remote control under the condition of abnormal communication state between the main controller and the remote control terminal.
In the embodiment of the application, the method further comprises the following steps: under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller determines that the communication state is a normal state; under the condition that the communication state is normal, the main controller controls the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate; wherein the first preset time period is longer than the second preset time period.
And under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller can determine that the communication state with the remote control terminal is a normal state. Wherein the first preset time period is longer than the second preset time period. The second preset time period can be determined according to actual requirements. For example, the second preset duration may be 20ms. Under the condition that the communication state is normal, the main controller can control the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate.
In the embodiment of the application, the main controller determines that the communication state is a normal state when the waiting time is longer than the second preset time and shorter than or equal to the first preset time and the heartbeat data packet is received. Under the condition that the communication state is normal, the main controller can control the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate.
In the embodiment of the application, if the waiting time is longer than or equal to the second preset time and shorter than the first preset time and the heartbeat data packet is not received, the main controller can determine that the communication state with the remote control terminal is an interrupt state. At this time, the main controller of the engineering machine may be temporarily interrupted with the remote control terminal, and the heartbeat data packet may be continuously detected.
If the waiting time reaches the first preset time and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state, at the moment, the remote control terminal can control the engineering machinery remotely and is out of control, and the main controller can control a power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the engineering machinery.
In the embodiment of the application, the method further comprises the following steps: the remote control terminal comprises an emergency stop button, and the method further comprises: triggering a scram button to send a scram instruction to a main controller based on the field condition before the engineering machinery stops running; the main controller receives the scram instruction and controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
The remote control terminal includes an emergency stop button. Before the construction machine stops running, namely at any time from the start of remote control of the construction machine to the stop of the construction machine, if unexpected situations occur when the construction machine is remotely controlled, a user can click a scram button installed on the remote control terminal based on the on-site situations. After clicking the scram button on the remote control terminal, the main controller may receive a corresponding scram instruction. Under the condition that the main controller receives the scram instruction, the main controller can control the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
By the soft emergency stop scheme of the engineering machinery, the power supply contactor corresponding to the execution mechanism of the engineering machinery is cut off, for example, for a tower crane, the power supply of three mechanisms such as a lifting mechanism, a slewing mechanism and an amplitude variation mechanism can be cut off, so that the engineering machinery gradually stops running, and the safe running of the engineering machinery under remote control is ensured.
In another embodiment of the present application, the work machine further comprises a STO circuit including a scram switch, the method further comprising: the scram switch is in an open state in response to the scram instruction, so that the STO loop is opened, and the engineering machinery is controlled to stop running.
The work machine includes a STO circuit including a scram switch. Wherein the scram switch may include a scram relay and a scram contactor. If unexpected situations occur when the engineering machinery is remotely controlled, the scram switch responds to the scram instruction to enter an off state, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
In another embodiment of the present application, the work machine further comprises a remotely operated on-tower receiver, separate from the main controller, in maintaining heartbeat and communication with the remote control terminal, the method further comprising: the remote operation tower receiver determines abnormal communication with the remote control terminal under the condition that the remote operation tower receiver does not receive the heartbeat data packet sent by the remote control terminal after the first preset time length is exceeded; the emergency stop switch is in an off state in response to abnormal communication between the receiver on the remote operation tower and the remote control terminal, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
And under the condition that the heartbeat data packet sent by the remote control terminal is not received in excess of the first preset time period, the remote operation tower receiver determines abnormal communication with the remote control terminal. Namely, the remote control terminal and the remote operation tower receiver on the engineering machinery are protected by the timing heartbeat data, and the remote control terminal can also send heartbeat data packets to the remote operation tower receiver to detect whether the communication state between the remote control terminal and the remote operation tower receiver is abnormal.
Under the condition that the communication between the receiver on the remote operation tower and the remote control terminal is abnormal, the scram switch can be in an off state in response to the communication between the receiver on the remote operation tower and the remote control terminal, so that the STO loop is disconnected, the engineering machinery is controlled to stop running, and the scram operation is automatically completed when no person is on the engineering machinery. Under the condition that the communication between the remote operation tower receiver and the remote control terminal is normal, the emergency stop switch of the remote operation tower receiver is continuously in a normally closed state.
By means of the hard scram scheme of the engineering machinery, timing heartbeat data protection is arranged between the remote control terminal and the receiver on the remote operation tower of the engineering machinery, and when communication abnormality between the remote control terminal and the receiver on the remote operation tower is detected, the STO function of the frequency converter of the engineering machinery can be automatically triggered on the engineering machinery or when no person exists on the remote control terminal, so that scram of the engineering machinery is realized, and operation safety of the engineering machinery is ensured.
In another embodiment of the present application, the engineering machine further includes an on-tower linkage table emergency stop button and/or an emergency stop button of the remote control terminal, the on-tower linkage table emergency stop button is connected with an emergency stop switch in the STO loop, the emergency stop button of the remote control terminal is connected with the emergency stop switch in the STO loop, and the method further includes: according to the on-site situation, a sudden stop command is sent through a sudden stop button of a linkage table on the tower or a sudden stop button of a remote control terminal, and a sudden stop switch is triggered to be disconnected, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
For example, if an unexpected situation occurs when the engineering machine is remotely controlled, if an operator exists in the cab of the engineering machine, the operator can click a sudden stop button of the linkage table on the tower, send a sudden stop instruction, trigger the sudden stop switch to be disconnected, so that the STO loop is disconnected, and the engineering machine is controlled to stop running. If no operator exists in the cab of the engineering machine, the operator can click a scram button arranged on the remote control terminal, and a scram instruction is sent. At this time, the scram switch may be triggered to be turned off in response to the scram instruction to enter the off state, so that the STO loop is turned off, and the engineering machine is controlled to stop running.
Through another 'hard' scram scheme of the engineering machinery, when a user exists on the engineering machinery or in a remote control terminal, if unexpected situations occur when the engineering machinery is remotely controlled, at this time, the user can directly press a scram button of a linkage table on a tower or a scram button of the remote control terminal based on the on-site situation, and after the user presses the scram button, the scram switch is directly triggered to be disconnected, so that the STO loop is disconnected, and the engineering machinery stops running.
The two hard scram controls are used for directly locking the output part of the frequency converter by triggering the STO function of the frequency converter, so that compared with a power supply contactor for switching off soft scram, the scram is quicker, safer and more effective, and the operation safety of engineering machinery can be effectively ensured.
Fig. 2 schematically shows a flow chart of a remote control safety guarantee method for a construction machine according to an embodiment of the application. As shown in fig. 2, in an embodiment of the present application, a remote control safety guarantee method for a construction machine is provided, which is applied to a main controller of the construction machine, wherein the construction machine includes an execution mechanism and a power supply contactor corresponding to the execution mechanism, and includes the following steps:
Step 201: and in the process of remotely controlling the operation of the execution mechanism through the remote control terminal, acquiring a historical time point of last receiving the heartbeat data packet sent by the remote control terminal according to the preset period.
The work machine may include an actuator and a power supply contactor corresponding to the actuator. The engineering machine may be a crane, in particular a tower crane. The tower crane may include a luffing jib tower crane, a non-luffing jib tower crane, and a flat-jib tower crane. The implement of the work machine may comprise a plurality of implements. If the engineering machinery is a crane, the actuating mechanism may include a lifting mechanism, a slewing mechanism, and a luffing mechanism. The hoisting mechanism can be used for executing hoisting operation of the crane, the slewing mechanism can be used for executing slewing operation of the crane, and the luffing mechanism can be used for executing luffing operation of the crane.
The remote control terminal can remotely control the operation of the execution mechanism of the engineering machinery. The remote control terminal may include, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices. The remote control terminal can send the heartbeat data packet to the main controller of the engineering machinery according to a preset period. The preset period may be customized according to the actual situation, for example, the preset period may be 20 ms/time. The heartbeat packet may be used to confirm communication between the remote control terminal and the main controller of the work machine. The main controller of the engineering machinery can acquire the historical time point of last receiving the heartbeat data packet sent by the remote control terminal.
Step 202: a waiting time period between the current time point and the historical time point is determined.
The master controller may determine a waiting period between the current point in time and the historical point in time. Specifically, the main controller may determine a time difference between the current time point and the history time point as the waiting time period.
In an embodiment of the present application, the construction machine may further include a timer, and the waiting time period may be determined by the timer. For example, the main controller may set the duration recorded in the timer to 0 when the heartbeat packet sent by the remote control terminal last time is acquired. After the master controller acquires the historical time point of last receiving the heartbeat data packet, the timer may start to count from the historical time point to the current time point. The timer may send its counted duration to the main controller, which may determine the duration counted by the timer as a waiting duration between the current time point and the historical time point.
Step 203: and under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, determining that the communication state with the remote control terminal is an abnormal state.
Step 204: when the communication state is abnormal, the power supply contactor corresponding to the executing mechanism is controlled to be disconnected so as to stop the operation of the engineering machinery.
And under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state. The first preset duration can be determined according to actual requirements. For example, the first preset duration may be 500ms.
Under the condition that the communication state between the main controller and the remote control terminal is abnormal, at the moment, the engineering machine can still execute corresponding operation, remote control of the engineering machine can be uncontrolled, and in order to ensure the operation safety of the engineering machine, the main controller can control the power supply contactor corresponding to the execution mechanism to be disconnected, so that the engineering machine stops operating.
In the embodiment of the application, the engineering machine further comprises a counter, and the counter can be used for accumulating the cycle number of the heartbeat data packet which is not acquired by the main controller and sent by the remote control terminal. The communication state between the main controller and the remote control terminal is determined by the value of the counter. For example, the main controller may set the value in the counter to 0 when the heartbeat packet sent by the remote control terminal last time is acquired. After the master controller acquires the historical time point of last receiving the heartbeat data packet, the counter may count from the historical time point to the current time point. When the heartbeat data packet sent by the remote control terminal is not acquired in each preset period from the historical time point, the counter can accumulate the counted values, the timer can send the accumulated values in the waiting time from the historical time point to the current time point to the main controller, and the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state under the condition that the accumulated values reach the preset values and the heartbeat data packet is not received.
In the embodiment of the application, the main controller can also clear remote control data during the remote control under the condition of abnormal communication state between the main controller and the remote control terminal.
In the embodiment of the application, the method further comprises the following steps: under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, determining that the communication state is a normal state; under the condition that the communication state is a normal state, controlling the power supply contactor corresponding to the execution mechanism to communicate so as to enable the engineering machinery to normally operate; wherein the first preset time period is longer than the second preset time period.
And under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller can determine that the communication state with the remote control terminal is a normal state. Wherein the first preset time period is longer than the second preset time period. The second preset time period can be determined according to actual requirements. For example, the second preset duration may be 20ms. Under the condition that the communication state is normal, the main controller can control the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate.
In the embodiment of the application, the main controller determines that the communication state is a normal state when the waiting time is longer than the second preset time and shorter than or equal to the first preset time and the heartbeat data packet is received. Under the condition that the communication state is normal, the main controller can control the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate.
In the embodiment of the application, if the waiting time is longer than or equal to the second preset time and shorter than the first preset time and the heartbeat data packet is not received, the main controller can determine that the communication state with the remote control terminal is an interrupt state. At this time, the main controller of the engineering machine may be temporarily interrupted with the remote control terminal, and the heartbeat data packet may be continuously detected.
If the waiting time reaches the first preset time and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state, at the moment, the remote control terminal can control the engineering machinery remotely and is out of control, and the main controller can control a power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the engineering machinery.
In the embodiment of the application, the method further comprises the following steps: the method further comprises the steps of: before the engineering machinery stops running, judging whether an emergency stop instruction sent by a remote control terminal is received; and under the condition that the scram instruction is received, controlling the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
Before the construction machine stops running, namely at any time from the start of remote control of the construction machine to the stop of the construction machine, if unexpected situations occur when the construction machine is remotely controlled, a user can click a scram button installed on the remote control terminal based on the on-site situations. After clicking the scram button on the remote control terminal, the user generates and transmits to the main controller by the remote control terminal. Under the condition that the main controller receives the scram instruction, the main controller can control the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
According to the technical scheme, the execution mechanism is remotely controlled to operate through the remote control terminal; the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last received heartbeat data packets sent by a remote control terminal according to a preset period; the main controller determines the waiting time between the current time point and the historical time point; under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state; under the condition that the communication state is abnormal, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected, so that the engineering machinery stops running in time, and the safety of the engineering machinery in remote control is improved.
Fig. 1 and2 are flow diagrams of a remote control safety guarantee method for a construction machine according to an embodiment. It should be understood that, although the steps in the flowcharts of fig. 1 and2 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 and2 may include multiple sub-steps or phases that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or phases are performed necessarily occur sequentially, but may be performed alternately or alternately with at least a portion of other steps or other steps.
In one embodiment, a remote control safety assurance system for a work machine is provided, the system comprising:
the remote control terminal is used for remotely controlling the execution mechanism to work;
The main controller is used for maintaining heartbeat communication with the remote control terminal, acquiring a historical time point of last received heartbeat data packets sent by the remote control terminal according to a preset period, determining a waiting time between the current time point and the historical time point, and determining that the communication state between the main controller and the remote control terminal is an abnormal state under the condition that the waiting time reaches a first preset time length and the heartbeat data packets are not received;
and when the communication state is abnormal, the power supply contactor is disconnected, and the execution mechanism stops working to stop the operation of the engineering machinery.
The engineering machine may be a crane, in particular a tower crane. The tower crane may include a luffing jib tower crane, a non-luffing jib tower crane, and a flat-jib tower crane. The implement of the work machine may comprise a plurality of implements. If the engineering machinery is a tower crane, the actuating mechanism may include a lifting mechanism, a slewing mechanism and an amplitude-changing mechanism. The hoisting mechanism can be used for executing hoisting operation of the crane, the slewing mechanism can be used for executing slewing operation of the crane, and the luffing mechanism can be used for executing luffing operation of the crane.
The remote control terminal can remotely control the execution mechanism of the engineering machinery to work. The remote control terminals may include, but are not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, as well as remote consoles. The remote control terminal may be used to remotely control the operation of the actuator. The main controller and the remote control terminal maintain heartbeat communications. Namely, the remote control terminal can send the heartbeat data packet to the main controller of the engineering machinery according to a preset period. The preset period may be customized according to the actual situation, for example, the preset period may be 20 ms/time. The heartbeat packet may be used to define a communication situation between the remote control terminal and the main controller of the work machine.
The master controller can acquire the historical time point of last receiving the heartbeat data packet sent by the remote control terminal. The master controller may determine a waiting period between the current point in time and the historical point in time. Specifically, the main controller may determine a time difference between the current time point and the history time point as the waiting time period. And under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state. The first preset duration can be determined according to actual requirements. For example, the first preset duration may be 500ms.
Under the condition that the communication state between the main controller and the remote control terminal is abnormal, at the moment, the engineering machine can still execute corresponding operation, remote control of the engineering machine is uncontrolled, and in order to ensure the operation safety of the engineering machine, the main controller can control the power supply contactor corresponding to the execution mechanism to be disconnected, so that the engineering machine stops operating.
In another embodiment of the present application, the master controller is further operable to: and under the condition of abnormal communication state between the main controller and the remote control terminal, clearing the remote control data in the remote control.
In another embodiment of the present application, the master controller is further operable to: under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, determining that the communication state is a normal state; under the condition that the communication state is a normal state, controlling the power supply contactor corresponding to the execution mechanism to communicate so as to enable the engineering machinery to normally operate; wherein the first preset time period is longer than the second preset time period.
And under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller can determine that the communication state with the remote control terminal is a normal state. Wherein the first preset time period is longer than the second preset time period. The second preset time period can be determined according to actual requirements. For example, the second preset duration may be 20ms. Under the condition that the communication state is normal, the main controller can control the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate.
In another embodiment of the present application, the master controller is further operable to: and under the condition that the waiting time is longer than the second preset time and is shorter than or equal to the first preset time and the heartbeat data packet is received, determining that the communication state is a normal state. Under the condition that the communication state is normal, the power supply contactor corresponding to the execution mechanism can be controlled to be communicated so as to enable the engineering machinery to normally operate.
In another embodiment of the present application, the master controller is further operable to: and under the condition that the waiting time is longer than or equal to the second preset time and shorter than the first preset time and the heartbeat data packet is not received, determining the communication state with the remote control terminal as an interrupt state. At this time, the main controller of the engineering machine may be temporarily interrupted with the remote control terminal, and the heartbeat data packet may be continuously detected. And then, if the waiting time reaches the first preset time and the heartbeat data packet is not received, the main controller can determine that the communication state between the main controller and the remote control terminal is an abnormal state, at the moment, the remote control terminal can control the engineering machinery remotely and is out of control, and the main controller can control a power supply contactor corresponding to the execution mechanism to be disconnected so as to stop the operation of the engineering machinery.
By the soft emergency stop scheme of the engineering machinery, the power supply contactor corresponding to the execution mechanism of the engineering machinery is cut off, for example, for a tower crane, the power supply of three mechanisms such as a lifting mechanism, a slewing mechanism and an amplitude variation mechanism can be cut off, so that the engineering machinery gradually stops running, and the safe running of the engineering machinery under remote control is ensured.
In another embodiment, a remote control safety guarantee system for a construction machine further includes:
The remote operation tower receiver is used for receiving the heartbeat data packet sent by the remote control terminal and detecting whether the communication between the remote control terminal and the heartbeat data packet is abnormal or not;
and the scram switch of the STO loop is used for triggering to be disconnected to disconnect the STO loop so as to stop the operation of the engineering machinery under the condition that the communication between the receiver on the remote operation tower and the remote control terminal is abnormal.
The system may also include a scram switch that remotely operates the on-tower receiver and the STO loop. The scram switch may include a scram relay and a scram contactor. And a timing heartbeat data protection is arranged between the remote control terminal and the remote operation tower receiver. The remote operation tower receiver can receive the heartbeat data packet sent by the remote control terminal and detect whether the communication between the remote control terminal and the heartbeat data packet is abnormal. And under the condition that the remote operation tower receiver does not receive the heartbeat data packet sent by the remote control terminal after the first preset time length, the remote operation tower receiver determines that the communication between the remote operation tower receiver and the remote control terminal is abnormal.
In the event of an abnormal communication between the receiver on the remotely operated tower and the remote control terminal, the scram switch of the STO circuit is triggered to open so that the STO circuit is open, i.e., the scram switch can enter an open state in response to an abnormal communication between the receiver on the remotely operated tower and the remote control terminal so that the STO circuit is open, and the construction machine is controlled to stop operating so as to automatically complete the scram operation when no one is on the construction machine. Under the condition that the communication between the remote operation tower receiver and the remote control terminal is normal, the scram switch is continuously in a normally closed state.
By means of the hard scram scheme of the engineering machinery, timing heartbeat data protection is arranged between the remote control terminal and the receiver on the remote operation tower of the engineering machinery, and when communication abnormality between the remote control terminal and the receiver on the remote operation tower is detected, the STO function of the frequency converter of the engineering machinery can be automatically triggered on the engineering machinery or when no person exists on the remote control terminal, so that scram of the engineering machinery is realized, and operation safety of the engineering machinery is ensured.
In another embodiment, a remote control safety guarantee system for a construction machine further includes: and the tower linkage table emergency stop button and/or the emergency stop button of the remote control terminal are/is used for directly triggering the emergency stop switch to be disconnected after any emergency stop button is pressed, so that the STO loop is disconnected, and the engineering machinery stops running.
For example, if an unexpected situation occurs when the engineering machine is remotely controlled, if an operator exists in the cab of the engineering machine, the operator can click a sudden stop button of the linkage table on the tower, send a sudden stop instruction, trigger the sudden stop switch to be disconnected, so that the STO loop is disconnected, and the engineering machine is controlled to stop running. If no operator exists in the cab of the engineering machine, the operator can click a scram button arranged on the remote control terminal, and a scram instruction is sent. At this time, the scram switch may be triggered to be turned off in response to the scram instruction to enter the off state, so that the STO loop is turned off, and the engineering machine is controlled to stop running.
Through another 'hard' scram scheme of the engineering machinery, when a user exists on the engineering machinery or in a remote control terminal, if unexpected situations occur when the engineering machinery is remotely controlled, at this time, the user can directly press a scram button of a linkage table on a tower or a scram button of the remote control terminal based on the on-site situation, and after the user presses the scram button, the scram switch is directly triggered to be disconnected, so that the STO loop is disconnected, and the engineering machinery stops running.
In one embodiment, a storage medium is provided, on which a program is stored, which when executed by a processor, implements the above-described remote control safety assurance method for a work machine.
In one embodiment, a processor is provided for running a program, where the program executes the remote control safety guarantee method for a construction machine.
In an embodiment of the application, an engineering machine is provided, which comprises the remote control safety guarantee system for the engineering machine.
The engineering machine may be a crane, in particular a tower crane. The tower crane may include a luffing jib tower crane, a non-luffing jib tower crane, and a flat-jib tower crane. The implement of the work machine may comprise a plurality of implements. If the engineering machinery is a tower crane, the actuating mechanism may include a lifting mechanism, a slewing mechanism and an amplitude-changing mechanism. The hoisting mechanism can be used for executing hoisting operation of the crane, the slewing mechanism can be used for executing slewing operation of the crane, and the luffing mechanism can be used for executing luffing operation of the crane. The power contactor may be used to disconnect or connect the power to the actuator.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data such as waiting time duration. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a remote control safety assurance method for a work machine.
It will be appreciated by those skilled in the art that the structure shown in FIG. 3 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes the following steps when executing the program: remotely controlling the operation of the executing mechanism through a remote control terminal; the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last received heartbeat data packets sent by a remote control terminal according to a preset period; the main controller determines the waiting time between the current time point and the historical time point; under the condition that the waiting time length reaches the first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state; when the communication state is abnormal, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
In the embodiment of the application, the method further comprises the following steps: under the condition that the waiting time length reaches the second preset time length and the heartbeat data packet is received, the main controller determines that the communication state is a normal state; under the condition that the communication state is normal, the main controller controls the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate; wherein the first preset time period is longer than the second preset time period.
The application also provides a computer program product adapted to perform a program for initializing the steps of a remote control safety assurance method for a work machine when executed on a data processing apparatus.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A remote control safety guarantee method for a construction machine, the construction machine comprising an actuator and a power supply contactor corresponding to the actuator, the method comprising:
remotely controlling the execution mechanism to operate through a remote control terminal;
the method comprises the steps that a main controller of the engineering machinery obtains a historical time point of last received heartbeat data packets sent by a remote control terminal according to a preset period;
The main controller determines the waiting time between the current time point and the historical time point;
under the condition that the waiting time length reaches a first preset time length and the heartbeat data packet is not received, the main controller determines that the communication state between the main controller and the remote control terminal is an abnormal state;
And under the condition that the communication state is the abnormal state, the main controller controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
2. The remote control safety guarantee method for a construction machine according to claim 1, further comprising:
Under the condition that the waiting time length reaches a second preset time length and the heartbeat data packet is received, the main controller determines that the communication state is a normal state;
Under the condition that the communication state is the normal state, the main controller controls the power supply contactor corresponding to the executing mechanism to be communicated so as to enable the engineering machinery to normally operate;
wherein the first preset time period is longer than the second preset time period.
3. The remote control safety guarantee method for a construction machine according to claim 1, wherein the remote control terminal includes a scram button, the method further comprising:
Triggering the scram button to send a scram instruction to the main controller based on a field condition before the engineering machine stops operating;
And the main controller receives the emergency stop instruction and controls the power supply contactor corresponding to the executing mechanism to be disconnected so as to stop the operation of the engineering machinery.
4. The remote control safety guarantee method for a construction machine according to claim 1, wherein the construction machine further comprises a STO circuit including a scram switch, the method further comprising:
And the scram switch responds to the scram instruction to enter an off state so as to disconnect the STO loop and control the engineering machinery to stop running.
5. The remote control safety assurance method for a work machine of claim 4, further comprising a remotely operated on-tower receiver, the method further comprising:
The remote operation tower receiver determines abnormal communication with the remote control terminal under the condition that the remote operation tower receiver does not receive the heartbeat data packet sent by the remote control terminal after the first preset time length is exceeded;
And the emergency stop switch responds to abnormal communication between the receiver on the remote operation tower and the remote control terminal to enter an off state so as to disconnect the STO loop and control the engineering machinery to stop running.
6. The remote control safety guarantee method for a construction machine according to claim 4 or 5, wherein the construction machine further comprises an on-tower linkage table scram button connected to a scram switch in the STO circuit and/or a scram button of a remote control terminal connected to a scram switch in the STO circuit, the method further comprising:
according to the on-site situation, a sudden stop instruction is sent through a sudden stop button of the linkage table on the tower or a sudden stop button of the remote control terminal, and a sudden stop switch in the STO loop is triggered to be disconnected, so that the STO loop is disconnected, and the engineering machinery is controlled to stop running.
7. A remote control safety assurance system for a work machine, the system comprising:
the remote control terminal is used for remotely controlling the execution mechanism to work;
The main controller is used for maintaining heartbeat communication with the remote control terminal, acquiring a historical time point when the heartbeat data packet sent by the remote control terminal according to a preset period is received last time, determining a waiting time between the current time point and the historical time point, and determining that the communication state between the main controller and the remote control terminal is an abnormal state when the waiting time reaches a first preset time and the heartbeat data packet is not received;
And the power supply contactor is corresponding to the executing mechanism and is used for disconnecting the power supply contactor when the communication state is the abnormal state, and the executing mechanism stops working so as to stop the operation of the engineering machinery.
8. The remote control safety and security system for a work machine of claim 7, further comprising:
The remote operation tower receiver is used for receiving the heartbeat data packet sent by the remote control terminal and detecting whether the communication between the remote control terminal and the remote control terminal is abnormal or not;
And the scram switch of the STO loop is used for triggering to be disconnected to disconnect the STO loop so as to stop the operation of the engineering machinery when the communication between the receiver on the remote operation tower and the remote control terminal is abnormal.
9. The remote control safety and security system for a work machine of claim 8, further comprising:
And the tower linkage platform emergency stop button and/or the emergency stop button of the remote control terminal are/is used for directly triggering the emergency stop switch to be disconnected after any emergency stop button is pressed, so that the STO loop is disconnected, and the engineering machinery stops running.
10. A construction machine comprising the remote control safety guarantee system for a construction machine according to any one of claims 7 to 9.
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| CN202311845591.8A CN118101736A (en) | 2023-12-28 | 2023-12-28 | Remote control safety guarantee method and system for engineering machinery and engineering machinery |
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| CN202311845591.8A CN118101736A (en) | 2023-12-28 | 2023-12-28 | Remote control safety guarantee method and system for engineering machinery and engineering machinery |
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