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    • 专利摘要:
    The invention relates to a method for controlling a working machine (2). The invention comprises examining at least one element of the working machine (2) to detect if there is a fault in said at least one element. If an error is detected, an alarm indication is turned on. With the alarm indication set, the method further comprises setting the alarm indication to an active position when the fault in said at least one element has been detected, or to a passive position when the fault of said at least one element has disappeared. The invention also relates to a system and a device in which the method is carried out. 5
    公开号:SE1450430A1
    申请号:SE1450430
    申请日:2011-10-11
    公开日:2014-04-08
    发明作者:Arttu Rantanen；Janne Viitala；Eemeli Haverinen；Juha Herrala
    申请人:Sandvik Mining & Constr Oy；
    IPC主号:
    专利说明:

    15 20 25 30 35 2 A user can also control the operation of the mining machine with e.g. a control panel which may comprise a steering wheel, a joystick, switch and / or some other means for moving the mining machine, for placing the tool, for switching the tool on and off, etc.
    Mining machines may include actuators to perform various tasks, sensors to detect the condition of actuators and / or to measure the condition of various parts of the mining machine and possibly to make measurements of the environment, etc. The actuators and sensors may be under the control of a control system which may comprise a monitoring element which provides the user with visual and / or acoustic information in e.g. a graphical user interface (GUI) for controlling the operation of the actuators, for analyzing sensor signals, parameters, etc. which may be needed to determine the condition of the mining machine.
    The user interface provides the user with information and receives the user's instructions. The control panel can be part of the user interface and controlled by the monitoring element.
    To enable good efficiency, the mining machines should be able to run without problems for as long as possible and with minimal maintenance interruptions. However, the mining machines, which are complicated machines, may not always work properly, but there may be various faults or malfunctions. Mining machines usually have some kind of diagnostic system or other means for detecting faults and / or situations that may indicate a future fault. The diagnostic system can generate an alert for a situation that could lead to a more serious situation, and it can also generate an alarm when a fault or malfunction has been detected. These warnings and alarms can be presented to the user of the mining machine so that the user can take appropriate measures to prevent the fault from occurring or to repair the detected fault. In some situations, the control system can automatically stop the mining machine or its parts when a fault has been detected, especially when the fault can cause human injury and / or property damage.
    Signals between different parts of the control system can be transmitted via a data transmission network, such as a fieldbus or a CAN bus (Controller Area Network).
    Such a data transmission network is also called a control bus in this application.
    The data transmission network can use a higher level protocol, such as CANopen or J1939 when information is transmitted between nodes in the data transmission network. Actuators, sensors and other elements may be connected to the data transmission network as nodes of the network, or they may be connected to a communication device connected to the network to act as a node. Thus, the communication unit can communicate with other parts of the network to receive from the network e.g. instructions to be given to the actuators and / or to send to the network information obtained from e.g. the donors. A specific functionality in the device that acts as a node is required so that it can connect to the network, send messages to the network and receive messages from the network.
    It is possible that the node intended to monitor a functional state of an element in the mining machine detects a fault or a malfunction and thus generates an alarm and notifies it to the network. If an alarm is detected when the monitoring element is being initiated, for example, the monitoring elements may not be ready for processing signals from the data transmission network and thus an alarm may not be detected by the monitoring element, especially when the alarm is no longer active when the monitoring element is in operation after the initialization step.
    Summary The present invention provides solutions for improving error handling in a work machine. According to some embodiments of the present invention, a state machine for handling alarms is presented.
    The state machine comprises at least three states. A first state is an “alarm off” state that indicates that there are no faults in a component, ie the component whose state the alarm is intended to indicate. The alarm can also be in an "on" state that is divided into at least two subordinate states: active and passive. The second state, ie the alarm in the active state, indicates that there is a fault in the component. The third condition, ie alarm passive state, indicates that there has been a fault in the component but the fault has been corrected or disappeared in other ways even though the alarm has not yet been reset. An indication of the original component, ie the actual source of the error, can also be provided. Therefore, the real cause of the alarms may be easier to find out, compared to the situation that only one node ID would be informed about the alarm. An identifier of a physical node, i.e. a single node, can comprise several origin components, such as boomf and boom2. Thanks to this, the system with the same error code for the same error can be distinguished by only the original component.
    According to a first aspect, a method for controlling a work machine is presented, in which the operation of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set on . The method further comprises providing an alarm maintenance component for: - receiving alarm information from one or more machine control nodes; - coupling to an alarm log file to store the alarm information from said one or more machine control nodes to the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to connect to an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    According to a second aspect, there is provided a system for controlling a work machine, which work machine comprises at least one element, the system comprising a review element for detecting if there is an error in said at least one element, wherein if an error has been detected, the review element is adapted to turn on an alarm indication. The system further comprises an alarm maintenance component which is adapted to: - detect events that are not alarms; - receive alarm information from a machine control node; - pair with an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and to retrieve event information from the event log file; - pair with an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history; and - remove alarm information from the alarm log file when the state of the alarm has changed from one active state to another state. According to a third aspect, there is provided a device for controlling a work machine, which device comprises at least one processor and at least one memory, which memory comprises computer program instructions which - when executed by said at least one processor - receive the unit to: - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: - detecting non-alarm events; - to receive alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to connect to an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    According to a fourth aspect, a computer program product is provided which includes computer program instructions, which - when executed by a processor - cause the device to: - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the computer program product includes computer program instructions, which - when executed by the processor - cause the device to provide an alarm maintenance component for: - detecting non-alarm events; - to receive alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; Pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; to connect to an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history; and removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    According to a fifth aspect, a method for controlling a work machine is provided, in which the operation of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set. . In the procedure further: events that are not alarms are detected; the alarm information is received from a machine control node; linked to an event log file to store event information in the event log file and to retrieve event information from the event log file; the alarm indication is stored in an alarm log file and in an alarm history; and removes alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    According to a sixth aspect, there is provided a system for controlling a work machine, which work machine comprises at least one element, the system comprising a review element for detecting if there is an error in said at least one element, wherein if an error has been detected, the review element is adapted to turn on an alarm indication. The system further comprises: a receiver adapted to receive the alarm information from a machine control node; a memory; and an interface adapted to store the alarm indication in an alarm log file, to store the event information in the event log file, to retrieve event information from the event log file to an alarm history, and to remove alarm information from the alarm log file when the state of the alarm has changed from one state to another. condition.
    According to a seventh aspect, there is provided a device for controlling a work machine, which device comprises at least one processor and at least one memory, which memory comprises computer program instructions which - when executed by said at least one processor - cause the unit to : - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if an error has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: - receiving alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to connect to an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    According to an eighth aspect, a method for controlling a work machine is provided, in which the operation of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set on . Further in the procedure, events that are not alarms are detected; the alarm indication is stored in an alarm log file; event information is stored in an event log file; retrieves event information from the event log file; and the alarm indication and event information are stored in an alarm history of a node (8) of a control bus of the work machine; and alarm information is removed from the alarm log file when the state of the alarm has changed from an active state to another state.
    Description of the Drawings In the following, the present invention will be described in more detail with reference to the accompanying drawings, in which Figures 1a-1c 10 15 20 25 30 35 fi gurid figure 2 figure 3a figure 3b fi gur3c figure 4 figure 5 figure 6 8 shows simplified example diagrams of control systems for mining machines; shows a simplified example of control system of a mining machine; shows an example of a control system for a mining machine using a CAN bus; shows an example of some functional elements of a node in a control system for a mining machine; shows another example of some functional elements of a node in a control system for a mining machine; shows a further example of some functional elements of a node in a control system for a mining machine; shows an example of an alarm state machine according to an embodiment of the present invention; shows an example of storing alarm information in an alarm log file and in an alarm history; shows an example of a device according to the present invention; and Figures 7a-7c show examples of work machines.
    Detailed description of some embodiments Examples The present embodiments are particularly applicable in control systems for work machines, such as mobile mining machines needed in the mining industry, for example various mobile machines for rock drilling, loading and transport. In the following, work machines of this type shall be referred to as mining machines. The application of the present features is not limited to control systems for a mining machine as described below, but features of the invention can also be applied in control systems for mining machines of various kinds. It should also be noted that a mining machine can generally also refer to various machines used for rock felling in an above-ground or terrestrial area of operation.
    Some non-limiting examples of work machines 2 are shown in Figures 7a-7c.
    Figure 7a shows an example of a drilling rig, Figure 7b shows an example of a loader, and Figure 7c shows an example of a crushing machine.
    Figure 1a shows a simplified example diagram of a control system 1 for a mining vehicle 2. The control system comprises a monitoring unit 3 (SUP-PC # 1), such as a computer, with a data transmission connection 4 to a control bus 5. The monitoring unit 3 constitutes a kind monitoring level 6 of the control system 1. The monitoring unit 3 is also called a monitoring node 3 in this application.
    The control system 1 also comprises a machine control level 7, in which elements which are connected to different types of actuators, sensors, etc. are located. The machine control level 7 may comprise one or more units 8 for different purposes in the data transmission connection to the control bus 5. The units which function as nodes at the machine control level are also called machine control nodes 8 in this application.
    The node 8 may comprise a programmable logic control unit (PLC) with inputs and outputs for connections to and from the actuators, sensors and other elements in the hardware of the mining vehicle.
    Figure 1b shows a simplified example diagram of another control system 1 which is intended for a crane control system 21 of the mining vehicle 2. In this exemplary embodiment, the machine control level 7 comprises a pointing device 9, such as a control lever, which is connected to PLC # 1. The truck control level 7 also comprises two valves 10a, 10b for the crane hydraulic cylinders (not shown in figure 1b).
    Figure 1C shows a simplified example diagram of a further control system 1 for the mining vehicle 2. In this exemplary embodiment, the monitoring level 6 comprises a first monitoring unit SUP-PC # 1 and a second monitoring unit SUP-PC # 2. Machine control level 7 includes i.a. a machine control computer MCPC, several PLC units PLC # 1, PLC # 2, several I / O units, etc. There is also a second control bus 11, to which the first PLC unit PLC # 1 is connected.
    The control bus 11 is intended to enable communication between I / O units connected to the second control bus 11 and the first PLC unit. 10 15 20 25 30 35 10 Therefore, the first PLC unit has access to the I / O units and it acts as a mains lock between the first control bus 5 and the second control bus 11. The first control bus 5 and the second control bus 11 can use the same protocol or different protocols. For example, both the first control bus 5 and the second control bus 11 can use CANopen protocol, or the first control bus 5 can use CANopen protocol and the second control bus 11 can use J1939 protocol. In the latter case, the network lock PLC # 1 may need to perform protocol conversions between messages of the first control bus 5 and the second control bus 11.
    In this context, it should be noted that the example systems shown in Figures 1a-1c are only simplified examples, and in practical applications, systems may comprise significantly more units that act as nodes in the control bus, and there may also be a large number of I / O units, actuators, sensors and other elements to enable operation of the mining vehicle. Furthermore, a mining vehicle can comprise several different systems, which may or may not communicate with each other. For example, there may be a system for controlling the operation of the engine, transmission, brakes and lights of the mining vehicle as well as another system for controlling the manipulation of tools, crane (s), etc. on the mining vehicle. There may be a mains lock between the first system and the second system, as shown in Figure 1d.
    In the following, the function of the control system according to a first exemplary embodiment regarding possible fault situations will be described in more detail. A simplified example of the control system for a mining vehicle 2 using a CAN bus 5 and shown in Figure 5 comprises the monitoring unit 3, which is in data transmission connection with the CAN bus 5. Thus, the monitoring unit 3 functions as a node in the CAN bus. buses 5.
    Figure 3a shows an example of some functional elements of a node of a control system for a mining machine. This example includes functions of both a machine control node and a monitoring node. The monitoring unit 3 is installed with a data transmission interface 12 for communication with the CAN bus 5, a process image 13 which comprises information about signals of the mining vehicle 2, and may comprise applications 14 for various tasks. There may be a machine control application 15 having access to the process image so that the machine control application 15 can read values of the signals stored in the process image 10 and may also write values for one or more of the signals in the process image. There may be an alarm management application 18. There is also an application for a graphical user interface (GUI), which can communicate with the machine control application 15 and / or can have direct access to the process image 13. The GUI application 16 can present information about values of different signals, alarms, events, etc.
    The GUI application 16 can receive inputs from the user of the mining vehicle 2, for example new values for parameters, instructions for changing views displayed on a screen 17, and so on. The applications can also include e.g. the application 16 for the user interface, an application 18 for alarm management, an application 20 for diagnostics, etc.
    Figure 3b shows another example of some functional elements of a node in a control system for a mining machine. This exemplary unit can be applied for use as the machine control node 8 and is installed with a data transmission interface 12 for communication with the CAN bus 5, a process image 13 which includes information about signals of the node for the mining vehicle 2, and may include applications 14 for various tasks. . There may be a machine control application 15 which has access to the process image so that the machine control application 15 can read values of the signals stored in the process image and may possibly also write values for one or more of the signals in the process image.
    Figure 3c shows yet another example of some functional elements of a node of a control system for a mining machine. This example unit can be applied for use as the monitoring node 3 and is installed with a data transmission interface 12 for communication with the CAN bus 5, a process image 13 which includes information about signals of nodes for the mining vehicle 2, and may comprise applications 14 for different tasks. There may be an application 16 for a graphical user interface (GUI), which may communicate with the machine control application 15 and / or may have direct access to the process image 19. The GUI application 16 may present information on values of various signals, alarms, events, etc. The GUI application 16 can receive inputs from the user of the mining vehicle 2, for example new values for parameters, instructions for changing views displayed on a screen 17, and so on. The applications may also include e.g. the application 16 for the user interface, the application 18 for alarm management, an application 20 for diagnostics, etc. 10 15 20 25 30 35 12 At the machine control level, the I / O units can receive actual values from different types of sensors, switches, etc. For example, there may be one or more temperature sensors that measure the temperature of the engine oil, the temperature of the hydraulic fluid, the pressure in the hydraulic system, etc. There may be switches that indicate if a brake is on or off, if the cab door is open or closed, if a boom is in an extreme position, and so on.
    The I / O units can also provide signals to actuators. For example, the engine speed can be adjusted as the position of the boom, or a tool of the mining vehicle can be turned on or off, etc.
    The above examples are non-limiting examples of the purpose of the I / O units and other parts of the control system. The expert is aware that the mining vehicle 2 may further comprise different kinds of functions, tools, actuators, sensors, I / O units, etc., but a more detailed description of them is not necessary in this context.
    When using the mining vehicle, the I / O units read signals from the sensors and send information about the signal values either directly to the CAN bus 5, if the I / O unit is arranged to function as a node, or to the PLC unit, to which l The / O unit is connected. The PLC unit must then send the information about the signal values to the CAN bus. Transfer of the information to the CAN bus can be performed using a protocol, such as CANopen. In such a case, the information is packaged according to CANopen specifications so that the receiving node can retrieve the information from the packet (packet).
    The use of the CAN bus allows a new unit to be added to the bus on the go, ie without switching off the control bus. When a device is connected to the CAN bus and / or switched on, it can perform a handshake with another device (other devices) or with a master device of the CAN bus to obtain a new device address, if necessary. On the other hand, the device address may have been set by a configurator of the control system, whereby handshaking may not be necessary. Once the unit has been initialized, it can enter a pre-operational state and send a boot-up message to the master unit, the master unit being aware of the presence of the unit and being in the pre-operational state. The unit can then receive instructions from e.g. the master unit to enter that state of operation. The master unit can be, for example, the monitoring unit 3, the monitoring unit 3 being aware of the active nodes in the CAN bus 5.
    Each unit connected as a node 8 to the control bus 5 can have a process image 13. The process image contains information about the signals contained in the unit. For example, when the unit controls an actuator, signals from the unit may contain a setting value for the actuator and the actual state of the actuator measured or otherwise determined by e.g. a sensor. For a unit that controls the operation of the mining vehicle's engine, the process image may contain signals relating to temperatures on different parts of the engine, for example coolant temperature, oil temperature, fuel temperature, etc. These temperatures may have been measured with e.g. temperature sensor connected to the unit.
    At the monitoring level, the monitoring unit 3 also contains a process image 19 which can contain information corresponding to process images from all nodes which are under control of the monitoring unit 3. In order to keep the process images updated, the monitoring unit 3 can ask the nodes e.g. by sending a request message to the node (s). The nodes 8 can respond to the request by sending one or more response messages containing the information contained in the process image of the node 8. Instead or in addition, the nodes 8 can send their process image or part of their process image to the monitoring unit 3 without request, e.g. at intervals or when one or more values of the process image signals have changed. Even when a fault has been detected by a node 8, the node 8 can drive an alarm message to the control bus 5 without a request from the monitoring node 3. The process image of the monitoring unit 3 is available for one or more applications running in the monitoring unit 3, e.g. through a programming interface of the process image.
    Units at the machine control level may also have the ability to run application programs or they may have programmable logics for arranging logic circuits to perform specific tasks. This information may involve the detection of any faults or malfunctions in the operation of the mining vehicle. For example, a PLC unit may be programmed to measure the oil temperature in the engine and to compare it with a reference value. Based on the comparison, a flag or other indication can be set or reset depending on whether the oil temperature exceeds the reference value or not. This flag can be arranged in the process image of the machine control node 8 so that it is accessible to e.g. the alarm application program running in the monitoring unit 3.
    In addition to the fault detection and indication, the unit may also be programmed to initiate some protective measures and / or to prevent certain measures from being carried out when a fault has been detected. The device can, for example, stop a hydraulic pump if a serious fault in the hydraulic system has been detected. As another example, the device may prevent the tool from starting if an error is detected in the tool's control system.
    In general, when a fault or malfunction can cause human injury or property damage, the fault detection logic includes a control system that can be used to try to prevent the damage. If it is not probable that the fault or malfunction could cause human injury or property damage, it may be sufficient to generate an alarm but not lock any other functions.
    The unit's application of machine control can monitor any relevant sources of error that may occur, and it has been arranged for monitoring in the subsystem to which the unit is connected. l / lan can monitor, for example, a short circuit of I / O pins in digital output, a cable break in current input, a timeout for receiving messages in CANopen, incorrect CANopen module types or software versions.
    An alarm can have two states: alarm off and alarm on. Alarm off condition indicates that the fault causing this alarm is not on. The alarm off condition can be activated even when the fault has previously been active (on) but it has been reset.
    Alarm on condition indicates that the fault is active or that the alarms have not been reset after the fault has disappeared (or been repaired).
    In some embodiments, the alarm state of the alarm is further divided into two sub-states, namely an active and a passive state. When the fault has been detected and the alarm is switched on, the alarm is set to the active state. Therefore, the active state indicates that the error that caused the alarm is still on. When the error that caused the alarm is no longer on, ie the error has disappeared, but the alarm has not yet been reset, the alarm goes to the passive state. Figure 4 shows an example of an alarm condition machine of this kind.
    There may be several cases in which an "error of" event cannot be distinguished. For example, for some reason the alarm object may not be updated at all. Therefore, the error may still be on, or it may be off. In such cases, the alarm can go from the active to the passive state after a time-out period has elapsed since the last update or after the alarm has gone to the active state. The time-out period can be several hundred milliseconds or even several seconds in some embodiments. In the following, an example of the alarm detection and indication process as well as the alarm condition machine according to an exemplary embodiment in the exemplary configuration of the mining vehicle 2 will be described in more detail. It is assumed that a crane control unit 21 detects a fault in the operation of the crane 22. The crane control unit 21 may, for example, have an input which monitors the function of the valves 10a, 10b. The feed can indicate the opening level of the valve. The crane control unit 21 has a parameter that indicates the setting value of the valve. The crane control unit 21 can therefore compare the input value and the parameter value to determine whether these correspond sufficiently closely to each other. If not, the crane control unit 21 should generate an alarm indication to indicate that the valve is not close enough to the set value. The alarm indication is stored in the crane control unit's 21 alarm log file.
    The alarm indication contains a condition flag that is now switched on, as well as identification information about the faulty valve, ie the valve's unit ID. The alarm indication may further include a timestamp of the moment when the fault was detected.
    In some embodiments there is also an alarm counter, on which a first value is set, e.g. 1, when the error has been detected for the first time. The value of the alarm counter increases each time the error occurs, regardless of whether the alarm condition has been reset or not. In this case, the value of the alarm counter can be used as an indication of the number of occurrences of alarms. However, the absolute value of the alarm counter may not directly correspond to the number of errors that have occurred, since the memory location where the value of the alarm counter is stored has a limited length. The value of the Counter can therefore reach the maximum value, but the value of the Counter may not change later until the system is reset or the Counter is reset. This can happen, for example, when the machine control node 8 is switched off for a while.
    In some embodiments, the machine control nodes 8 may further comprise a state change counter, which is intended to be used for counting changes in the alarm log file. These changes may include an activation of an alarm, a change in the alarm state, or a reset of an alarm. The condition change fan can accumulate when such a condition occurs in a state of any alarm in the alarm log file or when a specific type of change in the state of the alarm occurs. The state change calculator also has a fixed length and it can be reset to zero (or another initial value) after the value of the state change calculator has just reached the maximum value stored in the memory space reserved for the state change calculator.
    One purpose of the condition change counter is to enable the recording of errors which may have occurred when the monitoring node 3 was initiated and could not yet receive messages from the control bus 5 machine control nodes 8.
    The value of the condition change counter can be periodically transmitted from the machine control node 8 to the control bus 5. Thus, the monitoring node 3 can examine the value of the condition change counter, and when it detects a change in value, the monitoring node 3 may request the machine control node 8 to send the alarm log file or parts of the alarm log file. The request can be implemented as a message with a request sent by the monitoring node 3 via the control bus 5, or in some other suitable way. The machine control node 8 can send the alarm log file by sending one or more messages to the monitoring node 3 via the control bus 5. The monitoring node 3 can also read the value of the counter for state changes and compare it with a previous value which may have been stored in process image 19 of the monitoring node 3. If the values are correct, it is probable that no errors have occurred that the monitoring node 3 is not aware of. On the other hand, if the values do not match, it is likely that the monitoring node 3 has for some reason omitted an alarm. The monitoring node 3 can thus generate a message with a request and send it to said machine control node 8 and request an update of the data in the machine control node 8. The updated data values can be stored in the process image, and if some other measures are needed, e.g. to indicate the alarm to the user, the monitoring node 3 can initiate such actions.
    The crane control unit 21 forms a message e.g. according to the CANopen protocol.
    The crane control unit 21 includes in the message an error ID, an alarm type, an alarm source (original component) and possibly a time stamp. The value of the alarm counter can also be entered in the message. The alarm source can be unit ID, possibly supplemented with additional information if the same mining vehicle can comprise more than one unit with the same unit ID. In such cases, it may be necessary to supplement the source information with information about the subsystem to which the device belongs. Because the length of a message in the CANopen protocol is quite limited, it may not be enough to send the alarm information in a single message. In such situations, the crane controller 21 can form and send a plurality of messages according to the CANopen protocol. The monitoring node 3 receives the message and processes it in the internal communication stack of the monitoring node 3. The lead is interpreted by a communication component. A data transmission interface component determines that said message relates to an alarm. Thus, the data transmission interface component provides the message to the alarm component for handling. The alarm component examines the message to find out b | .a. the source of the error and the condition of the error. The alarm component stores the alarm information in the alarm node log file of the monitoring node 3. The alarm information can also be stored in the alarm history of the monitoring node 3. The alarm information stored in the alarm log file and in the alarm history contains the timestamp and the source of the alarm. The monitoring node's alarm log file is a collection of information in the alarm log file of the nodes in the system, ie an association of the nodes' alarm log files. The process image of the monitoring node is also an association of process images of the machine control nodes 8 or parts thereof. Figure 15 shows an example of storing alarm information in the alarm log file and in the alarm history. The arrows indicate the logical paths that can be used when an alarm is stored and the elements that can participate in the handling of the alarm information. The subsystem 50 comprises the machine control level 6 and the control bus 5.
    An alarm message can be received through an alarm network lock 51, which may comprise an alarm mapping table 52 so that the alarm network lock can assign a different value to the alarm code, if necessary. The alarm indication is forwarded to the alarm maintenance component 53, which takes care of storing the alarm in the alarm log file 54 and in the alarm history 55 of the monitoring node 3. There may also be an event log file 56 which the alarm maintenance component can use to store non-alarm detected events.
    The alarm message can also be converted to another form in a different way than by using the alarm mapping table. For example, part of the alarm code obtained from the subsystem can be excluded from the alarm code.
    In some embodiments, the machine control node 8 does not contain the timestamp with the alarm information. Thus, the alarm component of the monitoring node 3 can insert the alarm time into the alarm information.
    In some embodiments, the message that can be used to send alarm information to the control bus has the following structure: - a block head; and - one or more alarm objects.
    The block head can be e.g. 6 bytes long, which contains information about the number of alarm objects in the message. The length of each alarm object can be, for example, ten bytes, which can contain the alarm code, timestamp and counter value for the alarm. It should be noted in this context that the above example of the message structure is presented only to illustrate the invention, not to limit the invention only to such message structures.
    Each time the state of the fault changes, the machine control node 8 can generate and send a new message with information about the changed state.
    The alarm log file can be updated so that when the error disappears, ie the alarm changes to the passive or in some situations the off state, the alarm can be removed from the alarm log file when it is set to the off state. However, the alarm may remain in the alarm history. In other words, an alarm can occur once in the alarm log file but several times in the alarm history.
    Information about the alarms is also provided on the user interface so that the user can be presented b | .a. the cause of the alarm, the state of the alarm and the timestamp. For example, a window may appear on the screen, which contains information about all alarms that are either active or passive. To better distinguish which alarms are active and which are passive, active and passive alarms can be indicated with different colors, with different fonts and / or in other suitable ways.
    In embodiments where the alarm can be active or passive, the state of the alarm in the alarm log file can be switched between these two states, when the corresponding error disappears or reappears.
    When an error has disappeared, the alarm is set to the passive state, if this is supported by the application, or the off state, if the passive state is not used for alarms. The state of the alarm can be changed from the passive state to the off state, once the alarm has been reset. For example, an application can reset the alarm when the error has disappeared. This type of measure may be applicable e.g. when the alarm relates to the temperature of oil in a lubrication system for the engine of the mining machine. The reset may not be performed or may not always need to be performed automatically, but may require some user action or a predefined condition to be performed. For example, when an error has been detected and an alarm message has been sent to the monitoring node 3, the user interface component of the monitoring node 3 indicates the alarm to the user e.g. by generating a visual indication on the screen and / or by generating an audible audio signal in the speakers of the monitoring node 3. The user can then respond to the alarm and reset the alarm when the error has disappeared. In some embodiments, the user acknowledges the alarm, which is entered into the application program, and the application program performs the reset of the alarm, if the error has disappeared.
    In some embodiments, when the application program resets the alarm, the same alarm code used when the alarm was set can be used in reset. 10 15 20 25 30 35 20 It may be assumed that the indication is displayed on the screen until the user has responded to it (ie confirmed the arm indication), or the indication can be removed after a certain time has elapsed from the initiation of the indication. In some embodiments, the alarm indication may be two-phase: first a larger indication is provided and then the indication changes to a smaller size, e.g. to a line of text on the screen. The user interface may also include a lamp or lamps that can be turned on or off when a particular fault is detected.
    In some embodiments, the displayed alarm information includes not only alarm data but also a limit value relating to the alarm. For example, if the system has detected that the oil temperature is too high, ie above a certain limit value, the actual temperature value and the limit value can be displayed with explanatory text, such as "Oil temperature too high: now 72 OC, maximum is 70 ° C". The limit value together with other alarm information can also be included in the alarm log file and / or the alarm history. The mine vehicle's alarm configuration includes information on whether the limit is minimum or the maximum limit. Thus, the alarm message need not contain this information.
    The alarm message contains the alarm code, which may not be informative per se. Therefore, the user interface component or the alarm component may contain an image table or some other suitable means, in which an equivalent between the alarm code and an explanatory text may be provided. For example: This code reveals that when the alarm code is abcd1234, the user interface would know that it refers to the oil temperature and that the limit value is the maximum value.
    Once the user has detected the alarm, he / she can then enter input via the keyboard, touch screen or other input means to inform that he / she has detected the alarm, and possibly initiate measures to repair the fault and / or set the mining vehicle to a safe operating condition. 10 15 20 25 30 35 21 There are also other options for individually identifying the signal than the signal name. The identifier may, for example, contain an index which may be numeric or alphanumeric, an index-sub-index pair, and so on. The index or index subindex pair may be an address of the node or it may contain the address of the node. In some embodiments, the index is a 16-bit number and the sub-index is an 8-bit number.
    It should be noted that in embodiments utilizing a counter, the counter usually accumulates only when an error occurs. Thus, the counter value remains unchanged when the fault disappears or the alarm has been reset. However, it may also be possible to apply the counter in such a way that it is increased each time the alarm condition changes. In some embodiments, the counter value is not increased, but is decreased when an error is detected. In some embodiments, the alarm message may be generated and sent repeatedly when the fault is on. The actual measured value of the faulty device or component can then be entered in the alarm message. For example, if the alarm relates to a temperature value, the alarm message may include the measured temperature value. In some other embodiments, only one message or set of messages is formed when the error is detected, and another message is formed when the error has disappeared. The latter message may then comprise a maximum or minimum measured value relating to the faulty device or component, e.g. maximum or minimum temperature, maximum or minimum pressure, etc.
    The alarm log file can be stored in a volatile memory of the machine control node 8, or in a non-volatile memory. If the alarm log file is stored in only a volatile memory, the alarm log file may disappear when the machine control node 8 is disconnected. The alarm history can be stored e.g. as a file in the permanent memory or in another suitable form so that the alarm history can be updated and viewed through appropriate applications.
    In the monitoring node 3, the alarm log file may also be stored in a volatile memory of the monitoring node 3, or it may be stored in a non-volatile memory of the monitoring node 3. The alarm history is preferably stored in a non-volatile memory of the monitoring node 3 or in a non-volatile memory. of another device.
    For example, the vehicle 2 may comprise several computers, which act as monitoring nodes 3 and can communicate with each other. One of the computers operating as monitoring nodes may store the arm history of each monitoring node in a non-volatile memory, while the other monitoring nodes may store the arm history in a volatile memory or in a non-volatile memory. In a further embodiment, the mining vehicle 2 may comprise a plurality of computers, one or more of which function as monitoring nodes 3 and one of the computers functions as a central computer which can communicate with the other computers.
    The central computer can store the arm history of each monitoring node in a non-volatile memory. The monitoring nodes 3 may be provided with functions for setting, resetting and checking the alarm condition. For example, a user of the mining vehicle can check the alarm log file and the alarm history when desired.
    The user can also reset alarms from the alarm log file and check the condition of the alarm (s).
    In some embodiments, the monitoring node 3 may also include an alarm log file for storing alarm information, which may be performed in the monitoring node 3.
    In some embodiments, different users may have different access rights to the system, with users with fewer access rights perhaps not being able to perform all the actions that users with more access rights are allowed to use. For example, some users can reset alarms, but some other users may not be able to reset alarms but only see alarms and alarm history.
    In some embodiments, the alarm log file and the alarm history may be used to provide the user with various types of statistical information about the alarms. For example, the alarm component may cause all alarms, only alarms that have occurred after the last maintenance of the mining machine, or only new alarms to appear on the user interface for the user. To obtain such lists, the alarm component can review the alarms' timestamps and information on maintenance of the mining machine.
    The present invention can be applied to devices comprising at least one or more processors 30 and one or more memories 31, as shown in the example of Figure 6. The memory 31 may comprise a volatile memory, such as a direct memory (RAIVI), and a non-volatile memory, such as a read only memory (ROM), an electrically erasable readable memory (EEPROIVI) and / or other types of memory. In some embodiments, the memory may also include a flash memory or a fixed disk memory device. The memory may be provided with programs which - when executed by the processor - cause the device to perform at least some actions at the machine control level, actions at the monitoring level and / or communication actions with the control bus. The communication component, the alarm component, the user interface component and other functional elements which are arranged in the form of software can be installed in the form of several programs, program libraries, etc. The functions at the machine control level and the monitoring level may not be installed in special devices but some of the functions at the machine control level and the monitoring level may be installed in the same device, such as in the monitoring node 3. The device may further comprise a bus interface 33 so that the device can be connected to the control bus 5. The bus interface 33 may comprise a receiver for receiving data from the control bus, and a transmitter for transmitting data to the control bus. The device may also comprise input and output connections 34 (I / O interfaces) e.g. for receiving sensor data and / or for sending control signals to actuators. The device intended to be used as the monitoring node 3 may not need the I / O interface 34 but includes the user interface 35. The user interface may comprise a screen, a keyboard, a pointing device and / or other means for providing the user with information and for inputting user instructions.
    In the following, some embodiments will be described. According to a first embodiment, a method is provided for controlling a work machine, in which the function of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set. . The alarm indication, when switched on, is set in an active state when the fault in said at least one element has been detected, or in a passive state when the fault of said at least one element has disappeared.
    In some embodiments, when the alarm is set to the active state, the value of the state change counter increases by one.
    In some embodiments, the state change counter is controlled by the machine control node of the work machine. In some embodiments, the method further comprises: - examining whether the arm indication is used as a monitoring element to perform a function in the work machine; and - obstructing or permitting the performance of the function on the basis of the alarm condition.
    In some embodiments, the performance of the function is prevented if the alarm indication indicates that the alarm is in the active state.
    In some embodiments, the performance of the function is prevented if the alarm indication indicates that the alarm is in the active state.
    In some embodiments, when the alarm is in the active state, the method further comprises - waiting for an update of the alarm state; and - if the update is not received within a predetermined time, switching the alarm to the passive state.
    In some embodiments, a process image is maintained that includes signals present in a node, the arm indication being stored in the process image.
    In some embodiments, a machine control application is provided, the machine control application reading the alarm indication from the process image to determine the alarm condition.
    In some embodiments, the arm indication is determined based on a signal stored in the process image.
    According to a second exemplary embodiment, a system for controlling a work machine is provided, which work machine comprises at least one element, the system comprising a review element for detecting whether there is an error in said at least one element, wherein if an error has been detected, - the element adapted to put on an arm indication. The examining element is further adapted - when the alarm indication is switched on - to set the alarm indication in an active state when the fault in said at least one element has been detected, or in a passive state when the fault of said at least one element has disappeared. In some embodiments, when the alarm is set to the active state, the system is adapted to increase the value of a state change counter.
    In some embodiments, the state change counter is located in a machine control node of the work machine.
    In some embodiments, the system further comprises: - a control element which is adapted to check whether the alarm indication is used as a control element for performing a function in the work machine; and to prevent or allow the performance of the function on the basis of the alarm condition.
    In some embodiments, a node of the system comprises a process image that comprises signals present in the node, the node being adapted to store the alarm indication in the process image.
    In some embodiments, the system further comprises a machine control application adapted to read the alarm indication from the process screen to determine the alarm condition.
    In some embodiments, the system is adapted to determine the alarm indication based on a signal stored in the process image.
    In some embodiments, the work machine is a drilling rig, a loader, a tipper truck with a platform, a crusher and a screening machine, a conveyor, a road milling machine or a continuous mining machine.
    According to a third embodiment, there is provided a device for controlling a work machine, which device comprises at least one processor and at least one memory, which memory includes computer program instructions which - when executed by said at least one processor - cause the device to: - detect if there is a failure of at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to: - set the alarm indication in an active state when the alarm indication is in the on state and when the error in said at least one element has been detected, or - set the alarm indication in a passive state when the alarm indication is in the on state and when the fault in said at least one element has disappeared.
    According to a fourth embodiment, a computer program product is provided which includes computer program instructions, which - when executed by a processor - cause the device to: - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    The computer program product further relates to computer program instructions which - when executed by the processor - cause the device to: - set the alarm indication in an active state when the alarm indication is in the on state and when the fault in said at least one element has been detected, or - set the alarm indication in a passive state when the alarm indication is in the on state and when the fault in said at least one element has disappeared.
    According to a fifth embodiment, a method is provided for controlling a work machine, in which the function of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set on . Further in the procedure: - an origin component of the defect is determined; and - information about the original component is included in the alarm indication.
    According to a sixth embodiment, a system for controlling a work machine is provided, which work machine comprises at least one element, the system comprising a review element for detecting whether there is a fault in said at least one element, wherein if a fault has been detected, - the element adapted to turn on an alarm indication. The review element is further adapted to determine an origin component of the fault and to include information about the origin component in the alarm indication.
    According to a seventh embodiment, there is provided a device for controlling a working machine, which device comprises at least one processor and at least one memory, which memory comprises computer program instructions which - when executed by said at least one processor - cause the device to : - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if an error has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to: - determine an original component of the error; and - include information about the original component in the alarm indication.
    According to an eighth embodiment, a method is provided for controlling a work machine, in which the function of at least one element of the work machine is examined to detect if there is a fault in said at least one element, whereby if a fault has been detected, an alarm indication is set to . The method further comprises providing an alarm maintenance component for: - receiving alarm information from one or more machine control nodes; - coupling to an alarm log file to store the alarm information from said one or more machine control nodes to the alarm log file and to retrieve alarm information from the alarm log file; and - to pair with an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history.
    In some embodiments, the alarm maintenance component provides an additional message about the alarm in the user interface.
    In some embodiments, the alarm maintenance component provides additional instruction for the machine control node to turn off the alarm indication.
    In some embodiments, the alarm maintenance component provides additional grouping of alarm indications into one or more groups.
    According to a ninth embodiment, a system for controlling a work machine is provided, which work machine comprises at least one element, the system comprising a review element for detecting whether there is a fault in said at least one element, wherein if a fault has been detected, - the element adapted to put on an arm indication. The system further comprises an alarm maintenance component which is adapted to: receive alarm information from a machine control node; - pair with an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; and - pair with an Alarm History to store alarm information in the alarm history and to retrieve alarm information from the alarm history.
    According to a tenth embodiment, there is provided a device for controlling a work machine, which device comprises at least one processor and at least one memory, which memory includes computer program instructions which - when executed by said at least one processor - cause the device to: - detect if there is a failure of at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: - receiving alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; and - to pair with an Alarm History to store alarm information in the alarm history and to retrieve alarm information from the alarm history.
    According to an eleventh embodiment, a computer program product is provided which includes computer program instructions, which - when executed by a processor - cause the device to: - detect if there is a fault in at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the computer program product includes computer program instructions, which - when executed by the processor - cause the unit to provide an alarm maintenance component for: - receiving alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; and - to pair with an Alarm History to store alarm information in the alarm history and to retrieve alarm information from the alarm history. According to a twelfth embodiment, a method is provided for controlling a work machine, in which the function of at least one element of the work machine is examined to detect if there is a fault in said at least one element, wherein if a fault has been detected, an alarm indication is set on. Further in the method: - the alarm information is received from a machine control node; and - the alarm indication is stored in an alarm log file and in an alarm history.
    In some embodiments, the alarm log file is stored in a memory by the machine monitoring device.
    According to a thirteenth embodiment, a system for controlling a work machine is provided, which work machine comprises at least one element, the system comprising a review element for detecting if there is an error in said at least one element, wherein if an error has been detected, the review element is adapted to turn on an alarm indication. The system further comprises: - a receiver adapted to receive the alarm information from a machine control node; - a memory; and - an interface adapted to store the alarm indication in an alarm log file and in an alarm history.
    According to a fourteenth embodiment, there is provided a device for controlling a work machine, which device comprises at least one processor and at least one memory, which memory includes computer program instructions which - when executed by said at least one processor - cause the device to: - detect if there is a failure of at least one element of the work machine; and - turn on an alarm indication if a fault has been detected.
    Furthermore, the memory includes computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: - receiving alarm information from a machine control node; - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; and - to pair with an alarm history to store alarm information in the alarm history and to retrieve alarm information from the alarm history. The present invention is not limited only to the above examples but it can be practiced within the scope of the appended claims.
    权利要求:
    Claims (27)
    [1]
    A method for controlling a work machine (2), wherein the function of at least one element of the work machine (2) is examined to detect if there is a fault in said at least one element, wherein if a fault has been detected, an alarm indication is set on, characterized in that in the procedure further: events that are not alarms are detected; and an alarm maintenance component is provided for: - receiving alarm information from one or more machine control nodes (8); - coupling to an alarm log file to store the alarm information from said one or more machine control nodes (8) in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to pair with an alarm history to store alarm information and event information in the alarm history and to retrieve alarm information and event information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    [2]
    Method according to claim 1, characterized in that the alarm maintenance component further provides a message about the alarm on a user interface.
    [3]
    Method according to claim 2, characterized in that the alarm maintenance component further provides an instruction for the machine control node (8) to turn off the alarm indication.
    [4]
    Method according to claim 1, 2 or 3, characterized in that the alarm maintenance component further provides grouping of alarm indications in one or more groups.
    [5]
    Method according to one of Claims 1 to 4, characterized in that when an alarm is detected, the method comprises a further increase in the value of a counter for state changes. 10 15 20 25 30 35 32
    [6]
    Method according to Claim 5, characterized in that an additional value of the state change counter is stored in a process image (19) in the method.
    [7]
    Method according to Claim 6, characterized in that in the method a further: - a value on the state change calculator is compared with the value stored in the process image (19); - if the compared values do not match, an update of the data of the machine control node (8) is requested.
    [8]
    Method according to claim 5, 6 or 7, characterized in that in the method further: - a monitoring node (3) is initiated; - after the initiation of the monitoring node (3), the value of the calculator for state changes is examined; and - on the basis of the value of the condition change counter, it is determined if an error has occurred during the initiation of the monitoring node (3).
    [9]
    Method according to any one of claims 1-7, characterized in that in the method further: - alarm information is presented in a user interface to display all alarms, only alarms that occur after the last maintenance of a mining machine, or only new alarms for a user.
    [10]
    Method according to claim 9, characterized in that in order to obtain the information about alarms, the method comprises at least one of the following: - examination of the time stamp on the alarms; - examination of information relating to the maintenance of the mining machine.
    [11]
    A system for controlling a work machine (2), which work machine (2) comprises at least one element, the system comprising a review element for detecting whether there is an error in said at least one element, wherein if an error has been detected, the review element is adapted to turn on an alarm indication, characterized in that the system further comprises an alarm maintenance component which is adapted to: 10 15 20 25 30 35 33 - detect events that are not alarms; - receive alarm information from a machine control node (8); - pair with an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and to retrieve event information from the event log file; - pair with an alarm history to store alarm information and event information in the alarm history and to retrieve alarm information and event information from the alarm history; and - remove alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    [12]
    System according to claim 11, characterized in that the alarm maintenance component is adapted to form a message about the alarm on a user interface.
    [13]
    System according to claim 12, characterized in that the alarm maintenance component is adapted to form an instruction for the machine control node (8) to turn off the alarm indication.
    [14]
    System according to claim 11, 12 or 13, characterized in that the alarm maintenance component is adapted to provide grouping of alarm indications in one or more groups.
    [15]
    A system according to any one of claims 11-14, characterized in that the machine control node (8) comprises a state change counter, the machine control node (8) being adapted to increase the value of the state change counter when the alarm is detected.
    [16]
    System according to claim 15, characterized in that the system further comprises a process image (19) which is adapted to store a value on the counter of state changes.
    [17]
    The system according to claim 16, characterized in that the system is further adapted to: - compare a value on the state change counter with the value stored in the process image (19); - request an update of the data of the machine control node (8), if the compared values do not match.
    [18]
    The system according to claim 15, 16 or 17, characterized in that the system is further adapted to: - initiate a monitoring node (3); - checking the value of the state change counter after initializing the monitoring node (3); and - determining, on the basis of the value of the state change counter, if an error has occurred during the initialization of the monitoring node (3).
    [19]
    The system according to any one of claims 11-18, characterized in that the system is further adapted to: - provide alarm information on a user interface to display all alarms, only alarms that occur after the last maintenance of a mining machine, or only new alarms for a user.
    [20]
    System according to claim 19, characterized in that in order to obtain the information about alarms, the system is further adapted to perform at least one of the following: - examination of timestamps on the alarms; - examination of information relating to the maintenance of the mining machine.
    [21]
    A device for controlling a work machine (2), which device comprises at least one processor and at least one memory, which memory comprises computer program instructions which - when executed by said at least one processor - cause the device to: - detect if there is a fault in at least one element of the work machine (2): and - switch on an alarm indication if a fault has been detected; characterized in that the memory further comprises computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: - detecting non-alarm events; - receiving alarm information from a machine control node (8); 10 15 20 25 30 35 35 - to pair with an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to pair with an alarm history to store alarm information and event information in the alarm history and to retrieve alarm information and event information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    [22]
    A computer program product comprising computer program instructions which - when executed by a processor - cause the device to: - detect if there is a fault in at least one element of the work machine (2); and - turn on an alarm indication if a fault has been detected; characterized in that the computer program product further includes computer program instructions, which - when executed by the processor - cause the device to provide an alarm maintenance component for: - detecting non-alarm events; - to receive alarm information from a machine control node (8); - to connect to an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; - pairing with an event log file to store event information in the event log file and retrieving event information from the event log file; - to pair with an alarm history to store alarm information and event information in the alarm history and to retrieve alarm information and event information from the alarm history; and - removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    [23]
    A method for controlling a work machine (2), wherein the function of at least one element of the work machine (2) is examined to detect if there is a fault in said at least one element, wherein if a fault has been detected, an alarm indication is turned on, characterized in that in the procedure further: - events other than alarms are detected; 10 15 20 25 30 35 36 - the alarm information is received from a machine control node (8); and - the alarm information is stored in an alarm log file; - linked to an event log file to store event information in the event log file and retrieve event information from the event log file; - The alarm information and event information are stored in an alarm history; and - alarm information is removed from the alarm log file when the state of the alarm has changed from an active state to another state.
    [24]
    Method according to Claim 23, characterized in that the alarm log file is stored in a memory of the monitoring device (3) of the working machine (2).
    [25]
    A system for controlling a work machine (2), said work machine (2) comprising at least one element, the system comprising a review element for detecting whether there is an error in said at least one element, wherein if an error has been detected, the review element is adapted to turn on an alarm indication, characterized in that the system further comprises: - a receiver adapted to receive the alarm information and event information not relating to alarms from the machine control node (8); - a memory; and - an interface adapted to store the alarm indication in an alarm log file, to store the event information in the event log file, to retrieve event information from the event log file, to store the alarm indication and the event information in an alarm history; and removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
    [26]
    A device for controlling a work machine (2), which device comprises at least one processor and at least one memory, which memory comprises computer program instructions which - when executed by said at least one processor - cause the device to: - detect if there is a fault in at least one element of the work machine (2); and - turn on an alarm indication if a fault has been detected; 37 characterized in that the memory further includes computer program instructions, which - when executed by said at least one processor - cause the device to provide an alarm maintenance component for: receiving alarm information and event information not relating to alarms from the machine control node (8); to pair with an alarm log file to store alarm information in the alarm log file and to retrieve alarm information from the alarm log file; pairing with an event log file to store event information in the event log file and retrieve event information from the event log file; coupling to an alarm history to store alarm information and event information in the alarm history and to retrieve alarm information and event information from the alarm history; and removing alarm information from the alarm log file when the state of the alarm has changed from one active state to another state.
    [27]
    A method for controlling a work machine (2), wherein the function of at least one element of the work machine (2) is examined to detect if there is a fault in said at least one element, wherein if a fault has been detected, an alarm indication is put on, characterized in that the method further comprises detecting non-alarm events; storing the alarm indication in an alarm log file; storing the event information in an event log file; retrieving event information from the event log file; and storing the alarm indication and event information in an alarm history of a node (8) of a control bus of the work machine; and removing alarm information from the alarm log file when the state of the alarm has changed from an active state to another state.
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    同族专利:
    公开号 | 公开日
    AU2011378996B2|2014-11-13|
    WO2013053978A1|2013-04-18|
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    法律状态:
    优先权:
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