CN103195123A - Remote control system and excavator - Google Patents
Remote control system and excavator Download PDFInfo
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- CN103195123A CN103195123A CN2013101103570A CN201310110357A CN103195123A CN 103195123 A CN103195123 A CN 103195123A CN 2013101103570 A CN2013101103570 A CN 2013101103570A CN 201310110357 A CN201310110357 A CN 201310110357A CN 103195123 A CN103195123 A CN 103195123A
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Abstract
The invention discloses a remote control system and an excavator. The remote control system includes a remote control central module 1 and a remote control site module 2. The remote control central module 1 includes an information generation module 3. The remote control site module 2 includes a controller 5, an information receiving module 4 and the excavator 6, wherein the controller 5 is respectively connected with the information receiving module 4 and the excavator 6 controlled remotely. The information generation module 3 is connected with the information receiving module 4 through internet. The remote control system and the excavator utilize a fast and reliable way of the internet to transmit remote control signals to the site of the excavator to ensure that control commands are effective, reliable and in real time, and the signal transmission process is stable and reliable.
Description
Technical field
The invention belongs to plant equipment and make the field, relate to a kind of control system, relate in particular to a kind of tele-control system of excavator and comprise the excavator of this system.
Background technology
Current, the range of application of hydraulic crawler excavator has more and more widely been brought into play enormous function and effect in the engineering construction operation.But at present controlling mainly by operating personnel in driver's cabin of excavator utilizes handle and manipulation device to move.Like this in some special operation condition condition, under the relatively poor condition of the more abominable or underground ventilated environment of surrounding environment, operating environment can influence operating personnel's normal operating, can damage operator's physical and mental health when serious.Therefore need a kind of device that can the operated from a distance excavator, avoid the generation of above situation.
The tele-control system of more existing excavators, being by GSM/GPRS wireless (global system for mobile communications/general packet radio service technology) and 3G(3G (Third Generation) Moblie technology mostly) wireless module is sent to receiver module with operation information, pass main control chip by the I/O oral instructions again, main control chip utilizes USB serial ports (USB) to be connected with controller for excavators, carries out the excavator Long-distance Control.Utilize video acquisition module that image transfer is arrived display module simultaneously, understand field conditions for the operator.
Before invention the present invention, the present inventor finds that there is following problem in prior art: 1, owing to adopt the wireless and 3G wireless mode of GSM/GPRS, this mode needs the movable signal support, in the more weak or unsettled zone of signal, can't guarantee effective control command and video data normal transmission, interruption therefore may occur controlling suddenly and wait burst phenomenon, cause excavator attonity or other abnormal operations;
2, control command and vision signal be wireless and 3G wireless mode transmission by GSM/GPRS, is prone to multiple protocol conversion in the transmission course and causes the information dropout phenomenon, and its signal delay is big, and action response time is long, is easy to generate maloperation;
3, controller for excavators need provide the support of USB serial ports, has improved the hardware development cost, reduce reliability and the versatility of system, and the antijamming capability of UBS serial ports is relatively poor.
Summary of the invention
In view of this, the present invention proposes that a kind of interconnected network mode is sent to the excavator scene with remote control signal by adopting at a high speed reliably, guarantees the effectively reliable in real time of control command, and signals transmission is stable, tele-control system and excavator reliably.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, comprise a kind of tele-control system, be applied to the Long-distance Control excavator, wherein, comprise remote control center module and remote field module, described remote control center module comprises information-generation module, and described remote field module comprises controller, information receiving module and excavator equipment, described controller links to each other with excavator equipment with described information receiving module respectively, and described information-generation module links to each other with described information receiving module by the internet.
Preferably, also comprise the webserver, described information-generation module links to each other with described information receiving module by the webserver
Preferably, the information receiving module of described remote field module links to each other with described controller by the CAN bus.
Preferably, described remote field module also comprises image capture module, and described image capture module links to each other with described remote control center module by the internet.
Preferably, described information-generation module comprises continuous remote control equipment and central computer, and described central computer links to each other with described information receiving module by the internet.
Preferably, described information receiving module comprises continuous field computer and receiving terminal, and described information-generation module links to each other with described field computer by the internet, and described receiving terminal links to each other with described controller by the CAN bus.
Preferably, described image capture module comprises web camera, and described web camera links to each other with described remote control center module by the internet.
Preferably, described field computer links to each other by wireless and described receiving terminal.
Preferably, described remote control center module also comprises image display.
On the other hand, also comprise a kind of excavator, comprise above-mentioned tele-control system.
With respect to prior art, the present invention has following advantage:
1, all signals transmit by interconnected network mode, and signals transmission is stable, reliable;
2, action data and video information transfer rate are fast, and signal delay is little, and real-time is good;
3, adopt CAN bus and controller for excavators communication, reduce hardware components and change, improve system's versatility.
Description of drawings
The accompanying drawing that constitutes a part of the present invention is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not constitute improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the system block diagram of embodiments of the invention.
Wherein, 1 is that remote control center module, 2 is that remote field module, 3 is that information-generation module, 4 is that information receiving module, 5 is that controller, 6 is that excavator equipment, 7 is that computer centered by the remote control equipment, 8,9 is that field computer, 10 is that receiving terminal, 11 is that image capture module, 12 is the webserver.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the present invention can make up mutually.
Below with reference to accompanying drawing embodiments of the invention are done concrete explaination.
The tele-control system of embodiments of the invention as shown in fig. 1 comprises remote control center module 1 and remote field module 2.
Remote control center module 1 comprises information-generation module 3.Remote field module 2 comprises information receiving module 4, controller 5 and excavator equipment 6.Controller 5 links to each other with excavator equipment 6 with information receiving module 4 respectively.Information-generation module 3 links to each other with described information receiving module 4 by the internet.
The tele-control system of embodiments of the invention, interconnected network mode is sent to the excavator scene with remote control signal by adopting at a high speed reliably, has guaranteed the effectively reliable in real time of control command, and signals transmission is stable, reliable.
As shown in fig. 1, in an embodiment of the present invention, tele-control system is made up of remote control center module 1 and remote field module 2 two parts.Remote control center module 1 mainly is made up of remote control equipment 7 and central computer 8.Remote field module 2 is made up of field computer 9, receiving terminal 10, controller 5, excavator equipment 6, image capture module 11 and the webserver 12.
The operating principle of embodiments of the invention is as follows: when the remote control equipment 7 of user at strange land operation excavator equipment 6, remote control equipment 7 is formed the action message bag with the actuating signal of the excavator equipment 6 of expectation, pass to continuous central computer 8, central computer 8 sends to the webserver 12 in the internet with the action message bag by the TCP/IP procotol.
After field computer 9 arrives the webserver 12 by internet access, obtain the action message bag on the webserver 12, by wireless or other transmission means, as WIFI or radio, send this signal bag to receiving terminal 10 as bluetooth equipment, CAN(controller local area network is resolved and converted to receiving terminal 10 with the actuating signal bag of receiving) the bus message bag, be connected with the controller 5 of excavator equipment 6 by the CAN bus, directly long-range actuating signal is delivered in the controller 5 of excavator equipment 6, controller 5 is realized the Remote operation of excavator equipment 6 according to the operation that receives the expectation actuating signal control excavator equipment 6 that comes.
Simultaneously at the scene around or excavator equipment 6 fuselages image capture module 11 is installed, web camera as high-resolution, obtain excavator equipment 6 action and surrounding environment pictures in real time, and send video information to the webserver 12 by the internet, central computer 8 reads by network IP port, and further by the image display display video picture in the remote control center module 1, check the operating state of scene and excavator equipment 6 for the user.
All teledatas of technique scheme transmit and adopt interconnected network mode, utilize all data messages of network delivery, and the rate of information throughput is fast, good stability; Receiving terminal adopts the CAN bus mode to be connected with the controller of excavator equipment, need not to increase other hardware components, reduces hardware components and changes, and improves system's versatility.
Also comprise a kind of excavator in the embodiments of the invention, wherein, be provided with above-mentioned tele-control system, because above-mentioned tele-control system has above-mentioned technique effect, therefore, the excavator that is provided with this tele-control system also should possess corresponding technique effect, and its specific implementation process is similar to the above embodiments, does not give unnecessary details now.
More than specific embodiments of the invention are described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, not breaking away from impartial conversion and the modification of doing under the spirit and scope of the present invention, all should contain within the scope of the invention.
Claims (10)
1. tele-control system, be applied to the Long-distance Control excavator, it is characterized in that, comprise remote control center module (1) and remote field module (2), described remote control center module (1) comprises information-generation module (3), described remote field module (2) comprises controller (5), information receiving module (4) and excavator equipment (6), described controller (5) links to each other with excavator equipment (6) with described information receiving module (4) respectively, and described information-generation module (3) links to each other with described information receiving module (4) by the internet.
2. tele-control system as claimed in claim 1 is characterized in that, also comprises the webserver (12), and described information-generation module (3) links to each other with described information receiving module (4) by the webserver (12).
3. tele-control system as claimed in claim 1 is characterized in that, the information receiving module (4) of described remote field module (2) links to each other with described controller (5) by the CAN bus.
4. tele-control system as claimed in claim 1 is characterized in that, described remote field module (2) also comprises image capture module (11), and described image capture module (11) links to each other with described remote control center module (1) by the internet.
5. tele-control system as claimed in claim 1, it is characterized in that, described information-generation module (3) comprises continuous remote control equipment (7) and central computer (8), and described central computer (8) links to each other with described information receiving module (4) by the internet.
6. tele-control system as claimed in claim 1, it is characterized in that, described information receiving module (4) comprises continuous field computer (9) and receiving terminal (10), described information-generation module (3) links to each other with described field computer (9) by the internet, and described receiving terminal (10) links to each other with described controller (5) by the CAN bus.
7. tele-control system as claimed in claim 4 is characterized in that, image capture module (11) comprises web camera, and described web camera links to each other with described remote control center module (1) by the internet.
8. tele-control system as claimed in claim 5 is characterized in that, described field computer (9) links to each other by wireless and described receiving terminal (10).
9. tele-control system as claimed in claim 7 is characterized in that, described remote control center module (1) also comprises image display.
10. an excavator is characterized in that, comprises as each described tele-control system of claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101103570A CN103195123A (en) | 2013-03-29 | 2013-03-29 | Remote control system and excavator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101103570A CN103195123A (en) | 2013-03-29 | 2013-03-29 | Remote control system and excavator |
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| CN103195123A true CN103195123A (en) | 2013-07-10 |
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| CN2013101103570A Pending CN103195123A (en) | 2013-03-29 | 2013-03-29 | Remote control system and excavator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103593890A (en) * | 2013-10-30 | 2014-02-19 | 三一重机有限公司 | Remote control locking and unlocking system, method and engineering machine |
| CN103742164A (en) * | 2013-12-06 | 2014-04-23 | 南宁市西真电子科技开发有限公司 | Intelligent underground pipeline excavating device |
| CN106131500A (en) * | 2016-07-29 | 2016-11-16 | 电子科技大学 | A kind of general visual remote control system based on iOS system |
| CN109709873A (en) * | 2019-01-21 | 2019-05-03 | 大连交通大学 | A kind of bucket wheel excavator data remote detecting unit |
| CN110460677A (en) * | 2019-08-23 | 2019-11-15 | 临工集团济南重机有限公司 | A kind of excavator and excavator tele-control system |
| CN111918036A (en) * | 2020-08-03 | 2020-11-10 | 三一智矿科技有限公司 | Excavator remote control method and system based on 5G network |
| CN114457868A (en) * | 2022-02-22 | 2022-05-10 | 华侨大学 | Remote control method, device, equipment, system and storage medium for electric excavator |
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| CN102116039A (en) * | 2009-12-31 | 2011-07-06 | 斗山工程机械（中国）有限公司 | Circuitry with remote control function, method and excavator |
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| JP2006132265A (en) * | 2004-11-09 | 2006-05-25 | Hitachi Constr Mach Co Ltd | Remote radio control system for construction machine |
| JP2007205128A (en) * | 2006-02-06 | 2007-08-16 | Ohmoto Gumi Co Ltd | Remote support method and system for pneumatic caisson |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103593890A (en) * | 2013-10-30 | 2014-02-19 | 三一重机有限公司 | Remote control locking and unlocking system, method and engineering machine |
| CN103742164A (en) * | 2013-12-06 | 2014-04-23 | 南宁市西真电子科技开发有限公司 | Intelligent underground pipeline excavating device |
| CN103742164B (en) * | 2013-12-06 | 2015-09-16 | 南宁市西真电子科技开发有限公司 | A kind of intelligent underground pipeline excavating gear |
| CN106131500A (en) * | 2016-07-29 | 2016-11-16 | 电子科技大学 | A kind of general visual remote control system based on iOS system |
| CN109709873A (en) * | 2019-01-21 | 2019-05-03 | 大连交通大学 | A kind of bucket wheel excavator data remote detecting unit |
| CN110460677A (en) * | 2019-08-23 | 2019-11-15 | 临工集团济南重机有限公司 | A kind of excavator and excavator tele-control system |
| CN111918036A (en) * | 2020-08-03 | 2020-11-10 | 三一智矿科技有限公司 | Excavator remote control method and system based on 5G network |
| CN114457868A (en) * | 2022-02-22 | 2022-05-10 | 华侨大学 | Remote control method, device, equipment, system and storage medium for electric excavator |
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Application publication date: 20130710 |