CN105159169A - Intelligent loader remote control system based on wifi wireless communication - Google Patents
Intelligent loader remote control system based on wifi wireless communication Download PDFInfo
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- CN105159169A CN105159169A CN201510534385.4A CN201510534385A CN105159169A CN 105159169 A CN105159169 A CN 105159169A CN 201510534385 A CN201510534385 A CN 201510534385A CN 105159169 A CN105159169 A CN 105159169A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides an intelligent loader remote control system based on wifi wireless communication. A remote control command is generated by an intelligent terminal according to input of an operator and converted into a wifi device identifiable code via a wifi signal conversion and processing module; the wifi device identifiable code is transmitted to the CAN bus signal processing module of a loader via a wifi signal transmit-receive device and then transmitted to a loader onboard computer, and the loader onboard computer drives a movable arm, a bucket, a steering mechanism and a gearbox according to the remote control command so that tri-redundancy control can be realized; and the current state monitoring data of the loader are acquired by sensors and transmitted back to the intelligent terminal via the loader onboard computer, the CAN bus signal processing module and the wifi signal transmit-receive device in turn. Composite operation can be performed on the movable arm, the bucket and steering of the loader so that intelligent remote wireless control of the loader can be realized.
Description
Technical field
The present invention relates to Flying by wire intelligent loading machine wireless remote control technology field, be specially a kind of remote control system based on wifi wireless telecommunications for intelligent loading machine.
Background technology
Shovel loader is the main force of engineering machinery field, be widely used in the restoration in earth-rock construction of the construction projects such as highway, railway, building, water power, harbour, mine, be mainly used to shovel, loading, unloading, fortune earth and building stones one class bulk material, also can carry out slight spading operation to rock, pan soil.Conventional load machine adopts manned method to carry out work, and entirely with the position of micro-judgment swing arm and the angle of scraper bowl of operator, this control mode control accuracy is low, energy consumption is high, maintenance difficulties is large.In addition, the application of the high-risk occasions such as the manual operation of shovel loader is not suitable for landslide, road collapses, flood desilting, above-mentioned high-risk occasion should reduce participating in directly of people as far as possible.
The new and high technologies such as direct drive valve, computing machine, automatically control fully combine by integrated electric Ore-controlling Role, to cancel in shovel loader original system between control crank and apparatus for work and the contact of the room machine of bearing circle and deflecting roller (or hydraulic pressure), the apparatus for work of shovel loader and steering mechanism's sensitivity can be regulated according to actual condition, for driver provides comfortable impression, thus raising operating efficiency, reduce the labour intensity of operating personnel, simplify assembling process, make the remote driving of shovel loader become possibility simultaneously.Domestic at present also do not have the intelligent loading machine telechirics can applying wifi wireless telecommunications, so theory and technology is also very weak in this respect, needs to further investigate further.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of intelligent loading machine telechirics based on wifi wireless telecommunications, the radio receiving transmitting module and the steering order of computing module to intelligent terminal that make full use of intelligent loading machine send and resolve, to realize the wireless remote control to shovel loader, and pass the state of shovel loader in real time back.
The technical solution adopted for the present invention to solve the technical problems is: comprise intelligent terminal, wifi signal receiving/transmission device, the conversion of wifi signal and processing module, computing machine and CAN signal processing module on loading locomotive.
Described intelligent terminal, according to the input of operating personnel, generates telecommand, comprises swing arm, scraper bowl, turns to, the control of throttle and brake, is converted to wifi device identifiable design code by the conversion of wifi signal and processing module; Wifi device identifiable design code is transferred to the CAN signal processing module of shovel loader by wifi signal receiving/transmission device, and then be transferred to computing machine on loading locomotive, load computing machine on locomotive and control direct drive valve and electric proportional valve according to telecommand, and then drive swing arm, scraper bowl, steering mechanism and wheel box, realize triplex redundance and control; Sensor gathers the Monitoring Data of shovel loader current state, and returns to intelligent terminal by loading computing machine, CAN signal processing module and wifi signal receiving/transmission device on locomotive successively.
Described intelligent terminal according to the input of operating personnel, can generate turn to, the operation code of scraper bowl and swing arm, generate throttle and the operation code of brake and the operation code of generating power pattern, binding mode and gearbox-gear.
Password is comprised in the wifi device identifiable design code of described wifi signal receiving/transmission device transmitting-receiving, when intelligent terminal sends wifi device identifiable design code to shovel loader, whether the password in CAN signal processing module checking wifi device identifiable design code is correct, then lock shovel loader current location as incorrect, and forbid that intelligent terminal operates; When CAN signal processing module sends wifi device identifiable design code to intelligent terminal, whether the password in intelligent terminal checking wifi device identifiable design code is correct, confirms just to show correctly.
Comprise in the wifi device identifiable design code of described wifi signal receiving/transmission device transmitting-receiving heartbeat word and code and, wherein, heartbeat word can often upgrade a bat with data and add 1, code and should remaining unchanged in normal state, by judging that heartbeat word determines whether data upgrade, judging code and determining whether data go out active or mistake.
The invention has the beneficial effects as follows: and can turn to and carry out composition operation the swing arm of shovel loader, scraper bowl, achieve and the intelligent remote wireless of shovel loader is controlled.
The present invention adopts wifi wireless communication module, achieves the long-range wireless remote control to shovel loader, and by receiving and dispatching the form of password, ensure that the high security that data are transmitted; The present invention by verifying software heartbeat word and code and method, ensure correctness and the high reliability of data transmission; The present invention adopts and is embedded in control law module in computing machine according to the control command received, and sensor feedback information, controls four road direct drive valve and a road electric proportional valve, and realize triplex redundance High-reliability Control with the output of electrical form.
Accompanying drawing explanation
Fig. 1 is main assembly schematic diagram of the present invention;
Fig. 2 is the functional block diagram of controller.
Embodiment
The invention provides a kind of intelligent loading machine telechirics based on wifi wireless telecommunications, by intelligent terminal (mobile phone, analog capsule cabin etc.) control module, wifi remote signal R-T unit, the conversion of wifi signal and processing module, computing machine and CAN signal processing module on loading locomotive, realize high security, the shovel loader Long-distance Control of high precision and monitoring.Concrete scheme is as follows:
Developing application is loaded into intelligent terminal, Application Program Interface comprise two circular operation boxs can generate turn to, the operation code of scraper bowl and swing arm; Two rectangular operation frames can generate the operation code of throttle and brake; Three plus-minus operation boxs can realize the operation code generation of power mode, binding mode and gearbox-gear.And generate wireless remote control steering order thus, mainly comprise swing arm, scraper bowl, turn to, the complex controll of throttle and brake and manipulation, be converted to wifi device identifiable design code by cell phone software;
Design wifi remote signal R-T unit, mainly comprises hardware and software module wherein, and supports the function such as bidirectional transmit-receive, data decode.Wherein by verifying software heartbeat word and code and method: mobile phone sends in the signal of wifi R-T unit and comprises heartbeat word and code and information, wherein heartbeat word can often upgrade a bat with data and add 1, code and should remaining unchanged in normal state, by judging that heartbeat word can determine whether data upgrade, judging code and can determine whether data go out active or mistake.This method ensures the correctness of data transmission.In addition, by verifying the mode of whether mating from wifi transmitting-receiving two-end password, ensure that the security that data are transmitted: the password outwards sent as mobile phone is that 8888, wifi transceiver module and CAN signal processing module allow to receive mobile phone instruction by judging the correctness of password; In like manner, CAN signal processing module sends password 6666, and mobile phone also will judge it, confirms that the signal that just can be sent correctly shows.
CAN signal processing module is developed, and receives the control signal of the intelligent terminal that wifi R-T unit forwards, and shovel loader current state Monitoring Data is returned to intelligent terminal by wifi R-T unit mainly through CAN module on shovel loader.Wherein, first CAN module verifies that whether the password that wifi R-T unit forwards is correct, then locks shovel loader current location, and forbid that intelligent terminal operates as incorrect.In addition, in connection procedure, password on passback car is verified to wifi R-T unit by CAN module.
Load computer processing module exploitation on locomotive, mainly comprise and be embedded in control law module in computing machine according to the intelligent terminal control command received and sensor feedback information, four road direct drive valve and a road electric proportional valve is controlled with the output of electrical form, drive swing arm, scraper bowl, steering mechanism and wheel box respectively, and realize triplex redundance control.
Below in conjunction with drawings and Examples, the present invention is further described, the present invention includes but be not limited only to following embodiment.
As shown in Figure 1, the present invention gathers the steering order information such as loading machine steering, swing arm, scraper bowl and gear by intelligent terminal, and be transmitted to wifi transceiver module with TCP/IP or UDP form, wifi transceiver module is by special purpose interface and CAN model calling, and send it to integrated controller for loader (IECU) by CAN, the feature in control signal transmitting procedure is as follows:
A) operated from a distance control inerface need first be clicked to set up long-range connection;
B) eject the dialog box of input password after clicking, and input four passwords;
C) after password authentification correctly, every 100ms cycle sends password to IECU, and IECU is by judging that whether password is correct in the exact connect ion ensureing Data-Link and stable operation.If IECU judges code error, then will forbid intelligent terminal operation shovel loader, and shovel loader will be remained on safe mode.
Wherein, password setting and concrete steering order are defined as follows:
A. password enters and validation testing:
B. control information:
The present invention is by intelligent terminal for reception shovel loader Real-Time Monitoring information, the concrete transmission of monitoring information is identical with control signal transmission mode, direction is contrary, receive the feedback information from IECU, and by the transmission of CAN and TCP/IP two kinds of patterns, information is sent to intelligent terminal, the feature in monitoring information transmitting procedure is as follows:
A) IECU every 100ms cycle replys to intelligent terminal and confirms password, and intelligent terminal is by judging that whether password is correct in the exact connect ion ensureing Data-Link and stable operation.If intelligent terminal judges code error, then turn-off data received and think that information is not from IECU.
B) Pagination Display Real-Time Monitoring information in intelligent terminal, and adopt the different update cycles according to the priority of information.
Wherein, concrete monitoring information is defined as follows:
Function of the present invention as shown in Figure 2, IECU receives steering order information and the feedback information of intelligent terminal transmission, control four road direct drive valve and a road electric proportional valve with the output of electrical form, drive swing arm, scraper bowl, steering mechanism and wheel box respectively, and realize triplex redundance control.Controller adopts interface and the control circuit of triple-redundant processor and two remainings, can ensure primary fault work, twice fail-safe ability.Controller mainly comprises following functions module: power supply input protection and EMI module, SBC power module, processor module, DDV driver module, channel failure logic module, solenoid valve driving module, LVDT excitation power supply module, LVDT demodulation conditioning circuit module, pressure transducer conditioning circuit module, resistance class Conditioning Circuits of Sensor module, discrete magnitude input conditioning circuit module, CAN module, VTI module etc.
Claims (4)
1. the intelligent loading machine telechirics based on wifi wireless telecommunications, comprise intelligent terminal, wifi signal receiving/transmission device, the conversion of wifi signal and processing module, computing machine and CAN signal processing module on loading locomotive, it is characterized in that: described intelligent terminal is according to the input of operating personnel, generate telecommand, comprise swing arm, scraper bowl, turn to, the control of throttle and brake, be converted to wifi device identifiable design code by the conversion of wifi signal and processing module; Wifi device identifiable design code is transferred to the CAN signal processing module of shovel loader by wifi signal receiving/transmission device, and then be transferred to computing machine on loading locomotive, load computing machine on locomotive and control direct drive valve and electric proportional valve according to telecommand, and then drive swing arm, scraper bowl, steering mechanism and wheel box, realize triplex redundance and control; Sensor gathers the Monitoring Data of shovel loader current state, and returns to intelligent terminal by loading computing machine, CAN signal processing module and wifi signal receiving/transmission device on locomotive successively.
2. the intelligent loading machine telechirics based on wifi wireless telecommunications according to claim 1, it is characterized in that: described intelligent terminal is according to the input of operating personnel, can generate turn to, the operation code of scraper bowl and swing arm, generate throttle and the operation code of brake and the operation code of generating power pattern, binding mode and gearbox-gear.
3. the intelligent loading machine telechirics based on wifi wireless telecommunications according to claim 1, it is characterized in that: in the wifi device identifiable design code of described wifi signal receiving/transmission device transmitting-receiving, comprise password, when intelligent terminal sends wifi device identifiable design code to shovel loader, whether the password in CAN signal processing module checking wifi device identifiable design code is correct, then lock shovel loader current location as incorrect, and forbid that intelligent terminal operates; When CAN signal processing module sends wifi device identifiable design code to intelligent terminal, whether the password in intelligent terminal checking wifi device identifiable design code is correct, confirms just to show correctly.
4. the intelligent loading machine telechirics based on wifi wireless telecommunications according to claim 1, it is characterized in that: comprise in the wifi device identifiable design code of described wifi signal receiving/transmission device transmitting-receiving heartbeat word and code and, wherein, heartbeat word can often upgrade a bat with data and add 1, code and should remaining unchanged in normal state, by judging that heartbeat word determines whether data upgrade, judging code and determining whether data go out active or mistake.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510534385.4A CN105159169A (en) | 2015-08-27 | 2015-08-27 | Intelligent loader remote control system based on wifi wireless communication |
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| CN201510534385.4A CN105159169A (en) | 2015-08-27 | 2015-08-27 | Intelligent loader remote control system based on wifi wireless communication |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106567420A (en) * | 2016-07-26 | 2017-04-19 | 中国航空工业集团公司西安飞行自动控制研究所 | Triple-redundancy software control system of electrical transmission control excavator |
| CN108121249A (en) * | 2017-11-17 | 2018-06-05 | 徐州重型机械有限公司 | A kind of radio crane operation management system |
| CN111445682A (en) * | 2020-04-02 | 2020-07-24 | 陕西建设机械股份有限公司 | Wireless control system and method for paver based on WIFI and paver |
| CN111710140A (en) * | 2020-05-11 | 2020-09-25 | 上海宏英智能科技有限公司 | Remote control system, remote control device and remote control method |
| CN114900544A (en) * | 2022-05-24 | 2022-08-12 | 雷沃工程机械集团有限公司 | Excavator data transmission method and system based on WIFI communication |
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- 2015-08-27 CN CN201510534385.4A patent/CN105159169A/en active Pending
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106567420A (en) * | 2016-07-26 | 2017-04-19 | 中国航空工业集团公司西安飞行自动控制研究所 | Triple-redundancy software control system of electrical transmission control excavator |
| CN108121249A (en) * | 2017-11-17 | 2018-06-05 | 徐州重型机械有限公司 | A kind of radio crane operation management system |
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| CN114900544A (en) * | 2022-05-24 | 2022-08-12 | 雷沃工程机械集团有限公司 | Excavator data transmission method and system based on WIFI communication |
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Application publication date: 20151216 |