CN106592677B - A kind of switching method of underground carry scraper remote control and machine control - Google Patents
A kind of switching method of underground carry scraper remote control and machine control Download PDFInfo
- Publication number
- CN106592677B CN106592677B CN201611162381.9A CN201611162381A CN106592677B CN 106592677 B CN106592677 B CN 106592677B CN 201611162381 A CN201611162381 A CN 201611162381A CN 106592677 B CN106592677 B CN 106592677B
- Authority
- CN
- China
- Prior art keywords
- control
- remote
- switching
- scraper
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses the methods that two kinds of control models of a kind of remote control of wireless remote control underground carry scraper and machine control switch over.Two kinds of control signals are respectively from airborne station and remote-control receiver, and when switching, two kinds of control signals enter master control system simultaneously, and the controller of master control system is responsible for the realization of switching method.Airborne station has a switching switch, and expression should be currently remote control or machine control, but actual control model is indicated by remote-control indicating lamp.It can switch over, need to be controlled in signal according to two sets and be determined with the safety-related signal synthesis of scraper.When being unsatisfactory for the condition of switching permission, even if switching switch state changes, the control model that actual control model still maintains original is constant.When remote control, machine control Signal Fail；When machine control, remote signal failure；During work, only a set of control signal works.When switching unsuccessful, the operating trouble indicator light on airborne station is bright, and prompting handover operation, there are problems.
Description
Technical field
The present invention relates to the wireless remote control fields of underground carry scraper, especially underground carry scraper remote control and mechanical control mode simultaneously
And deposit and need the control method and technology of handoff-security.
Background technique
Wireless remote control underground carry scraper is general to have two kinds of control models of remote control and machine control simultaneously.When scraper works, only
There is a set of control device to work, in case two sets of control signals collide.When being switched to vehicle control mode, Huo Zhecong from remote control mode
When vehicle control pattern switching is to remote control mode, in handoff procedure, it is necessary to assure the safety of scraper should guarantee safety
Under the premise of, it can just switch over, deliver control.Therefore, switching action how is controlled, how to determine whether to switch, cut
It changes how success or not reminds operator, is unsatisfactory for how about controlling the movement of scraper when switching enabled condition to ensure to pacify
Entirely, the solution of these problems is significantly.The realization of switching method with hardware or can use software.Use hardware
Or the direct switching signal route of relay, but control signal is too many, complex circuit.This civilization is cut using software approach to control
It changes, the realization of specific algorithm is realized by programming industrial controllers.
Summary of the invention
It is an object of the invention to: under the premise of ensuring scraper trouble free service, completes remote control and the steady of vehicle control is cut
It changes, changes the control signal source of scraper movement；If cannot normally switch, automatic execute is conducive to scraper safety
Movement, and provide corresponding alarm prompt.
The technical solution adopted in the present invention is as follows:
1. the method for handover control of underground carry scraper remote control and machine control comprising the steps of:
Step 1: detecting remote control on airborne station/machine control switching switch state, judge switching switch whether in distant
It controls position and otherwise enters step 3 if it is, entering step 2；
Step 2: powering to remote-control receiver and video system, enter step 3；
Step 3: judge whether the state of switching switch is changed, in case of variation, then enters step 4, it is no
Then enter step 8；
Step 4: whether being all conducive to shovel according to control signal relevant to scraper movement in remote signal, machine control signal
Motor-driven work safety is transported to determine whether meeting switching enabled condition, if meeting switching enabled condition, enters step 5, otherwise
Enter step 7；
Step 5: judging switching direction, be switched to remote control if it is slave control, then enter step 6, otherwise enter step 9；
Step 6: judging whether the emergency stop switch of remote operation console is opened, if in the open state, enter step
Rapid 7, otherwise enter step 10；
Step 7: acting scraper stopping, into safety stop state, while providing the warning note of operating trouble, so
After enter step 8；
Step 8: whether judgement is originally machine control, if being originally machine control, enters step 9, otherwise enters step 12；
Step 9: the control signal of airborne station comes into force, while making the control Signal Fail of remote operation console, extinguishes distant
Indicator light is controlled, enters step 10；
Step 10: judge whether the state of switching switch is changed, and if there is a change, then enters step 11, it is no
Then enter step 13；
Step 11: starting timing, be delayed after a period of time, remote-control receiver and video system power-off enter step 13；
Step 12: the control signal of remote operation console comes into force, while making the control Signal Fail of airborne station, lights distant
Indicator light is controlled, enters step 13；
Step 13: switching is completed, into follow-up process.
2. the device that switching method is related to includes airborne station, remote-control receiver, master control system three parts:
1) airborne station generates machine control signal and is transferred directly to master control system；Remote-control receiver will be produced from remote control behaviour
The remote signal for making platform is transmitted to master control system；When switching, all control signals of two sets of stations all enter master control system；
2) airborne station installs a remote control/machine control switching switch, indicates that current control signal should be that remote control is gone back
It is machine control；
3) the current practical state of a control of scraper is indicated by the remote-control indicating lamp on machine control station；In remote state
When, remote-control indicating lamp is bright；When in machine control state, remote-control indicating lamp goes out.
3. the phenomenon after switching are as follows:
1) can underground carry scraper be remotely controlled the/switching of machine control, motion state and control that need to be current according to scraper
Signal deciding；If switching enabled condition is unsatisfactory for, regardless of which kind of position switching switch is in, the control model of scraper is protected
Hold it is constant, still be switching switch change before control model；
2) when in remote control, the control Signal Fail of airborne station generation；When being in airborne operation, remote control operation
The control Signal Fail that platform generates；When scraper is in running order, the control signal of only a set of station works；
3) when switching switch is in remote control position, remote-control receiver and video system are powered on；When scraper is in machine control
When mode, remote-control receiver and video system power-off；When scraper is in remote control mode and switches switch in machine control position,
Remote-control receiver and video system still maintain power supply；It is delay a period of time, distant after being switched to machine control mode from remote control mode
Control receiver and video system power off again.
4. for the judgement of remote control/machine control switching enabled condition are as follows:
1) judge to act whether safety-related control signal has with scraper in the control signal of airborne station generation
Safety is acted conducive to scraper；
2) judge to act whether safety-related control signal has with scraper in control signal that remote-control receiver transmits
Safety is acted conducive to scraper；
3) only have all control signals to be all conducive to scraper movement safety, just allow to switch, otherwise do not allow to switch.
5. mainly scraper is made to enter safety stop state the processing movement being remotely controlled and machine control exists when conflicting, together
When provide the warning note of operating trouble and enter back into follow-up process under conditions of ensuring safety.
Detailed description of the invention
Fig. 1 is the flow chart of handoff procedure.
Fig. 2 is the device and its signal flow schematic diagram that switching method is related to.
Fig. 3 is the flow chart for judging whether to meet switching enabled condition.
Fig. 4 is action flow chart when handoff procedure conflicts.
Specific embodiment
The present invention is described in more detail below with reference to a specific example.
1. 2 cubes of remote control underground carry scrapers are remotely controlled the switching with machine control, the step of judged and acted
As shown in Figure 1, specific steps are described below:
Step 1: detecting remote control on airborne station/machine control switching switch state, judge switching switch whether in distant
It controls position and otherwise enters step 3 if it is, entering step 2；
Step 2: powering to remote-control receiver and video system, enter step 3；
Step 3: judge whether the state of switching switch is changed, in case of variation, then enters step 4, it is no
Then enter step 8；
Step 4: whether being all conducive to shovel according to control signal relevant to scraper movement in remote signal, machine control signal
Motor-driven work safety is transported to determine whether meeting switching enabled condition, if meeting switching enabled condition, enters step 5, otherwise
Enter step 7；
Step 5: judging switching direction, be switched to remote control if it is slave control, then enter step 6, otherwise enter step 9；
Step 6: judging whether the emergency stop switch of remote operation console is opened, if in the open state, enter step
Rapid 7, otherwise enter step 10；
Step 7: acting scraper stopping, into safety stop state, while providing the warning note of operating trouble, so
After enter step 8；
Step 8: whether judgement is originally machine control, if being originally machine control, enters step 9, otherwise enters step 12；
Step 9: the control signal of airborne station comes into force, while making the control Signal Fail of remote operation console, extinguishes distant
Indicator light is controlled, enters step 10；
Step 10: judge whether the state of switching switch is changed, and if there is a change, then enters step 11, it is no
Then enter step 13；
Step 11: starting timing, after delay 10 seconds, remote-control receiver and video system power-off enter step 13；
Step 12: the control signal of remote operation console comes into force, while making the control Signal Fail of airborne station, lights distant
Indicator light is controlled, enters step 13；
Step 13: switching is completed, into follow-up process.
2. switching method is related to airborne station, remote-control receiver, master control system three parts, mutual signal altogether
Flow direction is as shown in Fig. 2, the function of related device and effect are as follows:
1) airborne station generates machine control signal and is transferred directly to master control system；Remote-control receiver will be produced from remote control behaviour
The remote signal for making platform is transmitted to master control system；When switching, all control signals of two sets of stations all enter master control system；
2) airborne station installs a remote control/machine control switching switch, indicates that current control signal should be that remote control is gone back
It is machine control；
3) the current practical state of a control of scraper is indicated by the remote-control indicating lamp on machine control station；In remote state
When, remote-control indicating lamp is bright；When in machine control state, remote-control indicating lamp goes out.
3. be remotely controlled/switching of machine control after, result and phenomenon are as follows:
1) can underground carry scraper be remotely controlled the/switching of machine control, motion state and control that need to be current according to scraper
Signal deciding；If switching enabled condition is unsatisfactory for, regardless of which kind of position switching switch is in, the control model of scraper is protected
Hold it is constant, still be switching switch change before control model；
2) when in remote control, the control Signal Fail of airborne station generation；When being in airborne operation, remote control operation
The control Signal Fail that platform generates；When scraper is in running order, the control signal of only a set of station works；
3) when switching switch is in remote control position, remote-control receiver and video system are powered on；When scraper is in machine control
When mode, electric energy is saved in remote-control receiver and video system power-off；Switch switch in machine when scraper is in remote control mode
When controlling position, remote-control receiver and video system still maintain power supply；When being switched to machine control mode from remote control mode, delay 10
After second, remote-control receiver and video system power-off.
4. judging that remote control/machine control switches the process whether allowed as shown in figure 3, particular content are as follows:
1) judge to act whether safety-related control signal has with scraper in the control signal of airborne station generation
Safety is acted conducive to scraper, these control signals include airborne forward/backward switch, airborne parking brake switch, airborne key
Spoon switch, gas pedal, airborne scraper bowl lifting handle, airborne scraper bowl handle reverse etc.；
2) judge to act whether safety-related control signal has with scraper in control signal that remote-control receiver transmits
Safety is acted conducive to scraper, these signals include being remotely controlled forward/backward switch, remote control parking brake switch, telemotor
Starting/flameout switch, full throttle switch, remote control throttle control handle, remote control scraper bowl lifting handle, remote control scraper bowl handle reverse etc.；
3) only have all control signals to be all conducive to the movement safety of scraper, just allow to switch, otherwise do not allow to switch；
4) decision logic for controlling signal is as shown in Figure 3.
5. acting the processing being remotely controlled and machine control exists when conflicting as shown in figure 4, these movements include opening to stop to make
It moves, make service brake is maximum, make throttle zero, closing full throttle, stops scraper bowl going up and down, stop scraper bowl overturning, lighting operation event
Hinder indicator light etc., it is ensured that scraper enters safety stop state, while providing the warning note of operating trouble, subsequently into subsequent
Process.
6. in example, the controller in master control system is PLC, and the logic judgment and control flow of above-mentioned switching method are equal
It is programmed and is realized using PLC.
Above description is only exemplary a kind of specific embodiment, cannot therefore and limit the scope of the invention and its
Using.In technical scope disclosed by the invention, any any changes or substitutions that can be easily thought of, all should be in protection model of the invention
Within enclosing.
Claims (2)
1. a kind of switching method of underground carry scraper remote control and machine control, the device being related to includes airborne station, remote control reception
Machine, master control system three parts, these devices are characterized in that:
1) airborne station generates machine control signal and is transferred directly to master control system；Remote-control receiver will be produced from remote operation console
Remote signal be transmitted to master control system；When switching, all control signals of two sets of stations all enter master control system；
2) airborne station installs a remote control/machine control switching switch, indicates that current control signal should be remote control or machine
Control；
3) the current practical state of a control of scraper is indicated by the remote-control indicating lamp on machine control station；When in remote state,
Remote-control indicating lamp is bright；When in machine control state, remote-control indicating lamp goes out；
Based on above-mentioned apparatus, switching method is characterized in that comprising the steps of:
Step 1: detecting remote control on airborne station/machine control switching switch state, judge switching switch whether in remote control position
It sets, if it is, entering step 2, otherwise enters step 3；
Step 2: powering to remote-control receiver and video system, enter step 3；
Step 3: judge whether the state of switching switch is changed, and in case of variation, then enters step 4, otherwise into
Enter step 8；
Step 4: whether scraper is all conducive to according to control signal relevant to scraper movement in remote signal, machine control signal
Movement safety is to determine whether meet switching enabled condition, if satisfaction switching enabled condition, enters step 5, otherwise enter
Step 7；
Step 5: judging switching direction, be switched to remote control if it is slave control, then enter step 6, otherwise enter step 9；
Step 6: judge whether the emergency stop switch of remote operation console is opened, if in the open state, enters step 7,
Otherwise 10 are entered step；
Step 7: make scraper stopping act, into safety stop state, while providing the warning note of operating trouble, then into
Enter step 8；
Step 8: whether judgement is originally machine control, if being originally machine control, enters step 9, otherwise enters step 12；
Step 9: the control signal of airborne station comes into force, while making the control Signal Fail of remote operation console, extinguishes remote control and refers to
Show lamp, enters step 10；
Step 10: judge switching switch state whether changed, if there is a change, then enter step 11, otherwise into
Enter step 13；
Step 11: starting timing, be delayed after a period of time, remote-control receiver and video system power-off enter step 13；
Step 12: the control signal of remote operation console comes into force, while making the control Signal Fail of airborne station, lights remote control and refers to
Show lamp, enters step 13；
Step 13: switching is completed, into follow-up process；
No matter scraper works in remote control or machine control, the control signal of only a set of station；When switching enabled condition
When being unsatisfactory for, regardless of which kind of position switching switch is in, the control model of scraper remained unchanged, still for switching switch change before
Control model；When scraper is in remote control mode originally, though because switching condition is unsatisfactory for causing switching switch in machine control position
It sets but when scraper is still in remote control mode, remote-control receiver and video system still maintain power supply.
2. the switching method of remote control and machine control described in claim 1, wherein for the judgement of remote control/machine control switching enabled condition
Are as follows:
1) judge to act whether safety-related control signal is conducive to scraper in the control signal of airborne station generation
Scraper movement safety；
2) judge to act whether safety-related control signal is conducive to scraper in control signal that remote-control receiver transmits
Scraper movement safety；
3) only have all control signals to be all conducive to movement safety, just allow to switch, otherwise do not allow to switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611162381.9A CN106592677B (en) | 2016-12-15 | 2016-12-15 | A kind of switching method of underground carry scraper remote control and machine control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611162381.9A CN106592677B (en) | 2016-12-15 | 2016-12-15 | A kind of switching method of underground carry scraper remote control and machine control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106592677A CN106592677A (en) | 2017-04-26 |
| CN106592677B true CN106592677B (en) | 2019-02-19 |
Family
ID=58801742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611162381.9A Active CN106592677B (en) | 2016-12-15 | 2016-12-15 | A kind of switching method of underground carry scraper remote control and machine control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106592677B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501968A (en) * | 2019-09-29 | 2019-11-26 | 山信软件股份有限公司 | A kind of strange land method of controlling operation thereof applied to equipment centralized management |
| JP7341396B2 (en) * | 2019-12-03 | 2023-09-11 | コベルコ建機株式会社 | Remote operation support server and remote operation support system |
| CN110992665A (en) * | 2019-12-11 | 2020-04-10 | 北京宸控科技有限公司 | Safety protection method for operation of mining mechanical equipment |
| CN111074964A (en) * | 2019-12-18 | 2020-04-28 | 中联重科股份有限公司 | Excavator control system, method and equipment capable of switching control modes |
| CN116945176B (en) * | 2023-07-31 | 2024-04-16 | 重庆越千创新科技有限公司 | Semi-automatic control method and system for photographic robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003122430A (en) * | 2001-10-15 | 2003-04-25 | Hitachi Constr Mach Co Ltd | Remote control system, remote controller, and movable relay operation machine |
| JP2004143876A (en) * | 2002-10-28 | 2004-05-20 | Hitachi Constr Mach Co Ltd | Operation system switching device of construction machine |
| US20110060491A1 (en) * | 2008-04-14 | 2011-03-10 | Kayaba Industry Co., Ltd. | Device For Controlling Hybrid Construction Machine |
| CN104360687A (en) * | 2014-11-06 | 2015-02-18 | 北京矿冶研究总院 | Multi-mode autonomous driving control method for underground carry scraper |
| CN205475404U (en) * | 2016-01-08 | 2016-08-17 | 徐工集团工程机械股份有限公司 | Underground scraper safety protection control system |
-
2016
- 2016-12-15 CN CN201611162381.9A patent/CN106592677B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003122430A (en) * | 2001-10-15 | 2003-04-25 | Hitachi Constr Mach Co Ltd | Remote control system, remote controller, and movable relay operation machine |
| JP2004143876A (en) * | 2002-10-28 | 2004-05-20 | Hitachi Constr Mach Co Ltd | Operation system switching device of construction machine |
| US20110060491A1 (en) * | 2008-04-14 | 2011-03-10 | Kayaba Industry Co., Ltd. | Device For Controlling Hybrid Construction Machine |
| CN104360687A (en) * | 2014-11-06 | 2015-02-18 | 北京矿冶研究总院 | Multi-mode autonomous driving control method for underground carry scraper |
| CN205475404U (en) * | 2016-01-08 | 2016-08-17 | 徐工集团工程机械股份有限公司 | Underground scraper safety protection control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106592677A (en) | 2017-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106592677B (en) | A kind of switching method of underground carry scraper remote control and machine control | |
| CN105270407B (en) | A kind of autonomous driving vehicle driving mode switching method and system | |
| CN107395304B (en) | Device and method for controlling an automation system | |
| CN105401824A (en) | Train door control method and system suitable for full-automatic drive train | |
| JP5474472B2 (en) | Robot control system | |
| CN105739423A (en) | Converter tilting quick start up and shut down stable furnace rocking control system and method | |
| CN106899080A (en) | Electric chassis truck and ground knife intelligent controlling device and its control method | |
| CN104148158B (en) | A kind of company adopts coal transporting breaking machine automatic control system and control method thereof | |
| CN105600351B (en) | Coal washery multilevel belt type transport centralized control equipment | |
| CN107479484B (en) | Gas holder control system and method | |
| CN111613357B (en) | Monitoring and control method of safety level actuator of nuclear power plant | |
| CN108067609B (en) | Electrical control method for capping torpedo hot metal mixer car | |
| CN104137009A (en) | Method for controlling a system | |
| CN110728820A (en) | Locomotive multi-parameter composite fire alarm control method and system | |
| JP6829270B2 (en) | Control system for electrically controlled equipment | |
| CN201101842Y (en) | Fire extinguishing control device with atomization device for underground carriage | |
| CN110996479B (en) | Shore bridge projection lamp control method and system | |
| CN113643505A (en) | Train fire linkage and modeling verification method | |
| CN111309019A (en) | Inspection robot, emergency stop control device thereof and state confirmation method | |
| CN112891809B (en) | Intelligent decision device, method and system for controlling fire-fighting linkage controller | |
| CN111462931A (en) | Switching method for manual control signals of main and auxiliary control rooms | |
| KR200371805Y1 (en) | Automatic returning system of water discharger for fire fighting truck | |
| CN201450342U (en) | Automatic synchronization device with automatic switching circuit | |
| CN203586277U (en) | Electronic control device for ignition in kiln | |
| CN204761786U (en) | Controlling means of electric motor car headlight |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |