CN106759618A - A kind of wireless remote control method of underground carry scraper - Google Patents
A kind of wireless remote control method of underground carry scraper Download PDFInfo
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- CN106759618A CN106759618A CN201611160515.3A CN201611160515A CN106759618A CN 106759618 A CN106759618 A CN 106759618A CN 201611160515 A CN201611160515 A CN 201611160515A CN 106759618 A CN106759618 A CN 106759618A
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- scraper
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- remote
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Classifications
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- 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
Abstract
The invention discloses a kind of wireless remote control method of underground carry scraper.The operation of scraper is divided into remote control and machine control operates two kinds of control models, the control signal of only a set of operation device of same time to work.Whole control system is made up of five parts：Remote operation console is responsible for producing and sending remote signal, and reception state signal is received, shows vision signal, carried by operating personnel, away from scraper operation；Airborne operating desk is fixed on scraper, is responsible for the generation of machine control signal, reflects the running status of scraper；Romote controlled receiving system is responsible for the transmission of remote signal and vision signal；Master control system is responsible for various controls, the conditioning of detection signal, transmission and the realization of various control algolithms；Action executing system is responsible for realizing the various actions of scraper.No matter remote control or machine control, control signal all first passes through master control system, then is sent to action executing system.Control, status signal between remote operation console and scraper are all transmitted by communication.
Description
Technical field
The present invention relates to the controlled in wireless field of underground carry scraper, and in particular to arrived underground carry scraper, industrial control unit (ICU),
Radio communication, hydraulic control, video surveillance, automatically control.
Background technology
Underground carry scraper is one kind of mine trackless equipment, with the function, extensive use such as digging, transport, unload, fill, flatten
In the ore digging and transport of underground mine.Domestic existing scraper mostly uses manual mode of operation, operating personnel's needs
Be sitting on scraper, two handles of manual operating two, bipod accelerator pedal and brake pedal, could complete scraper walking,
The actions such as shovel thing, lifting, upset.Scraper work-yard general road is uneven, compares and jolts, and is vibrated during traveling acutely,
Vibration when being worked along with diesel engine, the waste gas of discharge, smog, noise, heat, dust that shovel loading and unloading is produced when carrying etc., cause
Make the working environment of scraper very severe, operating personnel are sitting on scraper work for a long time, are one to the healthy of people
Plant and threaten.Particularly the work of landslide, explosive gas, heavy metal radiation and chemical substance harm may be faced at some
Location, operating personnel are sitting on scraper and approach operation, the physical and mental health or even life security of the side of body operating personnel that can seriously endanger.Cause
This, designs a remote control method, makes operating personnel away from scraper, and the place outside risk range can just operate scraper
Scraping process is completed, the personal safety for ensureing operating personnel has very important significance.
The content of the invention
It is an object of the invention to：Employing wireless communicates and control technology, operating personnel is just controlled shovel remote
The action of fortune machine, completes shovel dress and transport task.
The technical solution adopted in the present invention is as follows：
1. whole control system is divided into remote operation console, airborne operating desk, romote controlled receiving system, master control system and action
Execution system totally five part, the composition of each several part, function are divided and contact each other is as follows：
1) remote operation console includes remote control (containing various operation handles and shift knob), video reception display, is responsible for
Remote signal is sent, the status signal of scraper is received, and the scraper vision signal that will be received is shown.Straighforward operation
Platform is carried with by operating personnel, is operated away from scraper；
2) airborne operating desk is fixed on scraper driver's cabin, install various operation handles, switch, button, pedal, instrument,
Indicator lamp etc., is responsible for the generation of machine control signal, and the running status of scraper is shown with instrument and indicator lamp；
3) romote controlled receiving system is responsible for remote control including remote control signal receiver, camera, switch, video transmitter etc.
The reception of signal, the transmission of status signal, the switching of vision signal, transmission；
4) master control system is mainly made up of controller, power module, relay etc., is responsible for various control signals and state letter
Number conditioning, transmission, and control algolithm realization；
5) action executing system is responsible for realization including electronic accelerator controller, electro-hydraulic control hydraulic system, variable-speed torque-converting device etc.
The various actions of scraper, such as advance, retreat, braking, accelerate, slow down, turning to, the lifting of scraper bowl, upset, and engine is opened
Dynamic, stopping, speed change, bending moment of power output shaft etc..The input control signal of the everything executing agency of scraper is all electricity
Signal；
6) operation of scraper is divided into two kinds of control models of remote control and machine control, is carried out by a switch on airborne operating desk
Switching, the control signal of only a set of operation device of same time works；
7) there is no cable connection between remote operation console and scraper, all control signals, status signal, vision signal are all
Transmitted by communication；
8) wireless communication of monitoring signal and vision signal is separate, does not interfere with each other.
2. remote operation console is characterised by：
1) remote operation console is made up of remote control and video reception display two parts, can with oneself be taken by operating personnel
Band, away from scraper operation；
2) guidance panel of remote control is provided with the devices such as handle, switch, button, and the control signal of generation passes through channel radio
Letter mode is sent to the remote control signal receiver on scraper；
3) telecontrol panel is provided with indicator lamp, reflects operation and the communications status of scraper, and status signal is by wireless
Communication mode is sent to remote control from scraper；
4) vision signal of video reception display is sent to master control system by communication from scraper；
5) video display shows the video of scraper direct of travel, when scraper changes into advance or fallback state,
Automatically switch to the video of respective direction.
3. airborne operating desk is characterised by：
1) airborne operating desk is fixed on scraper driver's cabin；
2) airborne operating desk installs the devices such as handle, switch, button, and gas pedal and service braking pedal are installed on operation
Panel lower section, facilitates both feet to trample.When machine control is operated, control signal is by the handle on airborne operating desk, switch, button, pedal
Produce；
3) airborne operating desk installs instrument and indicator lamp, reflects the running status and monitoring parameter of scraper, such as oil pressure
Power, rotating speed, whether brake, preheat whether complete, whether alarm, whether in remote control, with the presence or absence of information such as failures；
4) control signal that airborne operating desk is produced only is connected with master control system, is transmitted by wired mode believe therebetween
Number.
4. romote controlled receiving system is characterised by：
1) romote controlled receiving system is fixed on shovel including remote control signal receiver, camera, switch, video transmitter etc.
On fortune machine；
2) remote control signal receiver is responsible for receiving the remote signal that remote operation console is sent by communication,
And various control information are sent to master control system by CAN interface；
3) remote control signal receiver is responsible for for the status signal of scraper being sent to remote control by communication simultaneously
Operating desk；
4) camera totally 2, are each responsible for shooting scraper advance, the scene of direction of retreat；
5) video switcher is responsible for the signal source switching of video transmission signal, according to the direct of travel of scraper, cuts automatically
It is changed to the video of advance or direction of retreat；
6) video transmitter is responsible for sending vision signal to remote operation console；
7) between romote controlled receiving system and master control system it is wire communication connection, wherein remote control signal receiver and master control system
The data of control and status signal are transmitted between the controller of system by CAN.
5. master control system is characterised by：
1) master control system is installed in control cabinet including controller, power module, relay etc.；
2) output of power module has two kinds of specifications of 24V and 12V, is powered to airborne each component respectively；
3) controller has CAN interface, between controller and remote-control receiver, controller and variable-speed torque-converting controller
Between, all connected into row data communication by CAN；
4) various detections, the control algolithm of scraper programming realization in the controller；
5) controller output power, driving force is strong, in addition to the electro-hydraulic brake valve of service brake, other electromagnetic hydraulic valves
Directly driven by controller, reduce the installation number of driver in action actuating mechanism.
6. scraper action executing system is characterised by：
1) the execution action of scraper includes engine oil gate control, scraper steering, stopping brake, service brake, shovel
Bucket lifting, scraper bowl upset, power output shaft variable-speed torque-converting etc., all executing agencies and component are all fixed on scraper；
2) the input control signal of electronic accelerator controller is electric signal, is output as displacement, is directly drawn with diesel engine throttle
Bar is connected, and controls the displacement angle of accelerator rod；
3) engine variable-speed torque-converting device is used for speed and the torque size for controlling power output shaft to rotate, using special control
Device processed, data are transmitted between the controller and the controller of master control system by CAN；
4) scraper steering, service brake, stopping brake, scraper bowl lifting, scraper bowl upset be all by HYDRAULIC CONTROL SYSTEM,
The input control signal of all hydraulic valve is all electric signal.
Compared with prior art, it is an advantage of the invention that：
1) underground carry scraper can the operational control on scraper, also can long-distance wireless remote control；
2) control signal of remote control and machine control, status signal are all scheduled and manage via master control system, various controls
Strategy and control algolithm by master control system controller programming realization；
3) remote control end provide scraper direct of travel vision signal, vision signal according to advance or retreat direction from
Dynamic switching；
4) controller of master control system is anti-interference, driving force is strong, directly drives hydraulic pressure valve events, reduces hydraulic valve and drives
The installation number of device；
5) communicated using CAN between remote-control receiver, the controller of master control system, variable-speed torque-converting controller, reduced
Wiring complexity on scraper.
Brief description of the drawings
Fig. 1 flows to schematic diagram for the composition and mutual signal of system example.
Fig. 2 is the composition schematic diagram of remote operation console.
Fig. 3 is the composition schematic diagram of airborne operating desk.
Fig. 4 is the composition schematic diagram of romote controlled receiving system.
Fig. 5 is the composition schematic diagram of master control system.
Fig. 6 is the composition schematic diagram of action executing system.
Specific embodiment
The present invention is described in more detail with reference to an instantiation.
1. Fig. 1 gives composition and mutual signal a flow direction signal of 2 cubes of remote control underground carry scraper control systems
Figure.Control system is by remote operation console, airborne operating desk, romote controlled receiving system, master control system and the part of action executing system four
Composition.Solid arrow and dotted arrow in figure represent the trend and annexation of the information flow between each several part, i.e. signal.
1) remote operation console include remote control, video reception display, be provided with remote control various handles, switch, by
Button and indicator lamp；It is responsible for producing and sending remote signal, receives the status signal of scraper, scraper is reflected by indicator lamp
State, receives and shows the vision signal of scraper advance or direction of retreat；Whole remote operation console can be carry-on by operating personnel
Carry, operation is remotely controlled in the place away from scraper；
2) airborne operating desk is fixed on scraper driver's cabin, and guidance panel installs various operation handles, switch, button, instrument
Table, indicator lamp etc., accelerator pedal, service brake pedal are then located at guidance panel lower section；It is responsible for the generation of machine control signal, and
Reflect the running status of scraper by instrument and indicator lamp；
3) romote controlled receiving system is responsible for remote control including remote control signal receiver, camera, switch, video transmitter etc.
The transmission of signal and vision signal；
4) master control system is made up of controller, power module, relay etc., is responsible for various control signals, status signal
The realization of conditioning, transmission, and control algolithm；
5) action executing system is responsible for realization including electronic accelerator controller, electro-hydraulic control hydraulic system, variable-speed torque-converting device etc.
The startup of the various actions of scraper, such as engine, stopping, throttle size, the advance of scraper, retreat, brake, accelerating, subtracting
Speed, steering, lifting, upset of scraper bowl etc., the input control signal of these action actuating mechanisms is all electric signal；
6) operation of scraper is divided into straighforward operation and machine control operation, is cut by a switch on airborne operating desk
Change, the control signal of only a set of operation device works during work；
7) there is no cable connection between remote operation console and scraper, control signal, status signal and vision signal are all led to
Cross communication transmission；The wireless transfer channel of remote signal and vision signal is separate, does not interfere with each other, and channel radio
Letter frequency is all in free industrial band limits；
8) when the effective control distance of remote control is unobstructed in the range of 200m.
2. the composition of remote operation console is as shown in Figure 2, it is characterised in that：
1) remote operation console is made up of remote control and video reception display two parts, can be carried with by operating personnel,
Away from scraper operation；
2) remote controller operation panel installs acceleration/braking/left/right turn handle, scraper bowl lifting/handle reverse, parking system
Dynamic switch, forward/backward switch, full throttle switch, preheating switch, engine start/flameout switch, emergency stop switch, loudspeaker
Button, the remote control signal receiver that the control signal that these devices are produced wirelessly is passed on scraper；
3) remote controller operation panel installs preheating and completes indicator lamp, malfunction indicator lamp, reflects the operation and communication of scraper
State, the status signal of reception is wirelessly passed to remote control from scraper；
4) vision signal is wirelessly sent to video receiver from scraper, over the display display in real time；
5) video display shows the video of scraper direct of travel all the time, advances or fallback state when scraper is in
When, automatically switch to the video of correspondence direction.
6) no matter vision signal and remote signal are powered or are communicated, and are all two sets of independent systems, and both are independent of each other.
3. the composition of airborne operating desk is as shown in Figure 3, it is characterised in that：
1) airborne operating desk is fixedly installed in scraper driver's cabin；
2) airborne operating desk is installed left/right turn handle, scraper bowl lifting/handle reverse, forward/backward switch, key and is opened
Close (engine start/flame-out/preheating), parking brake switch, head light switch, rear lamp switch, remote control switching switch, emergency shutdown
The devices such as switch, horn button, remote-control indicating lamp stopping brake indicator lamp, service brake indicator lamp, operating trouble indicator lamp, oil
Door pedal and service braking pedal are installed on operating desk lower section, and when machine control is operated, these devices produce control signal；
3) airborne operating desk is installed revolution counter, oil pressure gauge, cylinder cap thermometer, remote-control indicating lamp, stopping brake and is indicated
The devices such as lamp, service brake indicator lamp, operating trouble indicator lamp, show scraper running status, such as rotating speed, engine oil pressure,
Engine cylinder cover temperature, whether stopping brake, whether service brake, whether alarm, whether in remote control, with the presence or absence of operation therefore
Whether barrier, preheating the information such as complete；
4) airborne operating desk is only connected with master control system, does not have direct signal contact and action executing system between；Machine
Carry and signal is transmitted by wired mode between operating desk and master control system.
4. the composition of romote controlled receiving system is as shown in Figure 4, it is characterised in that：
1) romote controlled receiving system is fixed including remote control signal receiver, camera, video switcher, video transmitter etc.
It is installed on scraper；
2) remote control signal receiver is responsible for receiving the control signal that remote operation console is sent by communication,
And convert a signal into CAN interface output to the PLC of master control system；
3) remote control signal receiver is responsible for being sent to the partial status signal of scraper by communication simultaneously
Remote operation console；
4) camera totally 2, are each responsible for shooting scraper advance, the scene of direction of retreat；
5) video switcher is responsible for the signal source switching of video transmitter, according to the direct of travel of scraper, automatically switches
It is direction of advance or the video of direction of retreat；
6) video transmitter is responsible for transmitting vision signal to remote operation console；
7) be between romote controlled receiving system and master control system wired connection communication, wherein remote control signal receiver and PLC it
Between by CAN communicate.
5. the composition of master control system is as shown in Figure 5, it is characterised in that：
1) master control system includes two power modules, two PLC, multiple relays etc., is respectively arranged in two control cabinets
It is interior.Control cabinet waterproof and dustproof, vibrationproof；
2) power module includes two kinds of specifications of 24V and 12V, is powered to airborne each component respectively；
3) between two PLC, between PLC and remote-control receiver, between PLC and variable-speed torque-converting controller APC122, all lead to
Cross CAN connection；
4) all of detection, control algolithm are using the logical relation between PLC programming realizations, including each action, detection
Conditioning and conversion, control strategy of variable etc., are all responsible for completion by the PLC of master control system；
5) two PLC output powers, driving force is strong, and in addition to the electro-hydraulic brake valve used by service brake, other are electro-hydraulic
The magnetic valve for controlling hydraulic system is all directly driven by PLC, reduces the installation number of hydraulic pressure valve actuator.
6. the composition of action executing system is as shown in Figure 6, it is characterised in that：
1) action of scraper includes engine oil gate control, scraper steering, stopping brake, service brake, scraper bowl liter
Drop, scraper bowl upset, variable-speed torque-converting of power output shaft etc., its executing agency is all fixedly installed in scraper；
2) the input control signal of electronic accelerator controller is electric signal, is output as displacement, is directly connected to diesel engine throttle
Pull bar, controls deflection angle and the displacement of pull bar；
3) variable-speed torque-converting device is used for speed and the torque size for controlling power output shaft to rotate, and is equipped with special variable-speed torque-converting
Controller APC122, the throttle information data needed for the controller is transmitted by PLC by CAN；
4) steering of scraper, service brake, stopping brake, scraper bowl lifting, scraper bowl upset are all by hydraulic system control
System, wherein scraper are turned to, scraper bowl is lifted, scraper bowl upset uses a tetrad electro-hydraulic proportional flow valve control, service brake to adopt
Controlled with a bigeminy electro liquid proportion pressure valve (electro-hydraulic brake valve), stopping brake is owned using a solenoid directional control valve control
The input control signal of hydraulic valve is all electric signal.
A kind of specific embodiment that described above is merely exemplary, it is impossible to therefore and limit the scope of the present invention and its
Using.In technical scope disclosed by the invention, any change or replacement for readily occurring in all should be in protection model of the invention
Within enclosing.
Claims (6)
1. a kind of wireless remote control method of underground carry scraper, it is characterised in that：The operation of scraper is divided into machine control operation and remote control
Operation, the control signal of only a set of operation device of same time works；Whole control system is by remote operation console, airborne behaviour
Make platform, romote controlled receiving system, master control system and the part of scraper action executing system five composition：Remote operation console is by operating personnel
Carry with and operated away from scraper, be responsible for the generation of remote signal and send, while receiving and showing that scraper is transmitted
Vision signal, with indicator lamp reflect scraper running status；Pass through side wireless communication between remote operation console and scraper
Formula transmission control and status signal；Airborne operating desk is fixedly installed in scraper, is responsible for the generation of machine control signal, and with instrument with
Indicator lamp reflects the running status of scraper；Romote controlled receiving system is responsible for the transmission of remote signal and vision signal, while will control
Signal processed sends master control system to；Action executing system is responsible for realizing the various actions of scraper, the input control signal of receiving
All it is electric signal；Master control system is mainly responsible for various control signals, the conditioning of status signal, is transmitted, and various control strategies,
Algorithm is implemented；The control signal of machine control and remote control all by master control system, is then reconverted into corresponding control signal
To action executing system.
2. scraper wireless remote control method according to claim 1, its remote operation console is characterised by：
1) remote operation console is made up of remote control and video reception display two parts, and operating personnel can be carried with away from scraper
Machine is operated, and does not have cable connection between remote operation console and scraper；
2) guidance panel of remote control installs the devices such as handle, switch, button, and the control signal that these devices are produced is by wireless
Communication mode is sent to the remote control signal receiver for being installed on scraper；
3) guidance panel of remote control installs indicator lamp, reflects the running status and communications status of scraper, and status signal comes from
In the remote control signal receiver of scraper, transmitted by communication；
4) vision signal of video reception display comes from the visual-signal transmitter of scraper, is passed by communication
Send；
5) wireless transfer channel of control signal and vision signal is separate, does not interfere with each other；
6) video in terms of video display shows scraper traveling all the time, when scraper going direction changing is for advance or retreats
During state, the video of respective direction is automatically switched to.
3. scraper wireless remote control method according to claim 1, its airborne operating desk is characterised by：
1) airborne operating desk is fixedly installed in scraper driver's cabin；
2) airborne operating desk installs the devices such as handle, switch, button, machine control signal by the handle on airborne operating desk, switch, press
Button is produced；
3) airborne operating desk installs indicator lamp and instrument, reflects the running status of scraper, such as engine oil pressure, rotating speed, whether make
It is dynamic, whether preheat completions, whether alarm, whether be in remote control, with the presence or absence of failure etc.；
4) signal is transmitted by wired mode between airborne operating desk and master control system.
4. scraper wireless remote control method according to claim 1, its romote controlled receiving system is characterised by：
1) romote controlled receiving system is fixedly installed in shovel including remote control signal receiver, camera, switch, video transmitter etc.
On fortune machine；
2) remote control signal receiver is responsible for receiving the control signal that remote operation console is sent by communication, and turns
It is changed to CAN interface output to the controller of master control system；
3) remote control signal receiver is responsible for for the status signal of scraper being sent to straighforward operation by communication simultaneously
Platform；
4) camera totally 2, are each responsible for shooting scraper advance, the scene of direction of retreat；
5) switch is responsible for the signal source switching of video transmission signal, according to the direct of travel of scraper, automatically switches to advance
Or the video of direction of retreat；
6) video transmitter is responsible for transmitting vision signal to remote operation console；
7) between romote controlled receiving system and master control system it is wired connection communication, wherein remote control signal receiver and master control system
CAN communication interface is used between controller.
5. scraper wireless remote control method according to claim 1, its master control system is characterised by：
1) master control system is installed in control cabinet including controller, power module, relay etc., and control cabinet is dust-proof, waterproof, anti-
Shake；
2) controller has CAN interface；
3) controller output power, driving force is strong, and in addition to electro-hydraulic brake valve, other hydraulic valves are all directly driven by controller
It is dynamic, reduce the installation number of hydraulic pressure valve actuator；
4) power module provides the dc source of different voltage specifications, is powered to each airborne device respectively.
6. scraper wireless remote control method according to claim 1, its scraper action executing system is characterised by：
1) action executing system is responsible for scraper steering, service brake, stopping brake, scraper bowl lifting, scraper bowl upset, diesel engine oil
The specific execution of the actions such as gate control, variable-speed torque-converting, its executing agency and component are all fixedly installed in scraper；
2) the input control signal of electronic accelerator controller is electric signal, is output as displacement, directly controls diesel engine throttle pull bar
Position；
3) steering of scraper, service brake, stopping brake, scraper bowl lifting, scraper bowl upset be all by HYDRAULIC CONTROL SYSTEM, its
, using electro-hydraulic proportional valve control, service brake is controlled using electro-hydraulic brake valve, and stopping brake is using electricity for middle steering, lifting, upset
Magnetic reversal valve is controlled, and the input control signal of all hydraulic valve is all electric signal；
4) variable-speed torque-converting device is used for speed and the torque size for controlling engine power output shaft to rotate, special controller according to
Scraper operating mode changes rotating speed and torque automatically, and CAN is passed through between the controller and variable-speed torque-converting controller of master control system
Transmission monitoring data.
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| CN109532444A (en) * | 2019-01-09 | 2019-03-29 | 湖北金诚信矿业服务有限公司 | A kind of electric LHD |
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| CN109116735A (en) * | 2018-08-31 | 2019-01-01 | 烟台兴业机械股份有限公司 | A kind of automatic ride control system of underground mine trackless equipment |
| CN109080566A (en) * | 2018-09-14 | 2018-12-25 | 第拖拉机股份有限公司 | A kind of wheeled tractor remote control system and control method |
| CN109407586A (en) * | 2018-11-21 | 2019-03-01 | 北京安期生技术有限公司 | A kind of non line of sight underground carry scraper remote control system |
| CN109407586B (en) * | 2018-11-21 | 2023-12-19 | 北京安期生技术有限公司 | Remote control system of non-line-of-sight underground scraper |
| CN109624680A (en) * | 2018-12-07 | 2019-04-16 | 湖北金诚信矿业服务有限公司 | A kind of electric LHD |
| CN109532444A (en) * | 2019-01-09 | 2019-03-29 | 湖北金诚信矿业服务有限公司 | A kind of electric LHD |
| CN112863157A (en) * | 2020-12-25 | 2021-05-28 | 唐山威程科技有限公司 | Cabin type wireless remote control system of carry scraper |
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Application publication date: 20170531 |