CN107816079A - Pose measurement and Load-aware device for unmanned earthmoving machinery - Google Patents
Pose measurement and Load-aware device for unmanned earthmoving machinery Download PDFInfo
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- CN107816079A CN107816079A CN201711010639.8A CN201711010639A CN107816079A CN 107816079 A CN107816079 A CN 107816079A CN 201711010639 A CN201711010639 A CN 201711010639A CN 107816079 A CN107816079 A CN 107816079A
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- head
- camera
- measurement
- load
- unmanned
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
Abstract
The present invention relates to a kind of pose measurement for unmanned earthmoving machinery and Load-aware device.Mainly solve the operative goals being related in unmanned earthmoving machinery operation process to confirm, load changing rule perception problems in pose measurement, and the operation head course of work.Its structure and content include：High-precision head, varifocal and the camera and lighting device, laser range sensor, embedded Control amplification module, long-range figure biography Data transfer system, the display screen with cross hairs that become aperture, and it is remotely controlled end manipulator realization using the oil pressure sensor detection Pressure Variation at work head oil inlet and main pump oil-out, help and operation head feed speed, the amount of feeding and direction of feed is accurately effectively controlled.It is an advantage of the present invention to provide cheap, the reliable and practical pose measurement of cost and Load-aware solution and device, in order to the accurate effective operation of Remote.
Description
First, technical field
The present invention relates to earthmoving machinery (engineering machinery), particularly unmanned earthwork machine
2nd, background technology
Earthmoving machinery currently used for excavating, cutting, shear, drill, the function such as crush is widely used in construction, water conservancy
In the engineering such as construction, road construction, airport is built, mining, harbour are built, farmland improvement.With earthmoving machinery operation ring
The continuous change in border, such as earthmoving machinery are often being needed in earthquake, flood, tsunami disaster field and high temperature, high and cold, Gao Hai
Pull out, the bad working environments construction of high radiation, operating personnel are often required to emit life danger, therefore many producers start to develop it is unmanned
Earthmoving machinery (Remote or the earthmoving machinery of entirely autonomous operation), such as unmanned excavator, bull-dozer, ore deposit card, dumper
Deng product.
Problem be scene nobody in the case of, how earthmoving machinery operation head such as cut, is sheared, is drilled, crush work
Industry equipment be adjusted to exactly target point and suitable operating direction (such as circular saw work head need vertical reinforcing bar direction or along
Grooving direction), work head feed speed or the amount of feeding how are controlled, just turns into the key point of unmanned earthmoving machinery.For
During manned operation, mainly by people binocular stereoscopic feel and vibration, noise change etc. experience control, but often error compared with
Greatly, it is necessary to which repeatedly adjusting could meet to require.
Branch of robot of Hyundai research institute, Australian robot technology center, Zhejiang University's Machine Design research
Institute, what Tsing-Hua University, the Lv Guangming of Harbin Institute of Technology, Jilin University etc. of Central South University are transformed hydraulic crawler excavator, are intended
Realize the full-automatic autonomous excavation of excavator.The mechanical model and electrohydraulic system model of digger operating device are initially set up, and
Thus control algolithm is derived, for tracking desired track, completes straight line excavation, slope Mining Test.Emphasis solves to dig
The kinematics and dynamics such as desired trajectory of pick machine itself automatically control problem, but model and solution process are complicated, in advance not
The operative goals confirmation known, pose measurement etc. are related to seldom.
Confirm for the operative goals being related in unmanned operation process, pose measurement problem, U.S. Carnegie
The excavator that Mellon universities develop, close to the inner portion and external sensor perceives excavator state and environmental information, determines to work as
Preceding task, the laser scanning and ranging instrument installed on machine, earth's surface situation, cognitive disorders thing and locator card in the range of excavation can be perceived
Car；Zhejiang University Pan Shuan summers et al. propose the object three-dimensional measurement localization method based on binocular vision；Northeastern University Wang Fu
Refined et al. the excavator stereo visual system built based on binocular, the Robust Algorithm of Image Corner Extraction carried using OpenCV is to taking the photograph
Two images as acquired in head carry out angle point grid, are realized Feature Points Matching using the angle point of acquisition and are identified target
Thing.The position of target relative camera is estimated by target geometrical model and camera model, obtains current robot end reality
Border pose.
Laser scanning and ranging instrument is that laser radar carries out pose measurement, low ineffective of resolution ratio, high resolution such as 32
Line radar cost is fairly expensive, is directed not only to tens data processing per second, 1 degree of Measurement Resolution at 20 meters of pitching resolution ratio
For 30 centimetres, if for point target pose measurement precision with regard to inadequate.The object three-dimensional measurement localization method hardware of binocular vision
Cost is few, but the characteristic point for being related to left and right two images accurately matches, if target point is without very strong notable feature or in advance
It is unknown, then have a strong impact on that matching speed, precision and real-time, or even matching error cause three-dimensional measurement positioning failure.
Many scholars also propose that other utilize the goal verification of the approach such as image procossing, pose measurement solution, but always
Body is also only at basic research and laboratory exploratory stage.
It is general for operation head in unmanned operation process and the load changing rule perception problems of operative goals interaction
It is that oil pressure sensor is installed in operation head hydraulic circuit all over the way received.As celebrating, Tongji University Li Yong magnify in Central South University
Rising sun etc. is mounted with pressure transmitter in the swing arm of excavator, dipper, bucket hydraulic loop by three-way connection, by detecting phase
Close pressure value estimation load force situation, and knowledge based storehouse control bucket motions track, speed and end power.But seldom propose letter
Single clearly several characteristic indexs describe operation head and the load changing rule of operative goals interaction, in order to operation control
System.
3rd, the content of the invention
Confirm present invention mainly solves the operative goals being related in unmanned earthmoving machinery operation process, pose measurement,
And the load changing rule perception problems between operation head and operative goals, there is provided cheap, the reliable and practical solution party of cost
Case and device, in order to the accurate effective operation of Remote.Specifically, i.e., it is how real in the complicated job site of illumination background
Existing comprehensive interior find of large space confirms target, fine dotted line target location attitude measurement is then realized, in order to operation head
Operation in place with positioning, orientation；How operation head load changing rule perception problems in operation process are realized, so as to just
Feed speed, the amount of feeding in remotely controlled operation head etc..
The particular content of the present invention is as follows：
The airborne measurement sense that the present invention " pose measurement and Load-aware device that are used for unmanned earthmoving machinery " is related to
Know that device (refer to the attached drawing 1) and remote control end figure pass Data transfer system (refer to the attached drawing 2).Wherein airborne measurement sensing device includes program control
High-precision head 1, camera 2, lighting device 3, laser range sensor 4, embedded Control amplification module 5, long-range figure pass number
Biography system 6, three road binders pressure sensors 7 etc..It is remotely controlled end figure biography Data transfer system and includes communication antenna 1, band cross display screen 2, manipulation
Handle area 3, embeded processor 4, figure pass data radio station 5 etc..The electric connecting relation of airborne measurement sensing device is with reference to attached
Fig. 3.
Realize that comprehensive interior find of large space confirms target problem for the complicated job site of illumination background, the present invention is logical
Cross the realization of variable element transmission of video observation system.Improved program controlled high precision head 1 is installed on earthmoving machinery driver's cabin top, matched somebody with somebody
Put can state modulator varifocal and become the camera 2 and lighting device 3 of aperture, installation one is close with camera and optical axis is put down
The identical laser range sensor 4 in row, datum mark and head center, configuration embedded Control amplification module 5 and long-range figure pass number
Biography system 6.Remotely scheme biography Data transfer system in ring by means of people at Remote end and send order, realize high-precision program control head
360 degree of direction and pitching ± 90 degree are observed；By the varifocal of state modulator and the camera and lighting device of change aperture, realize
The far and near observation and brilliance control of target, the comprehensive interior searching target of large space and approach it is fine confirm target, and by target
Point is moved to Remote end screen cross center.
For fine dotted line target location attitude measurement problem, the present invention by variable element transmission of video observation system,
In the case where confirming target and above-mentioned screen cross centre-lock target point, the relevant target point of passback high-precision program control head
Orientation angle and luffing angle signal, distance signal of the laser range sensor about target point is returned, is built with driver's cabin cloud
Spherical coordinate system centered on platform point, realize fine point target position measurement；Line target and target bearing measurement, mainly pass through survey
The method of 2 points of amount is realized.Laser range sensor is parallel with camera optical axis, but the control of the distance between two optical axises is at 3 lis
Rice or so, a part can suitably be made up by demarcation and calculating parameter amendment.(there is the ball centered on driver's cabin head point to sit
Mark system, it is also possible by means the angle of revolution of the big panoramic table of driver's cabin, earthmoving machinery relative dimensions, pass through coordinate transform, structure
Rectangular coordinate system centered on certain point on motionless chassis.This work is not present disclosure, and the data referred to is more,
The present invention can provide data docking.)
For the load changing rule perception problems in operation head operation process, the present invention is by operation head hydraulic circuit
Upper installation three-way connection, and pressure transmitter is concatenated, by means of embedded controller acquisition testing related pressure change procedure, catch
The feature such as pressure rising gradient, ascensional range and amplitude duration during pressure change is caught, back pass shows to remote control end
Display screen, help manipulator to realize and operation head feed speed, the amount of feeding and direction of feed are accurately effectively controlled.Specifically set
The threshold value of rising gradient, ascensional range and amplitude duration, when rising gradient, ascensional range exceed threshold simultaneously
During value (purpose is to eliminate the fluctuation interference of gradient caused by various accidentalia, ascensional range), reduce feed speed or feeding
Amount；Or amplitude duration when exceeding threshold value, also slow down feed speed or the amount of feeding, can also change direction of feed, with
Prevent from overheating or reach hydraulic system be in hound to death state；On the contrary, when rising negative gradient, rising negative amplitude while exceed threshold value
(pressure suddenly significantly declines), it may be possible to which operation is completed or other situations occur, and slowly controls feed speed or the amount of feeding.It is right
In uncertain situation, further confirmed that and dealt carefully with by means of video.
4th, illustrate
Fig. 1 is airborne measurement sensing device, wherein 1 be program controlled high precision head, 2 be state modulator zoom and become aperture take the photograph
As head, 3 are state modulator lighting device lighting device, 4 be laser range sensor, 5 be embedded Control amplification module, 6 be
Remote data transmission image transmission system, 7 be three road binders pressure sensors, 8 be antenna, 9 be direction of rotation rotating shaft, 10 be pitch orientation rotating shaft,
11 be 12V power supplys.
Fig. 2 for remote control end figure pass Data transfer system, wherein 1 be communication antenna, 2 be the display screen with cross hairs, 3 be manipulate hand
Handle region, 4 be embeded processor, 5 be figure pass data radio station.
Fig. 3 is the electric connecting relation of airborne measurement sensing device, and wherein label 1,2,3 is pressure sensor, 4 is laser
Distance measuring sensor, 5 be program controlled high precision head, 6 be data radio station, 7 be figure conduct electricity platform, 8 be HDMI, 9 be state modulator
Varifocal and become aperture camera, 10 be that lighting apparatus, 11 are relay, 12 are that figure passes Data transfer system, 13 is DC12V electric
Source.
Fig. 4 is that a kind of pose measurement for the unmanned operation process of earthmoving machinery with circular saw operation head is felt with load
Know device.
5th, embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is further described.
Embodiment one：
" a kind of pose measurement for the unmanned operation process of earthmoving machinery with circular saw operation head fills with Load-aware
Put ".
Accompanying drawing 4 is a kind of earthmoving machinery with circular saw operation head.The type earthmoving machinery is distant in the case of nobody at the scene
Control operation, it is necessary to which operation head circular saw is adjusted to target point and (such as circular saw work of suitable operating direction exactly
Head needs vertical reinforcing bar direction or along the grooving direction having had), while need according to load changing rule control in cutting process
Work head feed speed processed or the amount of feeding.
Current embodiment require that construction airborne measurement sensing device (refer to the attached drawing 1, for the core of the present invention) and remote control end figure
Pass Data transfer system (refer to the attached drawing 2, the part being related to for the integrality of elaboration).Wherein airborne measurement sensing device bag
It is head containing program controlled high precision 1, camera 2, lighting device 3, laser range sensor 4, embedded Control amplification module 5, long-range
Figure passes Data transfer system 6, three road binders pressure sensors 7.It is remotely controlled end figure biography Data transfer system and includes communication antenna 1, the display with cross hairs
Screen 2, control handle region 3, embeded processor 4, figure pass data radio station 5.
Step (1) builds system.Refer to the attached drawing 1, improved program control height is installed on circular saw earthmoving machinery driver's cabin top
Precision head 1, configuration can state modulator varifocal and become aperture camera 2 and lighting device 3, install one and camera
The laser range sensor 4 that close and optical axis is parallel, datum mark and head center are identical, configuration embedded Control amplification module 5
Data transfer system 6 is passed with long-range figure, oil pressure sensor all the way, phase are installed by three-way connection on circular saw hydraulic motor oil inlet
Electric connecting relation refers to accompanying drawing 3 and builds connection between mutually.Refer to the attached drawing 2 builds remote control end figure and passes Data transfer system, opens machine
Carry and remote control end figure biography and Data transfer system 6.
Step (2) confirms and lock onto target point.At Remote end while video is watched, while by means of remote data transmission system
System sends order, realizes the rotation of 360 degree of direction and pitching ± 90 degree observation of program control head 1；Pass through the varifocal of state modulator
With the camera 2 and lighting device 3 for becoming aperture, the far and near observation and brilliance control of target are realized, is sought in large space is comprehensive
Target is looked for, and approaching for the camera lens that furthers finely confirms target, and target point is moved to Remote end screen cross center.
Step (3) aiming spot detects.In the case where confirming target and above-mentioned screen cross centre-lock target point,
Orientation angle and luffing angle signal of the head about first aim point are returned, passback laser range sensor is about first
The distance signal of target point, the spherical coordinate system centered on driver's cabin head point is built, realize first fine point target position
Put measurement.
Step (4) line target or target bearing measurement are that the direction of circular saw determines.Repeat step (2) (3) is realized fine
Second point target position measurement, embedded Control amplification module 5 constructs the line target under spherical coordinate system by the two points
Or target bearing.
Step (5) operation head is adjusted in place.Operation head circular saw is adjusted to target point and suitable operation exactly
On direction (operational control is not present disclosure, and it is more to refer to document).
Step (6) outer Load-aware and feeding auxiliary control.By means of embedded controller acquisition testing circular saw hydraulic pressure
Motor related pressure change procedure, catch pressure rising gradient during pressure change, when ascensional range and amplitude continue
Between etc. feature, back pass to remote control end display screen, help manipulator to realize and the feed speed of circular saw effectively controlled.Specifically set
The threshold value of rising gradient, ascensional range and amplitude duration is determined, when rising gradient, ascensional range exceed door simultaneously
Reduce feed speed or the amount of feeding during threshold value；Or the amplitude duration exceedes threshold value, also slows down feed speed or feeding
Amount；On the contrary, pressure wave rises negative gradient, rises (pressure suddenly significantly declines) when negative amplitude exceedes threshold value simultaneously, may
It is that operation is completed or other situations occur, feed speed or the amount of feeding is slowly controlled by means of video information.
Embodiment two：
The present embodiment is " a kind of pose measurement of unmanned operation process of earthmoving machinery with hydraulic shear operation head and load
Sensing device ".Such unmanned earthmoving machinery mainly in building demolition, speedily carry out rescue work, in explosion-proof, the rescue even high-risk operations such as military project
The targets such as shear reinforcement.Need operation first liquid compression shear being adjusted to target point and suitable operating direction exactly (as vertically
Reinforcing bar direction), while need according to load changing rule control hydraulic shear feed speed or the amount of feeding, wherein mesh in shear history
Mark pose measurement is even more important with Load-aware.
Current embodiment require that construction airborne measurement sensing device (refer to the attached drawing 1, for the core of the present invention) and remote control end figure
Pass Data transfer system (refer to the attached drawing 2, the part being related to for the integrality of elaboration).Wherein airborne measurement sensing device bag
It is head containing program controlled high precision 1, camera 2, lighting device 3, laser range sensor 4, embedded Control amplification module 5, long-range
Figure passes Data transfer system 6, three road binders pressure sensors 7.It is remotely controlled end figure biography Data transfer system and includes communication antenna 1, the display with cross hairs
Screen 2, control handle region 3, embeded processor 4, figure pass data radio station 5.
Step (1) builds system.Refer to the attached drawing 1, improved program control height is installed on hydraulic shear earthmoving machinery driver's cabin top
Precision head 1, configuration can state modulator varifocal and become aperture camera 2 and lighting device 3, install one and camera
The laser range sensor 4 that close and optical axis is parallel, datum mark and head center are identical, configuration embedded Control amplification module 5
Data transfer system 6 is passed with long-range figure, on hydraulic shear hydraulic cylinder oil inlet and main pump oil-out installs two road binders by three-way connection
Pressure sensor, mutual electric connecting relation refer to accompanying drawing 3 and build connection.Refer to the attached drawing 2 builds remote control end figure and passes number biography
System, open airborne with being remotely controlled end figure biography and Data transfer system 6.
Step (2) confirms and lock onto target point.At Remote end while video is watched, while by means of remote data transmission system
System sends order, realizes the rotation of 360 degree of direction and pitching ± 90 degree observation of program control head 1；Pass through the varifocal of state modulator
With the camera 2 and lighting device 3 for becoming aperture, the far and near observation and brilliance control of target are realized, is sought in large space is comprehensive
The targets such as reinforcing bar are looked for, and approaching for the camera lens that furthers finely confirms target, and target point is moved to Remote end screen ten
Word center.
Step (3) aiming spot detects.In the case where confirming target and above-mentioned screen cross centre-lock target point,
Orientation angle and luffing angle signal of the head about first aim point are returned, passback laser range sensor is about first
The distance signal of target point, the spherical coordinate system centered on driver's cabin head point is built, realize first fine point target position
Put measurement.
Step (4) line target or target bearing measurement are that the direction of hydraulic shear determines.Repeat step (2) (3) is realized fine
Second point target position measurement, embedded Control amplification module 5 constructs the line target under spherical coordinate system by the two points
Or target bearing.The line targets such as the direction of hydraulic shear and reinforcing bar are vertical.
Step (5) operation head is adjusted in place.Operation first liquid compression shear is adjusted to target point and suitable operation exactly
On direction (operational control is not present disclosure, and it is more to refer to document).
Step (6) outer Load-aware and feeding auxiliary control.By means of embedded controller acquisition testing pump and hydraulic shear
Hydraulic cylinder related pressure change procedure, pressure rising gradient, ascensional range and amplitude continue during catching pressure change
The features such as time, back pass to remote control end display screen, help manipulator to realize and the feed speed of hydraulic shear are effectively controlled.Specifically
Rising gradient, ascensional range and the threshold value of amplitude duration are set, when simultaneously rising gradient, ascensional range exceed
Reduce feed speed or the amount of feeding during threshold value；Or the amplitude duration exceedes threshold value, slows down feed speed or feeding
Amount；On the contrary, pressure wave rises negative gradient, rises (pressure suddenly significantly declines) when negative amplitude exceedes threshold value simultaneously, may
It is that operation is completed or other situations occur, is slowly controlled by means of video information or feed-disabling speed or the amount of feeding.
Explanation：
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more use earthmoving machinery, work head, figure to pass Data transfer system, figure herein to conduct electricity platform, embedded Control
The terms such as amplification module, embeded processor or module, but it is not precluded from the possibility using other terms.Use these terms
Just for the sake of more easily describing and explaining the essence of the present invention；Be construed as any additional limitation be all with
What spirit of the present invention was disagreed.
6th, the effect and advantage of the invention
It is secure that the effect and advantage of the invention are mainly reflected in cheap cost, practical, precision and real-time.
The present invention relates to unmanned earthmoving machinery operation process in operative goals confirm, pose measurement scheme, with
Three-dimensional laser radar is compared, and cost is cheap, and precision is secure.Better three-dimensional laser radar such as 32 line radars at least tens
Ten thousand, luffing angle resolution ratio is 1 degree or so, and Measurement Resolution is 30 centimetres at 20 meters；The program controlled high precision head of this programme,
It is only 1.5-2 ten thousand plus the controllable camera cost of laser range sensor, parameter, its luffing angle resolution ratio can be easily reached
0.01-0.05 degree, Measurement Resolution is 0.3-1.5 centimetres at 20 meters.
The pose measurement scheme of the present invention is compared with the object three-dimensional measurement localization method of binocular vision, practicality, essence
Degree and real-time are secure.The characteristic point that this programme is not related to left and right two images accurately matches, and it is very strong not require that target point has
Conspicuousness or be characterized as the laser range sensor, it is known that using in advance, easily reached at 20 meters within Centimeter Level very
To millimetre-sized range accuracy；And the object three-dimensional measurement localization method of binocular vision, it is related to the spies of left and right two images
The accurate matching of sign point, if target point without very strong conspicuousness or unknown in advance, has a strong impact on matching speed, precision and real-time
Property, in addition matching error cause three-dimensional measurement positioning failure, on the premise of it can realize object three-dimensional measurement, at 20 meters
Range accuracy typically also reach several centimeters and decimeter grade.
The aware scheme of changing rule is loaded in operation head operation process proposed by the present invention, it is simple compared with other technologies
Just it is, practical.The use of the features such as " rising gradient, ascensional range and the amplitude duration " proposed is simple, physical significance is bright
Really, it is easy to embeded processor to extract, can effectively describes operation head and the load changing rule of operative goals interaction,
It is easy to Operation control.
Claims (4)
1. for pose measurement and the Load-aware device of unmanned earthmoving machinery operation process, including camera head, camera,
Lighting device, laser range sensor, embedded Control amplification module, long-range figure pass number biography, oil pressure sensor etc., and its feature exists
In improved program controlled high precision head (1), configuration can the varifocal of state modulator and the camera (2) and lighting device of change aperture
(3), the laser range sensor (4) that one close with camera and optical axis is parallel, datum mark and head center are identical is installed, matched somebody with somebody
Put embedded Control amplification module (5) and long-range figure passes Data transfer system (6), remote control end figure is passed in the display screen band in Data transfer system
Cross hairs is entreated, the oil pressure sensor (7) at work head oil inlet and main pump oil-out is used to detect Pressure Variation.
2. laser range sensor according to claim 1, leaned on it is characterized in that the laser range sensor (4) is arranged on
Close-shot is as head position and both optical axises are parallel, and is together arranged on program controlled high precision head (1), realizes consistent pitching and returns
Transhipment is dynamic, and pitching and angle of revolution measurement and range measurement.
3. camera according to claim 1, it is characterized in that the camera (2) can realize the varifocal of state modulator
With change aperture function, the lighting device (3) with state modulator, realize that the large space under the complex environments such as illumination exception is comprehensive interior
Goal seeking and the fine confirmation that furthers.
4. oil pressure sensor according to claim 1, it is characterized in that the oil pressure sensor (7) is used for matching embedded type control
Amplification module (5) processed, the signal characteristics such as pressure rising gradient, ascensional range and amplitude duration are caught, help to be remotely controlled
Manipulator is held to realize the accurate effectively control to operation head feed speed, the amount of feeding and direction of feed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711010639.8A CN107816079A (en) | 2017-10-20 | 2017-10-20 | Pose measurement and Load-aware device for unmanned earthmoving machinery |
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| CN201711010639.8A CN107816079A (en) | 2017-10-20 | 2017-10-20 | Pose measurement and Load-aware device for unmanned earthmoving machinery |
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| CN112695831A (en) * | 2020-12-08 | 2021-04-23 | 山东智引智能科技有限公司 | Remote control device, method and equipment for parallel driving of engineering machinery |
| CN113737886A (en) * | 2021-09-26 | 2021-12-03 | 广西柳工机械股份有限公司 | Unloading auxiliary system and method for remote control loader |
| CN114575399A (en) * | 2022-03-11 | 2022-06-03 | 湖南三一华源机械有限公司 | Engineering machine and scraper knife control method and control system thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112695831A (en) * | 2020-12-08 | 2021-04-23 | 山东智引智能科技有限公司 | Remote control device, method and equipment for parallel driving of engineering machinery |
| CN112695831B (en) * | 2020-12-08 | 2022-09-06 | 山东建筑大学 | Remote control device, method and equipment for parallel driving of engineering machinery |
| CN113737886A (en) * | 2021-09-26 | 2021-12-03 | 广西柳工机械股份有限公司 | Unloading auxiliary system and method for remote control loader |
| CN113737886B (en) * | 2021-09-26 | 2023-02-17 | 广西柳工机械股份有限公司 | Unloading auxiliary system and method for remote control loader |
| CN114575399A (en) * | 2022-03-11 | 2022-06-03 | 湖南三一华源机械有限公司 | Engineering machine and scraper knife control method and control system thereof |
| CN114575399B (en) * | 2022-03-11 | 2022-12-06 | 湖南三一华源机械有限公司 | Engineering machine and scraper knife control method and control system thereof |
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Application publication date: 20180320 |