CN108643274A - Excavator remote intelligent control system - Google Patents
Excavator remote intelligent control system Download PDFInfo
- Publication number
- CN108643274A CN108643274A CN201810424820.1A CN201810424820A CN108643274A CN 108643274 A CN108643274 A CN 108643274A CN 201810424820 A CN201810424820 A CN 201810424820A CN 108643274 A CN108643274 A CN 108643274A
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- China
- Prior art keywords
- excavator
- control system
- degree
- motion platform
- platform
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- 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.)
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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
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to excavator remote intelligent control systems, by the way that visual sensor and inertial navigation sensors is arranged in the next control subsystem, multi-degree-of-freedom motion platform is set on operation and control subsystem, and display module is set on multi-degree-of-freedom motion platform, this unique mode is combined with multi-degree-of-freedom motion platform using inertial navigation sensors, effect solves engineering machinery in separate men from machines research process, operating personnel can not grasp the problem of engineering machinery local environmental conditions, and then realize separate men from machines under the premise of not influencing operating characteristics, solve the problems, such as that existing excavator field operation degree of danger is high.
Description
Technical field
The present invention relates to intelligent technical field of industrial equipment, and in particular to the excavator for excavator remote control is remote
Journey intelligence control system.
Background technology
Excavator is to be excavated to be higher or lower than the material for holding machine side with scraper bowl, and be packed into haulage vehicle or unload to rickyard
Earthmoving machinery.The material that excavator excavates is mainly soil, coal, silt and soil and rock after pre- pine.From close
From the point of view of the development of several years engineering machinery, the development of excavator is relatively fast, and excavator has become most important in engineering construction
One of engineering machinery.
In the prior art, the operator of excavator belongs to high-risk skilled worker, in operator's operating process, once occur
Accident, operator are difficult escape；On the other hand, the operating environment of excavator is usually all relatively more severe, by various extraneous factors
Interference and influence, it is especially severe in certain special industry engineer machinery operation environmental abnormalities, such as：Poison gas exhaust gas occasion,
Rubbish cleaning, rescue and relief work, tunnel excavation, explosion-proof operation, radioactivity occasion operation etc., use the excavator of artificial execute-in-place
It is the safety for being difficult to ensure operator.
Invention content
The present invention is intended to provide a kind of excavator remote intelligent control system, dangerous to solve existing excavator field operation
The high problem of degree.
Concrete scheme is as follows：Excavator remote intelligent control system, including the next control subsystem and operation and control
System：
The bottom control subsystem includes that visual sensor on board a dredger, embedded controller, inertia is set to lead
Navigate sensor and the first wireless transport module；
The embedded controller respectively with the visual sensor, inertial navigation sensors and first wireless transport module
Communication connection；The embedded controller is also communicated with the operation-control system of excavator and is connected；
The operation and control subsystem includes upper host, further includes the multifreedom motion being connect with the upper host communication
Platform, display module, manipulation module and the second wireless transport module；
The display module is set on the multi-degree-of-freedom motion platform, which first and second is wirelessly transferred by this
Module is connected with embedded controller communication, with according to the posture of the excavator pose adjustment multi-degree-of-freedom motion platform.
Further, further include operation seat, the manipulation module and the operation seat are set to the multifreedom motion
On platform, coordinate the display module, to constitute a remote cockpit.
Further, which includes multiple high-definition cameras being installed on excavator；The display module
Corresponding each high-definition camera all has a display screen, and position of the display screen on the multi-degree-of-freedom motion platform corresponds to
The arrangement setting of high-definition camera position.
Further, which is 6-dof motion platform comprising a fixed pedestal and one
Free platform, the free platform are connected to by six groups of electric cylinders on the fixed pedestal.
Wherein, which is additionally operable to, and after receiving the related excavator attitude data parameter of inertial navigation sensors, passes through
The spatial movement model of multi-degree-of-freedom motion platform converts, and carries out anti-solution and compensation operation, controls the elongation of six groups of electric cylinders
Amount；The encoder of electric cylinder detects electric cylinder torque, speed and location information in real time simultaneously, and is sent to the driving of electric cylinder
Device constitutes electric cylinder closed-loop control system；To accurately control the elongation of each electric cylinder in real time, realize that adjustment is freely put down in real time
Platform posture.
Further, further include excavator, which includes rack, and swing mechanism and electricity are respectively equipped in the rack
The crawler unit of power drive, the swing mechanism are equipped with digging arm；
It is additionally provided with hydraulic system in the rack, which is equipped with oil pressure sensor and oil pressure pump motor, the oil pressure
Sensor and oil pressure pump motor, which are communicated with the embedded controller, to be connected.
Advantageous effect：The excavator remote intelligent control system of the present invention, by the way that vision is arranged in the next control subsystem
Multi-degree-of-freedom motion platform is arranged in sensor and inertial navigation sensors on operation and control subsystem, and multiple degrees of freedom is transported
Display module is set on moving platform, i.e., it is unique to be combined this with multi-degree-of-freedom motion platform using inertial navigation sensors
Mode, effect solve engineering machinery in separate men from machines research process, operating personnel can not grasp engineering machinery surrounding enviroment feelings
The problem of condition, and then separate men from machines under the premise of not influencing operating characteristics is realized, solve existing excavator field operation
The high problem of degree of danger.
Manpower operating is still extremely relied in contrast to current engineering machinery field, and manipulates complexity, is had revealed that at present
Poor using the practical newly energy of the manipulation scheme of vision auxiliary, the present invention introduces attitude transducer, vision detection system and embedded control
The intelligent control strategy of device processed ensures that operator has really in conjunction with multi-degree-of-freedom motion platform while remote tele-operation
Execute-in-place experience, have extremely wide potentiality to be exploited and market application value.
Description of the drawings
Fig. 1 shows excavator remote intelligent control system structural schematic diagram of the present invention；
Fig. 2 shows excavator remote intelligent control system excavator structure schematic diagrames of the present invention；
Fig. 3 shows 6-dof motion platform structural schematic diagram；
Fig. 4 shows display module monitoring interface picture.
Specific implementation mode
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be coordinated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.In figure
Component be not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
In conjunction with the drawings and specific embodiments, the present invention is further described.
In conjunction with shown in Fig. 1 to Fig. 3, this embodiment offers a kind of excavator remote intelligent control systems comprising the next
Control subsystem 10 and operation and control subsystem 20：
The bottom control subsystem 10 includes the excavator of an electric drive, and a switch board is further fixed on the excavator
30, embedded controller, inertial navigation sensors and the first wireless transport module are provided in the switch board 30, meanwhile, it should
Multiple high-definition cameras are additionally provided on excavator, to constitute the visual sensor of the bottom control subsystem.
From Figure 2 it can be seen that the excavator includes rack 2, the upper end of the rack 2 is respectively equipped with swing mechanism 22, the turn-around machine
Structure 22 is equipped with the digging arm 23 of hydraulic-driven；The left and right sides of the rack 2 is equipped with the crawler unit 21 of electric drive, with
The excavator is driven to move；The switch board 30 is fixedly disposed on the swing mechanism 22, and is set to 23 bottom of digging arm
Side, an at least high-definition camera is set on the switch board 30, and the setting of its visual angle face digging arm 23, to realize to digging
Dig the real time monitoring of arm 23.
It is additionally provided with hydraulic system in the rack 2, which is motor-driven：The revolving platform 2 is equipped with oil pressure
Pump motor 40；Each output position for executing oil cylinder and oil pressure pump motor 40, is equipped with oil pressure sensor, and each oil pressure passes
Sensor with the embedded controller communicate connect, and the embedded controller also by multiple electric machine controllers respectively with oil pressure
Pump motor 40, crawler unit 21 and the communication connection of swing mechanism 22；The embedded controller also with the hydraulic system
Electromagnetism is connected, to realize the control to hydraulic system.
In conjunction with Fig. 1, which passes with each high-definition camera of the visual sensor, inertial navigation respectively
Sensor and first wireless transport module communication connection, and the embedded controller through the above way also with the work of excavator
The communication connection of industry control system, realizes to excavator self information, such as operating condition, operating environment, hydraulic system parameters,
Acquisition, and realize the Operation control to excavator.Wherein, it is preferred that the visual sensor includes being set to revolving platform
The high-definition camera of four sides, to acquire 360 ° of operating environment information respectively.
The operation and control subsystem 20 includes upper host, further includes the multiple degrees of freedom fortune being connect with the upper host communication
Moving platform 5, display module, manipulation module and the second wireless transport module；Second wireless transport module is first wireless with this
Transmission module communication connection, and then realize the upper host and pass through first and second wireless transport module and the embedded control
Device communication connection processed, upper host realize the acquisition to excavator and working condition information.
The operation and control subsystem 20 further includes operation seat, and the manipulation module, operation seat and display module are all provided with
In on the free platform 52 of the multi-degree-of-freedom motion platform 5, in this embodiment, which is a display, the manipulation
Module handle, and then one remote cockpit of composition in order to control.
Shown in Fig. 4, there are four image display areas 61 for monitoring interface setting, are taken the photograph with corresponding to each high definition respectively
As head；The monitoring interface is additionally provided with cylinder efficient status display area 62, excavator attitude parameter display area 63 and digs
Mechanomotive force parameter display area domain 64 is dug, to show the action of digging arm 23, inertial navigation sensors parameter and hydraulic system respectively
Parameter etc. realizes online data monitoring.
In this embodiment, which is a display screen, it is to be understood that in other specific implementation modes
In, which can also correspond to each high-definition camera and be all provided with a display screen, and the display screen is transported in the multiple degrees of freedom
Position on moving platform corresponds to position arrangement setting of the high-definition camera in excavator rack 2, to be moved in free platform 52
When, higher precision reacts excavator operation situation.
In this embodiment, which is 6-dof motion platform comprising a fixed pedestal 51
And a free platform 52, the free platform 52 are connected to by six groups of electric cylinders 53 on the fixed pedestal：Wherein, the electric cylinder
53 are installed in pairs at 52 jiaos of free platform, and the both ends of the electric cylinder 53 are hingedly connected to the fixed pedestal 51 and freely put down
On platform 52, and each electric cylinder 53 of adjacent sets is fixed on the adjacent position of the fixed pedestal 51, to realize free platform 52 6
The adjustment of degree of freedom.
The upper host work principle is：
First, by the first and second wireless transport modules, the related excavator attitude data of inertial navigation sensors is received
After parameter；
Then, upper host is converted by the spatial movement model of 6-dof motion platform 5, instead solve and compensate
Operation calculates the elongation of each electric cylinder 53, and the driver of each electric cylinder 53, electric cylinder 53 are passed to by bus
Flexible according to driving instruction, platform also runs to specified posture, realizes the elongation of six groups of electric cylinders of control；
In this process, the encoder of electric cylinder 53 detects electric cylinder torque, speed and location information in real time, and sends
To the driver of electric cylinder 53, electric cylinder closed-loop control system is constituted；It is real to accurately control the elongation of each electric cylinder in real time
Adjustment free platform stance when real.
Since operating personnel are on the 6-dof motion platform 5, it can clearly realize excavator rotator inertia, dig
The shake of rack 2 or beat motion amplitude and trend in operation are dug, and the sliding of rack 2, inclination can be known from experience etc. and seriously affects stabilization
The parameter information of property；Realize grasp experimental bench ambient enviroment, so as to adjust operation in time, avoid excavation rollover,
It is front and back to tumble and the problems such as fuselage is hit, reduce the probability that maloperation causes experimental bench impaired.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
In vain, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (6)
1. excavator remote intelligent control system, which is characterized in that including the next control subsystem and operation and control subsystem：
The bottom control subsystem includes visual sensor, embedded controller, the inertial navigation biography being set on board a dredger
Sensor and the first wireless transport module；
The embedded controller is communicated with the visual sensor, inertial navigation sensors and first wireless transport module respectively
Connection；The embedded controller is also communicated with the operation-control system of excavator and is connected；
The operation and control subsystem includes upper host, further includes that the multifreedom motion being connect with the upper host communication is put down
Platform, display module, manipulation module and the second wireless transport module；
The display module is set on the multi-degree-of-freedom motion platform, which passes through first and second wireless transport module
It communicates and connects with the embedded controller, with according to the posture of the excavator pose adjustment multi-degree-of-freedom motion platform.
2. excavator remote intelligent control system according to claim 1, it is characterised in that：Further include operation seat, it should
Manipulation module and the operation seat are set on the multi-degree-of-freedom motion platform, coordinate the display module, long-range to constitute one
Cockpit.
3. excavator remote intelligent control system according to claim 1, it is characterised in that：The visual sensor includes more
A high-definition camera being installed on excavator；The display module corresponds to each high-definition camera and all has a display screen,
And position of the display screen on the multi-degree-of-freedom motion platform corresponds to the arrangement setting of high-definition camera position.
4. excavator remote intelligent control system according to claim 1, it is characterised in that：The multi-degree-of-freedom motion platform
For 6-dof motion platform comprising a fixed pedestal and a free platform, the free platform are connected by six groups of electric cylinders
It is connected on the fixed pedestal.
5. excavator remote intelligent control system according to claim 4, it is characterised in that：The upper host is additionally operable to,
After receiving the related excavator attitude data parameter of inertial navigation sensors, by the spatial movement model of multi-degree-of-freedom motion platform
Transformation carries out anti-solution and compensation operation, controls the elongation of six groups of electric cylinders；The encoder of electric cylinder detects electricity in real time simultaneously
Dynamic cylinder torque, speed and location information, and it is sent to the driver of electric cylinder, constitute electric cylinder closed-loop control system；With reality
When accurately control the elongation of each electric cylinder, realize the free platform stance of adjustment in real time.
6. excavator remote intelligent control system according to claim 1, it is characterised in that：
Further include excavator, which includes rack, and swing mechanism and the crawler belt of electric drive are respectively equipped in the rack
Running gear, the swing mechanism are equipped with digging arm；
It is additionally provided with hydraulic system in the rack, which is equipped with oil pressure sensor and oil pressure pump motor, oil pressure sensing
Device and oil pressure pump motor, which are communicated with the embedded controller, to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810424820.1A CN108643274A (en) | 2018-05-07 | 2018-05-07 | Excavator remote intelligent control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810424820.1A CN108643274A (en) | 2018-05-07 | 2018-05-07 | Excavator remote intelligent control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108643274A true CN108643274A (en) | 2018-10-12 |
Family
ID=63749063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810424820.1A Pending CN108643274A (en) | 2018-05-07 | 2018-05-07 | Excavator remote intelligent control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN108643274A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109826272A (en) * | 2019-01-16 | 2019-05-31 | 大连理工大学 | A kind of Intelligent mining excavator system based on ROS |
| CN110430538A (en) * | 2019-07-31 | 2019-11-08 | 中铁四局集团第五工程有限公司 | tunnel production command cockpit |
| WO2020086577A1 (en) * | 2018-10-23 | 2020-04-30 | Caterpillar Paving Products Inc. | Inclination control for construction machines |
| CN111538313A (en) * | 2020-04-23 | 2020-08-14 | 东风汽车集团有限公司 | Remote driving device and method based on six-degree-of-freedom dynamic driving stand |
| CN112031063A (en) * | 2020-09-10 | 2020-12-04 | 上海三一重机股份有限公司 | Remote control system and method for excavator |
| CN113718867A (en) * | 2021-09-18 | 2021-11-30 | 四川鼎鸿智电装备科技有限公司 | Unmanned excavator |
| CN113970908A (en) * | 2021-09-28 | 2022-01-25 | 中煤科工集团沈阳设计研究院有限公司 | Intelligent control system and method for large-scale strip mine wheel hopper full-continuous process equipment |
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| CN201796514U (en) * | 2010-03-12 | 2011-04-13 | 中国人民解放军总后勤部建筑工程研究所 | Excavator simulation training platform |
| CN102117066A (en) * | 2011-02-28 | 2011-07-06 | 三一重机有限公司 | Remote control system for excavator |
| CN106120943A (en) * | 2016-07-16 | 2016-11-16 | 谭琛 | Hydraulic crawler excavator intelligence control system |
| CN207198663U (en) * | 2017-09-30 | 2018-04-06 | 徐工集团工程机械股份有限公司 | Road roller and road roller control system |
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| JPS57193634A (en) * | 1981-05-25 | 1982-11-29 | Meidensha Electric Mfg Co Ltd | Civil engineering and construction machine |
| CN201796514U (en) * | 2010-03-12 | 2011-04-13 | 中国人民解放军总后勤部建筑工程研究所 | Excavator simulation training platform |
| CN102117066A (en) * | 2011-02-28 | 2011-07-06 | 三一重机有限公司 | Remote control system for excavator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020086577A1 (en) * | 2018-10-23 | 2020-04-30 | Caterpillar Paving Products Inc. | Inclination control for construction machines |
| US11105051B2 (en) | 2018-10-23 | 2021-08-31 | Caterpillar Paving Products Inc. | Inclination control for construction machines |
| CN109826272A (en) * | 2019-01-16 | 2019-05-31 | 大连理工大学 | A kind of Intelligent mining excavator system based on ROS |
| CN109826272B (en) * | 2019-01-16 | 2021-02-12 | 大连理工大学 | Intelligent mining excavator system based on ROS |
| CN110430538A (en) * | 2019-07-31 | 2019-11-08 | 中铁四局集团第五工程有限公司 | tunnel production command cockpit |
| CN111538313A (en) * | 2020-04-23 | 2020-08-14 | 东风汽车集团有限公司 | Remote driving device and method based on six-degree-of-freedom dynamic driving stand |
| CN112031063A (en) * | 2020-09-10 | 2020-12-04 | 上海三一重机股份有限公司 | Remote control system and method for excavator |
| CN113718867A (en) * | 2021-09-18 | 2021-11-30 | 四川鼎鸿智电装备科技有限公司 | Unmanned excavator |
| CN113970908A (en) * | 2021-09-28 | 2022-01-25 | 中煤科工集团沈阳设计研究院有限公司 | Intelligent control system and method for large-scale strip mine wheel hopper full-continuous process equipment |
| CN113970908B (en) * | 2021-09-28 | 2024-03-29 | 中煤科工集团沈阳设计研究院有限公司 | Intelligent control system and method for full-continuous process equipment of large-scale strip mine wheel bucket |
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