CN114115014A - Universal and intuitive engineering machinery control system - Google Patents
Universal and intuitive engineering machinery control system Download PDFInfo
- Publication number
- CN114115014A CN114115014A CN202111383662.8A CN202111383662A CN114115014A CN 114115014 A CN114115014 A CN 114115014A CN 202111383662 A CN202111383662 A CN 202111383662A CN 114115014 A CN114115014 A CN 114115014A
- Authority
- CN
- China
- Prior art keywords
- working device
- control unit
- engineering machinery
- sensor
- motion control
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a generalized and intuitive engineering machinery control system, which comprises a motion control system and a working device operation system, wherein the motion control system comprises a motion control system and a working device operation system; the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller; the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller; the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery. The invention can make all kinds of engineering machinery control devices universal, improves the degree of generalization and reduces the equipment cost.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to universal control and intuitive control of engineering machinery of various different types, strains and models.
Background
The engineering machinery has various types, models (14 types, 70 types and thousands of models) and complex and various functions. The user mainly controls the walking device and the working device of the engineering machine. The walking device is mainly wheel type and crawler type, and the number of the working devices is dozens of according to different strains. And the user controls the functions of the engineering machinery such as walking, operation and the like through a hardware or software interactive interface.
In the prior art, the control of the wheel type engineering machinery walking device has the following characteristics according to the difference between a wheel type and a crawler type:
(1) the wheel type walking device is controlled mainly by a steering wheel and a control lever;
(2) the crawler-type traveling device is mainly controlled by three types, namely a control lever, a pedal and a handle.
In the prior art, the operation and control of various engineering machinery working devices mainly comprise three types, namely operation and control of an operation and control rod, operation and control of a handle and operation and control of a key.
The prior art mainly has two defects of insufficient universality and insufficient intuition of control:
(1) the universality is not enough: the engineering machinery operating method and the engineering machinery operating equipment are different in type, function and operation mode and difference, so that the engineering machinery operating method and the engineering machinery operating equipment are not universal, the equipment cost is high, special operators need to be trained, and the operating skill learning cost is high.
(2) Intuition is deficient: the operation method is complex and various, the operation steps are complex, the operation is not visual enough, the correspondence between the control action and the actual action of the machine is low, the cognitive load of the manipulator is high, the operation efficiency is low, the learning difficulty is high, the cognitive cost is high, and the fatigue is easy to occur.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention mainly aims at the defects in the prior art and needs a universal and intuitive engineering machinery control system, which can control the motion, working devices and partial auxiliary functions of the whole engineering machinery by adopting the same operation logic, operation method and operation equipment for engineering machinery of 14 types, 70 types and thousands of models in the current market.
The technical scheme adopted by the invention is as follows:
a generalized, intuitive engineering machine manipulation system, comprising:
the device comprises a motion control system and a working device operating system;
the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller;
the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller;
the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery.
The invention achieves the following beneficial effects: after the universal and intuitive engineering machinery control system is adopted, the following three beneficial effects are achieved:
(1) all kinds of engineering machinery control devices can be used universally, the generalization degree is improved, and the equipment cost is reduced;
(2) the control method is simplified, the cognitive load of the user is reduced, and the operation efficiency is improved;
(3) the same user can control more kinds of engineering machinery, and the learning cost and the training cost of professional personnel are reduced.
Drawings
Fig. 1 is a schematic structural diagram of each control unit in an embodiment of a work machine control system according to the present invention.
Fig. 2 is a schematic structural diagram of a manipulation unit in another embodiment of the manipulation system of the construction machine according to the present invention.
In the figure, a first base 1, a first slide rail 2, a first base 3, a first rotating shaft 4, a first elbow support 5, a first rotating shaft 6, a first gripper 7, a second base 8, a slide rail 9, a second base 10, a second rotating shaft 11, a rotating shaft 12, a rotating shaft 13 and a second gripper 14;
the first universal rocker 1b and the second universal rocker 10 b;
the front key 2b, the front key two 3b, the front key three 4b, the front key four 5b, the front key five 11b, the front key six 12b, the front key seven 13b and the front key eight 14 b;
back key one 6b, back key two 7b, back key three 8b, back key four 9b, back key five 15b, back key six 16b, back key seven 17b, and back key eight 18 b.
Detailed Description
The technical scheme of the invention is further explained by combining the drawings and the specific embodiments. As shown in fig. 1, the present invention provides a generalized, intuitive engineering machine control system, including:
the device comprises a motion control system and a working device operating system;
the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller;
the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller;
the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery.
The motion control unit is 3:
the motion control unit I comprises a first base 1, a first base 3 is connected with the first base 1 through a first sliding rail 2, and the first base 3 can slide back and forth along the first sliding rail 2;
the motion control unit II comprises a first elbow support 5, the base I3 is connected with the first elbow support 5 through a vertical rotating shaft I4, and the first elbow support 5 can rotate clockwise and anticlockwise around the rotating shaft I4;
the motion control unit III comprises a first hand grip 7, the first hand grip 7 is connected with the first elbow rest 5 through a horizontal rotating shaft 6, and the first hand grip 7 can rotate clockwise and anticlockwise around the rotating shaft 6.
The operating device control units are 3:
the second working device control unit comprises a second base 8, a second base 10 is connected with the second base 8 through a second sliding rail 9, and the second base 10 can slide back and forth along the second sliding rail 9;
the second working device control unit comprises a second elbow support 12, the second base 10 is connected with the second elbow support 12 through a second vertical rotating shaft 11, and the second elbow support 12 can rotate clockwise and anticlockwise around the second rotating shaft 11;
the third operating device control unit comprises a second gripper 14, the second gripper 14 is connected with the second elbow rest 12 through a second horizontal rotating shaft 13, and the second gripper 14 can rotate clockwise and anticlockwise around the second rotating shaft 13.
The universal and intuitive engineering machinery control system can carry out universal and intuitive control on the motion and working devices of various engineering machinery.
When an operator uses the control system, the two arms are placed at the tail ends of the first elbow support 5 and the second elbow support 12 by taking elbows as fulcrums, and fingers hold handles of the first gripper 7 and the second gripper 14.
In the present embodiment, a method of performing a versatile and intuitive control of two types of construction machines by using the control system of the present invention will be described by taking a crawler excavator and a wheel loader as examples.
The operation system of the invention has definite function partition, the motion operation system is responsible for operating the motion function of the engineering machinery, and the working device operation system is responsible for controlling the working device of the engineering machinery.
Through the motion control system, the motion direction and the speed state of the two engineering machines in the embodiment can be controlled in a generalized and intuitive manner, and the following description is made in combination with the schematic diagram 1:
the sensor control signal of the first motion control unit is transmitted to the controller, the sensor signal of the first motion control unit is set in the function setting module of the controller to correspond to control data of forward or backward motion of the engineering machinery, namely the base I3 drives the motion control system to integrally slide forward or backward corresponding to the forward or backward motion of the two engineering machinery, and the forward or backward sliding amplitude of the motion control unit corresponds to the maximum speed and the speed change rate of the motion of the two engineering machinery. For example, when the first base 3 slides forwards to the stroke end, the controlled engineering machinery advances at the maximum acceleration, and keeps running at a constant speed when the maximum speed is reached; when the first base 3 returns to the neutral position, the speed of the controlled engineering machinery is zero.
And a sensor control signal of the second motion control unit is transmitted to the controller, and a function setting module of the controller sets that the sensor signal of the second motion control unit corresponds to left-side steering or right-side steering control data of the controlled engineering machinery, namely, the first elbow support 5 rotates around the first shaft 4 left and right and corresponds to left-side steering or right-side steering of the two engineering machinery, and the rotating angle of the first elbow support 5 to both sides corresponds to the turning radius of the controlled engineering machinery. For example, when the elbow rest 5 rotates to the left to the extreme position, the operated engineering machine turns to the left at the minimum turning radius; when the first elbow support 5 rotates to the neutral position, the operated engineering machinery has no steering action.
The operator controls the first motion control unit and the second motion control unit which can move simultaneously, and the first motion control unit and the second motion control unit are combined to form control over the whole motion of the engineering machinery, namely the first base 3 and the first elbow support 5 are not interfered with each other and can move simultaneously, and the first base and the second elbow support are combined to form control over the whole motion of the engineering machinery.
In this embodiment, the movement of the two engineering machines, namely the crawler excavator and the wheel loader, can be controlled through the first base 3 and the first elbow rest 5 of the movement control system, so as to avoid misoperation caused by movement of the first gripper 7 in the third movement control unit, the first rotating shaft 6 of the third movement control unit is locked, and the first gripper 7 cannot rotate around the first rotating shaft 6.
The number of the motion control units is not limited to 3, and the corresponding relation between each sensor signal and the motion control mode of the engineering machinery is not limited to the above limitation, a new motion mode can be added, and one or more modes can be combined.
Through the working device operating system, the working devices of the two engineering machines in the embodiment can be operated in a generalized and intuitive manner, and when the engineering machine is an excavator, the following description is made in combination with the schematic diagram 1:
the method for controlling the working device of the excavator comprises the following steps:
the sensor control signal of the first working device operation unit is transmitted to the controller, the sensor signal of the first working device operation unit is set in the function setting module of the controller to correspond to the control data of the forward and backward movement of the working part of the engineering machine, namely the base II 10 drives the whole first working device operation unit to slide forward or backward and corresponds to the forward and backward movement of the excavator bucket, and the forward or backward sliding amplitude of the first working device operation unit corresponds to the moving speed of the bucket. For example, when the second base 10 slides forward to the stroke end, the bucket moves forward at the maximum speed, and when the second base 10 returns to the neutral position, the bucket stops moving.
And a sensor control signal of the second working device operation unit is transmitted to the controller, and a function setting module of the controller sets the sensor signal of the second working device operation unit to correspond to control data of the left and right movement of a working part of the engineering machine, namely, the second elbow support 12 rotates left and right around the second rotating shaft 11 and corresponds to the left and right movement of the excavator bucket, namely, the left and right rotation of the cab, and the rotating angles of the second elbow support 12 to the two sides correspond to the rotating speed of the cab. For example, when the second elbow rest 12 rotates to the left to the extreme position, the excavator cab rotates to the left at the fastest speed, and when the second elbow rest 12 returns to the neutral position, the cab stops rotating.
Sensor control signals of the third working device operation unit are transmitted to the controller, and the sensor signals of the third working device operation unit are set in a function setting module of the controller to correspond to control data of outward rotation and inward rotation of a working part of the engineering machine, namely, the second gripper 14 rotates up and down around the second shaft 13 and corresponds to the releasing and receiving of a bucket of the excavator, namely, the outward rotation and the inward rotation of the bucket, and the amplitude of the upward and downward rotation of the second gripper 14 corresponds to the outward rotation speed and the inward rotation speed of the bucket. For example, when the second hand grip 14 is rotated up to the extreme position, the bucket is rotated out at the fastest rate, and when the second hand grip 14 returns to the neutral position, the bucket stops rotating.
The operation of the operator on the second base 10, the second elbow support 12 and the second gripper 14 is not interfered mutually, and the two base, the second elbow support 12 and the second gripper 14 can move simultaneously and are combined to form the operation on the working device of the excavator.
The principle of the invention is as follows:
for engineering machinery of 14 types, 70 types and thousands of models in the current market, the same operation logic, operation method and operation equipment are adopted to carry out generalized and intuitive control on the motion of the whole engineering machinery and the working device:
(1) the universal control method of the control system for various engineering machines comprises two aspects: the control method is used for controlling the motion of the whole engineering machinery including crawler-type engineering machinery and wheel-type engineering machinery and controlling various engineering machinery working devices. The control system firstly satisfies the control of the engineering machinery with the most control function items, and can integrate, lock or disassemble the control device according to the different number of functions to correspond to the number of the functions when controlling different machine types, thereby achieving the purpose of complete generalization.
The invention discloses a method for carrying out universal control on the movement of a whole vehicle by a control system, which is characterized in that a user directly inputs instruction parameters such as front, back, left and right, movement amplitude and the like through an interactive interface, correspondingly controls parameters such as the walking direction, the steering angle, the speed, the turning radius, the change speed and the like of a track or a wheel type power system of the whole vehicle, and further controls the movement direction of the whole vehicle. Meanwhile, a user directly inputs command parameters such as acceleration, uniform speed, deceleration, brake stop and speed change rate through an interactive interface, and correspondingly controls the acceleration, uniform speed, deceleration, brake stop and speed change rate of the whole vehicle track or wheel type power system, so as to control the speed state of the whole vehicle.
The invention relates to a method for controlling a working device by a control system in a generalized way, which is characterized in that various working devices of various engineering machines are regarded as a whole, and only the part of the tail end and the working condition for actual interactive operation is controlled, namely the control of the working devices is realized by indicating a target point needing operation. A user controls the three-dimensional coordinates of the tail end of the working device, namely the target point, through the interactive interface, and controls parameters such as the direction, the speed, the angle, the change rate and the like of the target point, so that various working devices are controlled in a universal mode. If the function needs to be independent of the function of the working device which is operated independently outside the whole body, the corresponding part on the control device is unlocked for control, otherwise, the corresponding part on the control device is locked to prevent misoperation.
(2) The intuitive operation method of the control system of the invention for various engineering machines comprises two aspects: a method for controlling the movement of a construction machine and a method for controlling a working device of a construction machine. The interaction action of the user corresponds to the movement of the whole engineering machinery and the action height of the working device, and the natural control logic and intuition of the user are met.
The intuitive control method for the movement of the engineering machinery is characterized in that the interactive action of a user highly corresponds to the movement direction and speed state of the whole engineering machinery, the user directly inputs instruction parameters such as front, back, left, right and movement amplitude through an interactive interface to correspondingly control the movement of the whole engineering machinery, such as advancing, backing, steering and the like, and the control method adopts a simple mode and a device which are in accordance with the logical mapping intuition of an operator to control the movement direction of the whole engineering machinery, thereby intuitively controlling the movement direction of the whole engineering machinery. Meanwhile, a user directly inputs instruction parameters such as force, speed, amplitude, direction, duration and the like through an interactive interface, and correspondingly controls the speed states such as acceleration, deceleration, uniform speed, starting, braking stop, change rate and the like of the whole vehicle to be controlled by adopting a simple and intuitive mode according with the logical mapping of an operator, so that the speed state of the whole vehicle is intuitively controlled.
A method for intuitively controlling a working device is characterized in that the working device of an engineering machine is regarded as a whole, only the part of the tail end which carries out actual interactive operation with a working condition is controlled, namely, the aim of controlling the working device according with the logical mapping intuition of an operator is achieved by indicating a target point which needs to be operated, a user inputs a series of interactive actions through an interface, and the movement of the corresponding working device is highly corresponding in direction, speed, angle and change rate. And further intuitively control the working device.
It should be noted that the generalized intuitive control modes for the engineering machinery described above include, but are not limited to, in-site driving control, site remote control, and the like; specific interaction modes of manipulation include, but are not limited to, hardware device interaction, voice interaction, touch screen interaction, gesture interaction, motion interaction, eye movement interaction, electroencephalogram interaction and the like.
Example 2
A generalized, intuitive engineering machine manipulation system, comprising:
the device comprises a motion control system and a working device operating system;
the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller;
the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller;
the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery.
The operating device control units are 3:
the second working device control unit I comprises a second base 8, a second base 10 is connected with the second base 8 through a second sliding rail 9, and the second base 10 can slide back and forth along the second sliding rail 9;
the second working device control unit comprises a second elbow support 12, the second base 10 is connected with the second elbow support 12 through a second vertical rotating shaft 11, and the second elbow support 12 can rotate clockwise and anticlockwise around the second rotating shaft 11;
the third operating device control unit comprises a second gripper 14, the second gripper 14 is connected with the second elbow rest 12 through a second horizontal rotating shaft 13, and the second gripper 14 can rotate clockwise and anticlockwise around the second rotating shaft 13.
Through the working device operating system, when the engineering machinery is a loader, the method for operating and controlling the working device of the loader is as follows by combining the schematic diagram 1: the second base 10 drives the whole working device operating system to slide forwards or backwards, the working device operating system corresponding to the descending and ascending of the loader bucket slides forwards or backwards, and the sliding amplitude of the working device operating system corresponds to the moving speed of the bucket. For example, when the second base 10 slides forward to the end of travel, the bucket descends at maximum speed. When the second base 10 returns to the neutral position, the bucket stops moving.
The second gripper 14 rotates up and down around the second shaft 13 and corresponds to the collection and release of the bucket of the excavator, and the rotating amplitude of the second gripper 14 corresponds to the rotating speed of the bucket. For example, when the second hand grip 14 is rotated up to the extreme position, the bucket is retracted at the fastest rate, and when the second hand grip 14 returns to the neutral position, the bucket stops rotating.
The second base 10 and the second handle 14 can move simultaneously, and the combination of the two can form the operation of the working device of the loader.
When the loader is operated, the second base 10 and the second gripper 14 of the operation system and the operation system of the working device are moved to operate the working device of the wheel loader, so that the shaft is locked to prevent the second elbow support 12 from moving to cause misoperation, and the second elbow support 12 cannot rotate around the second shaft 11.
The number of the working device control units is not limited to 3, and the corresponding relation between the sensor signals and the working device control mode of the engineering machinery is not limited to the above limitation, a new control mode can be added, and one or more modes can be combined.
Example 3
Fig. 2 is a schematic structural diagram of each control unit according to embodiment 3 of the present invention;
a generalized, intuitive engineering machine manipulation system, comprising:
the device comprises a motion control system and a working device operating system;
the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller;
the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller;
the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery.
The number of the motion control units is 3, and the motion control units are responsible for controlling the motion function of the engineering machinery;
the motion control unit I: the pressure sensor is arranged in the front, back, left and right directions of the inner surface of the hollow spherical groove respectively;
a second motion control unit: the front side of the handle is respectively provided with a front key I2 b, a front key II 3b, a front key III 4b and a front key IV 5b, and a pressure sensor is respectively arranged below each front key;
a motion control unit III: the back of the handle is provided with a first back key 6b, a second back key 7b, a third back key 8b and a fourth back key 9b, and a pressure sensor is arranged below each back key.
The number of the working device control units is 3, and the working device control units are responsible for controlling the working devices of the engineering machinery;
the working device control unit I comprises a universal rocker II 10 b; the lower part of the second universal rocker 10b is a spherical shaft which is arranged in a hollow spherical groove of the handle, and the front, rear, left and right directions of the inner surface of the hollow spherical groove are respectively provided with a pressure sensor;
a second working device control unit: the front side of the handle is respectively provided with a front key five 11b, a front key six 12b, a front key seven 13b and a front key eight 14b, and a pressure sensor is respectively arranged below each front key;
a third operating device control unit: the back of the handle is provided with a back key five 15b, a back key six 16b, a back key seven 17b and a back key eight 18b, and a pressure sensor is arranged below each back key.
In the embodiment, the two universal rocking bars and all the front keys are controlled by thumbs;
the first back key 6b, the second back key 7b, the fifth back key 15b and the sixth back key 16b are controlled by an index finger;
the back key three 8b, the back key four 9b, the back key seven 17b and the back key eight 18b are controlled by a middle finger and a ring finger.
In this embodiment, a method of performing a versatile and intuitive control of the three types of construction machines using the handle will be described by taking a crawler excavator, a wheel loader, and a wheel grader as an example.
Through the motion control system, the motion direction and the speed state of the three engineering machines in the embodiment can be controlled in a generalized and intuitive manner, and the following description is made in combination with the schematic diagram 2:
the control signal of the sensor of the first motion control unit is transmitted to the controller, and the sensor signal of the first motion control unit is set in the function setting module of the controller to correspond to the control data of the forward, backward, left-turning and right-turning of the engineering machinery, namely, the universal rocker 1b moves forward, backward, left and right with the universal rocker and corresponds to the forward, backward, left-turning and right-turning of the engineering machinery respectively.
The amplitude of the front and back movement of the universal rocker 1b corresponds to the forward and backward acceleration and the maximum speed of the controlled engineering machinery. For example, when the universal rocker 1b is pushed forward to the extreme position, the controlled engineering machinery moves forward at the maximum acceleration, when the maximum speed is reached, the controlled engineering machinery moves forward at a constant speed, and when the universal rocker 1 returns to the neutral position, the motion system of the controlled engineering machinery does not have power output. The amplitude of the left-right movement of the universal rocker 1 corresponds to the turning radius of the controlled engineering machinery. For example, when the universal rocker 1 is pushed to the left to the extreme position, the controlled engineering machine turns to the left with the minimum turning radius; when the universal rocker 1 returns to the neutral position, the controlled engineering machinery has no steering action.
Besides the orthogonal direction, the user can push the universal rocker 1 in any other direction, and the forward and backward movement and the left and right steering of the controlled engineering machine are simultaneously controlled in a combined manner through the component of the orthogonal direction of the universal rocker.
In addition, the motor functions of the motor grader include two additional functions, front wheel roll and articulation steering. Wherein, the front wheel heels and is respectively controlled to heel left and right by the front buttons 2b and 3 b; the depth of key depression corresponds to the front wheel tilt amplitude, e.g. when the front key 2b is pressed to the extreme position, the front wheel tilts left at the maximum angle, when the key returns to the neutral position, the front wheel is turned right, the hinge steering function is controlled by the front keys 4b, 5b to rotate left and right, the depth of key depression corresponds to the hinge axis rotation amplitude, e.g. when the front key 4b is pressed to the extreme position, the hinge axis rotates left at the maximum angle, when the key returns to the neutral position, the hinge axis returns to right.
In this embodiment, the universal rocker 1b of the handle can control the movement of two engineering machines, namely the crawler excavator and the wheel loader, so that other keys can be locked or default function setting can be performed to avoid misoperation, and misoperation is prevented. When the engineering machinery (such as a grader) with more complex other motion functions is controlled, unlocking is carried out again, and the corresponding motion control function mapping is set.
Through the working device operating system, the working devices of the three engineering machines in this embodiment can be operated in a generalized and intuitive manner, and the following description is made in conjunction with fig. 2:
the method for controlling the working device of the excavator comprises the following steps:
and the sensor control signal of the first working device control unit is transmitted to the controller, and the sensor signal of the first working device control unit is set in the function setting module of the controller to correspond to control data of forward, backward, left-turning and right-turning of the working device of the engineering machinery.
The amplitude of the forward or rearward thrust of the universal rocker 10b corresponds to the bucket forward or rearward movement and speed. For example, when the universal rocker 10b is pushed forward to the limit position, the bucket moves forward at the maximum speed. When the universal swing lever 10b returns to the neutral position, the bucket stops moving.
The magnitude of the left or right pushing of the universal stick 10b corresponds to the direction and rate of the left or right movement of the bucket, i.e., the left or right rotation of the cab, for example, when the universal stick 10b is pushed to the left to the extreme position, the cab of the excavator rotates to the left at the fastest rate, and when the universal stick 10b returns to the neutral position, the cab stops rotating.
The back keys 15b and 16b control the up and down movement of the bucket, and the depth of the pressing corresponds to the moving rate of the bucket, and for example, when the back key 15b is pressed to a limit position, the bucket moves upward at the fastest speed, and when the back key 15b returns to a neutral position, the bucket stops moving.
The back keys 17b and 18b control the bucket to be put in and put out respectively, the pressing depth corresponds to the rotation speed of the bucket, for example, when the back keys 17b are pressed to the limit position, the bucket is opened at the fastest speed, and when the back keys 17b return to the neutral position, the bucket stops rotating.
The method for controlling the working device of the loader comprises the following steps:
the magnitude of the forward or rearward thrust of the universal swing arm 10b corresponds to the bucket lowering and raising and moving rates. For example, when the universal rocker 10b is pushed forward to an extreme position, the bucket is lowered at maximum speed; when the universal swing lever 10b returns to the neutral position, the bucket stops moving.
The back keys 17b and 18b control the bucket to be retracted and extended respectively, and the depth of the pressing corresponds to the speed of the rotation of the bucket. For example, when the back button 17b is pressed to the extreme position, the bucket is opened at the fastest rate, and when the back button 17b returns to the neutral position, the bucket stops rotating.
The method for controlling the working device of the land leveler comprises the following steps:
the pushing amplitude of the universal rocker 10b towards the left side or the right side corresponds to the left movement, the right movement and the movement rate of the scraper. For example, when the gimbal 10b is pushed to the left to the extreme position, the blade moves to the left at maximum speed. When the universal rocker 10b returns to the neutral position, the scraper stops moving.
The right-hand rotation and the left-hand rotation of the scraper are respectively controlled by the front key 11b and the front key 12b, and the pressing depth corresponds to the rotation speed of the scraper. For example, when the face key 11b is pressed to the extreme position, the scraper rotates right at the fastest rate, and when the face key 11b returns to the neutral position, the scraper stops rotating.
The front key 13b and the front key 14b respectively control the right swing and the left swing of the scraper, and the pressing depth corresponds to the swing speed of the scraper. For example, when the face key 13b is pressed to the extreme position, the squeegee swings right at the fastest rate, and when the face key 13b returns to the neutral position, the squeegee stops swinging.
The back keys 15b and 16b respectively control the upward translation and the downward translation of the scraper, and the pressing depth corresponds to the translation rate of the scraper. For example, when face key 15b is pressed to an extreme position, the squeegee translates upward at a fastest rate, and when face key 15b returns to a neutral position, the squeegee stops translating.
The operation of the rocker and the operation of the keys on the front side and the back side are not interfered with each other, the rocker, the keys on the front side and the back side can be operated simultaneously, and the rocker, the keys on the front side and the back side are combined to form the operation of the three engineering mechanical working devices. According to different controlled engineering machines, keys without corresponding functions can be locked or default function setting is carried out, so that misoperation is prevented. And when the engineering machinery with more complex functions is switched and controlled, unlocking is carried out and corresponding control function mapping is set.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (12)
1. A universalization, intuitive engineering machinery control system which characterized in that:
the device comprises a motion control system and a working device operating system;
the motion control system comprises a plurality of motion control units, each motion control unit is connected with a sensor, and each sensor is connected to the controller;
the working device control system comprises a plurality of working device control units, each working device control unit is connected with a sensor, and each sensor is connected to the controller;
the controller is connected with a moving part driving unit and a working device driving unit of the engineering machinery respectively, and the control mode of the engineering machinery comprises a control mode of the movement of the engineering machinery and a control mode of a working device of the engineering machinery.
2. The generalized, intuitive work machine manipulation system according to claim 1, wherein:
the number of the motion control units is 3, and the motion control units are respectively a motion control unit I, a motion control unit II and a motion control unit III;
and a sensor control signal of the first motion control unit is transmitted to the controller, and a function setting module of the controller sets the sensor signal of the first motion control unit to correspond to control data of forward or backward motion of the engineering machine.
3. The generalized, intuitive work machine manipulation system according to claim 2, wherein:
the range of the movement control unit sliding forwards or backwards corresponds to the maximum speed and the speed change rate of the movement of the two engineering machines.
4. The generalized, intuitive work machine manipulation system according to claim 2, wherein:
and the sensor control signal of the second motion control unit is transmitted to the controller, and the sensor signal of the second motion control unit is set in a function setting module of the controller to correspond to the left-side steering or right-side steering control data of the controlled engineering machinery.
5. The generalized, intuitive work machine manipulation system according to claim 4, wherein:
the rotation angles to both sides correspond to the turning radius of the operated construction machine.
6. The generalized, intuitive work machine manipulation system according to claim 1, wherein:
the number of the working device control units is 3, and the working device control units are respectively a first working device control unit, a second working device control unit and a third working device control unit;
and a sensor control signal of the first working device operation unit is transmitted to the controller, and a function setting module of the controller sets the sensor signal of the first working device operation unit to correspond to control data of the front and back movement of a working part of the engineering machine.
7. The generalized, intuitive work machine manipulation system according to claim 6, wherein:
and a sensor control signal of the second working device operation unit is transmitted to the controller, and the sensor signal of the second working device operation unit is set in a function setting module of the controller to correspond to control data of left and right movement of a working part of the engineering machinery.
8. The generalized, intuitive work machine manipulation system according to claim 6, wherein: and transmitting the sensor control signal of the third working device operation unit to the controller, and setting the sensor signal of the third working device operation unit in a function setting module of the controller to correspond to the control data of the outward rotation and the inward rotation of the working part of the engineering machine.
9. The generalized, intuitive work machine manipulation system according to claim 2, wherein:
the motion control unit I comprises a first base 1, the first base is connected with the first base through a first sliding rail, and the first base can slide back and forth along the first sliding rail;
the motion control unit II comprises a first elbow support, the first base is connected with the first elbow support through a vertical rotating shaft I, and the first elbow support can rotate clockwise and anticlockwise around the rotating shaft I;
the motion control unit III comprises a first hand grip, the first hand grip is connected with the first elbow support through a horizontal rotating shaft I, and the first hand grip can rotate clockwise and anticlockwise around the rotating shaft I.
10. The generalized, intuitive work machine manipulation system according to claim 6, wherein:
the second working device control unit comprises a second base, the second base is connected with the second base through a second sliding rail, and the second base can slide back and forth along the second sliding rail;
the second working device control unit comprises a second elbow support, the second base is connected with the second elbow support through a vertical rotating shaft, and the second elbow support can rotate clockwise and anticlockwise around the second rotating shaft;
the working device control unit III comprises a second hand grip, the second hand grip is connected with the second elbow support through a horizontal rotating shaft, and the second hand grip can rotate clockwise and anticlockwise around the second rotating shaft.
11. The generalized, intuitive work machine manipulation system according to claim 1, wherein: the number of the motion control units is 3;
the motion control unit I: the pressure sensor is arranged in the front, back, left and right directions of the inner surface of the hollow spherical groove respectively;
a second motion control unit: the front side of the handle is respectively provided with a front key I, a front key II, a front key III and a front key IV, and a pressure sensor is respectively arranged below each front key;
a motion control unit III: the back of the handle is provided with a first back key, a second back key, a third back key and a fourth back key respectively, and a pressure sensor is arranged below each back key respectively.
12. The generalized, intuitive work machine manipulation system according to claim 1, wherein: 3 operating units of the working device are provided;
the working device control unit I comprises a universal rocker II; the lower part of the universal rocker II is provided with a spherical shaft which is arranged in a hollow spherical groove of the handle, and the front, rear, left and right directions of the inner surface of the hollow spherical groove are respectively provided with a pressure sensor;
a second working device control unit: the front side of the handle is respectively provided with a front key five, a front key six, a front key seven and a front key eight, and a pressure sensor is arranged below each front key;
a third operating device control unit: the back of the handle is respectively provided with a back key five, a back key six, a back key seven and a back key eight, and a pressure sensor is arranged below each back key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383662.8A CN114115014A (en) | 2021-11-22 | 2021-11-22 | Universal and intuitive engineering machinery control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383662.8A CN114115014A (en) | 2021-11-22 | 2021-11-22 | Universal and intuitive engineering machinery control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114115014A true CN114115014A (en) | 2022-03-01 |
Family
ID=80438998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111383662.8A Pending CN114115014A (en) | 2021-11-22 | 2021-11-22 | Universal and intuitive engineering machinery control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114115014A (en) |
-
2021
- 2021-11-22 CN CN202111383662.8A patent/CN114115014A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2810405C (en) | Control systems and methods for heavy equipment | |
| CN106609529B (en) | Operator control for a work vehicle | |
| Yoon et al. | Development of an intuitive user interface for a hydraulic backhoe | |
| JPH04250222A (en) | Method for operating hydraulic power shovel | |
| JPH09184168A (en) | Operating device of excavator | |
| WO2019134735A1 (en) | Joystick device for controlling a working machine, working machine comprising jostick device and method of controlling a working machine | |
| EP0361666B1 (en) | Intuitive joystick control for a work implement | |
| CN114115014A (en) | Universal and intuitive engineering machinery control system | |
| JP2013014981A (en) | Operation device for work machine | |
| US20230056028A1 (en) | One-Handed Joystick For Excavators | |
| US11686066B2 (en) | Working machine joystick assembly | |
| CN213979090U (en) | Control handle and land leveler | |
| US20220136204A1 (en) | Mode selection for an operator control | |
| KR101154777B1 (en) | Intuitive control device for excavator | |
| US11479948B2 (en) | Remote control console for a machine | |
| WO2013117053A1 (en) | Method and device for controlling travelling direction of engineering mechanical equipment | |
| JP3657894B2 (en) | Manual operation of hydraulic excavator | |
| CN107989111B (en) | Automatic control system of hydraulic system of loader | |
| CN106480923B (en) | High man-machine work efficiency operating device of excavator | |
| KR101415499B1 (en) | Electronic steering device for construction equipment | |
| CN116430947A (en) | Generalized engineering machinery control equipment | |
| NL1027370C1 (en) | Earth moving machine, has combination of joysticks providing standard excavator and loader controls | |
| JP2852984B2 (en) | Translational operation of construction machinery | |
| CN212160481U (en) | Control device for construction vehicle and construction vehicle | |
| CN113073703A (en) | Excavator control method, system and device |
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 |