CN116203885B - Remote control method, system and device for excavator and storage medium - Google Patents
Remote control method, system and device for excavator and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003860 storage Methods 0.000 title claims description 7
- 210000000245 forearm Anatomy 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
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- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 abstract description 2
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- 238000004364 calculation method Methods 0.000 description 6
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- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
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- 230000001133 acceleration Effects 0.000 description 1
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- 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
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- 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
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a remote control method of an excavator, which comprises the following steps: a left rocker for controlling the left crawler belt, a right rocker for controlling the right crawler belt, a left slide bar for controlling the small arm and the rotation and a right slide bar for controlling the large arm and the bucket are arranged on a control interface of the mobile terminal with the touch screen; the left rocker and the right rocker both take the center as an origin, and control corresponding tracks by sliding up and down; the left slide bar and the right slide bar are respectively used for controlling the opening degrees of the small arm, the large arm and the bucket and the rotation of the vehicle body by taking the center as an origin and sliding up, down, left and right. According to the method, the crawler is remotely controlled through the left rocker and the right rocker, and the large arm, the small arm, the bucket and the rotation are remotely controlled through the left slide bar and the right slide bar, so that the rapid development and adaptation work under the condition that a customized remote driving simulator for controlling the excavator is not needed can be solved, and the method can also be used for a vehicle manager to transfer vehicles by controlling the vehicle in a mobile phone near field and remotely drive by matching with a streaming media technology.
Description
Technical Field
The present invention relates to a control method of an excavator, and more particularly, to a remote control method, system, device and storage medium of an excavator.
Background
Mine safety is always a great challenge for worldwide industrial safety, and people often think about collapse, explosion and other safety accidents and casualty numbers of the surprise. Due to complex geological conditions of mines, the risk of collapse and rock collapse exists at any time. Therefore, how to realize unmanned and intelligent as much as possible in the mining process, and reduce the accident casualty rate becomes the direction of actively seeking transformation for each large mining enterprise. There is no simulator available on the market that can remotely drive an excavator.
Disclosure of Invention
In order to solve the problems, the invention provides a remote control method for an excavator, which can remotely control the excavator through a touch screen, and the specific technical scheme is as follows:
a remote control method of an excavator, comprising: a left rocker for controlling the left crawler belt, a right rocker for controlling the right crawler belt, a left slide bar for controlling the small arm and the rotation and a right slide bar for controlling the large arm and the bucket are arranged on a control interface of the mobile terminal with the touch screen; the left rocker and the right rocker are respectively used for controlling the corresponding tracks by sliding up and down by taking the center as an origin; the left slide bar and the right slide bar are respectively used for controlling the opening degrees of the small arm, the large arm and the bucket and the rotation of the vehicle body by sliding up, down, left and right by taking the center as an origin.
Preferably, when the small arm and the large arm are controlled, the offset of the left sliding rod and the right sliding rod relative to the origin is converted into opening step sizes of the small arm and the large arm; when the bucket is controlled to turn over, converting the offset of the right slide bar relative to the origin into the turning opening step length of the bucket; when the control turns around, the offset of the left slide bar relative to the origin is converted into the start and stop of the turning around.
Preferably, when the opening step is converted, the step value corresponding to the distance between the left slide bar and the right slide bar relative to the origin is larger.
The conversion of the opening step length is divided into N stages, the distance between the origin of the left slide bar and the right slide bar and the maximum control position is H, and when the moving distance of the left slide bar or the right slide bar exceeds H/N, the starting thread calculates once every 200 milliseconds: opening step = current opening + current step.
Further, the conversion of the opening step size is divided into 5 stages; when the left slide bar slides upwards or downwards from the original point to exceed H/5 during the control of the small arm, the starting thread calculates the opening of the small arm every 200 milliseconds: forearm opening = current forearm opening + current step; when the large arm is controlled, when the right slide bar slides upwards or downwards from the original point to exceed H/5, the starting thread calculates the opening of the large arm every 200 milliseconds: boom opening = current boom opening + current step; when the right slide bar slides leftwards or rightwards from the original point beyond H/5 during bucket control, the starting thread calculates the opening degree every 200 milliseconds: bucket opening = current bucket opening + current step size.
When the small arm and the large arm are controlled, the upward opening step length is a positive value, and the downward opening step length is a negative value; when the bucket is controlled, the right opening step is a positive value, and the left opening step is a negative value.
Preferably, when the control rotates, when the offset of the left sliding bar exceeds the whole left offset or half of the right offset, the vehicle body rotation byte data is changed, and the vehicle body rotation of the excavator is controlled.
A remote control system of an excavator is used for the remote control method of the excavator, and comprises the following steps: the mobile terminal is provided with a touch screen, a left rocker, a right rocker, a left sliding rod and a right sliding rod are arranged on a control interface, and the mobile terminal is used for converting the operation of fingers on the rockers into the control of the crawler belt and converting the operation of the rockers into the control of a big arm, a small arm, a bucket and rotation; and the server is respectively connected with the excavator and the mobile terminal through a wireless network and is used for interactive communication between a program of the mobile terminal and a vehicle control program.
An apparatus for remotely driving an excavator, comprising: a processor; and a memory having stored thereon a computer program executable on the processor; wherein the computer program, when executed by the processor, implements the steps of a method for remotely controlling an excavator as described above.
A computer readable storage medium having stored thereon a data processing program which when executed by a processor implements the steps of a method of remote control of an excavator as described above.
Compared with the prior art, the invention has the following beneficial effects:
according to the remote control method for the excavator, the crawler is remotely controlled through the left rocker and the right rocker, the large arm, the small arm, the bucket and the rotation are remotely controlled through the left slide bar and the right slide bar, the rapid development and adaptation work under the condition that a customized remote driving simulator for controlling the excavator is not needed can be solved, and the remote control method can be used for a vehicle manager to transfer vehicles through a mobile phone near-field vehicle control for the excavator, remotely drive by matching with a streaming media technology and the like.
Drawings
FIG. 1 is a control interface of the present invention;
FIG. 2 is a control flow diagram of the left slide bar;
FIG. 3 is a control flow diagram of the right slide bar;
fig. 4 is a flowchart of updating the control information.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
On the interface of the mobile phone, a left rocker and a right rocker are drawn to control the crawler belt, a left slide bar and a right slide bar are drawn to control the large arm, the small arm, the bucket and the rotation, remote vehicle driving is carried out through the left rocker and the right rocker, and remote operation is carried out through the left slide bar and the right slide bar.
Example 1
As shown in fig. 1 to 4, a remote control method of an excavator includes: a left rocker for controlling the left crawler belt, a right rocker for controlling the right crawler belt, a left slide bar for controlling the small arm and the rotation and a right slide bar for controlling the large arm and the bucket are arranged on a control interface of the mobile terminal with the touch screen; the left rocker and the right rocker are respectively used for controlling the corresponding tracks by sliding up and down by taking the center as an origin; the left slide bar and the right slide bar are respectively used for controlling the opening degrees of the small arm, the large arm and the bucket and the rotation of the vehicle body by sliding up, down, left and right by taking the center as an origin.
When the small arm and the large arm are controlled, the offset of the left sliding rod and the right sliding rod relative to the original point is converted into opening step sizes of the small arm and the large arm; when the bucket is controlled to turn over, converting the offset of the right slide bar relative to the origin into the turning opening step length of the bucket; when the control turns around, the offset of the left slide bar relative to the origin is converted into the start and stop of the turning around.
When the opening step is converted, the step value corresponding to the distance between the left slide bar and the right slide bar relative to the original point is larger.
Dividing the conversion of the opening step length into N stages, wherein the distance between the origin of the left slide bar and the right slide bar and the maximum control position is H, and when the moving distance of the left slide bar or the right slide bar exceeds H/N, starting the thread to calculate every 200 milliseconds: opening step = current opening + current step.
Dividing the conversion of the opening step length into 5 stages;
when the left sliding rod slides upwards or downwards from the original point to exceed H/5 during the small arm manufacturing, the starting thread calculates the opening of the small arm every 200 milliseconds: forearm opening = current forearm opening + current step;
when the large arm is controlled, when the right slide bar slides upwards or downwards from the original point to exceed H/5, the starting thread calculates the opening of the large arm every 200 milliseconds:
boom opening = current boom opening + current step;
when the right slide bar slides leftwards or rightwards from the original point beyond H/5 during bucket control, the starting thread calculates the opening degree every 200 milliseconds:
bucket opening = current bucket opening + current step size.
When the small arm and the large arm are controlled, the upward opening step length is a positive value, and the downward opening step length is a negative value;
when the bucket is controlled, the right opening step is a positive value, and the left opening step is a negative value.
When the control rotates, when the offset of the left sliding rod exceeds the whole left offset or half of the right offset, the vehicle body rotation byte data is changed, and the vehicle body rotation of the excavator is controlled.
The left rocker and the right rocker allow a user to slide up and down, the left rocker corresponds to the left crawler belt, and the right rocker corresponds to the right crawler belt by taking the central point as an origin; after the user touches the rocker ball by two fingers, when the user controls upward sliding, the upward offset is converted into the expected advancing speed of the crawler belt, and when the user controls downward sliding, the downward offset relative to the central point is converted into the expected reversing speed of the crawler belt. After the expected speed value of the crawler belt is obtained, the corresponding data field in the vehicle control message is updated and sent to the MQTT server, and the server sends the control message to the control system of the excavator.
The rocker is operated by one hand to control the vehicle to advance and retreat:
in the case of a vehicle that is remotely controlled, it may be necessary to advance or retract, and therefore the speeds of the left and right tracks must be kept consistent so that the vehicle does not steer away. In order to meet the requirements of most of scenes, when a user independently operates left or right rockers to slide, the rockers which are not operated slide synchronously in a mirror image manner, so that the left and right rockers obtain the same relative offset when operated by one hand, the same expected speed value of the crawler is obtained, and the forward and backward movement of the vehicle is controlled by one hand.
According to the method, the rocker position state callback of the opposite side is mutually monitored in the left rocker control and the right rocker control, when one rocker is not in a user touch state and the touch position of the other rocker is changed, the offset corresponding to the value position is transmitted to the rocker in the non-touch state through the rocker position state callback, so that synchronous position change can be achieved.
Two-hand operation rocker free control vehicle:
when the vehicle is remotely controlled, the vehicle may need to turn or turn around in situ during running, and thus the speeds of the left and right tracks are not uniform. In order to meet the requirements of the scene, when a user can simultaneously operate the left rocker and the right rocker by double fingers, when the left rocker and the right rocker are in a touch state, the double rockers can independently respond to the touch operation to convert the corresponding offset into the corresponding expected speed value of the crawler, so that the expected speeds of the left crawler and the right crawler are independently controlled to achieve driving actions such as turning, in-situ turning and the like.
Acceleration and deceleration anti-shake for vehicle:
because the mobile phone has no force feedback when controlling the left rocker and the right rocker, a user can easily slide from the minimum value to the maximum value, and at the moment, if the instantaneous position corresponding to the rocker is directly converted into the expected speed value of the crawler belt, the change span of the expected speed value of the crawler belt can be quite large, and serious poor shaking experience can occur when the vehicle starts, accelerates and decelerates.
And when the user slides the rocker greatly, the int type numerical value of the current finger sliding variable quantity is divided by 10 to be used as a sliding step length, the current finger sliding variable quantity is converted into curve change, when the int type numerical value of the current finger sliding variable quantity is divided by 10 to be used as 0, the minimum integer 1 is used as the sliding step length, and finally the rocker is gently changed, so that the anti-shake purpose is achieved.
Left slide bar touch operation:
the left sliding rod (left hand operation) controls the small arm and the rotation, takes the center point as the origin, the left sliding rod slides downwards to retract the small arm, and the sliding rod slides upwards to turn outwards; the left slide bar swings right to the body of the right slide excavator, and the left slide bar swings left to the body of the left slide excavator. The turning of the vehicle body is here to the steering, the boom, the arm and the bucket rotation relative to the chassis.
After a finger of a user touches a left sliding rod, when the left sliding rod is controlled to slide upwards, the upward offset is converted into a step length of opening a small arm, the farther the sliding rod ball is away from an original point, the larger the corresponding step length value is, the maximum step length is 5, the distance from the original point to the topmost is set as H, and the distance from the original point to the topmost is divided into 5 equal parts which correspond to 1, 2, 3, 4 and 5 steps respectively; when the left slide bar slides upwards beyond H/5 from the original point, the starting thread calculates the opening of the small arm every 200 milliseconds, and the calculation formula is as follows: and after the opening of the small arm is obtained, updating a corresponding data field in the vehicle control message, and sending the data field to the MQTT server to open the small arm of the excavator.
When the left slide bar is controlled to slide downwards, the corresponding step length is a negative value, and the calculation formula slides upwards.
When the left sliding bar is touched by a finger of a user, when the left offset exceeds half, the vehicle body rotation byte data is set to be 1, corresponding data fields in the vehicle control information are updated, and the data fields are sent to the MQTT server, so that the vehicle body of the excavator executes left rotation. When the right offset exceeds half, the vehicle body rotation byte data is set to be 2, corresponding data fields in the vehicle control information are updated, and the data fields are sent to the MQTT server, so that the vehicle body of the excavator executes right rotation.
As shown in fig. 2, when the left slide bar is controlled:
touching the left slide bar by a finger to slide;
detecting whether the arm slides upwards, if so, judging whether the sliding distance is greater than H/5, and if so, calculating the current step length of the opening of the arm, which is the relative distance divided by H multiplied by 5, and rounding; otherwise, detecting whether the sliding direction is downward; if the sliding distance is larger than H/5, calculating the current step length of the opening of the forearm as the relative distance divided by H multiplied by 5, and taking the opposite;
detecting whether the vehicle slides leftwards, and setting the vehicle body rotation byte data to be 1 if the vehicle body rotation byte data slides leftwards; if sliding to the right, the body rotation byte data is set to 2, otherwise, the method returns.
Right slide bar touch operation:
the right slide bar (right hand operation) controls the work of the big arm and the bucket, the right slide bar lifts down the big arm, the right slide bar slides up the big arm to descend, the right slide bar slides to the right to turn over the bucket, and the right slide bar slides to the left to gather.
When a finger of a user touches the right slide bar, controlling the right slide bar to slide upwards, converting the upward offset into a step length of opening a large arm, wherein the farther the slide bar ball is away from an original point, the larger the corresponding step length value is, the maximum step length is 5, the distance from the original point to the topmost is set as H, and dividing the maximum step length into 5 equal parts which correspond to 1, 2, 3, 4 and 5 steps respectively; when the right slide bar slides upwards beyond H/5 from the original point, the starting thread calculates the opening of the large arm once every 200 milliseconds, and the calculation formula is as follows: and after the opening of the large arm is obtained, updating a corresponding data field in the vehicle control message, and sending the data field to the MQTT server to open the large arm of the excavator.
When the right slide bar is controlled to slide downwards, the corresponding step length is a negative value, and the calculation formula slides upwards.
When a finger of a user touches the right slide bar, controlling the right slide bar to slide rightwards, converting the rightwards offset into a step length of outwards turning the bucket, wherein the farther the right slide bar is rightwards away from an original point, the larger the corresponding step length value is, the maximum step length is 5, the distance from the original point to the rightmost end is set as H, and the distance from the original point to the rightmost end is divided into 5 equal parts, and the equal parts are respectively corresponding to 1, 2, 3, 4 and 5 steps; when the right slide bar slides rightwards beyond H/5 from the original point, the starting thread calculates the opening of the bucket every 200 milliseconds, and the calculation formula is as follows: and after the bucket opening is obtained, updating corresponding data fields in the car control message, and sending the data fields to the MQTT server to enable the excavator bucket to be turned outwards.
When the right slide bar is controlled to slide leftwards, the corresponding step length is a negative value, the bucket is controlled to be folded, and the calculation formula slides rightwards.
As shown in fig. 3, when the right slide bar is controlled:
touching the right slide bar by a finger to slide;
detecting whether the large arm slides upwards, if so, judging whether the sliding distance is greater than H/5, and if so, calculating the current step length of the large arm opening, which is the relative distance divided by H multiplied by 5, and rounding; otherwise, detecting whether the sliding direction is downward; if the sliding distance is larger than H/5, calculating the current step length of the opening of the large arm, dividing the relative distance by H multiplied by 5, and taking the opposite;
detecting whether the bucket slides rightwards, if so, calculating the step length of the opening of the bucket, dividing the relative distance by H, multiplying by 5, and rounding; if sliding leftwards, calculating the step length of the opening of the bucket, dividing the relative distance by H and multiplying by 5, and reversing; otherwise, returning.
As shown in fig. 4, when updating the vehicle control information:
the computing thread executes once every 200 milliseconds;
judging whether the current step length of the forearm is not 0, if not, updating the opening data of the forearm, and sending the updated opening data to a server;
if the current step length of the forearm is 0, judging whether the current step length of the forearm is not 0, if the current step length of the forearm is not 0, updating the opening data of the forearm, and sending the opening data to a server;
if the current step length of the large arm is 0, judging whether the vehicle body rotation byte is not 0, if the vehicle body rotation byte is not 0, updating the vehicle body rotation byte data, and sending the vehicle body rotation byte data to a server;
if the vehicle body rotation byte is 0, judging whether the current step length of the bucket opening is not 0, and if the current step length of the bucket opening is not 0, updating the bucket data and transmitting the updated bucket data to the server.
A remote control system for an excavator, a remote control method for an excavator, comprising:
the mobile terminal is provided with a touch screen, a left rocker, a right rocker, a left sliding rod and a right sliding rod are arranged on a control interface, and the mobile terminal is used for converting the operation of fingers on the rockers into the control of the crawler belt and converting the operation of the rockers into the control of a big arm, a small arm, a bucket and rotation; and
And the server is respectively connected with the excavator and the mobile terminal through a wireless network and is used for interactive communication between a program of the mobile terminal and a vehicle control program.
Communication protocol: the adopted MQTT publish and subscribe protocol defaults to topic: the gantry sends the theme: "extravator_bridge", gateway sends the theme: "extravator_gateway".
Each message consists of an identification bit, a message header, a message body and a check code.
An apparatus for remotely driving an excavator, comprising: a processor; and a memory having stored thereon a computer program executable on the processor; wherein the computer program when executed by the processor implements the steps of a remote control method for an excavator as described above.
The memory and the processor are electrically connected directly or indirectly to each other for data transmission or interaction. For example, the elements may be electrically connected to each other via one or more communication buses or signal lines, such as through a bus connection. The memory stores computer-executable instructions for implementing the data access control method, including at least one software functional module that may be stored in the memory in the form of software or firmware, and the processor executes the software programs and modules stored in the memory to perform various functional applications and data processing.
The memory may be, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), programmable Read Only Memory (PROM), erasable read only memory (Erasable ProgrammableRead-only memory (EPROM), electrically erasable read only memory (Electric ErasableProgrammableRead-only memory (EEPROM), etc. The memory is used for storing a program, and the processor executes the program after receiving the execution instruction.
The processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
A computer readable storage medium having stored thereon a data processing program which, when executed by a processor, implements the steps of a remote control method of an excavator as described above.
Embodiments of the present invention are described with reference to flowchart illustrations of methods, terminal devices (systems), and computer program products according to embodiments of the invention. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart and/or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart.
The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will occur to those skilled in the art from consideration of the specification and practice of the invention without the need for inventive faculty, and are within the scope of the claims.
Claims (4)
1. A remote control method of an excavator, comprising:
a left rocker for controlling the left crawler belt, a right rocker for controlling the right crawler belt, a left slide bar for controlling the small arm and the rotation and a right slide bar for controlling the large arm and the bucket are arranged on a control interface of the mobile terminal with the touch screen;
the left rocker and the right rocker are respectively used for controlling the corresponding tracks by sliding up and down by taking the center as an origin;
the left slide bar and the right slide bar are respectively used for controlling the opening degrees of the small arm, the large arm and the bucket and the rotation of the vehicle body by sliding up and down, left and right by taking the center as an origin;
when the small arm and the large arm are controlled, the offset of the left sliding rod and the right sliding rod relative to the original point is converted into opening step sizes of the small arm and the large arm;
when the bucket is controlled to turn over, converting the offset of the right slide bar relative to the origin into the turning opening step length of the bucket;
when the turning is controlled, the offset of the left sliding rod relative to the origin is converted into turning start and stop;
when the opening step length is converted, the step length value corresponding to the distance between the left slide bar and the right slide bar relative to the original point is larger;
dividing the conversion of the opening step length into N stages, wherein the distance between the origin of the left slide bar and the right slide bar and the maximum control position is H, and when the moving distance of the left slide bar or the right slide bar exceeds H/N, starting the thread to calculate every 200 milliseconds:
opening step = current opening + current step;
dividing the conversion of the opening step length into 5 stages;
when the left slide bar slides upwards or downwards from the original point to exceed H/5 during the control of the small arm, the starting thread calculates the opening of the small arm every 200 milliseconds:
forearm opening = current forearm opening + current step;
when the large arm is controlled, when the right slide bar slides upwards or downwards from the original point to exceed H/5, the starting thread calculates the opening of the large arm every 200 milliseconds:
boom opening = current boom opening + current step;
when the right slide bar slides leftwards or rightwards from the original point beyond H/5 during bucket control, the starting thread calculates the opening degree every 200 milliseconds:
bucket opening = current bucket opening + current step;
when the small arm and the large arm are controlled, the upward opening step length is a positive value, and the downward opening step length is a negative value;
when the bucket is controlled, the opening step length to the right is a positive value, and the opening step length to the left is a negative value;
when the control rotates, when the offset of the left sliding rod exceeds the whole left offset or half of the right offset, changing the rotation byte data of the excavator body, and controlling the excavator body to rotate; the computing thread executes once every 200 milliseconds;
when updating the vehicle control information:
judging whether the current step length of the forearm is not 0, if not, updating the opening data of the forearm, and sending the updated opening data to a server;
if the current step length of the forearm is 0, judging whether the current step length of the forearm is not 0, if the current step length of the forearm is not 0, updating the opening data of the forearm, and sending the opening data to a server;
if the current step length of the large arm is 0, judging whether the vehicle body rotation byte is not 0, if the vehicle body rotation byte is not 0, updating the vehicle body rotation byte data, and sending the vehicle body rotation byte data to a server;
if the vehicle body rotation byte is 0, judging whether the current step length of the bucket opening is not 0, and if the current step length of the bucket opening is not 0, updating the bucket data and transmitting the updated bucket data to the server.
2. A remote control system for an excavator, for use in the remote control method for an excavator of claim 1, comprising:
the mobile terminal is provided with a touch screen, a left rocker, a right rocker, a left sliding rod and a right sliding rod are arranged on a control interface, and the mobile terminal is used for converting the operation of fingers on the rockers into the control of the crawler belt and converting the operation of the rockers into the control of a big arm, a small arm, a bucket and rotation; and
And the server is respectively connected with the excavator and the mobile terminal through a wireless network and is used for interactive communication between a program of the mobile terminal and a vehicle control program.
3. An apparatus for remotely driving an excavator, comprising:
a processor; and
A memory having stored thereon a computer program executable on the processor;
wherein the computer program when executed by the processor implements the steps of a method for remote control of an excavator according to claim 1.
4. A computer-readable storage medium, wherein a data processing program is stored on the computer-readable storage medium, which when executed by a processor, implements the steps of a method for remotely controlling an excavator according to claim 1.
Priority Applications (1)
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