CN116399331B - Remote control state monitoring device and monitoring method for excavator driver - Google Patents
Remote control state monitoring device and monitoring method for excavator driver Download PDFInfo
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012806 monitoring device Methods 0.000 title claims abstract description 13
- 238000004806 packaging method and process Methods 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 11
- 229920000642 polymer Polymers 0.000 claims description 26
- 239000004744 fabric Substances 0.000 claims description 9
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 8
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 8
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical group C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 claims description 8
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 claims description 8
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 8
- 229910001338 liquidmetal Inorganic materials 0.000 claims description 6
- 238000003756 stirring Methods 0.000 claims description 6
- 210000000689 upper leg Anatomy 0.000 claims description 6
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 5
- 229910052709 silver Inorganic materials 0.000 claims description 5
- 239000004332 silver Substances 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 208000028752 abnormal posture Diseases 0.000 claims description 3
- 210000004705 lumbosacral region Anatomy 0.000 claims description 3
- 210000001991 scapula Anatomy 0.000 claims description 3
- 230000000391 smoking effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 10
- 230000036544 posture Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 8
- 230000007423 decrease Effects 0.000 description 7
- 238000005538 encapsulation Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 3
- 230000005684 electric field Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 210000001217 buttock Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- JXASPPWQHFOWPL-UHFFFAOYSA-N Tamarixin Natural products C1=C(O)C(OC)=CC=C1C1=C(OC2C(C(O)C(O)C(CO)O2)O)C(=O)C2=C(O)C=C(O)C=C2O1 JXASPPWQHFOWPL-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
- G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
- G01L1/146—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors for measuring force distributions, e.g. using force arrays
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
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- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The invention relates to the field of flexible pressure sensing monitoring, in particular to a remote control state monitoring device and a monitoring method for an excavator driver, wherein fifteen flexible capacitive pressure sensors are arranged at different positions of an excavator seat and the excavator seat, the flexible capacitive pressure sensors comprise a packaging cavity, and a dielectric layer, a conductive layer, an insulating layer and a shielding layer are sequentially arranged in the packaging cavity from inside to outside; a voice prompter is arranged at the left backrest of the excavator seat, and the two shielding layers are grounded; the conducting layer is electrically connected with the data processing circuit, the data processing circuit is in wireless connection with the remote control unit, and the remote control unit is respectively in wireless connection with the voice prompt and the excavator main control system, so that the problem that the existing excavator remote control system is imperfect in technology in the aspects of monitoring functions of sitting postures and operation postures of drivers is solved, and the excavator remote control system is suitable for monitoring and assisting in controlling the control states of the drivers during operation of the remote control excavator.
Description
Technical Field
The invention relates to the field of flexible pressure sensing monitoring, in particular to a monitoring device and a monitoring method for remote control states of an excavator driver.
Background
The excavator is widely used for projects such as urban construction, farmland water conservancy and surface mining, and plays an important role in guaranteeing the project quality and improving the labor productivity. With the continuous application of technologies such as artificial intelligence, the internet of things and cloud computing, unmanned and intelligent technologies of the excavator have become a main development trend in order to meet the requirements of continuously improved operation precision and efficiency and adapt to dangerous and severe environments.
In complex, dangerous and severe construction environments, the driving operators of the excavator are often in dangerous environments and extreme working conditions, and unmanned operation on the excavator site can be realized by adopting the remote control technology of the excavator.
In the remote control operation of the excavator, an excavator operator controls the movement and operation of the excavator through control components such as an operation handle and a button in a remote operation cab, meanwhile, operation data are fed back to an excavator field module through a communication module, and field conditions are fed back to the operator through a display screen in the cab. Therefore, the driver can be ensured to avoid potential safety hazards existing in the operating environment. However, the operator in the cockpit can only know the scene condition through the screen, can not feel the equipment running condition and surrounding environment condition in real time, and in long-time operation, the driver can appear the condition such as distraction, physical and mental relaxation, causes sitting posture and operation posture deformation to lead to danger, increases the working cost.
According to the public report, the intelligent remote control excavator is provided with a local cab, a short-range remote controller and a remote control cabin, and when the remote control mode is adopted, based on a communication module, an operator knows the ground condition of the excavator site through a plurality of screens in the cabin. The unmanned operation technology has the functions of starting up self-checking, communication monitoring, fault diagnosis, operation task execution and the like, and simultaneously has a vehicle-mounted sensing function, so that obstacles can be identified. The remote control excavator technology also has a remote control function, and a body attitude angle monitoring function is further added, so that surrounding personnel can be automatically identified and popup window labeling can be performed.
In summary, the existing remote control technology monitors the equipment state and the on-site environment on the basis of remote control, but does not monitor the sitting posture and the operation posture of the driver in the remote operation cockpit in real time, so that the driver cannot get real-time feedback, thereby affecting the operation efficiency and the equipment safety. Therefore, the method has important significance in ensuring the high efficiency and the high safety of the excavator operation by carrying out real-time monitoring and feedback on the operation state of the driver.
Based on the above, it is necessary to invent a remote control state monitoring device and a remote control state monitoring method for an excavator driver, so as to solve the problem that the existing remote control system for the excavator is imperfect in technology in terms of the monitoring function of the sitting posture and the operation posture of the driver.
Disclosure of Invention
The invention provides a remote control state monitoring device and a remote control state monitoring method for an excavator driver, which aim to solve the problem that the existing remote control system for the excavator is imperfect in technology in terms of the monitoring function of the sitting posture and the operation posture of the driver.
The invention is realized by adopting the following technical scheme: the utility model provides an excavator driver remote control state monitoring devices, including the excavator seat, the excavator main control system, remote control unit and data processing circuit, all be provided with flexible capacitive pressure sensor between the sponge layer of excavator seat and the seat face cover and the excavator seat operating handle department, flexible capacitive pressure sensor includes the encapsulation cavity, be provided with the dielectric layer in the encapsulation cavity, the upper and lower surface of dielectric layer all is provided with the conducting layer rather than bonding, the upper and lower surface of two conducting layers is provided with the insulating layer rather than bonding, the upper and lower surface of two insulating layers is provided with rather than bonding and with encapsulation cavity inner wall attached shielding layer;
the number of the flexible capacitive pressure sensors is fifteen, the flexible capacitive pressure sensors at two ischial tuberosities of the excavator seat are defined as a 1 st sensor I and a 2 nd sensor II, the flexible capacitive pressure sensors at two thigh areas of the excavator seat are defined as a 3 rd sensor III and a 4 th sensor IV, the flexible capacitive pressure sensors at two scapula of the excavator seat are defined as a 5 th sensor V and a 6 th sensor VI, the flexible capacitive pressure sensors at the lumbar spine of the excavator seat are defined as a 7 th sensor VII, the flexible capacitive pressure sensors at the left side operating handle of the excavator seat are defined as an 8 th sensor VIII, a 9 th sensor IX, a 10 th sensor X and a 11 th sensor XI, the flexible capacitive pressure sensors at the right side operating handle of the excavator seat are defined as a 12 th sensor XII, a 13 th sensor XIII, a 14 th sensor XIV and a 15 th sensor XV, a left side backrest of the excavator seat is provided with a shielding layer and a voice prompt wire XI is arranged between the two layers and connected with the two voice prompt wires;
the conducting layer of the flexible capacitive pressure sensor is electrically connected with a data processing circuit, the data processing circuit is in wireless connection with a remote control unit, and the remote control unit is respectively in wireless connection with the voice prompter and the excavator main control system.
Further, the conductive layer and the shielding layer are made of conductive silver cloth, and the thickness of the conductive silver cloth is 0.15-0.25mm.
Further, the dielectric layer is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to a mass ratio of 7:3, wherein the thickness is 0.25-0.5mm, and the elastic polymer is PDMS, ecoflex00-30 or Dragon-Skin 10 Medium.
The insulating layer is made of elastic polymer, the elastic polymer is PDMS, and the thickness of the elastic polymer is 0.25-0.5mm, wherein the Ecoflex00-30 or Dragon-Skin is 10 Medium.
The packaging cavity comprises an upper packaging layer and a lower packaging layer, edges of the two packaging layers extend to opposite sides until being contacted and then are bonded, the material of the packaging cavity is elastic cloth, and the thickness of the packaging layers is 0.15-0.25mm.
The flexible capacitive pressure sensor is circular, rectangular or a combination of both.
The remote control state monitoring method for the excavator driver is realized based on the remote control state monitoring device for the excavator driver, and comprises the following steps:
a. get the first（=1，2，3，4，5，6，7，8，9，10，11，12，13 14, 15) flexible capacitive pressure sensors are defined as initial capacitance valuesTake the firstThe real-time capacitance value of each flexible capacitive pressure sensor is defined asTake the normal operating postureThe average capacitance value of each flexible capacitive pressure sensor is defined asDefinition ofTo judge whether the excavator seat is occupiedThreshold of each flexible capacitive pressure sensor, definitionIn order to judge whether the seat of the excavator has a judgment value of riding, when the main power supply is started, ifMore than 12 groups of data are greater thanWhen the excavator seat is occupied, the remote control unit enters a control mode;
b. the average capacitance value of the whole excavator seat when the driver is in the normal operation posture is defined asAnd (2) andthe method comprises the steps of carrying out a first treatment on the surface of the The real-time average capacitance value of the whole excavator seat during the operation of a driver is defined asAnd (2) andthe method comprises the steps of carrying out a first treatment on the surface of the Definition of the definitionFor judging whether the driver is in a normal operating posture or not, whenWhen the power consumption is less than 10pF, the remote control unit controls the voice prompter and the main control system of the excavator to start;
c. the maximum duration of continuous operation of the driver is defined asAfter the excavator is normally started, the excavator is started,more than 10 groups of data are reachingWhen the duration keeps continuous capacitance values, dangerous operation of fatigue driving is formed, and a remote control unit reminds a driver to rest through a voice prompt;
d. definition of the definitionTo judge whether the driver leans left or not, a judgment value is definedFor judging whether the driver leans right or not, whenOr (b)When the value of (2) is larger than 15pF, judging that the current sitting posture of the driver is an abnormal posture of left inclination or right inclinationThe remote control unit reminds the driver of adjusting the sitting posture through the voice prompt;
e. definition of the definitionAndin order to judge whether the driver is greatly bent, whenAndthe method comprises the steps that the numerical values of the driver are all larger than 20pF, the current sitting posture of the driver is judged to be a dangerous posture of bending down, and the remote control unit reminds the driver of adjusting the sitting posture through the voice prompt;
f. definition of the definitionTo determine whether the left hand of the driver is in place, a determination value is definedTo judge whether the right hand of the driver is in place, whenAndwhen one value of the three values is smaller than-30 pF and the other value is larger than or equal to 0pF, starting timing, if the duration exceeds 20 seconds, judging that the operation posture of the driver is a dangerous operation posture of smoking or answering a call, reminding the driver of adjusting the operation posture through a voice prompt by a remote control unit, and if the duration exceeds 30 seconds, controlling a main control system of the excavator by the remote control unit, and stopping the continued operation of the excavator;
g. definition of the definitionTo determine an operation determination value for determining whether or not a driver is performing left rotation of an excavator bodyMeaning ofWhen the operator is judged to be performing the right-hand rotation of the excavator bodyOr (b)The numerical value of (2) is more than 20pF, the current driver is judged to be performing left rotation or right rotation operation of the excavator body, timing is started, and if the duration exceeds 5 seconds, the remote control unit reminds the driver of the body rotation time through the voice prompt; if the duration exceeds 8 seconds, the remote control unit controls the main control system of the excavator to stop the rotation of the main body;
h. definition of the definitionTo judge whether the driver carries out the operation judgment value of the forward extension of the excavator bucket, the following steps are definedTo judge whether the driver performs the operation judgment of retracting the excavator bucket backwards, whenOr (b)The numerical value of (2) is more than 20pF, and the current driver is judged to be performing the operation of forward extension or backward retraction of the excavator bucket, and the remote control unit prompts the driver to forward extend or backward retract of the excavator bucket through the voice prompt;
i. definition of the definitionTo judge whether the driver performs the operation judgment of the descending of the excavator bucket, defineTo determine whether the driver isJudging whether to perform the operation of lifting the excavator bucket or not, whenOr (b)The numerical value of (2) is more than 20pF, the current operation of the excavator bucket descending or bucket ascending is judged, and the remote control unit prompts the driver of the excavator bucket descending or bucket ascending through the voice prompt device;
j. definition of the definitionTo judge whether the driver performs the operation judgment value of the digging of the excavator bucket, defineTo judge whether the operator is carrying out the operation judgment of unloading the excavator bucket, whenOr (b)The method comprises the steps that a value of (1) is larger than 20pF, the current operation of digging or unloading the bucket of the excavator bucket is judged, and the remote control unit prompts the driver to dig or unload the bucket of the excavator through the voice prompter;
k. definition of the definitionTo judge the number of left pushing or right pushing operations of the left operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; definition of the definitionTo judge the number of forward pushing or backward pushing operations of the left operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; definition of the definitionTo judge the number of left pushing or right pushing operations of the right operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; definition of the definitionTo judge the number of forward pushing or backward pushing operations of the right operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; if the time is within 8 seconds of the time period,、、、if any one of the values is larger than 15, the driver operation frequency is judged to be too high, and the remote control unit prompts the driver to pay attention to the excavator operation frequency through the voice prompt.
The invention has the following beneficial effects:
1. the flexible capacitive pressure sensor is made of textile fabric, has good deformability, can ensure the service time of the sensor and the riding comfort of a driver, has an electromagnetic shielding function, can isolate electromagnetic interference of electronic products in a vehicle, has stable capacitance value and wide application range, is strong in applicability, is simple to manufacture, has low cost and is suitable for mass use;
2. the layout method of the flexible capacitive pressure sensor is characterized in that the pressure sensor is laid by combining the ergonomic knowledge and the monitoring function requirement, the coverage range is wide, the monitoring is comprehensive, the sensor usage is moderate, and the resource waste is avoided;
3. the remote control state monitoring method for the excavator driver is characterized in that the capacitance value of the flexible capacitive pressure sensor arranged in the excavator seat is analyzed, the sitting posture and the operation posture of the driver are monitored in real time, whether danger exists or not is judged, the driver is helped to improve the remote control efficiency, and the monitoring judging method is simple and effective;
4. the remote control state monitoring method for the excavator driver realizes the intellectualization of the excavator seat by detecting the operation posture and matching with the voice prompt, judges whether the current driving sitting posture of the driver is correct or not according to the operation posture of the driver, judges whether the operation posture of the driver is normal or not according to the current driving sitting posture of the driver, and judges whether the operation of the driver is normal or not according to the operation state of the excavator.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a flexible capacitive pressure sensor of FIG. 1 selected from one shape;
FIG. 3 is a schematic view of a flexible capacitive pressure sensor of another alternative shape selected from FIG. 1;
FIG. 4 is a schematic diagram of a flexible capacitive pressure sensor of FIGS. 1 and 2 selected for use in two configurations;
FIG. 5 is a schematic diagram of the flexible capacitive pressure sensor of FIG. 2;
FIG. 6 is a schematic diagram of the flexible capacitive pressure sensor of FIG. 3;
FIG. 7 is a schematic cross-sectional view of FIG. 5;
FIG. 8 is a simulation diagram of FIG. 5 without anti-tamper;
fig. 9 is a simulation diagram of the tamper resistance of fig. 5.
In the figure: 1-excavator seat, 2-dielectric layer, 3-conductive layer, 4-insulating layer, 5-shielding layer, 6-sensor I, 7-sensor II, 8-sensor III, 9-sensor IV, 10-sensor V, 11-sensor VI, 12-sensor VII, 13-sensor VIII, 14-sensor IX, 15-sensor X, 16-sensor XI, 17-sensor XII, 18-sensor XIII, 19-sensor XIV, 20-sensor XV, 21-voice prompt, 22-encapsulation layer.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
The utility model provides an excavator driver remote control state monitoring devices, including excavator seat 1, excavator main control system, remote control unit and data processing circuit, all be provided with flexible capacitive pressure sensor between the sponge layer of excavator seat 1 and the seat face cover and excavator seat 1 operating handle department, flexible capacitive pressure sensor includes the encapsulation cavity, be provided with dielectric layer 2 in the encapsulation cavity, dielectric layer 2's upper and lower surface all is provided with the conducting layer 3 rather than bonding, the upper and lower surface of two conducting layers 3 is provided with insulating layer 4 rather than bonding, the upper and lower surface of two insulating layers 4 is provided with rather than bonding and with the attached shielding layer 5 of encapsulation cavity inner wall;
the number of the flexible capacitive pressure sensors is fifteen, the flexible capacitive pressure sensors at two ischial tuberosities of the excavator seat 1 are defined as a 1 st sensor I6 and a 2 nd sensor II7, the flexible capacitive pressure sensors at two thigh areas of the excavator seat 1 are defined as a 3 rd sensor III8 and a 4 th sensor IV9, the flexible capacitive pressure sensors at two scapula of the excavator seat 1 are defined as a 5 th sensor V10 and a 6 th sensor VI11, the flexible capacitive pressure sensors at the lumbar spine of the excavator seat 1 are defined as a 7 th sensor VII12, the flexible capacitive pressure sensors at the left side operating handle of the excavator seat are defined as an 8 th sensor VIII13, a 9 th sensor IX14, a 10 th sensor X15 and a 11 th sensor XI16, the flexible capacitive pressure sensors at the right side operating handle of the excavator seat are defined as a 12 th sensor XII17, a 13 th sensor XIII18, a 14 th sensor XIV19 and a 20 th sensor XIV1, and a left side of the excavator seat are connected with a voice prompt layer 21, and the voice prompt layer is arranged between the two voice prompt layers and the left side of the excavator seat is connected with the voice prompt layer;
the conductive layer 3 of the flexible capacitive pressure sensor is electrically connected with a data processing circuit, the data processing circuit is in wireless connection with a remote control unit, and the remote control unit is respectively in wireless connection with the voice prompter 21 and the excavator main control system.
The layout of the flexible capacitive pressure sensor in the remote control state monitoring device of the excavator driver applies ergonomic knowledge and refers to the skeleton structure of the human body, when the human body is in contact with the seat cushion of the excavator seat 1, the human body buttocks support the gravity center of the human body, wherein the pressure is mainly concentrated at two ischial tuberosities in the skeleton structure of the human body buttocks, and is outwards diffused by taking the ischial tuberosities as the center, the pressure is gradually reduced, meanwhile, the thighs of the human body are also in contact with the seat cushion, and the pressure of thigh areas is also changed when the posture of the human body is changed, so that the pressure sensitive area of the seat cushion of the excavator seat 1 is divided into four parts, namely two ischial tuberosities and two thigh areas; when a human body is in contact with the backrest of the excavator seat 1, the pressure of the human body is relatively concentrated at two positions of the shoulder blades and the lumbar vertebrae and is outwards diffused by taking the two positions as the center, and the pressure is gradually reduced, so that the pressure sensitive area of the backrest of the excavator seat 1 is divided into three parts, namely two positions of the shoulder blades and the center position of the lumbar vertebrae; meanwhile, a flexible capacitive pressure sensor is arranged at the operating handle of the excavator seat 1 and used for monitoring the position and operation of the hands of a driver; meanwhile, a voice prompt 21 is installed at the left backrest of the excavator seat 1 for voice warning.
The layout structure is accurate in layout, the sensor is moderate in use amount, the pressure distribution of the seat surface and the operating handle of the excavator seat 1 can be accurately reflected, and the sensor is used for judging the sitting posture and the operating posture of a driver.
The conductive layer 3 and the shielding layer 5 are made of conductive silver cloth, and the thickness is 0.15-0.25mm.
The dielectric layer 2 is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to a mass ratio of 7:3, wherein the thickness is 0.25-0.5mm, and the elastic polymer is PDMS, ecoflex00-30 or Dragon-Skin 10 Medium.
The material of the insulating layer 4 is elastic polymer, the elastic polymer is PDMS, and the thickness of the elastic polymer is 0.25-0.5mm, wherein the Ecoflex00-30 or Dragon-Skin is 10 Medium.
The packaging cavity comprises an upper packaging layer 17 and a lower packaging layer 17, edges of the two packaging layers 17 extend to opposite sides until being contacted and then are bonded, the material of the packaging cavity is elastic cloth, and the thickness of the packaging layers is 0.15-0.25mm.
The flexible capacitive pressure sensor is circular, rectangular or a combination of both.
The remote control state monitoring method for the excavator driver is realized based on the remote control state monitoring device for the excavator driver, and comprises the following steps:
a、get the firstThe initial capacitance value of each flexible capacitive pressure sensor is defined asTake the firstThe real-time capacitance value of each flexible capacitive pressure sensor is defined asTake the normal operating postureThe average capacitance value of each flexible capacitive pressure sensor is defined asDefinition ofTo judge whether the excavator seat 1 is occupied by a personThreshold of each flexible capacitive pressure sensor, definitionIn order to judge whether the seat of the excavator has a judgment value of riding, when the main power supply is started, ifMore than 12 groups of data are greater thanWhen the excavator seat 1 is occupied by a person, the remote control unit enters a control mode;
b. the average capacitance value of the entire excavator seat 1 when the driver is in the normal operation posture is defined asAnd (2) andthe method comprises the steps of carrying out a first treatment on the surface of the The real-time average capacitance value of the whole excavator seat 1 when the driver operates is defined asAnd (2) andthe method comprises the steps of carrying out a first treatment on the surface of the Definition of the definitionFor judging whether the driver is in a normal operating posture or not, whenWhen the power consumption is less than 10pF, the remote control unit controls the voice prompter 21 and the main control system of the excavator to start;
c. the maximum duration of continuous operation of the driver is defined asAfter the excavator is normally started, the excavator is started,more than 10 groups of data are reachingWhen the duration keeps continuous capacitance value, dangerous operation of fatigue driving is formed, and a remote control unit reminds a driver to rest through a voice prompt 21;
d. definition of the definitionTo judge whether the driver leans left or not, a judgment value is definedFor judging whether the driver leans right or not, whenOr (b)When the value of (2) is larger than 15pF, judging that the current sitting posture of the driver is an abnormal posture of left inclination or right inclination, and reminding the driver of adjusting the sitting posture by the remote control unit through the voice prompt 21;
e. definition of the definitionAndin order to judge whether the driver is greatly bent, whenAndthe number of the sitting posture of the driver is larger than 20pF, the current sitting posture of the driver is judged to be a dangerous posture of bending down, and the remote control unit reminds the driver of adjusting the sitting posture through the voice prompt 21;
f. definition of the definitionTo determine whether the left hand of the driver is in place, a determination value is definedTo judge whether the right hand of the driver is in place, whenAndwhen one value of the three values is smaller than-30 pF and the other value is larger than or equal to 0pF, starting timing, if the duration exceeds 20 seconds, judging that the operation posture of the driver is a dangerous operation posture of smoking or answering a call, reminding the driver to adjust the operation posture through the voice prompt 21 by the remote control unit, and if the duration exceeds 30 seconds, controlling the main control system of the excavator by the remote control unit, and stopping the continued operation of the excavator;
g. definition of the definitionTo judge whether the driver rotates left of the excavator body, a determination value is definedWhen the operator is judged to be performing the right-hand rotation of the excavator bodyOr (b)The value of (2) is more than 20pF, the current driver is judged to be performing left or right rotation operation of the excavator body, and timing is started, if the duration exceeds 5 seconds, the remote control unit reminds the driver of the body rotation time through the voice prompt 21; if the duration exceeds 8 seconds, the remote control unit controls the main control system of the excavator to stop the rotation of the main body;
h. definition of the definitionTo judge whether the driver carries out the operation judgment value of the forward extension of the excavator bucket, the following steps are definedTo judge whether the driver performs the operation judgment of retracting the excavator bucket backwards, whenOr (b)And determines that the current driver is performing an operation of extending the excavator bucket forward or retracting the bucket backward, and prompts the driver to extend the excavator bucket forward or retract the bucket backward by the remote control unit through the voice prompt 21;
i. definition of the definitionTo determine whether the operator has performed an operation determination of lowering the excavator bucket,definition of the definitionWhen the operation determination value for determining whether the driver is performing the lifting operation of the shovel bucket isOr (b)The value of (2) is greater than 20pF, and the current driver is judged to be performing the bucket descending or ascending operation of the excavator, and the remote control unit prompts the driver to descend or ascend the excavator through the voice prompt 21;
j. definition of the definitionTo judge whether the driver performs the operation judgment value of the digging of the excavator bucket, defineTo judge whether the operator is carrying out the operation judgment of unloading the excavator bucket, whenOr (b)The value of (2) is greater than 20pF, and the current driver is judged to be performing the operation of digging or unloading the bucket of the excavator, and the remote control unit prompts the driver to dig or unload the bucket of the excavator through the voice prompt 21;
k. definition of the definitionTo judge the number of left pushing or right pushing operations of the left operating handle by the driver, whenOr (b)The value of (2) is reduced to below 10pF after exceeding 20pF every time，The value of (2) is increased by one; definition of the definitionTo judge the number of forward pushing or backward pushing operations of the left operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; definition of the definitionTo judge the number of left pushing or right pushing operations of the right operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one; definition of the definitionTo judge the number of forward pushing or backward pushing operations of the right operating handle by the driver, whenOr (b)The value of (2) decreases below 10pF after exceeding 20pF each time,the value of (2) is increased by one;if the time is within 8 seconds of the time period,、、、if any one of the values is larger than 15, the driver is judged to be excessively fast in operation frequency at the moment, and the remote control unit prompts the driver to pay attention to the excavator operation frequency through the voice prompt 21.
According to the invention, the remote control state monitoring device of the excavator driver is connected with the remote control unit, the intelligent of the excavator seat 1 is realized by combining the voice prompter 21, and the problem that the existing excavator remote control system is imperfect in technology in the aspects of monitoring the sitting posture and the operation posture of the driver is solved.
As shown in fig. 5 and 6, the package cavity is formed by extending and bonding the upper and lower package layers 22.
As shown in fig. 8 and fig. 9, which are electric field simulation diagrams obtained by the multi-physics simulation software under the same condition, it can be seen from fig. 9 that when the two shielding layers 5 are not grounded, electric field lines can penetrate the shielding layers 5; as can be seen from fig. 8, when the two shielding layers 5 are grounded, the electric field lines do not penetrate the shielding layers 5.
In the implementation process, a plurality of flexible capacitive pressure sensors can be arranged at the position of the excavator seat 1 where each flexible capacitive pressure sensor is located according to actual conditions.
The invention is further illustrated in the following three specific examples.
Example 1
The flexible capacitive pressure sensors are all round in shape; the thickness of the conductive layer 3 and the shielding layer 5 is 0.2mm; the dielectric layer 2 is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to the mass ratio of 7:3, wherein the thickness is 0.4 mm, and the elastic polymer is Ecoflex00-30; the material of the insulating layer 4 is elastic polymer, the elastic polymer is Dragon-Skin 10Medium, and the thickness is 0.3mm; the package cavity comprises an upper package layer and a lower package layer 22, and the thickness of the two package layers 22 is 0.25mm.
Example 2
The flexible capacitive pressure sensors are rectangular in shape; the thickness of the conductive layer 3 and the shielding layer 5 is 0.15mm; the dielectric layer 2 is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to the mass ratio of 7:3, wherein the thickness is 0.5mm, and the elastic polymer is PDMS; the material of the insulating layer 4 is elastic polymer, the elastic polymer is Ecoflex00-30, and the thickness is 0.25mm; the package cavity comprises an upper package layer and a lower package layer 22, and the thickness of the two package layers 22 is 0.15mm.
Example 3
The flexible capacitive pressure sensor is formed by a round shape and a rectangular shape, and the thicknesses of the conducting layer 3 and the shielding layer 5 are 0.25mm; the dielectric layer 2 is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to the mass ratio of 7:3, wherein the thickness is 0.25mm, and the elastic polymer is Dragon-Skin body 10 Medium; the material of the insulating layer 4 is elastic polymer, the elastic polymer is PDMS, and the thickness is 0.5mm; the package cavity comprises an upper package layer and a lower package layer 22, and the thickness of the two package layers 22 is 0.18mm.
Claims (6)
1. The remote control state monitoring device for the excavator driver comprises an excavator seat (1), an excavator main control system, a remote control unit and a data processing circuit, wherein flexible capacitive pressure sensors are arranged between a sponge layer and a seat surface sleeve of the excavator seat (1) and at the position of an operation handle of the excavator seat (1), each flexible capacitive pressure sensor comprises a packaging cavity, a dielectric layer (2) is arranged in each packaging cavity, conductive layers (3) bonded with the dielectric layers are arranged on the upper surface and the lower surface of each dielectric layer (2), insulating layers (4) bonded with the dielectric layers are arranged on the upper surface and the lower surface of each conductive layer (3), and shielding layers (5) bonded with the insulating layers and attached to the inner walls of the packaging cavities are arranged on the upper surface and the lower surface of each insulating layer (4);
the number of the flexible capacitive pressure sensors is fifteen, the flexible capacitive pressure sensors at two ischial tuberosities of the excavator seat (1) are defined as a 1 st sensor I (6) and a 2 nd sensor II (7), the flexible capacitive pressure sensors at two thigh areas of the excavator seat (1) are defined as a 3 rd sensor III (8) and a 4 th sensor IV (9), the flexible capacitive pressure sensors at two scapula of the excavator seat (1) are defined as a 5 th sensor V (10) and a 6 th sensor VI (11), the flexible capacitive pressure sensors at the lumbar spine of the excavator seat (1) are defined as a 7 th sensor VII (12), the flexible capacitive pressure sensors at the left side handle of the excavator seat (1) are defined as an 8 th sensor VIII (13), a 9 th sensor IX (14), a 10 th sensor X (15) and a 11 th sensor XI (16), the flexible capacitive pressure sensors at the right side handle of the excavator seat (1) are defined as a 5 th sensor V (10) and a 6 th sensor VI (11), the flexible capacitive pressure sensors at the left side handle of the excavator seat (1) are defined as a 7 th sensor VII (12), the flexible capacitive pressure sensors at the left side handle of the excavator seat (1) are defined as a 10 th sensor XII (15), and the voice sensor XII (19) are arranged, and the voice sensors at the left side of the left side handle (16) are connected with the voice sensors (19) are arranged, and the voice sensors are connected with the voice sensors at the left side handle (16) and the voice sensors are arranged;
the conductive layer (3) of the flexible capacitive pressure sensor is electrically connected with a data processing circuit, the data processing circuit is in wireless connection with a remote control unit, and the remote control unit is respectively in wireless connection with a voice prompter (21) and an excavator main control system; the material of the packaging cavity is elastic cloth; the method is characterized in that: the method comprises the following steps:
a. taking the initial capacitance value of the ith flexible capacitive pressure sensor as P io Taking the real-time capacitance value of the ith flexible capacitive pressure sensor as P it The average capacitance value of the ith flexible capacitive pressure sensor in the normal operating posture is defined as P ia Definition of P ij ＝|P ia -P io I is the threshold value of the ith flexible capacitive pressure sensor for judging whether the excavator seat is occupied or not, and delta P is defined i ＝|P it -P io The I is a judging value for judging whether the seat of the excavator is occupied or not, and if delta P is obtained after the total power supply is started i ＝|P it -P io More than 12 groups of data exist in I greater than P ij In the time-course of which the first and second contact surfaces,the excavator seat is occupied by a person, and the remote control unit enters a control mode;
b. the average capacitance value of the whole excavator seat when the driver is in the normal operation posture is defined asAnd is also provided withThe real-time average capacitance value of the whole excavator seat when the driver operates is defined as +.>And is also provided withDefinitions->To judge whether the driver is in normal operation posture, when P zc When the power consumption is less than 10pF, the remote control unit controls the voice prompter (21) and the main control system of the excavator to start;
c. the maximum duration of continuous operation of the driver is defined as T 1 P when the excavator is started normally it More than 10 groups of data are reaching T 1 When the duration keeps continuous capacitance value, dangerous operation of fatigue driving is formed, and a remote control unit reminds a driver to rest through a voice prompt (21);
d. definition P zq ＝|(P 1t +P 3t )-(P 1a +P 3a ) I is a judgment value for judging whether the driver leans left, and P is defined yq ＝|(P 2t +P 4t )-(P 2a +P 4a ) I is a judgment value for judging whether the driver leans right, when P zq Or P yq When the value of the (2) is larger than 15pF, judging that the current sitting posture of the driver is an abnormal posture of left inclination or right inclination, and reminding the driver of adjusting the sitting posture through a voice prompt device (21) by a remote control unit;
e. definition P wy1 ＝|(P 1t +P 2t )-(P 3t +P 4t ) I and P wy2 ＝|(P 5t +P 6t +P 7t )-(P 5a +P 6a +P 7a ) I is a judgment value for judging whether the driver is bending over a large margin, when P wy1 And P wy2 The number of the sitting posture of the driver is larger than 20pF, the current sitting posture of the driver is judged to be a dangerous posture of bending down, and the remote control unit reminds the driver to adjust the sitting posture through the voice prompt device (21);
f. definition P zs ＝(P 8t +P 9t +P 10t +P 11t )-(P 8a +P 9a +P 10a +P 11a ) To determine the determination of whether the driver's left hand is in place, define P ys ＝(P 12t +P 13t +P 14t +P 15t )-(P 12a +P 13a +P 14a +P 15a ) To judge whether the right hand of the driver is in place, when P zs And P ys When one value of the control signals is smaller than-30 pF and the other value is larger than or equal to 0pF, starting timing, if the control signals last for more than 20 seconds, judging that the operation posture of the driver is a dangerous operation posture of smoking or answering a call, reminding the driver of adjusting the operation posture through a voice prompt (21) by a remote control unit, and if the duration exceeds 30 seconds, controlling an excavator main control system by the remote control unit, and stopping the excavator to continue to operate;
g. definition P zx ＝|P 9t -P 9a I is an operation judgment value for judging whether the driver rotates the excavator body left, and P is defined yx ＝|P 11t -P 11a When P is an operation judgment value for judging whether the driver is making right rotation of the excavator body zx Or P yx The numerical value of (2) is more than 20pF, the current driver is judged to be performing left rotation or right rotation operation of the excavator body, and timing is started, if the duration exceeds 5 seconds, the remote control unit reminds the driver of the body rotation time through the voice prompt (21); if the duration exceeds 8 seconds, the remote control unit controls the main control system of the excavator to stop the rotation of the main body;
h. definition P cdc ＝|P 8t -P 8a The I is an operation judgment value for judging whether a driver carries out forward extension of the excavator bucket, and P is defined cdh ＝|P 10t -P 10a The I is an operation judgment value for judging whether the driver withdraws the excavator bucket backwards, and when P is that cdc Or P cdh The numerical value of (2) is more than 20pF, and the current driver is judged to be performing the operation of extending the excavator bucket forwards or retracting the bucket backwards, and the remote control unit prompts the driver to extend the excavator bucket forwards or retract the bucket backwards through the voice prompt (21);
i. definition P cdj ＝|P 12t -P 12a I is an operation judgment value for judging whether the driver is descending the bucket of the excavator, and P is defined cds ＝|P 14t -P 14a When P is an operation determination value for determining whether or not the driver is performing the ascent of the shovel bucket cdj Or P cds The value of (2) is larger than 20pF, the current operation of the excavator bucket descending or bucket ascending is judged, and the remote control unit prompts the driver of the excavator bucket descending or bucket ascending through the voice prompt device (21);
j. definition P cdw ＝|P 13t -P 13a I is an operation judgment value for judging whether the driver digs the bucket of the excavator, and P is defined cdx ＝|P 15t -P 15a The I is an operation judgment value for judging whether the driver unloads the excavator bucket, and when P is that cdw Or P cdx The numerical value of (2) is more than 20pF, the current operation of digging or unloading the bucket of the excavator is judged, and the remote control unit prompts the driver to dig or unload the bucket of the excavator through the voice prompt device (21);
k. definition S 1 To judge the number of left pushing or right pushing operations of the left operating handle by the driver, when P zx Or P yx The value of (2) is reduced to below 10pF after exceeding 20pF every time, S 1 The value of (2) is increased by one; definition S 2 To judge the number of forward pushing or backward pushing operations of the left operating handle by the driver, when P cdc Or P cdh Each occurrence of a numerical value of (2)After exceeding 20pF, the temperature falls below 10pF, S 2 The value of (2) is increased by one; definition S 3 To judge the number of left pushing or right pushing operations of the right operating handle by the driver, when P cdj Or P cds The value of (2) is reduced to below 10pF after exceeding 20pF every time, S 3 The value of (2) is increased by one; definition S 4 To judge the number of forward pushing or backward pushing operations of the right operating handle by the driver, when P cdw Or P cdx The value of (2) is reduced to below 10pF after exceeding 20pF every time, S 4 The value of (2) is increased by one; if within 8 seconds, S 1 、S 2 、S 3 、S 4 If any one of the values is larger than 15, the driver operation frequency is judged to be too high, and the remote control unit prompts the driver to pay attention to the excavator operation frequency through the voice prompt device (21).
2. The excavator driver remote control state monitoring method of claim 1, wherein: the conductive layer (3) and the shielding layer (5) are made of conductive silver cloth, and the thickness of the conductive silver cloth is 0.15-0.25mm.
3. The excavator driver remote control state monitoring method of claim 1, wherein: the dielectric layer (2) is prepared by uniformly stirring and solidifying an elastic polymer and liquid metal according to the mass ratio of 7:3, wherein the thickness is 0.25-0.5mm, and the elastic polymer is PDMS, ecoflex00-30 or10Medium。
4. The excavator driver remote control state monitoring method of claim 1, wherein: the material of the insulating layer (4) is elastic polymer, and the elastic polymer is PDMS, ecoflex00-30 or10Medium, with a thickness of 0.25-0.5mm.
5. The excavator driver remote control state monitoring method of claim 1, wherein: the packaging cavity comprises an upper packaging layer (22) and a lower packaging layer (22), edges of the two packaging layers (22) extend to opposite sides until contact and then are bonded, and the thickness of the packaging layers is 0.15-0.25mm.
6. The excavator driver remote control state monitoring method of claim 1, wherein: the flexible capacitive pressure sensor is circular, rectangular or a combination of both.
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