CN205485417U - Engineering machine tool remote control system - Google Patents
Engineering machine tool remote control system Download PDFInfo
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- CN205485417U CN205485417U CN201620273556.2U CN201620273556U CN205485417U CN 205485417 U CN205485417 U CN 205485417U CN 201620273556 U CN201620273556 U CN 201620273556U CN 205485417 U CN205485417 U CN 205485417U
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- engineering machinery
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- remote control
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Abstract
The utility model relates to an engineering machine tool control technical field especially relates to an engineering machine tool remote control system. It includes: set up getting like device, inclination detection device, first receiver, controller on the automobile body, and long -range video picture operating means. The utility model discloses in can obtain the peripheral environmental information of automobile body and the position gesture of automobile body through setting up to get like device and inclination detection device on the automobile body, image processor can get each for instance single scene image processing that the device obtained generates panoramic picture simultaneously, the controller is again with the position gesture of automobile body, single scene image and panoramic picture send for long -range video picture operating means, display on the long -range video picture operating means shows single scene image of the aforesaid and panoramic picture, operating personnel is according to image information, the automobile body position gesture that shows is controlled the automobile body. Operating personnel is clear acquires the panoramic picture around the automobile body, guaranteed operating personnel with engineering machine tool distance the when far away problem of engineering machine tool safe operation.
Description
Technical field
This utility model relates to engineering machinery control technology field, particularly relates to a kind of engineering machinery remote and controls
System.
Background technology
The remotely control of engineering machinery is typically applied to the region that environment is more severe or dangerous, the most more
Type soot, slag field etc., to this end, wireless remote control engineering machinery gets more and more.But, operator
When member is distant with engineering machinery, operator cannot with the naked eye observe the work of the engineering machinery being remotely-controlled
Make situation, it is impossible to ensure that engineering machinery can safety operation.
Utility model content
The purpose of this utility model is to propose a kind of engineering machinery remote control system, it is possible to solve engineering machine
It cannot be guaranteed that the problem of engineering machinery safety operation when tool and operator are distant.For reaching this purpose, this
Utility model is by the following technical solutions:
A kind of engineering machinery remote control system, including:
The image-taking device being arranged on car body, described image-taking device is used for obtaining engineering machinery surrounding enviroment information；
The inclination detecting device being arranged on car body, described inclination detecting device is for obtaining the position appearance of car body
State；
The first receptor being arranged on car body；
Remotely imaging procedure device, described long-distance operating device includes display, the second receptor and distant behaviour
Make device, between described second receptor and described first receptor, transmit information；
The controller being arranged on car body, described controller includes that image processor, described controller are used for connecing
Receive the positional information of the car body of the car body side images information of image-taking device acquisition, inclination detecting device acquisition,
And receive and perform the instruction that sends of remote operating device and carry out corresponding actions, described image processor takes described in all
The single scape image obtained as device generates panoramic picture, and is sent to long-range imaging procedure device.
As preferably, described first receptor is connected by bus with controller.
As preferably, described remote operating device includes the display screen shown for image and operates for operator
Mechanical handle and button.
As preferably, described mechanical handle includes walk handle, actuator action control handle.
As preferably, described engineering machinery is bull-dozer.
As preferably, described image-taking device is wide-angle camera.
As preferably, described wide-angle camera quantity is five, and described wide-angle camera is separately positioned on perching knife
The right nose angle of left nose angle, perching knife, left crawler belt, right-hand track chiain and driver's cabin dead astern.
As preferably, described inclination detecting device is obliquity sensor, and described obliquity sensor is arranged at car body
Position of centre of gravity.
The beneficial effects of the utility model:
This utility model passes through arrange image-taking device on car body and inclination detecting device is obtained in that car body
The environmental information of periphery and the position and attitude of car body, the image processor in controller can be by each simultaneously
Single scape image procossing that image-taking device obtains generates panoramic picture, and controller is again by the position and attitude of car body, list
Scape image and panoramic picture are sent to long-range imaging procedure device, and the display on long-range imaging procedure device will
Above-mentioned single scape image and panoramic picture show, operator are according to the car body position appearance of image information and display
Car body is controlled by state.This system ensure that operator obtain the panoramic picture around car body clearly,
Ensure that the problem of engineering machinery safety operation when operator and engineering machinery are distant.
Accompanying drawing explanation
Fig. 1 is the structural representation of the engineering machinery remote control system that this utility model provides；
Fig. 2 is the distribution schematic diagram of the engineering machinery remote control system aligning device that Fig. 1 provides.
In figure:
1, car body；2, image-taking device；21, the first photographic head；22, second camera；23, the 3rd take the photograph
As head；24, the 4th photographic head；25, the 5th photographic head；3, inclination detecting device；4, the first receptor；
5, the second receptor；6, remote operating device；61, mechanical handle；62, button；7, controller；8, aobvious
Show device.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that the technical solution of the utility model, below in conjunction with the accompanying drawings
And further illustrate the technical solution of the utility model by detailed description of the invention.
Present embodiments provide a kind of engineering machinery remote control system, as it is shown in figure 1, this system includes:
The image-taking device 2 that is separately positioned on car body, inclination detecting device the 3, first receptor 4, controller 7,
For showing the long-range imaging procedure device of engineering machinery surrounding enviroment information, the most remotely imaging procedure device
Also include display the 8, second receptor 5 and remote operating device 6.
Image-taking device 2 is used for obtaining engineering machinery surrounding enviroment information；In the present embodiment, image-taking device 2 is wide
Angle photographic head, and the quantity of wide-angle camera is five；More specifically, image-taking device 2 is 150 ° of Radix Rumiciss
Photographic head；Wide-angle lens can not only obtain panoramic effect, and pattern distortion is smaller simultaneously, changes in vision
Time can see image more farther around conversion direction vehicle body clearly, operator can be according to surrounding enviroment and vehicle body appearance
State makes correct judging and the operation of safety, and then promotes judgement and the visual effect of teleworker,
And then improve work efficiency.
Inclination detecting device 3 is for obtaining the position and attitude of car body；Car body position and attitude in the present embodiment is
Refer to the angle of inclination of car body.
Remotely imaging procedure device passes through the wireless connections of second receptor the 5, first receptor 4 by information and control
Device 7 processed mutually transmits, and the image of engineering machinery car body periphery can be believed by this long-range imaging procedure device simultaneously
Breath is shown to operator, the environmental information understanding car body periphery that operator can be real-time.
Controller 7 is for receiving the car body side images information of image-taking device 2 acquisition, inclination detecting device 3
The positional information of the car body 1 obtained, and after data process, above-mentioned information is transmitted by the first receptor
To the second receptor 5, the second receptor 5 again by message reflection over the display, then receives and performs remote operating
The instruction that device 6 sends carries out corresponding actions；Single scape figure that whole described image-taking devices are obtained by image processor
As generating panoramic picture, and list scape image and panoramic picture are sent to long-range imaging procedure device in the lump.
Described in the present embodiment, the first receptor 4 is connected by bus with controller 7.Concrete, bus is
CAN.
Remote operating device 6 includes the mechanical handle 61 for operator's operation and button 62.Wherein mechanical handle
Including walking handle, actuator action control handle.Button then includes engineering machinery start and stop button.Walking
Handle is in order to control the motion of left and right before and after engineering machinery, and actuator action control handle is used for controlling work
The motion of working portion in journey machinery.
In the present embodiment, engineering machinery is bull-dozer；As in figure 2 it is shown, wide-angle camera includes being separately positioned on
First photographic head 21 of the left nose angle of perching knife of bull-dozer, is positioned at the second camera 22 of the right nose angle of perching knife；It is positioned at
3rd photographic head 23 of left crawler belt side；It is positioned at the 4th photographic head 24 of right-hand track chiain side；And it is positioned at driving
5th photographic head 25 in the dead astern of room.Wherein inclination detecting device 3 is obliquity sensor, obliquity sensor
It is arranged at body gravity position.
In the present embodiment, engineering machinery remote control system duty is as follows:
When under bull-dozer remains static, handle that remote operating device 6 is walked is in middle position, 5 on car body
The car body periphery list scape image collected is sent to controller 7 by road wide-angle camera, and controller 7 is at image
Reason device carries out image procossing and generates panoramic picture, and controller 7 is simultaneously by inclination detecting device collection
After tilting of car body angle information is handled together, by the information between the first receptor 4 and the second receptor 5
Transmission sends information to long-range imaging procedure device, and long-range imaging procedure device is by panoramic picture, Dan Jingtu
As presenting on a display screen with vehicle body attitude, it is provided that to teleworker, operator are by display
Bull-dozer is operated, to realize the purpose of safety operation by the environmental information of the car body periphery of display.
When bull-dozer is in forward travel state, handle that remote operating device 6 is walked is in advanced potential, operator
The visual information being concerned about the most is in addition to panoramic information, and the nose angle position of perching knife and body gesture are also operations
Personnel need concern, after now controller 7 receives the advancement commands of remote operating device 6, and will by bus
Progress signal sends vehicle control device to, and vehicle control device correspondence controls vehicle advance electromagnetic valve action, vehicle
Advancing and travel, meanwhile, it is wide to the left nose angle of perching knife, right nose angle that controller 7 sends switching value digital signal
Angle photographic head, activates photographic head.When display carries out panorama display, can be by left cutter foot, the shooting of right cutter foot
The single scape image of head amplifies display, it is ensured that the safety operation of operator.Meanwhile, the car that inclination detecting device gathers
Body angle of inclination sends in the lump to long-range imaging procedure device, and teleworker is except there being the complete of vehicle's surroundings
Beyond scape image, left cutter foot, the information of right cutter foot can amplify display, operator can in conjunction with left cutter foot,
The enlarged drawing picture of right cutter foot and tilting of car body attitude, adjust the action of perching knife, it is to avoid danger occurs in vehicle,
The panoramic picture received is that teleworker provides and judges accurately, improves work efficiency, in like manner,
After forward motion terminates, after the handle on remote operating device 6 returns to middle position, the second receptor 5 is by remote operating device 6
Middle position information send to the first receptor 4, the first receptor 4 receive after by CAN transmission to controlling
Device 7, controller 7 cuts off advance solenoid signal, the vision of left cutter foot, right cutter foot photographic head is changed simultaneously
Signal switches, and vehicle recovers the full-view image of normal condition.During vehicle rollback, operation principle is same as above.
When vehicle is in left steering, the walking handle on remote operating device 6 is in left steering position, now, far
The information that journey operator are concerned about the most in addition to body gesture, ground, left side environmental information and left cutter foot
Information is also that teleworker needs to pay close attention to.Now the first receptor receives the " left of remote operating device 6
Turn to " after instruction, by CAN to " left steering " signal sent controller 7, controller 7 correspondence
Controlling vehicle left steering electromagnetic valve action, vehicle Turning travel to the left, meanwhile, controller 7 sends
Switching value digital signal gives left cutter foot, left bit photographic head, activates this two-way photographic head, at display by a left side
Cutter foot, left bit photographic head image zoom show, meanwhile, and the vehicle body attitude gathered together with inclination detecting device
In the lump by the first receptor 4, sending to long-range imaging procedure device, teleworker is except there being vehicle four
Beyond the panoramic picture in week, left cutter foot, the information of left bit can amplify display, it is achieved vision is changed, it is ensured that
The safety operation of operator, operator can incline in conjunction with left cutter foot, the enlarged drawing picture of left bit and car body
Tiltedly attitude, adjusts the action of perching knife, or adjusts left steering radius of turn, it is to avoid danger occurs in vehicle,
Realize safety to turn to.It is that teleworker provides and judges accurately by enlarged drawing picture and panoramic picture
Foundation, improves work efficiency.After left steering release, handle returns to middle position.In like manner, vehicle is turned right
Xiang Shi, operation principle is same as above.
Note, of the present utility model ultimate principle and principal character and this utility model have more than been shown and described
Advantage.Skilled person will appreciate that of the industry, this utility model is not limited to the embodiments described above,
Principle of the present utility model is simply described, without departing from this practicality described in above-mentioned embodiment and description
On the premise of novel spirit and scope, this utility model also has various changes and modifications, and these change and change
Entering in the range of both falling within claimed this utility model, claimed scope of the present utility model is by appended
Claims and equivalent thereof define.
Claims (8)
1. an engineering machinery remote control system, it is characterised in that including:
The image-taking device (2) no less than two being arranged on car body (1), described image-taking device (2) is used
In obtaining engineering machinery surrounding enviroment information；
The inclination detecting device (3) being arranged on car body (1), described inclination detecting device (3) is used for obtaining
Pick up the car the position and attitude of body；
The first receptor (4) being arranged on car body (1)；
Remotely imaging procedure device, described long-distance operating device includes display (8), the second receptor (5)
And remote operating device (6), transmission letter between described second receptor (5) and described first receptor (4)
Breath；
The controller (7) being arranged on car body (1), described controller (7) includes image processor, institute
State single scape image generation panoramic picture that whole described image-taking devices are obtained by image processor, described controller
(7) be used for receiving car body side images information that image-taking device (2) obtains, inclination detecting device (3) obtains
The positional information of the car body (1) taken, and by sent along to long-range imaging procedure to list scape image, panoramic picture
Device, and receive and perform remote operating device (6) instruction that sends and carry out corresponding actions.
Engineering machinery remote control system the most according to claim 1, it is characterised in that described first
Receptor (4) is connected by bus with controller (7).
Engineering machinery remote control system the most according to claim 1, it is characterised in that described distant behaviour
Make mechanical handle (61) and button (62) that device (6) operates for operator.
Engineering machinery remote control system the most according to claim 3, it is characterised in that described machinery
Handle (61) includes walk handle, actuator action control handle.
5. according to the arbitrary described engineering machinery remote control system of claim 1-4, it is characterised in that institute
Stating engineering machinery is bull-dozer.
Engineering machinery remote control system the most according to claim 5, it is characterised in that described capture
Device (2) is wide-angle camera.
Engineering machinery remote control system the most according to claim 6, it is characterised in that described Radix Rumicis
Photographic head quantity is five, and described wide-angle camera is separately positioned on the left nose angle of perching knife, the right nose angle of perching knife, a left side
Crawler belt, right-hand track chiain and driver's cabin dead astern.
Engineering machinery remote control system the most according to claim 7, it is characterised in that described inclination angle
Detection device (3) is obliquity sensor, and described obliquity sensor is arranged at body gravity position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273556.2U CN205485417U (en) | 2016-04-05 | 2016-04-05 | Engineering machine tool remote control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273556.2U CN205485417U (en) | 2016-04-05 | 2016-04-05 | Engineering machine tool remote control system |
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| Publication Number | Publication Date |
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| CN205485417U true CN205485417U (en) | 2016-08-17 |
Family
ID=56646751
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| CN201620273556.2U Active CN205485417U (en) | 2016-04-05 | 2016-04-05 | Engineering machine tool remote control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
| CN108183847A (en) * | 2018-01-17 | 2018-06-19 | 江苏徐工信息技术股份有限公司 | The engineer machinery operation tele-control system and method for a kind of low time delay |
| CN111050089A (en) * | 2019-05-13 | 2020-04-21 | 北京中科原动力科技有限公司 | Remote control system of agricultural machinery |
| CN112482484A (en) * | 2020-11-25 | 2021-03-12 | 贵州詹阳动力重工有限公司 | Remote control simulation cabin and remote control system for excavator |
| CN112614248A (en) * | 2020-12-21 | 2021-04-06 | 三一重机有限公司 | Engineering machinery remote control system |
| CN112884710A (en) * | 2021-01-19 | 2021-06-01 | 上海三一重机股份有限公司 | Auxiliary image generation method, remote control method and device for operation machine |
| CN114016567A (en) * | 2021-11-17 | 2022-02-08 | 山东常林机械集团股份有限公司 | Remote control excavator peripheral personnel safety early warning system |
-
2016
- 2016-04-05 CN CN201620273556.2U patent/CN205485417U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106378769A (en) * | 2016-10-14 | 2017-02-08 | 昆明理工大学 | Remotely controlled manipulator |
| CN108183847A (en) * | 2018-01-17 | 2018-06-19 | 江苏徐工信息技术股份有限公司 | The engineer machinery operation tele-control system and method for a kind of low time delay |
| CN111050089A (en) * | 2019-05-13 | 2020-04-21 | 北京中科原动力科技有限公司 | Remote control system of agricultural machinery |
| CN112482484A (en) * | 2020-11-25 | 2021-03-12 | 贵州詹阳动力重工有限公司 | Remote control simulation cabin and remote control system for excavator |
| CN112614248A (en) * | 2020-12-21 | 2021-04-06 | 三一重机有限公司 | Engineering machinery remote control system |
| CN112884710A (en) * | 2021-01-19 | 2021-06-01 | 上海三一重机股份有限公司 | Auxiliary image generation method, remote control method and device for operation machine |
| CN112884710B (en) * | 2021-01-19 | 2024-09-06 | 上海三一重机股份有限公司 | Auxiliary image generation method, remote control method and device for working machine |
| CN114016567A (en) * | 2021-11-17 | 2022-02-08 | 山东常林机械集团股份有限公司 | Remote control excavator peripheral personnel safety early warning system |
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