CN213338437U - Unmanned excavator and remote management monitoring system thereof - Google Patents
Unmanned excavator and remote management monitoring system thereof Download PDFInfo
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- CN213338437U CN213338437U CN202021899818.9U CN202021899818U CN213338437U CN 213338437 U CN213338437 U CN 213338437U CN 202021899818 U CN202021899818 U CN 202021899818U CN 213338437 U CN213338437 U CN 213338437U
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Abstract
The utility model discloses an unmanned excavator and a remote management monitoring system thereof, which relate to the technical field of unmanned driving and comprise an unmanned excavator body, a data acquisition module, a data transmission module and a central control module; the utility model discloses operating mass is high, the operation security is strong, and unmanned excavator operation intelligence has very high practicality, and remote management control can handle in batches, the management excavates data, and real time monitoring excavates the condition, improves and excavates efficiency and acceptance quality.
Description
Technical Field
The utility model relates to an unmanned technical field especially relates to an unmanned excavator and remote management monitored control system thereof.
Background
The excavator is an important engineering machine, has irreplaceable advantages in the aspect of earth and stone excavation, and is widely applied to mechanized construction such as transportation, energy, industry, civil construction, irrigation and water conservancy, mine excavation, modern military engineering and the like. The excavator has the continuous and efficient operation characteristic, so that the excavator plays a great role in reducing labor intensity and improving working efficiency. Excavation work is an indispensable construction means in engineering construction projects, and an excavator also becomes a powerful guarantee for national infrastructure. Therefore, the capacity of a country for producing and using the excavator reflects the engineering construction capacity of the country to a certain extent. According to statistical data, about 60% to 70% of all earth and rockwork excavation works are performed by excavators in various construction works all over the world. Especially in recent years, the total annual excavator production worldwide is higher than the sum of the annual bulldozer and loader production. In addition, the same work amount is finished in the aspect of environmental protection and energy conservation, the energy consumed by the excavator is the least, the energy consumed by the loader is the second, and the energy consumption of the bulldozer is the greatest. Therefore, the excavator is deeply researched, and the excavator has great social benefit and economic benefit.
Along with the expansion of the field of human activities, the requirements of people on the operation quality are higher and higher, and the working environment is more and more rigorous. Thus, problems in the field of hydraulic excavator applications are also highlighted, for example:
the labor intensity of excavator operators is high, the operators are often required to concentrate on the ground and have multiple functions, and the physical and mental consumption is extremely high;
for some operations, it is necessary for the operator to have sufficient experience to ensure the accuracy of the construction. However, such a trained operator is often lacking in practice, and a great deal of time and effort is required to cultivate a skilled operator;
some environments are severe, and people are not suitable to directly enter the environment. For example, when the submarine cable is laid, a submersible robot integrating the excavating function into a whole is needed; working in toxic and harmful and radioactive environments, and cleaning the ruins in the accident of nuclear leakage in the Fudao of Japan adopts an excavating robot to carry out unmanned operation; in addition, the high-risk environments such as debris flow, collapse, avalanche and the like further limit the on-site rescue work of people, and put higher requirements on the automation of engineering equipment. However, since the excavator in the prior art in China is basically manually operated, it is very necessary to study the excavator intelligently and automatically and replace manual work in a dangerous environment with an excavating robot working autonomously.
At present, informatization, automation and intellectualization of engineering machinery are underway, and various advanced technologies are combined with the traditional engineering machinery, so that the working efficiency of the machinery can be obviously improved, the energy consumption is reduced, the working characteristics and the working environment of operators are improved, and the fatigue strength of the operators can be reduced. The structure of the excavator is similar to that of a mechanical arm in a robot system, so that the excavator can be researched and modified by using the theory and the method of the robot, namely the excavator is robotized, a working model of the excavator is established, and the movement track of a working device of the excavator is planned and controlled. With the rapid development of robotics, artificial intelligence, control technologies, information technologies, electronic technologies and sensing technologies, these have shown broad prospects for the automation and intellectualization of excavators.
In summary, in order to realize unmanned operation of the excavator in a special environment, the above technologies are comprehensively utilized, basic research is performed on the existing excavator, and an unmanned excavator and a remote management monitoring system thereof are designed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the problem of realizing the unmanned operation of excavator in special environment provides an unmanned excavator and remote management monitored control system thereof.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
an unmanned excavator and a remote management monitoring system thereof comprise an unmanned excavator body and a remote management monitoring system;
the unmanned excavator body is provided with a data acquisition module, a data communication module and a central control module;
the remote management monitoring system consists of a data processing system, a visualization system and a cloud platform; wherein the content of the first and second substances,
the data acquisition module comprises a 3D laser radar, an inertia measurement unit, a global navigation satellite system board card, an encoder and a panoramic all-round looking camera;
the central control module comprises a touch screen and a motion control module;
the data processing system comprises a global working area topographic map building system, a real-time local topographic map system, an earthwork computing system, a path planning system and a construction plan making system;
the visualization system comprises a global topographic map visualization system, an implementation excavation visualization system, a construction plan visualization system, a vehicle body condition visualization system and a vehicle body early warning visualization system;
as a further preferable scheme of the unmanned excavator and the remote management monitoring system thereof of the present invention, the remote management monitoring system is implemented based on the C + + programming language.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme, central control module carries out development design based on STM32 singlechip.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme, data communication module adopts 5G mobile network communication mode.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme thereof, the cloud platform is used for unified management to excavate data, provides data service work.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme thereof, the touch screen is capacitive touch screen for realize the visual of excavation control.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme, the motion control module includes steering wheel control module, footboard control module, left control lever control module and right control lever control module for realize digging arm, excavation bucket, upper portion platform, the control of traveling.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme, steering wheel control module is used for realizing the direction of travel of excavator.
As the utility model relates to an unmanned excavator and remote management monitored control system's further preferred scheme, footboard control module is used for realizing advancing and retreating of excavator.
As a further preferable scheme of the unmanned excavator and the remote management monitoring system thereof of the present invention, the left joystick control module is used for realizing the actions of the small arm and the upper platform of the excavator; the right joystick control module is used for realizing the actions of a big arm and a bucket of the excavator.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
1. the unmanned excavator of the utility model can complete the excavation task more continuously, more efficiently and more safely;
2. the utility model discloses a remote management monitored control system can acquire the excavation data by higher accuracy on the one hand, and on the other hand can be more audio-visual observes relevant data, for example can show the data and the construction plan of excavating orbit, sensor with the form of interfacing. Meanwhile, the related data can be managed more perfectly, and the related data service is provided.
Drawings
FIG. 1 is a general layout of the application of the present invention;
fig. 2 is an overall frame diagram of the present invention;
fig. 3 is a structural view of the unmanned excavator of the present invention;
fig. 4 is a remote management monitoring system of the present invention;
FIG. 5 is a flow chart of the overall implementation of the present invention;
fig. 6 is a flow chart of excavation control according to the present invention;
fig. 7 is a flow chart of excavation control according to the present invention;
FIG. 8 is a data processing flow diagram of the present invention;
FIG. 9 is a data processing flow diagram of the present invention;
fig. 10 is a data processing flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, the present invention adopts a circulation operation mode to realize the process of data collection end-data center-management monitoring system-central control-data collection end.
As shown in fig. 2, an unmanned excavator and a remote management and monitoring system thereof comprise an unmanned excavator body and a remote management and monitoring system;
as shown in fig. 3, the unmanned excavator body is provided with a data acquisition module, a data communication module and a central control module 4;
as shown in fig. 4, the remote management monitoring system is composed of a data processing system, a visualization system, and a cloud platform; wherein the content of the first and second substances,
the data acquisition module comprises a 3D laser radar 1, an Inertial Measurement Unit (IMU)2, a Global Navigation Satellite System (GNSS) board card 3, an encoder 6 and a panoramic all-round looking camera 5;
the central control module 4 comprises a touch screen and a motion control module;
the data processing system comprises a global working area topographic map building system, a real-time local topographic map system, an earthwork computing system, a path planning system and a construction plan making system;
the visualization system comprises a global topographic map visualization system, an implementation excavation visualization system, a construction plan visualization system, a vehicle body condition visualization system and a vehicle body early warning visualization system;
the remote management monitoring system is realized based on a C + + programming language.
The central control module 4 is developed and designed based on an STM32 single chip microcomputer, is in communication connection with a touch screen, a data acquisition module, a motion control module and a remote management monitoring system, and is responsible for overall control of the unmanned excavator and acquisition of field data.
The touch screen is a capacitive touch screen and is used for realizing the visualization of excavation control.
The data communication module is an industrial router of SIM-8200 series of core communication adopting a 5G mobile network communication mode and is used for being responsible for data communication of the whole platform.
The cloud platform is used for managing and mining data in a unified mode and providing data service work.
The touch screen is a capacitive touch screen and is used for realizing the visualization of excavation control.
The motion control module comprises a steering wheel control module, a pedal control module, a left control lever control module and a right control lever control module and is used for realizing the control of the excavating arm, the excavating bucket, the upper platform and the running.
The steering wheel control module is used for realizing the driving direction of the excavator.
The pedal control module is used for realizing the forward and backward movement of the excavator.
The left control lever control module is used for realizing the actions of the small arm and the upper platform of the excavator; the right joystick control module is used for realizing the actions of a big arm and a bucket of the excavator.
As shown in fig. 5, 6, 7, 8, 9 and 10, the working method of the present invention is as follows:
1. receiving project engineering, determining a working area, investigating on the spot, and sorting the data of the working area;
2. completing the task of the step 1, acquiring data point clouds in the whole working area based on the airborne LIDAR, and finally establishing a three-dimensional topographic map of the whole working area through the processes of point cloud data registration, fusion and networking;
3. finishing the work of the step 2, and making a construction plan according to project requirements, wherein the construction plan comprises sub-working section division and numbering, sub-working unit division and numbering and an overall working path (strategy);
4. based on the construction scheme of the step 3, the unmanned excavator moves to an initial working area (initial working unit); the unmanned excavator movement refers to unmanned movement based on control modules such as a steering wheel module and a pedal control module;
5. on the basis of completing the task of the step 4, a high-precision local three-dimensional topographic map is constructed and a local path of a sub-working area is formulated by utilizing data collected by a three-dimensional laser radar, an inertia measuring unit and an encoder 6 which are arranged on the unmanned excavator and adopting a pose estimation algorithm and a map optimization-based SLAM technology;
6. and (5) after the task of the step 5 is completed, acquiring the position data of the excavator body and the bucket by utilizing a GNSS3 board card arranged on the unmanned excavator, and adjusting the bucket. The bucket adjustment is completed based on a steering wheel module, a pedal module, a left control lever control module and a right control lever control module;
7. after the task of step 6 is implemented, mining is performed. And (5) repeating the steps 5-7 after completing the task of one working unit and before going to the next working unit according to the local path until completing the task of the whole sub-working area.
8. And after completing the task of a single working area, moving forward to the next working area according to the whole path, and then repeating the steps 5-8 until the task of the whole working area is completed.
9. And (3) a visualization system of the remote management monitoring system visually expresses the global three-dimensional topographic map in the step 2, the construction plan in the step 3, the automatic driving process in the step 4, the local map and the path thereof in the step 5, the bucket adjustment condition in the step 6 and the surrounding condition of the vehicle body acquired by the all-round camera 5 arranged on the unmanned excavator.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;
and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an unmanned excavator and remote management monitored control system which characterized in that: the remote management monitoring system comprises an unmanned excavator body and a remote management monitoring system;
the unmanned excavator body is provided with a data acquisition module, a data communication module and a central control module (4);
the remote management monitoring system consists of a data processing system, a visualization system and a cloud platform;
the central control module (4) is in communication connection with the remote management monitoring system;
the data acquisition module comprises a 3D laser radar (1), an inertia measurement unit (2), a global navigation satellite system board card (3), an encoder (6) and a panoramic camera (5);
the central control module (4) comprises a touch screen and a motion control module;
the data processing system comprises a global working area topographic map building system, a real-time local topographic map system, an earthwork computing system, a path planning system and a construction plan making system;
the visualization system comprises a global topographic map visualization system, an implementation excavation visualization system, a construction plan visualization system, a vehicle body condition visualization system and a vehicle body early warning visualization system.
2. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the remote management monitoring system is realized based on a C + + programming language.
3. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the central control module (4) is developed and designed based on an STM32 single chip microcomputer.
4. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the data communication module adopts a 5G mobile network communication mode.
5. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the cloud platform is used for managing and mining data in a unified mode and providing data service work.
6. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the touch screen is a capacitive touch screen and is used for realizing the visualization of excavation control.
7. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 1, wherein: the motion control module comprises a steering wheel control module, a pedal control module, a left control lever control module and a right control lever control module and is used for realizing the control of the excavating arm, the excavating bucket, the upper platform and the running.
8. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 7, wherein: the steering wheel control module is used for realizing the driving direction of the excavator.
9. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 7, wherein: the pedal control module is used for realizing the forward and backward movement of the excavator.
10. The unmanned excavator and the remote management and monitoring system thereof as claimed in claim 7, wherein: the left control lever control module is used for realizing the actions of the small arm and the upper platform of the excavator; the right joystick control module is used for realizing the actions of a big arm and a bucket of the excavator.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114545901A (en) * | 2022-02-21 | 2022-05-27 | 华侨大学 | Electric engineering machinery intelligent device based on cloud platform and system thereof |
| CN114715363A (en) * | 2022-04-02 | 2022-07-08 | 浙江大学 | Navigation method and system for submarine stratum space drilling robot and electronic equipment |
| KR102504937B1 (en) * | 2021-12-22 | 2023-03-02 | 현대건설기계 주식회사 | Remote Control System for Construction Equipment |
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2020
- 2020-09-03 CN CN202021899818.9U patent/CN213338437U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102504937B1 (en) * | 2021-12-22 | 2023-03-02 | 현대건설기계 주식회사 | Remote Control System for Construction Equipment |
| US11775170B2 (en) | 2021-12-22 | 2023-10-03 | Hyundai Construction Equipment Co., Ltd. | Remote control system for construction equipment |
| CN114545901A (en) * | 2022-02-21 | 2022-05-27 | 华侨大学 | Electric engineering machinery intelligent device based on cloud platform and system thereof |
| CN114715363A (en) * | 2022-04-02 | 2022-07-08 | 浙江大学 | Navigation method and system for submarine stratum space drilling robot and electronic equipment |
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