KR101235281B1 - Tele-operated concrete surface grinding system, and method for the same - Google Patents

Abstract

Provided are remote control concrete surface cutting systems and methods capable of implementing operations, remote control and graphic control for cutting operations of concrete surface cutting devices, and for achieving accuracy and standardization of operations. The remote controlled concrete surface cutting system includes a concrete surface cutting device for performing a concrete surface cutting operation while being remotely controlled; A remote control for remotely controlling the concrete surface cutting device; And a control station that provides a graphical control interface for the operator of the surface cutting device to remotely check the job information for comprehensive monitoring of the current cutting situation, wherein the concrete surface cutting device comprises: An optimal path generation module for generating an optimal work path; Remote positioning module for grasping the current position of the concrete surface cutting device within a predetermined error range; A quality control unit for grasping the quality of the concrete cutting surface such that the quality of the concrete cutting surface is displayed in a graphic control interface in real time; And an anti-collision unit for informing a controller of the concrete surface cutting device if a collision occurs during cutting.

Description

Teleoperated concrete surface grinding system, and method for the same

The present invention relates to a concrete surface grinding equipment, and more particularly, to a remote-controlled concrete surface cutting system and method for the equipment operator to remotely control the concrete surface cutting equipment to cut the concrete surface. .

There are two general types of concrete surface cutting devices. There are wet cutting and dry cutting without the use of water to grind the grinder to solve the dust generated from the concrete surface and cool the frictional heat.

1 is a photograph illustrating typical wet cutting and dry cutting.

In the case of wet cutting to remove dust by using water, as shown in FIG. 1A, water is required at a domestic construction site, and water is supplied through a hose to remove dust by placing a water outlet on a surface cutter. In addition, dry cutting uses a Hopper (intake) without using water, as shown in FIG. 1B, in which case an intake is installed separately, and a dust collection tank and a high output engine are required.

In the case of general concrete surface cutting, the three to four workers to control the surface cutting device has a problem that a lot of labor personnel are put into low profitability. For example, in the case of the existing wet cutting, the sludge treatment facility costs are generated by the production of sludge combined with concrete and water, and there is a problem that the sludge spillage adversely affects the surrounding environment. In addition, in the case of dry cutting without using water, there is a problem that the size of the surface cutting device is very large, and the usability and mobility are inferior. For example, in the case of a small dry cutting surface cutting device, dust treatment is not performed smoothly, and thus the working environment conditions of laborers are deteriorated, industrial accidents are likely to occur due to the inhalation of dust, and construction costs are high. There are disadvantages.

In addition, when an inexperienced operator operates or manipulates the surface cutting device, the cutting quality is significantly degraded and the variation of the cutting surface is severe.Therefore, there is a risk of reconstruction and reconstruction, and there is no accurate measuring procedure of quality. There is a problem that it is difficult to confirm.

1) Republic of Korea Patent No. 10-0758608 (application date: March 28, 2007), the title of the invention: "Remote control system and method for construction equipment" 2) Republic of Korea Patent Publication No. 2010-0030274 (published: March 18, 2010), the title of the invention: "Dry cutting device and cutting method for dismantling concrete structure" 3) Republic of Korea Patent No. 10-0807402 (Application Date: February 27, 2007), the title of the invention: "Grinding device for grinding method of concrete packaging" 4) Republic of Korea Patent No. 10-10-0821620 (Application Date: February 27, 2007), the title of the invention: "Grinding apparatus for grinding method of concrete packaging and its control method" 5) Republic of Korea Patent No. 10-0534191 (Application Date: July 07, 2005), Name of the invention: "Concrete air-cooled cutting device and cutting method"

SUMMARY OF THE INVENTION The present invention has been made in an effort to provide a remote controlled concrete surface cutting system and method capable of implementing operation, remote control and graphic control for cutting a concrete surface cutting device. .

Another technical problem to be achieved by the present invention is to remotely control and semi-automatically control the concrete surface cutting device so that the worker's health can be protected from harmful work environment caused by dust and noise, and the work can be accurately and standardized. To provide a steered concrete surface cutting system and method thereof.

Another technical problem to be achieved by the present invention is to provide a remote control concrete surface cutting system and method that can reduce the cost by reducing the manpower put in the work site and increase the efficiency of the work.

As a means for achieving the above-described technical problem, the remote-control concrete surface cutting system according to the present invention, the concrete surface cutting device for performing a concrete surface cutting operation while being remotely controlled; A remote control device for remotely controlling the concrete surface cutting device; And a control station providing a graphical control interface for remotely checking the operation information by the operator of the surface cutting device in order to comprehensively monitor the current cutting operation situation, wherein the concrete surface cutting device includes: An optimal path generation module for generating an optimal working path of the; Remote positioning module for grasping the current position of the concrete surface cutting device within a predetermined error range; A quality control unit for grasping the quality of the concrete cutting surface such that the quality of the concrete cutting surface is displayed on the graphic control interface in real time; And an anti-collision unit that informs the operator of the concrete surface cutting device if a collision situation occurs during the cutting operation.

Here, the concrete surface cutting device is mounted on a traveling device consisting of a rear wheel drive (driving wheel) and a steering device (steering wheel); The concrete surface cutting device, the grinder is installed in the front lower portion of the concrete surface cutting device for cutting the concrete surface; An engine mounted on the traveling device to power the concrete surface cutting device; A control box for wirelessly receiving a command signal of the remote control device and transmitting information generated by the concrete surface cutting device to the control station; A hydraulic cylinder providing driving force for manipulating the grinder up and down and providing driving force for manipulating the steering apparatus from side to side; GPS unit for determining the current position of the concrete surface cutting device; And it may include a network camera for photographing the concrete cutting surface in order to measure the quality of the concrete cutting surface.

Here, the concrete surface cutting device, the dry cutting dust inhaler is installed on the top of the grinder to suck the dust generated in the cutting operation; And an angle sensor disposed around the grinder to remotely adjust an appropriate height at which the grinder contacts the ground.

Here, the remote positioning module of the concrete surface cutting device is a Real-Time Kinematic (RTK) Global Position System (GPS) module, which can grasp an error within 2 to 3 cm.

Here, the remote control device, input and set the speed and direction of the concrete surface cutting device, displays the speed, direction, grinder cutting height of the concrete surface cutting device, and transmits a work command signal to the concrete surface cutting device And to control the speed and direction of the concrete surface cutting device.

Here, the control station may be monitored by the operator of the concrete surface cutting device by combining the current position of the concrete surface cutting device, the quality control data and the collision avoidance data through the optimal path and GPS.

Here, the control station, the GPS receiver for wirelessly receiving GPS information corresponding to the current position of the concrete surface cutting device; A photographing image receiving unit which receives an image photographed by a network camera of the concrete surface cutting device to measure a quality of a concrete cutting surface; Serial communication unit for transmitting and receiving data or command with the concrete surface cutting device; And a graphic control interface for displaying the position and direction of the concrete surface cutting device, displaying the generated work path, and displaying the quality of the cutting work.

On the other hand, as another means for achieving the above-described technical problem, the remote controlled concrete surface cutting method according to the present invention, in the remote controlled concrete surface cutting method using a concrete surface cutting device, a remote control device and a control station, a A step of inputting, by the remote controller, operation information on a section to be performed by the concrete surface cutting apparatus to perform a concrete surface cutting operation; a) generating and displaying an optimal concrete cutting work path through the input work information by the control station; c) remotely controlling the concrete surface cutting device using the remote control device; d) monitoring the graphical control interface provided in the control station by an operator of the concrete surface cutting device; And e) the operator of the concrete surface cutting device performing the cutting operation while observing the working information through the graphical control interface.

Remote-controlled concrete surface cutting method according to the present invention, f) comparing the cutting quality according to the performing of the cutting operation; And g) the operator of the concrete surface cutting apparatus may determine whether to re-cut according to the cutting quality.

According to the present invention, it is possible to implement operation, remote control and graphic control for the cutting operation of the concrete surface cutting device.

According to the present invention, by remotely controlling and semi-automating the concrete surface cutting device, it is possible to protect the health of the worker from the harmful work environment due to dust and noise, and to improve the accuracy and standardization of the work.

According to the present invention, the cost can be reduced by reducing the manpower input at the work site and increasing the efficiency of the work.

1 is a photograph illustrating typical wet cutting and dry cutting.
2 is a schematic diagram of a construction equipment remote control system according to the related art.
Figure 3 is a schematic diagram of a remote controlled concrete surface cutting system according to an embodiment of the present invention.
4 is a block diagram of a concrete surface cutting apparatus in a remote controlled concrete surface cutting system according to an embodiment of the present invention.
Figure 5 is a photograph showing the side of the concrete surface cutting apparatus in a remote controlled concrete surface cutting system according to an embodiment of the present invention.
FIG. 6 is a photograph illustrating dust intake installed at a front surface of the concrete surface cutting apparatus illustrated in FIG. 5.
FIG. 7 is a photograph showing a network camera installed at the rear surface of the concrete surface cutting device shown in FIG. 5.
FIG. 8 is a photograph showing a generator and an engine operation switch in the concrete surface cutting apparatus shown in FIG. 5.
9 is a photograph illustrating a battery charging generator in the concrete surface cutting apparatus shown in FIG.
10A and 10B are photographs illustrating a main driver and a motor driver of the concrete surface cutting apparatus shown in FIG. 5.
FIG. 11 is a photograph specifically showing the front wheel portion of the concrete surface cutting device illustrated in FIG. 5.
12 is a photograph specifically showing the rear wheel portion of the concrete surface cutting device shown in FIG. 5.
13 is a photograph illustrating a GPS mobile station in a remote controlled concrete surface cutting system according to an embodiment of the present invention.
14 is a photograph illustrating a remote control device in a remote controlled concrete surface cutting system according to an embodiment of the present invention.
FIG. 15 is a photograph illustrating a display screen in the remote controller shown in FIG. 14.
16 is a block diagram of a control station in a remote control concrete surface cutting system according to an embodiment of the present invention.
FIG. 17 is a diagram illustrating a graphical control interface at the control station shown in FIG. 16.
18 is a schematic operation flowchart of a method for cutting a remote controlled concrete surface according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise.

First, Korean Patent No. 10-0758608, filed and registered by the applicant of the present invention, discloses an invention named “Construction equipment remote control system and method”. The above patents are incorporated herein by reference and form part of the present invention.

2 is a schematic diagram of a construction equipment remote control system according to the related art.

Construction equipment remote control system according to the related art, as shown in Figure 2, a concrete surface cutting device (10) programmed to perform in the operation by the algorithm for a series of tasks required at the construction site; A remote control device 20 for outputting a control signal to the equipment system over a predetermined distance; Graphic control interface 30 for displaying the shape information according to the operation of the concrete surface cutting apparatus 10; And a quality control unit 40.

However, in the case of the above-mentioned construction equipment remote control system, since the operation, remote control and graphic control for the cutting operation of the concrete surface cutting device is not specifically included, the remote control concrete surface cutting system according to an embodiment of the present invention Provides a method of operation, remote control and graphical control for cutting of concrete surface cutting devices.

Figure 3 is a schematic diagram of a remote controlled concrete surface cutting system according to an embodiment of the present invention.

Referring to FIG. 3, the remote controlled concrete surface cutting system according to the embodiment of the present invention includes a concrete surface cutting device 100, a remote control device 200, and a control station 300.

Concrete surface cutting device 100 is remotely controlled by the remote control device 200 to cut the concrete surface, at this time, surface cutting is commonly used in concrete construction, such as bridges, construction, airports and harbors, pre-installed concrete It is carried out to improve the workability and quality by securing the adhesion and flatness of the surface layer and the post-work process. In addition, the concrete surface cutting is to remove, deteriorate or polish the concrete surface by using a grinder to remove the deterioration layer (weather, release agent, bali mortar, painting, painting, contamination, etc.) of the concrete surface and to perform the post-processing process smoothly. do.

The concrete surface cutting device 100 is equipped with a grinder, a dust inhaler, a hydraulic cylinder and the like on a traveling device consisting of a steering wheel (front wheel) and a driving wheel (rear wheel), and the traveling device may be driven by an engine.

In addition, the concrete surface cutting apparatus 100 according to an embodiment of the present invention is the optimum path generation module 101, the remote positioning module 102, the quality control unit 103 and the collision avoidance unit 104 according to its function It may include, but is not limited to.

The optimal path generation module 101 generates an optimal path of the concrete surface cutting device 100 and provides it to the control station 300.

The remote location module 102 is a Real-Time Kinematic (RTK) Global Position System (GPS) module that detects the current position of the concrete surface cutting device 100 and provides it to the control station 300.

The quality control unit 103 measures the quality before and after cutting of the concrete floor plate surface in real time and provides it to the control station 300.

The anti-collision unit 104 detects the collision of the concrete surface cutting device 100 and provides it to the control station 300.

Specific components of the concrete surface cutting apparatus 100 according to the embodiment of the present invention will be described later with reference to FIGS. 4 to 13.

The remote control apparatus 200 is a remote controller (remote control) for remotely controlling the concrete surface cutting apparatus 100 at a distance, which will be described later with reference to FIGS. 14 and 15.

The control station 300 provides a graphic control interface that allows the operator of the surface cutting apparatus 100 to remotely check job information in order to comprehensively monitor the current cutting job situation. Referring to FIGS. It will be described later.

Therefore, the remote controlled concrete surface cutting system according to an embodiment of the present invention, by remotely controlling and semi-automatically controlling the concrete surface cutting device, to protect the health of the worker from harmful working environment due to dust and noise, and the accuracy and standardization of work Can be planned. In addition, costs can be reduced by reducing the manpower on the job site and increasing the efficiency of the work.

On the other hand, Figure 4 is a block diagram of a concrete surface cutting device in a remote control concrete surface cutting system according to an embodiment of the present invention, Figure 5 is a concrete surface cutting device of a remote control concrete surface cutting system according to an embodiment of the present invention Photo shows the side. 6 is a photograph showing a dust inhaler installed in the front of the concrete surface cutting apparatus shown in FIG. 5, and FIG. 7 is a photograph showing a network camera installed at the rear of the concrete surface cutting apparatus shown in FIG. 5. 8 is a photograph showing a generator and an engine operation switch in the concrete surface cutting apparatus shown in FIG. 5, and FIG. 9 is a photograph illustrating a battery charging generator in the concrete surface cutting apparatus shown in FIG. 5. 10A and 10B are photographs illustrating a main driver and a motor driver of the concrete surface cutting apparatus shown in FIG. 5. 11 is a photograph showing the front wheel portion of the concrete surface cutting apparatus shown in FIG. 5 in detail, and FIG. 12 is a photograph showing the rear wheel portion of the concrete surface cutting apparatus shown in FIG. 13 is a photograph illustrating a GPS mobile station in a remote controlled concrete surface cutting system according to an embodiment of the present invention.

4 and 5, in the remote controlled concrete surface cutting system according to an embodiment of the present invention, the concrete surface cutting apparatus 100 includes a grinder 111, an engine 112, a dust inhaler (Hopper 113), and a surface. 24V battery power source 114 for cutting device driving, rear wheel drive unit 115, 12V battery power source 116 for engine driving, power transmission belt 117, engine RPM gauge 118, generator 119b and generator switch 119a ), Fuel tank 120, control box 121, main driver 122a and motor driver 122b, steering device 123, hydraulic cylinder 124, GPS unit 125, angle sensor 126, Network camera 127 and engine operation switch 128;

As shown in FIG. 5, the grinder 111 is installed at the front lower portion of the concrete surface cutting device 100 to cut the concrete surface, and the grinder 111 is preferably a diamond grinder.

As shown in FIG. 5, the engine 112 is mounted on a traveling device to power the concrete surface cutting device 110, and at this time, a heat sink for dissipating heat generated by the engine 112. This may be additionally provided. Specifically, the engine 112 may use a diesel engine, the rotation shaft of the engine 112 is connected to the power transmission belt 117, the grinder 111, the dust inhaler 113, the driving 24V battery ( Power is transmitted to the generator 119b for charging 114. At this time, the RPM of the engine 112 is maintained at about 3000, to maintain 2,200 ~ 2,500 when cutting.

As illustrated in FIG. 6, in the case of dry cutting, the dust inhaler 113 may be installed above the grinder 111 so as to suck in dust generated from the concrete surface cutting device 110 according to the embodiment of the present invention. Can be. In the case of wet cutting, the dust may be removed by placing the water outlet on the grinder surface cutter by receiving water through the hose instead of the dust inhaler 113. Specifically, the dust inhaler 113 used in the case of dry cutting is located on the rear side of the grinder 111, and primarily sucks in the dust generated while the grinder 111 performs the cutting operation, the present invention By connecting the suction device and the seam (not shown) in the center of the concrete surface cutting apparatus 100 according to the embodiment of the secondary suction to suck the remaining dust at the first suction, to remove all the dust on the concrete surface do. At this time, the sucked dust is filtered through a filter (not shown) inside the dust inhaler 113, the dust is accumulated in the dust inhaler 113.

As shown in FIG. 5, the 24V battery power source 114 is a rechargeable battery that provides power for driving the concrete surface cutting apparatus 110.

As shown in FIG. 12, the rear wheel driving unit 115 is connected to an electric motor and a worm gear to drive the driving wheel that is the rear wheel of the concrete surface cutting device 110. Concrete surface cutting apparatus 110 according to an embodiment of the present invention is typically driven rear wheel, the front wheel is formed of a steering wheel.

12V battery power source 116 is a rechargeable battery, as shown in FIG.

As shown in FIG. 12, the power transmission belt 117 is connected to the grinder 111, the dust inhaler 113, and the generator to transmit power.

The RPM gauge 118 is provided to determine the revolution per minute (RPM) of the engine 112, as shown in FIG.

The generator 119b is a generator for charging the 24V battery power source 114 with the driving force transmitted by the power transmission belt 117, as shown in FIG. 9, and the user switches the generator switch 119a shown in FIG. 8. Can be activated by manually turning it on.

As illustrated in FIG. 5, the fuel tank 120 may be installed at a rear upper portion of the concrete surface cutting apparatus 110 to supply fuel to the engine 112.

As shown in FIG. 12, the control box 121 wirelessly receives a command signal of the remote control apparatus 200, transmits the generated information to the control station 300, and controls the control box 300. Inside the 121, the main driver 122a shown in FIG. 10A, the motor driver 122b shown in FIG. 10B, and the like are provided.

As shown in FIG. 5, the steering apparatus 123 is operated by the hydraulic pressure of the hydraulic cylinder 124 to change the direction of the concrete surface cutting apparatus 100.

The hydraulic cylinder 124, as shown in Figure 11, provides a driving force for manipulating the grinder 111 up and down. In addition, the hydraulic cylinder 124 provides a driving force for steering the steering device 123 from side to side. That is, the hydraulic cylinder 124 that is responsible for the vertical steering of the grinder 111 and the left and right steering of the steering apparatus 123 is operated with a 24V battery 114. For example, in the case of up and down steering of the grinder 111, since the grinder 111 should be in smooth contact with the ground, the downward steering speed of the grinder 111 is set to about 1 cm / sec, and the grinder 111 is operated upward. When lifting the grinder 111, a phenomenon in which an unplanned section may be cut when the grinder 111 is slowly lifted up may cause the hydraulic cylinder 124 to be driven within 5 cm / sec. Set it. At this time, the base height of the grinder 111 may be set and the horizontal may be adjusted through a lever installed in front of the grinder 111.

The GPS unit 125, as shown in FIG. 13, is used to determine the current position of the concrete surface cutting apparatus 100, may be RTK GPS, and may be used with two GPS antennas and a transceiver.

As shown in FIG. 4, the angle sensor 126 is disposed around the grinder 111 to remotely adjust an appropriate height at which the grinder 111 contacts the ground.

As illustrated in FIG. 7, the network camera 127 photographs the concrete cutting surface in order to measure the quality of the concrete cutting surface, and the data photographed through the wireless transmission / reception module (not shown) in the control box 121. Send it.

The engine operation switch 128 is manually operated by the manipulator of the concrete surface cutting apparatus 100 to drive the engine 11, as shown in FIG. 8.

On the other hand, Figure 14 is a picture illustrating a remote control device in a remote controlled concrete surface cutting system according to an embodiment of the present invention, Figure 15 is a picture illustrating a display screen in the remote control device shown in FIG.

Referring to Figure 14, in the remote controlled concrete surface cutting system according to an embodiment of the present invention, the remote control device 200 is a keypad 210, a display panel 220, a wireless transmission module 230 and the control unit 240 It may include.

The keypad 210 may be a button for setting and inputting the speed and direction of the surface cutting apparatus 100.

The display panel 220 is a liquid crystal panel and displays the speed, direction, and grinder cutting height of the concrete surface cutting device 100.

The wireless transmission module 230 transmits a work command signal to the concrete surface cutting device 100.

The control unit 240 is for the operator to control the speed and direction of the concrete surface cutting apparatus 100. For example, the control unit 240 may be a joystick, but is not limited thereto.

As the screen 220 displayed on the remote control device, a) of FIG. 15 illustrates a basic screen of the remote control apparatus 200, and b) of FIG. 15 illustrates displaying a driving and steering angle, and FIG. 15. C) indicates setting the grinder cutting height.

Specifically, the remote control device 200 uses the angle sensor 126 described above to set the cutting depth. The remote control apparatus 200 according to the embodiment of the present invention may control forward and backward in five steps, and may control left and right directions. For example, forward and reverse speeds are controlled at 3 cm / s, 6 cm / s, 9 cm / s, 15 cm / s or 20 cm / s, and left and right controls at 5 °, 10 °, 20 °, 30 °, 45 Steered in ° The forward and backward are controlled by the keypad 210 of the remote controller 200, and the speed and the direction are displayed on the display panel 220 which is a liquid crystal panel.

On the other hand, Figure 16 is a block diagram of a control station in a remote controlled concrete surface cutting system according to an embodiment of the present invention, Figure 17 is a diagram illustrating a graphical control interface in the control station shown in FIG.

Referring to FIG. 16, in the remote controlled concrete surface cutting system according to an exemplary embodiment of the present invention, the control station 300 includes an industrial computer 310, a GPS receiver 320, a photographed image receiver 330, and a serial communication unit. 340 and a graphical control interface 350.

Industrial computer 310 is a computer used in the industrial field, typically may be a desktop or notebook computer.

The GPS receiver 320 wirelessly receives GPS information corresponding to the current position of the concrete surface cutting apparatus 100 via the RTK GPS base station.

The photographed image receiving unit 330 receives an image photographed by the network camera 127 of the concrete surface cutting apparatus 100 to measure the quality of the concrete cut surface.

The serial communication unit 340 transmits and receives data or commands with the concrete surface cutting device 100.

The graphic control interface 350 is implemented in the form of a software program in the industrial computer 310, and may include a position and direction display unit 351, a work path generation unit 352, and a quality determination unit 353.

Specifically, as shown in FIG. 17, the position and direction display unit 351 of the graphic control interface 350 displays the current position and direction of the concrete surface cutting device 100, and the graphic control interface 350. The work path generator 352 generates and displays an optimal work path to be worked on, and the quality determiner 353 of the graphic control interface 350 determines the quality through image processing.

Referring to the above drawings, the remote control concrete surface cutting system according to an embodiment of the present invention operates as follows.

In order to remotely control the concrete surface cutting apparatus 100 according to the embodiment of the present invention, first, the engine operation switch 128 of the concrete surface cutting apparatus 100 is turned on, and the remote positioning module 102 is turned on. The basic control of the RTK GPS module and the graphic control interface 350 for remote control driving. At this time, the lever installed in front of the grinder 111 is adjusted to level the grinder 111.

Then, by grasping the angle sensor value at the moment of contact with the grinder 111 and the ground at an appropriate level, when the resistance value of the angle sensor 126 reaches the corresponding value, the grinder 111 stops descending. In addition, the grinder 111 may be controlled remotely.

In addition, the cutting path is generated using the work path generating unit 352 of the graphic control interface 350 and displayed on the screen. At this time, the cutting path is generated in the 'N' shape, the direction is determined by the two GPS 125 installed in the concrete surface cutting apparatus 100, and displayed on the graphic control interface 350. Then, the operator of the concrete surface cutting device 100 moves the concrete surface cutting device 100 to the starting point of the cutting path.

Next, the remote control device 200 is controlled to lower the grinder 111 by the angle sensor 126. At this time, the falling signal of the grinder 111 is transmitted to the main driver 122a of the control box 121 of the concrete surface cutting device 100 via the wireless transmission module 230 of the remote control device 200.

At this time, the main driver 122a lowers the vertical steering hydraulic cylinder 124 until the resistance value of the angle sensor 126 matches the value set by the remote controller 200. Thereafter, the cutting button is pressed by pressing the forward button on the keypad 210. The forward signal generated by the forward button is transmitted to the main driver 122a of the control box 121 through the wireless transmission module 230 of the remote control device 200, the concrete surface cutting device 100 The DC electric motor (not shown) and the rear wheel drive unit 115 installed to drive the electric vehicle are operated using the 24V battery 114.

Subsequently, when a rotation command on the keypad 210 of the remote controller 200 is received by the main driver 122a, the concrete surface cutting apparatus 100 is connected to the steering apparatus 123 by the 12V battery 116. The hydraulic cylinder 124 is controlled for left and right steering.

In addition, in order to process the dust generated during the surface cutting of the concrete, the power transmission belt 117 connected to the rotary shaft of the diesel engine 112 operates the dust inhaler 113 to suck in the dust dust inhaler 113 Collected through a filter in

In addition, the concrete surface cutting device 100 is moved while performing the cutting, the position information collected from the GPS unit 125 attached to the concrete surface cutting device 100 through the transceiver of the control station 300 It is transmitted to the GPS receiver 320. In this case, the position information is displayed on the display screen, which is the position and direction display unit 351 of the graphic control interface 350 implemented in the computer 310 of the control station 300. In addition, the position information is compared with the path generated by the work path generation unit 352 of the graphic control interface 350 to inform the distance from the path, the concrete surface cutting apparatus 100 proceeds to the correct path Provide information about the presence.

Meanwhile, in order to determine whether concrete cutting is being performed correctly, the network camera 127 photographs the cutting surface and transmits it to the control station 300, and analyzes the photographed image to determine the quality of the cutting surface.

The graphic control interface 350 implemented in the control station 300 includes a module for analyzing an image, so that the color of the position of the concrete surface cutting apparatus 100 displayed on the working path when the image quality does not meet the standard. This may be displayed differently. Accordingly, the operator of the concrete surface cutting device 100 can determine which section is required to be recut.

In addition, the result of the cutting surface quality is displayed at the lower right of the graphic control interface 350. For example, when cutting for one section is completed, the operator of the concrete surface cutting device 100 commands the grinder 111 to rise through the remote control device 200.

Thereafter, when the diesel engine 112 is driven using the fuel and the battery 116 of the fuel tank 120, the diamond grinder 111 is rotated at a high speed through the power transmission belt 117 connected to the rotation shaft of the engine. do. At this time, the engine RPM gauge 118 is preferably maintained at about 2500 rpm. At this time, the rotating shaft of the engine 102 is connected to the generator 119b for charging the 24V battery 114 for driving through the power transmission belt 117, the generator 119b is the generator switch 119a When it is On, it works.

Meanwhile, the control station 300 is composed of a mobile industrial computer, an environment capable of receiving GPS information (serial communication method), and an Ethernet environment capable of receiving quality control information.

By displaying the planned stage path and the actual position coordinates of the surface cutting device in the control station 300, it is possible to collectively display the real-time situation such as the speed and direction of the concrete surface cutting device 100 and the distance away from the planned path. . At this time, due to the characteristics of the concrete surface cutting, the error range is set to about 2 ~ 3cm, because the error range is small, it is preferable to use the RTK GPS.

In addition, in order to prevent the uncut portion from occurring during the cutting operation, by overlapping the path about 5 cm, it is possible to prevent an incorrect cutting operation of the operator due to the error of the GPS.

On the other hand, Figure 18 is a schematic operation flow diagram of a remote control concrete surface cutting method according to an embodiment of the present invention.

Referring to Figure 18, the remote control concrete surface cutting method according to an embodiment of the present invention, the remote control concrete surface cutting method using a concrete surface cutting device 100, a remote control device 200 and the control station 300 As, first, in order to perform the concrete surface cutting operation, the remote control device 200 inputs the operation information for the section to be performed by the concrete surface cutting apparatus 100 (S110).

Next, the control station 300 generates and displays an optimal concrete cutting work path through the input work information (120).

Next, using the remote control device 200 to remotely control the concrete surface cutting device 100 (S130).

Next, the operator of the concrete surface cutting apparatus 100 monitors the graphic control interface provided in the control station 300 (S140).

Next, the operator of the concrete surface cutting apparatus 100 performs a cutting operation while observing the work information through the graphic control interface (S150).

Next, through the graphical control interface in the control station 300 to compare and manage the cutting quality according to the performance of the cutting operation (S160), and subsequently, the operator of the concrete surface cutting apparatus 100 according to the cutting quality Re-cutting can be determined.

As a result, the remote controlled concrete surface cutting system and the method according to the embodiment of the present invention can be applied to the concrete surface cutting device, some modifications and attachment types of the surface cutting device, and also concrete pavement, rapid curve and repaving work It can be applied for noise prevention on steep slopes, pavement requiring steep stops, airport runways or road surfaces.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

100: concrete surface cutting device 200: remote control device (controller)
300: control station (control center)
101: optimal path generation module 102: remote positioning module
103: quality control unit 104: collision avoidance unit
111: diamond grinder 112: diesel engine
113: dust inhaler (dust collector)
114: 24V battery power supply to drive the surface cutting device
115: rear wheel drive unit
116: 12V battery power to drive the engine
117: power transmission belt 118: engine RPM gauge
119a: generator switch 119b: generator
120: fuel tank 121: control box
122a: main driver 122b: motor driver
123: steering system 124: hydraulic cylinder
125: GPS unit 126: angle sensor
127: network camera 128: engine operation switch
210: keypad 220: display panel
230: wireless transmission module 240: control unit (joystick)
310: industrial computer 320: GPS receiver
330: photographed image receiving unit 340: serial communication unit
350: graphical control interface 351: position and direction display
352: work path generation unit 353: quality determination unit

Claims (12)

A concrete surface cutting device for performing a concrete surface cutting operation while being remotely controlled;
A remote control device for remotely controlling the concrete surface cutting device; And
A control station that provides a graphical control interface that allows the operator of the surface cutting device to remotely view job information to comprehensively monitor current cutting conditions.
Including, but the concrete surface cutting device,
An optimum path generation module for generating an optimum work path in the cutting operation;
Remote positioning module for grasping the current position of the concrete surface cutting device within a predetermined error range;
A quality control unit for grasping the quality of the concrete cutting surface such that the quality of the concrete cutting surface is displayed on the graphic control interface in real time; And
If a collision situation occurs during the cutting operation, including an anti-collision unit to notify the operator of the concrete surface cutting device,
The remote control device sets and inputs the speed and direction of the concrete surface cutting device, displays the speed, direction and grinder cutting height of the concrete surface cutting device, and transmits a work command signal to the concrete surface cutting device, Remote controlled concrete surface cutting system, characterized in that for controlling the speed and direction of the concrete surface cutting device. The method of claim 1,
The concrete surface cutting device is mounted on a traveling device consisting of a rear wheel drive (driving wheel) and a steering device (steering wheel); The concrete surface cutting device,
A grinder installed at the front lower portion of the concrete surface cutting device to cut the concrete surface;
An engine mounted on the traveling device to power the concrete surface cutting device;
A control box for wirelessly receiving a command signal of the remote control device and transmitting information generated by the concrete surface cutting device to the control station;
A hydraulic cylinder providing driving force for manipulating the grinder up and down and providing driving force for manipulating the steering apparatus from side to side;
GPS unit for determining the current position of the concrete surface cutting device; And
Network camera photographing the concrete cutting surface to measure the quality of the concrete cutting surface
Remote controlled concrete surface cutting system comprising a. The method of claim 2,
And a dry cutting dust inhaler installed above the grinder to suck in dust generated in the cutting operation. The method of claim 2,
And an angle sensor disposed around the grinder to remotely adjust the appropriate height at which the grinder is in contact with the ground. The method of claim 1,
The remote positioning module of the concrete surface cutting device is a RTK (Real-Time Kinematic) Global Position System (GPS) module, the remote control concrete surface cutting system, characterized in that to grasp the error within 2 ~ 3cm. delete The method of claim 1,
The control station is a remote control concrete surface cutting system, characterized in that the operator of the concrete surface cutting device monitors the current location of the concrete surface cutting device, the quality control data and the collision avoidance data through the optimal path and GPS. The method of claim 7, wherein the control station,
A GPS receiver wirelessly receiving GPS information corresponding to a current position of the concrete surface cutting device;
A photographing image receiving unit which receives an image photographed by a network camera of the concrete surface cutting device to measure a quality of a concrete cutting surface;
Serial communication unit for transmitting and receiving data or command with the concrete surface cutting device; And
Graphical control interface to display the position and direction of the concrete surface cutting device, to display the generated work path, and to determine the quality of the cutting work
Remote controlled concrete surface cutting system comprising a. In the remote control concrete surface cutting method using a concrete surface cutting device, a remote control device and a control station,
a) inputting, by the remote controller, operation information on a section to be performed by the remote control device to perform a concrete surface cutting operation;
b) generating and displaying an optimal concrete cutting work path through the input work information by the control station;
c) remotely controlling the concrete surface cutting device using the remote control device;
d) monitoring the graphical control interface provided in the control station by an operator of the concrete surface cutting device; And
e) the operator of the concrete surface cutting device performing a cutting operation while observing the working information through the graphical control interface,
The remote controller of step a) sets and inputs the speed and direction of the concrete surface cutting device, displays the speed, direction, and grinder cutting height of the concrete surface cutting device, and sends a command signal to the concrete surface cutting device. Remote control concrete surface cutting method, characterized in that for transmitting, controlling the speed and direction of the concrete surface cutting device. 10. The method of claim 9,
f) comparing and managing the cutting quality according to the performing of the cutting operation; And
g) the operator of the concrete surface cutting device to determine whether to re-cut according to the cutting quality
Remote-controlled concrete surface cutting method further comprising. delete 10. The method of claim 9,
The graphic control interface of step d) is implemented in software, which displays the position and direction of the concrete surface cutting device, displays the generated work path, and displays the quality of the cutting work. Remote controlled concrete surface cutting method.

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