KR20080101119A - An apparatus of haptics using excavator - Google Patents

Abstract

A remote controlling method of excavator is provided to prevent the excessive operation since an operator can feel the moment generated from each joint of excavator. A remote controlling method of excavator comprises following steps: a haptic joint rotation angle measurement(S100) step deciding about operation of the excavator each joint; a excavator joint hydraulic drive(S110) step; a fluid pressure measurement(S120) step of the hydraulic cylinder in each joint; a step(S130) for calculating the measured fluid pressure to the torque value; a step(S140) for converting the torque value of each joint to the torque value of the haptic device joint; a haptic device transmitting the torque value to the transceiver of the haptic device the torque value transmission step(S150); a motor torque control(S160) step according to each joint in the haptic device controller applying the torque value received from excavator; a force feedback information offering(S170) step by the haptic device to navigator.

Description

Remote control method of excavator and haptic device for remote control {An apparatus of haptics using excavator}

1 is a side view showing an excavator of the present invention.

Figure 2 is a flow chart showing the remote control method of the excavator of the present invention.

3 is a conceptual diagram showing a configuration installed in the excavator and the haptic device of the present invention.

Figure 4 is a perspective view of the haptic device used in the remote control of the present invention.

5 is a perspective view showing a state of operating the swing body operation of the excavator in the haptic device used in the remote control of the present invention.

Figure 6 is a perspective view showing a state of operating the boom of the excavator in the haptic device used in the remote control of the present invention.

Figure 7 is a perspective view showing a state of operating the arm and the bucket of the excavator in the haptic device used in the remote control of the present invention.

 <Brief description of symbols for the main parts of the drawings>

1: Excavator 2: Swing Body

3: track body 4: boom

5: arm 6: bucket

7: swing rotation angle 8: boom movement angle

9: arm moving angle 10: bucket moving angle

11: cylinder hydraulic measuring device of each joint 12: control unit

13: excavator hydraulic drive unit 14: transceiver

20: haptic device 21: transceiver

22: control unit 23: each joint motor

24: rotation angle measuring unit 30: the main body

31: installation groove 32: swing torque control motor

33: rotation axis 40: swing adjusting body

41: mounting groove 42: boom torque control motor

43: rotation axis 50: boom adjustment body

51: boom adjustment rod 52: arm torque control motor

53: screw rod 60: arm adjusting rod

70: bucket adjusting body 71: mounting groove

72: bucket torque control motor 73: bucket adjustment wheel

100: measuring the angle of rotation of each joint in the haptic

110: hydraulic joint operation of each joint of the excavator by the characteristic value after sending the rotation angle characteristic value to the excavator

120: Hydraulic measurement of the hydraulic cylinder at each joint

130: Calculate the measured hydraulic pressure as the torque value

140: Convert the torque value of each joint to the torque value of each joint of the haptic device

150: Torque value transmission to the haptic device

160: Motor torque control for each joint in the haptic device control unit

170: provides the power echo information by the haptic device to the operator

The present invention relates to a remote control method of a excavator and a haptic device used for remote control, and more particularly, to a haptic device which is a remote control device by measuring a moment value acting on each joint of an excavator in a remote control method of an excavator. The present invention relates to a remote control method for an excavator and a haptic device used for remote control to increase the stability of the work by making the operator feel the force acting on the excavator by transmitting.

An excavator is a construction machine used to dig or mow land, and is also commonly referred to as a fork crane.

As shown in FIG. 1, the excavator 1 has a swing body 2 mounted on the caterpillar track 3 so as to be rotatable by a swing rotation angle 7 desired by the operator, and the cockpit on the swing body 2. Is formed.

The boom 4 attached to the swing body 2 can be moved up and down by the boom moving angle 8 by the hydraulic cylinder, and the arm 5 at the end of the boom 4 is arm moving angle by the hydraulic cylinder. It is rotatably installed by (9).

At the end of the arm 5, the bucket 6 can be rotated by the bucket movement angle 10 so as to be able to work, and the bucket 6 is replaced with dragline, clamshell, drag shovel, etc. Can be used in various ways depending on the condition of the rock, excavation method and mobility.

Such excavators have often been extremely difficult for the manipulator to ride and maneuver according to the location environment.

Therefore, when work is performed under conditions such as a dangerous area and a harsh environment, an excavator that can perform normal work without the boarding of the operator has been required.

In response to these demands, a remote-controlled excavator has been introduced that can be controlled without a direct boarder. In other words, a remote control method is known by attaching a special device that has the same effect as the control of the control lever directly to the power unit separately from the control lever.

In such a remote control, the related art adjusts irrespective of the torque value of each joint generated in the excavator, which causes a problem that the excavator can be operated in an unreasonable operation.

In addition, the remote control device is inconvenient to use, which makes it difficult for the operator to operate properly.

The present invention has been made in order to solve the problems described above, so that the operator can feel the moment generated in each joint of the excavator when the remote control of the excavator, even when the remote control the remote control device so as not to operate excessively And, there is a purpose to provide a haptic device that is a remote control device that can be applied to such a remote control.

The haptic device has an object to facilitate the swing operation of the excavator, the operation of the boom, the arm, the bucket.

The present invention in the remote control method of the excavator and the haptic device, which is a remote control device of the excavator in order to achieve the object as described above, by measuring the rotation angle of each steering portion in the haptic device to determine the operation degree of each excavator joint Measuring each joint rotation angle of the haptic; Based on the measured rotation angle information of the haptic device, the characteristic value for each control of each joint of the excavator is calculated and transmitted to the excavator, and the angle of rotation transmitted by the excavator hydraulic driver by the excavator hydraulic driver hydraulically drives each joint of the excavator. Hydraulic joint driving step of the excavator by the characteristic value after transmitting the characteristic value to the excavator; A hydraulic pressure measuring step of the hydraulic cylinders in each joint measuring the moments of the respective joints by measuring the hydraulic pressure generated in the hydraulic cylinders by measuring the cylinder hydraulic pressure of each joint installed in the excavator; Calculating the measured hydraulic pressure as the torque value, which calculates the measured hydraulic pressure as the torque value; Converting a torque value of each joint that converts the torque value of each joint calculated by the control unit into a torque value for motor control of the haptic device, into a torque value of each joint of the haptic device; Transmitting a torque value from the transceiver of the excavator to a haptic device for transmitting the torque value to the transceiver of the haptic device; A motor torque control step for each joint in the haptic device control unit for controlling the current of the motor for each joint of the haptic device to apply the torque value received from the excavator by the controller of the haptic device; The remote control method and excavator of the excavator comprising the step of providing the force reflection information by the haptic device to the operator to force the operator to reflect the force of each joint received from the excavator by the operation of the motor by the electric control; The haptic device used in the remote control method of the control unit formed in the main body and the transmission and reception unit is connected, the control unit to operate each joint motor swing torque control motor, boom torque control motor, arm torque control motor, bucket torque control motor The control unit is connected to the rotation angle measuring unit and the measured value is connected to the transceiver of the excavator through the transceiver, the transceiver of the excavator is connected to the controller, the controller of the excavator hydraulic cylinder of the excavator hydraulic drive unit and each joint measurement It is characterized in that the configuration is connected to the device, the haptic device is a swing torque inside the body The motor is installed, the installation groove is formed in the upper portion of the main body, the swing adjusting body is fixed to the rotating shaft of the swing control torque control motor so as to be located in the installation groove, the installation groove is formed in the upper portion of the swing adjusting body, the swing adjusting body A boom torque control motor is installed inside one side of the boom, the boom adjusting body is fixed by the rotating shaft of the boom torque control motor, a hollow boom adjusting rod is formed perpendicular to the boom adjusting body, and an arm torque control motor is installed inside the boom adjusting rod. The rotating shaft of the arm torque control motor is composed of a screw rod formed with a thread around the thread, and a screw thread is formed in the inner diameter of the arm adjusting rod to the inner diameter so that the screw rod is engaged with the hollow arm adjusting rod. It is fixed, an installation groove is formed in the upper portion of the body of the bucket adjusting body, a bucket torque control motor is installed on one side of the body of the bucket adjusting body, the bucket adjusting wheel is installed It is fixed to the rotating shaft of the bucket torque control motor so as to be located in the groove, and the rotation angle measuring unit for measuring the rotation angle of the swing adjusting body, the boom adjusting body and the bucket adjusting wheel, and the rotation angle of the screw rod by the vertical movement of the arm adjusting rod is formed. It provides a haptic device for use in a remote control, characterized in that connected to.

Hereinafter, the configuration of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in the present specification and claims should not be interpreted as being limited to the ordinary or dictionary meanings, and the inventors may appropriately define the concept of terms in order to best explain the invention of their own. Based on the principle, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

In the present invention, the term haptic device is defined to mean a remote controller for remote control of an excavator configured to feel the weight generated in the excavator.

The present invention includes a haptic device 20 that can remotely control the excavator (1), the haptic device 20 receives the hydraulic force generated in each joint of the excavator 1 in the haptic device (20) In the adjusting part of the joint, torque is applied to the swing torque control motor 32, the boom torque control motor 42, the arm torque control motor 52, and the bucket torque control motor 72 by electric control to act on the excavator. The main components are the control method to make it feel and the haptic device to which this control method can be applied.

In the remote control method of the haptic device and the excavator remote control device of the excavator, when the operator operates the haptic device 20, by measuring the rotation angle of each steering portion to determine the operation degree of each joint of the excavator (1) Each joint rotation angle measurement of the haptic is determined to go through the step (100). To this end, the rotation angle measuring unit 24 is formed in the haptic device 20. The rotation angle measuring unit 24 may be configured to measure by using a variable resistor or by installing an encoder, but the description thereof will be omitted.

Next, a characteristic value for each control of each joint of the excavator 1 is calculated through kinematic analysis from the rotation angle information of the measured haptic device 20, and the characteristic value is transmitted to the excavator 1, and the excavator 1 The characteristic value received at the transmission and reception unit 14 of the excavator hydraulic drive unit 13 to transmit the rotation angle characteristic value to the excavator hydraulically driven each joint of the excavator 1 after each joint hydraulic drive 110 of the excavator by the characteristic value Go through.

The hydraulic body drives the swing body 2, the boom 4, the arm 5, and the bucket 6 of the excavator 1, and the hydraulic cylinder is provided at each joint of the excavator 1 for hydraulic driving. Is installed, the hydraulic measuring device 11 for measuring the hydraulic pressure acting on the hydraulic cylinder is installed in each joint part. The hydraulic pressure measuring device 11 measures the moment of each joint by the hydraulic pressure of the hydraulic cylinder generated at each joint portion of the excavator 1.

When the hydraulic pressure measurement step 120 of the hydraulic cylinder in each of these joints, the next step is to calculate the hydraulic pressure measured by the calculation circuit formed in the control unit 12 of the excavator 1 as a torque value.

After the step 130 of calculating the measured hydraulic pressure as a torque value, the torque value of each joint calculated by the control unit 12 is converted into a torque value for controlling the motor installed in each adjustment unit of the haptic device 20. do. The step 140 of converting the torque value of each joint into the torque value of each joint of the haptic device is followed by the transceiver 21 of the haptic device 20 through the transceiver 14 of the excavator 1. Send to

After transmitting the torque value 150 to the haptic device, the torque value received from the excavator 1 by controlling the current of the motor for each joint of the haptic device 20 in the control unit 22 of the haptic device 20. Apply.

After passing the motor torque control 160 for each joint in the haptic device controller, the haptic device echoes the force of each joint received from the excavator 1 by the controller by the operation of the motor by the electric control.

In the step 170 of providing force reverberation information by the haptic device to the operator, the operator can actually feel the torque value generated in each part of the excavator 1, so that the driver can adjust it so as not to apply excessive force to each part of the excavator 1. have.

In the present invention, the haptic device 20 used in the remote control method of the above-described excavator can be remotely controlled through the wireless connection or the wired connection with the excavator (1).

First, the excavator 1 is provided with a transmission and reception unit 14 connected to the control unit 12 for remote control, and analyzes the signals transmitted and received by the circuit of the control unit 12 and sends an operation signal to the excavator hydraulic drive unit (13). The excavator hydraulic drive unit 13 collectively refers to the hydraulic cylinders installed on the boom 4, the arm 5, and the bucket 6, and the bucket 6 of the excavator 1 is driven by the operation of the hydraulic drive unit 13. Go to the location.

Looking at a preferred embodiment of the haptic device 20, the control unit 22 and the transceiver unit 21 formed in the main body 30 is connected to each other, the control unit 22 is a swing torque each joint motor 23 The control motor 32, the boom torque control motor 42, the arm torque control motor 52, the bucket torque control motor 72 is connected to operate.

The controller 22 is connected to the rotation angle measuring unit 24 and the measured value is connected to the transceiver 14 of the excavator 1 through the transceiver 21, the transceiver 14 of the excavator 1 Is connected to the control unit 12.

The control unit 12 of the excavator 1 is connected to the excavator hydraulic drive unit 13 and the cylinder hydraulic pressure measuring device 11 of each joint is configured.

The haptic device 20 has a swing torque control motor 32 installed inside the body 30, which is a body located below, and an installation groove 31 is formed on the top of the body 30. The installation groove 31 is formed such that the upper and front and rear sides of the main body 30 are opened so that the swing adjuster 40 is fixed to the space.

The swing adjuster 40 is fixed by the rotation shaft 33 of the swing control torque control motor 32 in the installation groove 31. The swing adjusting body 40 is fixed by the rotating shaft 33 which traverses the installation groove 31 in the longitudinal direction. When the swing adjusting body 40 is rotated, the swing control torque control motor 32 rotates with the rotating shaft 33. Is transmitted to the swing adjuster 40.

Mounting grooves 41 are formed in the upper portion of the swing adjuster 40, the installation grooves 41 of which the front and rear sides are opened, and the boom torque control motor 42 is installed inside one side of the swing adjuster 40.

The rotary shaft 43 of the boom torque control motor 42 is fixed to cross the installation groove 41, and the boom adjuster 50 is fixed by the rotary shaft 43.

A hollow boom adjusting rod 51 is formed vertically on the upper portion of the body of the boom adjusting body 50, and the arm torque control motor 52 is installed in the hollow of the boom adjusting rod 51.

The rotating shaft of the arm torque control motor 52 is composed of a screw rod 53 with a thread formed on the circumference, and the inner diameter of the arm adjusting rod 60 is fixed to the inner diameter so that the screw rod 60 is engaged with and fixed to the hollow arm adjusting rod 60. Threads are formed in the

While the screw rod 60 and the arm adjusting rod 60 are coupled and moved, the arm adjusting rod 60 is inserted into the hollow of the boom adjusting rod 51 and moved. When the operator moves the arm adjusting rod 60 in the up and down direction, the screw rod 60 is rotated along the combined thread, and the rotational force is resisted by the torque acting on the arm torque control motor 52, and the excavator You can feel the force acting on (1).

The bucket adjusting body 70 is fixed to the upper end of the arm adjusting rod 60, the installation groove 71 is formed on the upper body of the bucket adjusting body 70, the bucket torque on one side of the body of the bucket adjusting body 70 The control motor 72 is installed.

The bucket adjustment wheel 73 is fixed to the rotation shaft of the bucket torque control motor 72 so that the bucket adjustment wheel 73 is located in the installation groove 71 of the bucket adjustment body 70, and the rotational force of the bucket adjustment wheel 73 is the bucket torque control motor ( It is resisted by the torque acting on 72) and the force can be felt. The circumference of the bucket adjustment wheel 73 is preferably formed with teeth in order to prevent slipping during operation.

Rotation angle measuring unit 24 for measuring the rotation angle of the swing adjuster 40, the boom adjuster 50, the bucket adjustment wheel 73 and the rotation angle of the screw rod 53 by the vertical movement of the arm adjusting rod 60 Are respectively formed on one side of the corresponding rotating shaft and connected to the control unit 22.

The rotation angle measuring unit 24 may form a measuring unit using a variable resistor, or may form a measuring unit using an encoder.

As described above, the present invention has an effect that the excavator can not feel excessive operation even when the operator remotely controls the moment generated in each joint of the excavator when the remote control of the excavator, the remote control device haptic device.

While the load generated by the excavator can be felt by the haptic device, the swing operation of the excavator and the boom, the arm, and the bucket can be operated conveniently.

The bucket can be operated by the bucket adjustment wheel, so the bucket operation can be made finely and conveniently, and the bucket adjustment can be performed simultaneously with the arm adjustment, boom adjustment, and swing body adjustment in one body.

Claims (3)

In the remote control method of the excavator with the haptic device which is a remote control device of the excavator, Measuring each joint rotation angle of the haptic for measuring the rotation angle of each steering portion in the haptic device 20 to determine the operation degree of each joint of the excavator 1; From the measured rotation angle information of the haptic device 20, the characteristic value for each control of each joint of the excavator 1 is calculated and transmitted to the excavator 1, and the characteristic value transmitted from the transceiver 14 of the excavator 1 The hydraulic pressure driving unit 13 of the excavator hydraulic actuator 110 to transmit the rotation angle characteristic value for hydraulically driving each joint of the excavator 1 to the excavator by the characteristic value; Measuring the hydraulic pressure generated in the hydraulic cylinder by the cylinder hydraulic measuring device 11 of each joint installed in the excavator 1 and measuring the hydraulic pressure of the hydraulic cylinder 120 at each joint to measure the moment of each joint; Calculating the measured oil pressure as the torque value by calculating the oil pressure measured by the calculation circuit of the controller 12 as the torque value (130); Converting the torque value of each joint calculated by the controller 12 into a torque value for controlling the motor of the haptic device 20 to a torque value of each joint of the haptic device; Transmitting a torque value to the haptic device for transmitting the torque value from the transceiver 14 of the excavator 1 to the transceiver 21 of the haptic device 20; The motor torque control 160 for each joint in the haptic device controller for controlling the current of the motor for each joint of the haptic device 20 to apply the torque value received from the excavator 1 in the controller 22 of the haptic device 20. ) step; And providing force echo information by the haptic device to the operator, which causes the operator to echo the force of each joint received from the excavator 1 in the haptic device by the operation of the motor by electric control (170). Remote control method. The haptic device 20 used in the remote control method of the excavator of claim 1 is connected to the control unit 22 and the transmitting and receiving unit 21 formed in the main body 30, the control unit 22 is each joint motor 23 In swing torque control motor 32, boom torque control motor 42, arm torque control motor 52, the bucket torque control motor 72 is connected to operate, the control unit 22 is a rotation angle measuring unit 24 And the measured value is connected to the transceiver 14 of the excavator 1 via the transceiver 21, the transceiver 14 of the excavator 1 is connected to the controller 12, the excavator 1 The control unit 12 of the haptic device for use in remote control, characterized in that configured to be connected to the excavator hydraulic drive unit 13 and the cylinder hydraulic pressure measuring device (11) of each joint. The haptic device 20 of claim 2, the swing torque control motor 32 is installed in the main body 30, the installation groove 31 is formed on the upper portion of the main body 30, the installation groove 31 The swing adjuster 40 is fixed to the rotating shaft 33 of the swing control torque control motor 32 so as to be located at the upper side, and an installation groove 41 is formed at the upper portion of the swing adjuster 40, and the swing adjuster 40 The boom torque control motor 42 is installed inside one side of the), the boom adjuster 50 is fixed by the rotation shaft 43 of the boom torque control motor 42, and the hollow boom is perpendicular to the boom adjuster 50. The adjusting rod 51 is formed, the arm torque control motor 52 is installed in the boom adjusting rod 51, the rotation shaft of the arm torque control motor 52 is made of a screw rod 53 formed with a threaded around the , A screw thread is formed on the inner diameter of the arm adjusting rod 60 to the inner diameter so that the screw rod 60 is engaged with the hollow arm adjusting rod 60, and the bucket adjusting body 70 is fixed to the upper end of the arm adjusting rod 60. In addition, the installation groove 71 is formed in the upper portion of the body of the bucket adjusting body 70, the bucket torque control motor 72 is installed on one side of the body of the bucket adjusting body 70, the bucket adjusting wheel 73 is It is fixed to the rotating shaft of the bucket torque control motor 72 so as to be located in the installation groove 71, the rotation angle of the swing adjusting body 40, the boom adjusting body 50 and the bucket adjusting wheel 73 and the upper and lower sides of the arm adjusting rod 60 Haptic device for use in remote control, characterized in that the rotation angle measuring unit 24 for measuring the rotation angle of the screw rod 53 by the movement is formed and connected to the control unit 22.

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