KR20090061508A - Excavator control unit using a parallel-type haptic device - Google Patents

Abstract

An excavator control device using a parallel type haptic device is provided to facilitate the operation of the excavator so that even unskilled person can operate the excavator. An excavator control device using a parallel type haptic device comprises 3 degree-of-freedom haptic mechanism for controlling the position of distal end of an arm, and 1 degree-of-freedom haptic mechanism for controlling the angle of a bucket. The 3 degree-of-freedom haptic mechanism is composed of an input part(100) for inputting the location of the distal end of the arm, a base part located beneath the input part, and a link part(300) which is interconnected the input part and the base part to enable 3 degree-of-freedom action of the input part to the base part.

Description

Excavator Control Unit Using a Parallel-type Haptic Device}

The present invention relates to an excavator control device, and more particularly to an excavator control device using a parallel haptic device.

The haptic device is a device for outputting an artificial tactile sense, and performs a function of receiving a user's movement, position, and the like, and outputting a tactile touch and / or force corresponding to an event occurring in a given virtual reality to the user. Device.

Early research on haptic devices began to develop devices for remote work or the handicapped. In other words, in order to assist the movement of a disabled person who is inconvenient in motion, the main purpose was to deliver external functions to the disabled in real time, or to develop a device for remote operation and machine operation in an extreme environment. However, it is now applied to various entertainment fields such as augmenting reality in virtual reality as well as various industrial fields such as robot manipulation requiring human intervention.

On the other hand, haptic devices can be roughly divided into series, parallel and hybrid types according to their mechanical characteristics. Serial type refers to a structure in which links are connected in series to form necessary degrees of freedom, and early haptic devices were mainly developed in this type. The tandem type is kinematically forward kinematics and easy to kinematic analysis. However, since the links are arranged in series, the durability is weak, the mechanical inertia is large, and the joint measurement errors accumulate in the position analysis.

The parallel haptic device has a structural feature in which several links are connected in parallel. As a result, the force is distributed and thus the structure is durable and stable, and error accumulation in the joint is not large. It also has the advantage of minimizing physical inertia because it is not a long interconnected structure as in series. However, the real-time control is difficult because there is no unique solution in static kinematics analysis, and there is a technical difficulty to consider a singular point, that is, a point where normal control is impossible due to a decrease in the degree of freedom of the robot.

Hybrid type is a structure that has been recently studied to compensate for the shortcomings of parallel structure, and has a structure that connects several parallel structures in order. For example, a hybrid type is a structure in which three degrees of freedom and three degrees of freedom are connected in parallel to form six degrees of freedom.

As described above, the haptic device allows the user to precisely manipulate the haptic device by reflecting the tactile feeling or force sensed by the manipulation target device. It is widely used in simulators and control equipment. In addition, this force reflection feature can be useful for construction equipment, especially for excavators that have frequent collisions and contact with objects. Excavator is complicated to operate due to the characteristics of the equipment having multiple degrees of freedom, and therefore requires the user's skill for its operation, so if the operation method can be simplified, it can bring a large improvement in work efficiency.

SUMMARY OF THE INVENTION An object of the present invention is to provide an excavator control device using a parallel haptic device that allows a simple operation method to be able to control the excavator relatively easily even without an experienced user.

In order to achieve the above object, an excavator steering apparatus using a parallel haptic device according to the present invention, the three degree of freedom parallel haptic mechanism for controlling the position of the end of the arm (arm) of the excavator; And a 1 degree of freedom haptic mechanism for controlling the angle of the bucket of the excavator.

Preferably, the three degree of freedom parallel haptic mechanism for position control of the distal end of the arm comprises: an input for inputting a position of the distal end of the arm; A base located below the input; And a link unit connected between the input unit and the base unit to enable the input unit to move in three degrees of freedom with respect to the base unit.

More preferably, the link unit comprises three link devices, each link device comprising: a first link rotatable about a first axis of rotation, one end of which is rotatably fixed to the base; And a second link having one end rotatably connected to the other end of the first link and the other end rotatably connected to the input unit.

Meanwhile, the second link may move with two degrees of freedom with respect to the first link and with two degrees of freedom with respect to the input unit. Preferably, the second link is at the one end of the first link. It is rotatable about a second axis of rotation parallel to the first axis of rotation and also about a second axis of rotation perpendicular to the first axis of rotation.

Further, it is preferable that the second link is rotatable about the third axis of rotation parallel to the second axis of rotation at the other end, while being rotatable about the third axis of rotation parallel to the second axis of rotation.

Preferably, the first rotation axis is provided with a rotation angle sensor to measure the rotation angle of the first link with respect to the base portion, the first rotation shaft is further provided with a motor, at the distal end of the arm during operation of the excavator More preferably, the first link can be driven to reflect the reaction force applied.

On the other hand, the first link of each link device is arranged on the base such that the first rotation axis of each link device to form an angle of 120 degrees to each other.

Preferably, the input unit is formed with a handle that can be held by the user.

The one degree of freedom haptic mechanism for bucket angle control is preferably a wheel type device capable of bidirectional rotation.

More preferably, the handle portion is provided with a wheel type device capable of bidirectional rotation as the one degree of freedom haptic mechanism for bucket angle control.

By using an excavator control device using a parallel haptic device according to the present invention as described above, it is possible to control the excavator in a much simpler manner than in the prior art, and thus it is not difficult to control the excavator even if the user's skill is somewhat reduced There is an effect that becomes possible.

In addition, by the excavator control device using a parallel haptic device according to the present invention, highly precise and stable operation is possible, because of the force reflection characteristics can be realistic realistic reproduction even during remote control can be achieved more accurate remote control It works.

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

Figure 1 shows the configuration of the mechanism of the haptic device according to an embodiment of the excavator control device using a parallel haptic device of the present invention, Figure 2 is an embodiment of an excavator control device using a parallel haptic device of the present invention Figure is a simplified view showing a control method of the haptic device and the controlled excavation period according to.

First, referring to FIG. 2, a haptic control method of a steering apparatus according to the present invention is briefly shown. When a user manipulates the haptic device of the present invention to move the position of the distal end 13a of the arm 10 of the excavator 10, the three-dimensional coordinates (xh, yh, zh) of the haptic device are calculated. Inverse kinematic calculations are performed and converted into three-dimensional coordinates (xb, yb, zb) of the arm distal end 10a of the excavator 10 and transmitted to the excavator 10. Then, an actuator (not shown) such as a hydraulic cylinder provided in the excavator 10 is operated to move the distal end 10a of the arm to a position corresponding to the three-dimensional coordinates (xb, yb, zb). In addition to the operation of the arm 10, the user can rotate the bucket back and forth by operating the wheeled device 120 for the bucket 15 (see FIG. 1), and it is necessary to perform these two operations in combination and successively. Excavation work can be performed.

In this way, by moving the arm 10 and the rotation of the bucket 15 can be configured to be performed separately, the excavation work to move the bucket 10 to the working position after moving the arm 10 to the working position usually This has the advantage of making loading / unloading operations more convenient. In addition, the conventional excavator control device is composed of two sticks and the operation of the two sticks must be smoothly organically blended smoothly to enable smooth operation, while the excavator control device according to the present invention is an excavator control device. By dividing the operation into two operations, the movement of the arm 10 and the rotation of the bucket 10, there is an advantage that the less experienced user can more easily manipulate the excavator 10. Furthermore, since the mapping of the movement of the haptic device and the actual excavator according to the present invention is performed by the inverse kinematic and static kinematic calculations described above, realistic manipulation is possible.

On the other hand, the reaction force transmitted to the arm 10 through the bucket 15 during the operation of the excavator can be transmitted to the haptic device of the present invention through the static kinematic calculation, the force applied to the equipment is reflected in the control device By allowing the user to feel the situation directly at the excavator working position, the user can perform more sophisticated tasks, for example, especially during remote control.

Referring to Figure 1, Figure 1 shows an excavator control device in accordance with the present invention in detail. Excavator control device of the present invention is provided with a link portion 300 consisting of three link devices (310, 330, 350) on the fixed base 200, the distal end of each link device (310, 330, 350) Are respectively connected to the input unit 100. By using the three link devices 310, 330, and 350 as described above, the operation of the haptic device input unit 100 may be performed in three degrees of freedom, and the operation of the input unit 100 may be performed in three-dimensional coordinates (xh, yh, zh). After being sensed, it is converted into the three-dimensional coordinates (xb, yb, zb) of the excavator arm distal portion 10a through inverse kinematic calculations to perform any desired task.

An arrangement angle between the link devices 310, 330, and 350 is preferably equal to 120 degrees, but is not limited thereto.

Each link device 310, 330, 350 is composed of a first link (311, 331, 351) and a second link (321, 341, 361). One end of the first link 311, 331, 351 is rotatably installed at the base portion 200, and the first rotation shaft 313, 333, 353, which is the rotation axis thereof, is the base portion 200. It is preferable that it is a horizontal axis parallel to). When the arrangement angle between the link devices 310, 330, and 350 is 120 degrees, the angle between the first rotational axes 313, 333, and 353 may also be 120 degrees. The second link 321, 341, 361 has one end 321a, 341a, 361a rotatably connected to the other end 311b, 331b, 351b of the first link 311, 331, 351, and the other end thereof ( 321b, 341b, and 361b are rotatably connected to the input unit 100, respectively.

Joint portions between the first link 311, 331, 351 and the second link 321, 341, 361, and between the second link 321, 341, 361 and the input unit 100 are respectively the first rotation shaft 313. A second axis of rotation 316 perpendicular to the first axis of rotation 313, 333, and 353 together with a second axis of rotation 315, 335, 355 and a third axis of rotation 325, 345, 365 parallel to, 333, and 353. , 336, 356, and 3rd rotation axis 326, 346, 366 together. That is, between the first link (311, 331, 351) and the second link (321, 341, 361) is provided a second axis of rotation (315, 335, 355) and the second axis of rotation (316, 336, 356), Between the second links 321, 341, 361 and the input unit 100, a third a rotation shaft 325, 345, 365 and a third b rotation shaft 326, 346, 366 are provided. As a result, the second links 321, 341, and 361 are configured to have two degrees of freedom for the first links 311, 331, and 351 and the input unit 100, respectively.

The first link 311, 331, and 351 and the second link 321, 341, and 361 configured as described above are combined with the base 200 and the input 100, respectively, as described above, so that the input 100 is the base 200. It is possible to move with three degrees of freedom for. Thus, the input unit 100 can generate three-dimensional coordinates (xh, yh, zh), and also converts it to three-dimensional coordinates (xb, yb, zb) of the arm end portion 10a through inverse kinematic calculation. It becomes possible.

It is preferable that the input unit 100 is provided with a handle 110 having a shape that is convenient to hold in the hand for the convenience of the user. By holding the handle 110, the user operates the input unit 100 in the up, down, left, and right directions, thereby easily performing the movement operation of the arm end portion 10a, which was possible only by two sticks in a conventional excavator control device. can do.

The top of the handle 110 is provided with a wheel type device 120 for the bucket 15 operation. By such a wheel-type device 120, for example, when the user pulls the wheel toward the body with the thumb, the bucket 15 is also pulled toward the vehicle body, and when pushed toward the bottom, the bucket 15 also pulls the excavator bucket ( 15) can be operated.

Meanwhile, rotation angle sensors 318 are provided on the first rotation shafts 313, 333, and 353, respectively, so that the first links 311, 331, and 351 of the link devices 310, 330, and 350 to the base 200 are provided. ) Detect the rotation angle. The rotation angle sensor 318 may be provided at one end 311a, 331a, 351a of the first link 311, 331, 351 rotatably coupled to the base 200, for example. The rotation angle information thus detected is used to calculate three-dimensional coordinates (xh, yh, zh) of the input unit 100 for use in the above-mentioned inverse kinematic calculation. Excavator control device according to the present invention is composed of a plurality of links and joints, but the constraints are provided by the base portion 200 and the input unit 100, the input unit only by the rotation angle of each first link (311, 331, 351) It should be noted that the three-dimensional coordinates (xh, yh, zh) of (100) can be detected.

The first rotary shafts 313, 333, and 353 are also provided with motors 319, respectively, and the motors are driven according to the reaction force applied to the distal end portion 10a of the arm through or without the bucket 15 during operation of the excavator. 319 is driven to apply an appropriate force to some or all of the first links 311, 331, and 351, respectively, so that a user can feel a realistic sense of reality for the user holding the handle 110 provided in the input unit 100. To be. Reproduction of the reaction force in the haptic device by the motor 319 in the workplace is accomplished by static kinematic calculation as mentioned above.

As described above, by using the haptic device of the present invention as described above, the excavator controls the arm 10 with three degrees of freedom with one stick, and simultaneously operates the bucket 15 with one degree of freedom, Unlike steering an excavator with two sticks, the arm 10 can be operated very conveniently, and the operation of the bucket 15 can also be carried out more precisely.

While the present invention has been described above with reference to the accompanying drawings, one embodiment, but various modifications, modifications, and variations will be possible without departing from the scope of the technical idea of the present invention, all such changes, modifications, and variations It is included in the scope of the present invention. Therefore, the scope of the present invention is not limited by the description of the present specification, which is defined only by the description of the claims below.

Figure 1 shows the configuration of the mechanism of the haptic device according to an embodiment of the excavator control device using a parallel haptic device of the present invention.

Figure 2 is a simplified view showing a control method of the haptic device and the controlled excavation period according to an embodiment of the excavator control device using a parallel haptic device of the present invention.

Claims (12)

A three degree of freedom parallel haptic mechanism for controlling the position of the distal end of the arm of the excavator; And Excavator control device using a parallel haptic device comprising a 1 degree of freedom haptic mechanism for controlling the angle of the bucket of the excavator. The method of claim 1, The three degree of freedom parallel haptic mechanism for position control of the distal end of the arm, An input for inputting a position of the distal end of the arm; A base located below the input; And And a link unit connected between the input unit and the base unit to enable the input unit to move in three degrees of freedom with respect to the base unit. The method of claim 2, The link unit is composed of three link devices, each link device, A first link, one end of which is rotatably fixed to the base and rotatable about a first axis of rotation which is a horizontal axis; And And a second link having one end rotatably connected to the other end of the first link and the other end rotatably connected to the input unit. The method of claim 3, And the second link has two degrees of freedom with respect to the first link, and has two degrees of freedom with respect to the input unit. The excavator control apparatus using the parallel type haptic device is movable. The method of claim 4, wherein The second link at the one end, And a second haptic device that is rotatable about a second axis of rotation parallel to the first axis of rotation of the first link and at the same time as the second axis of rotation that is perpendicular to the first axis of rotation. The method of claim 5, The second link at the other end, And a third haptic device that is rotatable about a third axis of rotation parallel to the second axis of rotation and a third axis of rotation that is parallel to the second axis of rotation. The method of claim 3, Excavator control device using a parallel haptic device, characterized in that the rotation angle sensor is provided on the first rotation axis to measure the rotation angle of the first link with respect to the base. The method of claim 7, wherein The first rotating shaft is further provided with a motor, the excavator control device using a parallel haptic device, characterized in that to drive the first link to reflect the reaction force applied to the distal end of the arm during operation of the excavator. The method of claim 3, The first link of each link device is an excavator control device using a parallel haptic device, characterized in that arranged on the base so that the first rotation axis of each link device to form an angle of 120 degrees to each other. The method according to claim 2 or 3, Excavator control device using a parallel haptic device, characterized in that the input unit is formed with a handle that can be held by the user. The method of claim 1, The 1 degree of freedom haptic mechanism for bucket angle control is an excavator control device using a parallel haptic device, characterized in that the wheel-type device capable of bidirectional rotation. The method of claim 10, Excavator control device using a parallel haptic device, characterized in that the top of the handle portion is provided with a wheel-type device capable of bidirectional rotation as the 1 degree of freedom haptic mechanism for bucket angle control.

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