CN102433909A - Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system - Google Patents
Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system Download PDFInfo
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- CN102433909A CN102433909A CN2011104028799A CN201110402879A CN102433909A CN 102433909 A CN102433909 A CN 102433909A CN 2011104028799 A CN2011104028799 A CN 2011104028799A CN 201110402879 A CN201110402879 A CN 201110402879A CN 102433909 A CN102433909 A CN 102433909A
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Abstract
The invention discloses an excavator remote control system which comprises an excavator, a wireless signal launcher, a wireless signal receiver, a control device and an execution device, wherein the wireless signal receiver is connected with the control device, the control device is connected with the execution device, and the execution device is connected with the excavator; and the wireless signal launcher launches a wireless signal, the control device controls the execution device according to a signal transferred by the wireless signal receiver, and the execution device controls the excavator to walk. The excavator remote control system has the advantages that the excavator remote control system can be realized with slightly addition and alteration on the traditional hydraulic excavator, is convenient to install and disassemble without special requirements to the excavator and has strong practicability on the aspect of a vibration and walking test of the excavator, thereby hurts of the a vibration and walking test to a human body during vehicle manual operation are avoided.
Description
Technical field
The present invention relates to a kind of excavator control system, especially a kind of excavator remote control system and fault-tolerance processing method and comprise the excavator of this system.
Background technology
Excavator is claimed excavation machinery again, is to excavate with scraper bowl to be higher or lower than the material that holds machine side, and the haulage vehicle or unload the earth moving plant to rickyard of packing into.The material that excavator excavates mainly is soil and the rock behind soil, coal, silt and the preparatory pine of process.From the development of engineering machinery in recent years, the development of excavator is very fast relatively, progressively becomes one of topmost engineering machinery type in the engineering construction.
Because excavator work under bad environment; Need the various pavement conditions of reply; Therefore design and develop in the process at it and need carry out various adaptive testings; So that understand the problem that excavator possibly occur under actual working environment, and then the way that achieves a solution, good working performance and safety assurance had with the product that guarantees listing.Important detection method in the walking vibration test formula excavator development process; Existing walking vibration test generally is on the private track of the rugged and rough pavement conditions of simulation, to carry out, so that the performance variation situation of each component of detection excavator and the duty of complete machine.And the vibration test of digging machine walking at present is all by vehicle-mounted manual work; Operator please be driven excavator in person and on private track, cross various obstacles; Sometimes even need the bad working environments under some maximum conditions of simulation; This health to operator possibly cause certain infringement, also has certain security risk simultaneously.
Summary of the invention
To the problem that exists in the existing excavator walking vibration test, the present invention provides a kind of excavator remote control system and fault-tolerance processing method and comprises the excavator of this system.
The technological means that technical solution problem of the present invention is adopted is:
A kind of excavator remote control system; Comprise excavator; Wherein, also comprise wireless signal transmitting device, wireless signal receiving system, control device and actuating unit, said wireless signal receiving system is connected with said control device; Said control device is connected with said actuating unit, and said actuating unit is connected with said excavator;
Said wireless signal transmitting device transmitted radio signal; Said wireless signal receiving system is accepted the radio signal that said wireless signal transmitting device sends and is sent to said control device; The said actuating unit of signal controlling that said control device transmits according to said wireless signal receiving system, said actuating unit are handled said excavator walking.
Above-mentioned excavator remote control system; Wherein, Said actuating unit comprises first linear actuator and second linear actuator, and said first linear actuator is walked guide's push rod with the left lateral of said excavator and is connected, and said second linear actuator is walked guide's push rod with the right lateral of said excavator and is connected.
Above-mentioned excavator remote control system, wherein, said control device comprises the fast controller of height, and said height speed controller is connected with the high low speed switching solenoid valve of said excavator, and said height speed controller is controlled the high low speed switching solenoid valve of said excavator.
Above-mentioned excavator remote control system, wherein, said control device comprises guide's controller, said guide's controller and said excavator guide's control electromagnetic valve be connected, said guide's controller is controlled guide's control electromagnetic valve of said excavator.
Above-mentioned excavator remote control system wherein, transmits signal through the CANOPEN agreement between said receiving system and the said control device.
Above-mentioned excavator remote control system; Wherein, Said control device comprises first intensity adjusting intensity adjuster and the second intensity adjuster, and the said first intensity adjuster is connected with first linear actuator of said actuating unit, in order to regulate the working dynamics of said first linear actuator; The said second intensity adjuster is connected with second linear actuator of said actuating unit, in order to regulate the working dynamics of said second linear actuator.
Above-mentioned excavator remote control system; Wherein, Said control device comprises the first power protector and the second power protector, and the said first power protector is connected with first linear actuator of said actuating unit, is unlikely to overload in order to the driver part of protecting said first line actuator; The said second power protector is connected with second linear actuator of said actuating unit, is unlikely to overload in order to the driver part of protecting second linear actuator.
Above-mentioned excavator remote control system, wherein, said control device comprises the first output rate of change limit device, the said first output rate of change limit device is connected with said height speed controller, in order to limit the output rate of change of said height speed controller.
Above-mentioned excavator remote control system; Wherein, Said control device comprises receiving-member and fault-tolerant processing parts; Said receiving-member is connected with said fault-tolerant processing parts; Said fault-tolerant processing parts are connected with said actuating unit, said guide's controller and said height speed controller; Said receiving-member is used to receive the signal that said dispensing device sends, and said fault-tolerant processing parts are used to judge whether said control device occurs sending wrong or receive mistake, and after said control device occurs sending wrong or receives mistake, sends control instruction and make said actuating unit, said guide's controller and said height speed controller control said excavator to quit work.
Above-mentioned excavator remote control system, wherein, said control device comprises the second output rate of change limit device, the said second output rate of change limit device is connected with said guide's controller, in order to limit the output rate of change of said guide's controller.
A kind of fault-tolerance processing method of excavator remote control system; Wherein, comprise above-mentioned excavator remote control system, said fault-tolerant processing parts comprise action timer, stroke defect counter and delay timer; Said action timer is used to write down the time spent that said controller is carried out predetermined action; The mistake that said stroke defect counter occurs when the said control device of record is carried out corresponding actions, said delay timer is used for delaying time in time under the predetermined state, specifically comprises the steps:
Step a, said action timer pick up counting;
Even whether step b, the said action timer of inspection surpassed for first scheduled time,, surpass first scheduled time execution in step f then as surpassing first scheduled time execution in step c then;
Whether step c, the said stroke defect rolling counters forward value of inspection are 0, as not being execution in step d then, as are 0 execution in step f;
Steps d, said stroke defect counter add up 1;
Step e, said guide's controller signals are clear 0, and said walking pilot signal is clear 0, finish and withdraw from;
Step f, said delay timer pick up counting;
Whether step g, wait and the said delay timer timing of poll arrived for second scheduled time;
Step h, stroke defect counter clear 0.
The fault-tolerance processing method of above-mentioned excavator remote control system, wherein, the said moving timer of doing comprises the transmission timer and receives timer.
The fault-tolerance processing method of above-mentioned excavator remote control system, wherein, said stroke defect counter comprises transmission error counter and count of receive error device.
The fault-tolerance processing method of above-mentioned excavator remote control system, wherein, said first scheduled time is 800 milliseconds.
A kind of excavator wherein, comprises above-mentioned excavator remote control system.
The invention has the beneficial effects as follows:
Can on existing hydraulic crawler excavator, install change slightly additional can realize, installs, convenient disassembly, and excavator is not had specific (special) requirements.Aspect the vibration walk test of excavator good practicability is being arranged, avoiding the injury to human body when vehicle-mounted manual work of walking vibration test.
Description of drawings
Fig. 1 is the system architecture sketch map of excavator remote control system of the present invention;
Fig. 2 is the flow chart of the System Fault Tolerance method of excavator remote control system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is described further, but not as qualification of the present invention.
As shown in Figure 1; Excavator remote control system of the present invention comprises excavator; Wherein, also comprise wireless signal transmitting device, wireless signal receiving system, control device and actuating unit, the wireless signal receiving system is connected with control device; Control device is connected with actuating unit, and actuating unit is connected with excavator;
The wireless signal transmitting device transmitted radio signal; The wireless signal receiving system is accepted the radio signal that wireless signal transmitting device sends and is sent to control device; The signal controlling actuating unit that control device transmits according to the wireless signal receiving system, actuating unit are handled the excavator walking.
Excavator remote control system of the present invention is with the walking control signal of one 16 shaping numbers as excavator; Wherein most-significant byte is that right lateral is walked signal; Least-significant byte is that left lateral is walked signal, and control device receives to be isolated left lateral behind these 16 integer signals and walk signal and right lateral and walk signal and isolated signal travel direction is judged, is reverse signal with the signal less than 0; Signal with greater than 0 deducts 128 as forward signal; And handle the signal after judgement and carry out linearization process according to preset Processing Algorithm, convert the signal that disposes into the running motor position, and utilize motor position bias adjustment running motor.
Wherein, actuating unit comprises first linear actuator and second linear actuator, and first linear actuator is walked guide's push rod with the left lateral of excavator and is connected, and second linear actuator is walked guide's push rod with the right lateral of said excavator and is connected.The excavator left side guide's push rod that gets ahead is handled in the instruction that first linear actuator sends according to control device, and the excavator right side guide's push rod that gets ahead is handled in the instruction that second linear actuator sends according to control device, controls the excavator walking with this.
Control device also comprises the fast controller of height, and the fast controller of height is connected with the high low speed switching solenoid valve of excavator, and the high low speed switching solenoid valve of the fast controller control of height excavator switches with this high low speed of controlling excavator.
Control device also comprises guide's controller, guide's controller and excavator guide's control electromagnetic valve be connected, guide's control electromagnetic valve of guide's controller control excavator is controlled the guide of excavator with this.
Excavator remote control system of the present invention is switched and guide's control signal with the high low speed of one 16 shaping numbers as excavator; Wherein most-significant byte is for arriving first control signal; Least-significant byte is high low speed switching signal; Control device receives to be isolated pilot signal and high low speed switching signal behind these 16 integer signals and isolated signal is converted into switching value, and the pulse signal that converts the switching value signal that obtains into variable impulse width subsequently exports the fast controller of height and guide's controller to.
Remote control system also comprises fixed support; Fixed support is installed on the excavator walking pedal; And with on first linear actuator and the second linear actuator fixed support simultaneously and first linear actuator and left lateral are walked guide's push rod be connected locking; Second linear actuator is walked guide's push rod with right lateral and is connected locking, connects remote control system control each parts, fixedly receiving system and control device according to docking port again; Subsequently the fast controller of height is connected with the high low speed switching solenoid valve of excavator, guide's controller with promptly install after guide's control electromagnetic valve of excavator is connected.Remote control system of the present invention is installed simple, need not too much transformation, adapts to various excavator and installs.
Further, wherein, transmit signal through the CANOPEN agreement between receiving system and the control device.Be connected through the CAN bus between receiving system and the control device; And through the communication of CANOPEN agreement; The CANOPEN agreement is that (Control Area Network, the high-rise communications protocol on CAN) comprise that agreement of communication and the agreement of equipment are everlasting to use in the embedded system a kind of framework on the control area net road; Also be the Industry Control a kind of fieldbus that arrives commonly used, have good autgmentability and compatibility.
Further; Wherein, Control device comprises that first intensity regulates the intensity adjuster and the second intensity adjuster, and the first intensity adjuster is connected with first linear actuator of actuating unit, in order to the working dynamics of regulating first linear actuator to adapt to various excavator; The second intensity adjuster is connected with second linear actuator of actuating unit, in order to the working dynamics of regulating said second linear actuator to adapt to various excavator.
Further; Wherein, Control device comprises the first power protector and the second power protector, and the first power protector is connected with first linear actuator of actuating unit, is unlikely to overload in order to the driver part of protecting first line actuator; The second power protector is connected with second linear actuator of said actuating unit, is unlikely to overload in order to the driver part of protecting second linear actuator.Can make first linear actuator and the second linear actuator working life be able to prolong through the first power protector and the second power protector.
Further, wherein, control device comprises the first output rate of change limit device, and the first output rate of change limit device is connected with the fast controller of height, in order to the output rate of change of the fast controller of restriction height, to adapt to various excavator.
Further, wherein, control device comprises the second output rate of change limit device, and the second output rate of change limit device is connected with guide's controller, in order to the output rate of change of restriction guide controller, to adapt to various excavator.
Further; Wherein, Control device comprises receiving-member and fault-tolerant processing parts; Receiving-member is connected with the fault-tolerant processing parts, and the fault-tolerant processing parts are connected with actuating unit, guide's controller and the fast controller of height, and receiving-member is used for the signal that transmission and reception apparatus sends; The fault-tolerant processing parts are used to judge whether control device occurs sending wrong or receive mistake, and after control device occurs sending wrong or receives mistake, send control instruction the fast controller control of actuating unit, guide's controller and height excavator is quit work.Transmission is set, receives fault-tolerant protection, guaranteed the promptness of system responses, it is out of control to have avoided excavator in remote control process, to occur, and ensures the safety of testing process.
As shown in Figure 2, the present invention also comprises a kind of fault-tolerance processing method of excavator remote control system, wherein; Comprise above-mentioned excavator remote control system; The fault-tolerant processing parts comprise action timer, stroke defect counter and delay timer, and the action timer is used for the time spent that recording controller is carried out predetermined action, the mistake that the stroke defect counter occurs when recording control apparatus is carried out corresponding actions; Delay timer is used for delaying time under the predetermined state in time; Wherein, the moving timer of doing comprises the transmission timer and receives timer that the stroke defect counter comprises transmission error counter and count of receive error device.
Specifically comprise the steps:
Step a, action timer pick up counting.
Whether step b, the timing of inspection action timer surpassed for first scheduled time, as surpassing first scheduled time execution in step c then, surpassed first scheduled time execution in step f then; Wherein a scheduled time can be set to 800 milliseconds.
Whether step c, inspection stroke defect rolling counters forward value are 0, as not being execution in step d then, as are 0 execution in step f.
Steps d, stroke defect counter add up 1.
Step e, guide's controller signals are clear 0, and the walking pilot signal is clear 0, finish and withdraw from; Excavator will stop the walking action this moment.
Step f, delay timer pick up counting.
Whether step g, wait and the timing of poll delay timer arrived for second scheduled time; Wherein second scheduled time can be provided with as required.
Step h, stroke defect counter clear 0.
Above method can effectively stop excavator work when control device occur to send or to receive mistake be out of control, ensure the safety of testing process.
The present invention also comprises a kind of excavator, wherein, comprises above-mentioned excavator remote control system.
The above is merely preferred embodiment of the present invention, is not so limits claim of the present invention, so the equivalent structure that all utilizations manual of the present invention and diagramatic content have been done changes, all is included in protection scope of the present invention.
Claims (15)
1. excavator remote control system; Comprise excavator; It is characterized in that also comprise wireless signal transmitting device, wireless signal receiving system, control device and actuating unit, said wireless signal receiving system is connected with said control device; Said control device is connected with said actuating unit, and said actuating unit is connected with said excavator;
Said wireless signal transmitting device transmitted radio signal; Said wireless signal receiving system is accepted the radio signal that said wireless signal transmitting device sends and is sent to said control device; The said actuating unit of signal controlling that said control device transmits according to said wireless signal receiving system, said actuating unit are handled said excavator walking.
2. excavator remote control system according to claim 1; It is characterized in that; Said actuating unit comprises first linear actuator and second linear actuator; Said first linear actuator is walked guide's push rod with the left lateral of said excavator and is connected, and said second linear actuator is walked guide's push rod with the right lateral of said excavator and is connected.
3. excavator remote control system according to claim 1; It is characterized in that; Said control device comprises the fast controller of height, and said height speed controller is connected with the high low speed switching solenoid valve of said excavator, and said height speed controller is controlled the high low speed switching solenoid valve of said excavator.
4. excavator remote control system according to claim 1; It is characterized in that; Said control device comprises guide's controller, said guide's controller and said excavator guide's control electromagnetic valve be connected, said guide's controller is controlled guide's control electromagnetic valve of said excavator.
5. excavator remote control system according to claim 1 is characterized in that, transmits signal through the CANOPEN agreement between said receiving system and the said control device.
6. like the said excavator remote control system of claim 2; It is characterized in that; Said control device comprises first intensity adjusting intensity adjuster and the second intensity adjuster, and the said first intensity adjuster is connected with first linear actuator of said actuating unit, in order to regulate the working dynamics of said first linear actuator; The said second intensity adjuster is connected with second linear actuator of said actuating unit, in order to regulate the working dynamics of said second linear actuator.
7. like the said excavator remote control system of claim 2; It is characterized in that; Said control device comprises the first power protector and the second power protector, and the said first power protector is connected with first linear actuator of said actuating unit, is unlikely to overload in order to the driver part of protecting said first line actuator; The said second power protector is connected with second linear actuator of said actuating unit, is unlikely to overload in order to the driver part of protecting second linear actuator.
8. like the said excavator remote control system of claim 3; It is characterized in that; Said control device comprises the first output rate of change limit device, and the said first output rate of change limit device is connected with said height speed controller, in order to limit the output rate of change of said height speed controller.
9. like the said excavator remote control system of claim 4; It is characterized in that; Said control device comprises receiving-member and fault-tolerant processing parts; Said receiving-member is connected with said fault-tolerant processing parts; Said fault-tolerant processing parts are connected with said actuating unit, said guide's controller and said height speed controller; Said receiving-member is used to receive the signal that said dispensing device sends, and said fault-tolerant processing parts are used to judge whether said control device occurs sending wrong or receive mistake, and after said control device occurs sending wrong or receives mistake, sends control instruction and make said actuating unit, said guide's controller and said height speed controller control said excavator to quit work.
10. like the said excavator remote control system of claim 4; It is characterized in that; Said control device comprises the second output rate of change limit device, and the said second output rate of change limit device is connected with said guide's controller, in order to limit the output rate of change of said guide's controller.
11. the fault-tolerance processing method of an excavator remote control system; It is characterized in that; Comprise like the said excavator remote control system of claim 9; Said fault-tolerant processing parts comprise action timer, stroke defect counter and delay timer, and said action timer is used to write down the time spent that said controller is carried out predetermined action, the mistake that said stroke defect counter occurs when the said control device of record is carried out corresponding actions; Said delay timer is used for delaying time in time under the predetermined state, specifically comprises the steps:
Step a, said action timer pick up counting;
Even whether step b, the said action timer of inspection surpassed for first scheduled time,, surpass first scheduled time execution in step f then as surpassing first scheduled time execution in step c then;
Whether step c, the said stroke defect rolling counters forward value of inspection are 0, as not being execution in step d then, as are 0 execution in step f;
Steps d, said stroke defect counter add up 1;
Step e, said guide's controller signals are clear 0, and said walking pilot signal is clear 0, finish and withdraw from;
Step f, said delay timer pick up counting;
Whether step g, wait and the said delay timer timing of poll arrived for second scheduled time;
Step h, stroke defect counter clear 0.
12. the fault-tolerance processing method like the said excavator remote control system of claim 11 is characterized in that, the said moving timer of doing comprises the transmission timer and receives timer.
13. the fault-tolerance processing method like the said excavator remote control system of claim 11 is characterized in that, said stroke defect counter comprises transmission error counter and count of receive error device.
14. the fault-tolerance processing method like the said excavator remote control system of claim 11 is characterized in that, said first scheduled time is 800 milliseconds.
15. an excavator is characterized in that, comprises like arbitrary described excavator remote control system among the claim 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011104028799A CN102433909B (en) | 2011-12-07 | 2011-12-07 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011104028799A CN102433909B (en) | 2011-12-07 | 2011-12-07 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
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| CN102433909A true CN102433909A (en) | 2012-05-02 |
| CN102433909B CN102433909B (en) | 2013-11-27 |
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| CN2011104028799A Expired - Fee Related CN102433909B (en) | 2011-12-07 | 2011-12-07 | Excvavtor remote control system, fault-tolerant processing method and excvavtor comprising system |
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| CN103243772A (en) * | 2013-05-08 | 2013-08-14 | 三一重机有限公司 | Engineering machine and operating control system thereof |
| CN104677582A (en) * | 2015-02-11 | 2015-06-03 | 青岛雷沃挖掘机有限公司 | Walking vibration test method for excavator |
| CN109709873A (en) * | 2019-01-21 | 2019-05-03 | 大连交通大学 | A kind of bucket wheel excavator data remote detecting unit |
| CN112832319A (en) * | 2020-12-31 | 2021-05-25 | 徐州徐工挖掘机械有限公司 | Excavator remote control system based on vibration runway test |
| CN113983226A (en) * | 2021-10-26 | 2022-01-28 | 三一重机有限公司 | Excavator walking control method and device and excavator |
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| CN102433909B (en) | 2013-11-27 |
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