CN102433909B - 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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- CN102433909B CN102433909B CN2011104028799A CN201110402879A CN102433909B CN 102433909 B CN102433909 B CN 102433909B CN 2011104028799 A CN2011104028799 A CN 2011104028799A CN 201110402879 A CN201110402879 A CN 201110402879A CN 102433909 B CN102433909 B CN 102433909B
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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, claim again excavation machinery, is to excavate higher or lower than the material that holds machine side with scraper bowl, and the haulage vehicle or unload the earth moving plant to rickyard of packing into.The material that excavator excavates is mainly soil, coal, silt and the Soil and Rock after pre-pine.From the development of engineering machinery in recent years, the development of excavator is relatively very fast, progressively becomes one of topmost engineering machinery type in engineering construction.
Due to the excavator work under bad environment, need the various pavement conditions of reply, therefore at it, design and develop in process and need to carry out various adaptive testings, in order to understand excavator may occur under actual working environment problem, and then the way that achieves a solution, with the product that guarantees listing, have good service behaviour and safety assurance.Important detection method in walking vibration test formula excavator exploitation process, existing walking vibration test is generally to carry out on the private track of the rugged and rough pavement conditions of simulation, so that the performance change 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 need in person to drive excavator and on private track, cross various obstacles, sometimes even need to simulate the bad working environments under some maximum conditions, this health to operator may cause certain infringement, also has certain security risk simultaneously.
Summary of the invention
For the problem existed in existing excavator walking vibration test, the invention provides a kind of excavator remote control system and fault-tolerance processing method and comprise the excavator of this system.
The technological means that technical solution problem of the present invention adopts is:
A kind of excavator remote control system, comprise excavator, wherein, also comprise wireless signal transmitting device, wireless signal receiver, control device and actuating unit, described wireless signal receiver is connected with described control device, described control device is connected with described actuating unit, and described actuating unit is connected with described excavator;
Described wireless signal transmitting device transmitted radio signal, the radio signal that the described wireless signal transmitting device of described wireless signal receiver acceptance sends also is sent to described control device, the described actuating unit of signal controlling that described control device transmits according to described wireless signal receiver, described actuating unit are handled described excavator walking.
Above-mentioned excavator remote control system, wherein, described actuating unit comprises the first linear actuator and the second linear actuator, and described the first linear actuator is walked guide's push rod with the left lateral of described excavator and is connected, and described the second linear actuator is walked guide's push rod with the right lateral of described excavator and is connected.
Above-mentioned excavator remote control system, wherein, described control device comprises the fast controller of height, and described height speed controller is connected with the high low speed switching solenoid valve of described excavator, and described height speed controller is controlled the high low speed switching solenoid valve of described excavator.
Above-mentioned excavator remote control system, wherein, described control device comprises pilot controller, described pilot controller and described excavator the pilot control electromagnetic valve be connected, described pilot controller is controlled the pilot control electromagnetic valve of described excavator.
Above-mentioned excavator remote control system, wherein, transmit signal by the CANOPEN agreement between described receiving system and described control device.
Above-mentioned excavator remote control system, wherein, described control device comprises the first intensity adjustment intensity adjustment device and the second intensity adjustment device, described the first intensity adjustment device is connected with the first linear actuator of described actuating unit, in order to regulate the working dynamics of described the first linear actuator, described the second intensity adjustment device is connected with the second linear actuator of described actuating unit, in order to regulate the working dynamics of described the second linear actuator.
Above-mentioned excavator remote control system; wherein; described control device comprises the first power protector and the second power protector; described the first power protector is connected with the first linear actuator of described actuating unit; in order to the driver part of protecting described first line actuator, be unlikely to overload; described the second power protector is connected with the second linear actuator of described actuating unit, is unlikely to overload in order to the driver part of protecting the second linear actuator.
Above-mentioned excavator remote control system, wherein, described control device comprises the first exporting change rate limiter, described the first exporting change rate limiter is connected with described height speed controller, in order to limit the exporting change rate of described height speed controller.
Above-mentioned excavator remote control system, wherein, described control device comprises receiving-member and fault-tolerant processing parts, described receiving-member is connected with described fault-tolerant processing parts, described fault-tolerant processing parts and described actuating unit, described pilot controller and described height speed controller connect, the signal that described receiving-member sends for receiving described dispensing device, described fault-tolerant processing parts are for judging whether described control device wrong or reception mistake occurs sending, and in described control device occur sending wrong or receive mistake after send control instruction and make described actuating unit, described pilot controller and described height speed controller are controlled described excavator and are quit work.
Above-mentioned excavator remote control system, wherein, described control device comprises the second exporting change rate limiter, described the second exporting change rate limiter is connected with described pilot controller, in order to limit the exporting change rate of described pilot controller.
A kind of fault-tolerance processing method of excavator remote control system, wherein, comprise above-mentioned excavator remote control system, described fault-tolerant processing parts comprise action timer, stroke defect counter and delay timer, described action timer is carried out the used time of predetermined action for recording described controller, described stroke defect counter is in recording when described control device is carried out corresponding actions the mistake occurred, described delay timer is timely for time delay under predetermined state, specifically comprises the steps:
Step a, described action timer start timing;
Even whether step b, the described action timer of inspection surpassed for first scheduled time, if surpassed for first scheduled time, perform step c, over first scheduled time, perform step f;
Step c, check whether described stroke defect rolling counters forward value is 0, if not for performing step d, as be 0 and perform step f;
Steps d, described stroke defect counter cumulative 1;
Step e, described pilot controller signal are clear 0, and described walking pilot signal is clear 0, finishes and exits;
Step f, described delay timer start timing;
Whether step g, wait the described 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 described moving timer of doing comprises the transmission timer and receives timer.
The fault-tolerance processing method of above-mentioned excavator remote control system, wherein, described 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, described first scheduled time is 800 milliseconds.
A kind of excavator, wherein, comprise above-mentioned excavator remote control system.
The invention has the beneficial effects as follows:
Can on existing hydraulic crawler excavator, slightly install change additional can realize, install, convenient disassembly, and to excavator without specific (special) requirements.Aspect the vibration walk test of excavator, good practicality is being arranged, avoiding the injury to human body when vehicle-mounted manual work of walking vibration test.
The accompanying drawing explanation
Fig. 1 is the system architecture schematic diagram 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
The invention will be further described below in conjunction with the drawings and specific embodiments, but not as limiting to the 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 receiver, control device and actuating unit, wireless signal receiver 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, wireless signal receiver 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 wireless signal receiver, actuating unit are handled the excavator walking.
Excavator remote control system of the present invention is usingd 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, control device receives after these 16 integer signals isolates that left lateral is walked signal and right lateral is walked signal and to isolated signal travel direction judgement, take and be less than 0 signal and be reverse signal, using and be greater than 0 signal and deduct 128 as forward signal, and process the signal after judgement and carry out linearization process according to default Processing Algorithm, the signal be disposed is converted to the running motor position, and utilize motor position bias adjustment running motor.
Wherein, actuating unit comprises the first linear actuator and the second linear actuator, and the first linear actuator is walked guide's push rod with the left lateral of excavator and is connected, and the second linear actuator is walked guide's push rod with the right lateral of described excavator and is connected.The excavator left side guide's push rod that gets ahead is handled in the instruction that the 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 the 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 fast controller of height is controlled the high low speed switching solenoid valve of excavator, controls the high low speed switching of excavator with this.
Control device also comprises pilot controller, pilot controller and excavator the pilot control electromagnetic valve be connected, pilot controller is controlled the pilot control electromagnetic valve of excavator, controls the guide of excavator with this.
Excavator remote control system of the present invention is usingd high low speed switching and the pilot control signal 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 is isolated pilot signal and high low speed switching signal and isolated signal is converted into to switching value after receiving these 16 integer signals, and the switching value signal that will obtain subsequently is converted to the paramount low speed controller of output of pulse signal and the pilot controller of variable impulse width.
Remote control system also comprises fixed support, fixed support is arranged on excavator walking pedal, and by the first linear actuator and the second linear actuator fixed support simultaneously and the first linear actuator and left lateral are walked to guide's push rod be connected locking, the second linear actuator is walked guide's push rod with right lateral and is connected locking, according to docking port, connect remote control system again and control each parts, fixed reception device and control device, subsequently the fast controller of height is connected with the high low speed switching solenoid valve of excavator, pilot controller with namely install after the pilot control electromagnetic valve of excavator is connected.Remote control system of the present invention is installed simple, without too much transformation, adapts to various excavator and installs.
Further, wherein, by the CANOPEN agreement, transmit signal between receiving system and control device.Between receiving system and control device, be connected by the CAN bus, and by the communication of CANOPEN agreement, the CANOPEN agreement be a kind of framework on the control area net（CAN） road (Control Area Network, CAN) the high-rise communications protocol on, comprising that communication agreement and the agreement of equipment are everlasting in embedded system uses, be also the Industry Control a kind of fieldbus arrived commonly used, have good autgmentability and compatibility.
Further, wherein, control device comprises the first intensity adjustment intensity adjustment device and the second intensity adjustment device, the first intensity adjustment device is connected with the first linear actuator of actuating unit, in order to the working dynamics of regulating the first linear actuator to adapt to various excavator, the second intensity adjustment device is connected with the second linear actuator of actuating unit, in order to the working dynamics of regulating described the second linear actuator to adapt to various excavator.
Further; wherein; control device comprises the first power protector and the second power protector; the first power protector is connected with the first linear actuator of actuating unit; in order to the driver part of protecting first line actuator, be unlikely to overload; the second power protector is connected with the second linear actuator of described actuating unit, is unlikely to overload in order to the driver part of protecting the second linear actuator.By the first power protector and the second power protector, the first linear actuator and the second linear actuator working life are extended.
Further, wherein, control device comprises the first exporting change rate limiter, and the first exporting change rate limiter is connected with the fast controller of height, in order to the exporting change rate of the fast controller of restriction height, to adapt to various excavator.
Further, wherein, control device comprises the second exporting change rate limiter, and the second exporting change rate limiter is connected with pilot controller, in order to limit the exporting change rate of pilot 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, the fault-tolerant processing parts are connected with actuating unit, pilot controller and the fast controller of height, the signal that receiving-member sends for transmission and reception apparatus, the fault-tolerant processing parts are for judging whether control device occurs sending wrong or receive mistake, and in control device occur sending wrong or receive mistake after send control instruction and make actuating unit, pilot controller and the fast controller of height control excavator to quit work.Transmission is set, receives fault-tolerant protection, guaranteed the promptness of system responses, avoided excavator to occur in remote control process out of control, ensure 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 the action timer, stroke defect counter and delay timer, the action timer is carried out the used time of predetermined action for recording controller, the stroke defect counter occurs when recording control apparatus is carried out corresponding actions mistake, delay timer is timely for time delay under predetermined state, wherein, the moving timer of doing comprises the transmission timer and receives timer, the stroke defect counter comprises transmission error counter and count of receive error device.
Specifically comprise the steps:
Step a, action timer start timing.
Whether step b, the timing of inspection action timer surpassed for first scheduled time, performed step c if surpassed for first scheduled time, over first scheduled time, performed step f; Wherein a scheduled time can be set to 800 milliseconds.
Step c, check whether stroke defect rolling counters forward value is 0, if not for performing step d, as be 0 and perform step f.
Steps d, stroke defect counter cumulative 1.
Step e, pilot controller signal are clear 0, and the walking pilot signal is clear 0, finishes and exits; Now excavator will stop the walking action.
Step f, delay timer start timing.
Whether step g, wait the timing of poll delay timer arrived for second scheduled time; Wherein second scheduled time can arrange as required.
Step h, stroke defect counter clear 0.
Above method can effectively stop excavator work when control device occurs that transmission or reception mistake are 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 foregoing is only preferred embodiment of the present invention, not thereby limit 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 be included in protection scope of the present invention.
Claims (12)
1. excavator remote control system, comprise excavator, it is characterized in that, also comprise wireless signal transmitting device, wireless signal receiver, control device and actuating unit, described wireless signal receiver is connected with described control device, described control device is connected with described actuating unit, described actuating unit is connected with described excavator, described control device comprises the fast controller of height, described height speed controller is connected with the high low speed switching solenoid valve of described excavator, described height speed controller is controlled the high low speed switching solenoid valve of described excavator, described control device comprises pilot controller, described pilot controller and described excavator the pilot control electromagnetic valve be connected, described pilot controller is controlled the pilot control electromagnetic valve of described excavator,
Described wireless signal transmitting device transmitted radio signal, the radio signal that the described wireless signal transmitting device of described wireless signal receiver acceptance sends also is sent to described control device, the described actuating unit of signal controlling that described control device transmits according to described wireless signal receiver, described actuating unit are handled described excavator walking;
Described control device comprises receiving-member and fault-tolerant processing parts, described receiving-member is connected with described fault-tolerant processing parts, described fault-tolerant processing parts and described actuating unit, described pilot controller and described height speed controller connect, the signal that described receiving-member sends for receiving described wireless signal transmitting device, described fault-tolerant processing parts are for judging whether described control device wrong or reception mistake occurs sending, and in described control device occur sending wrong or receive mistake after send control instruction and make described actuating unit, described pilot controller and described height speed controller are controlled described excavator and are quit work.
2. excavator remote control system as claimed in claim 1, it is characterized in that, described actuating unit comprises the first linear actuator and the second linear actuator, described the first linear actuator is walked guide's push rod with the left lateral of described excavator and is connected, and described the second linear actuator is walked guide's push rod with the right lateral of described excavator and is connected.
3. excavator remote control system as claimed in claim 1, is characterized in that, by the CANOPEN agreement, transmits signal between described wireless signal receiver and described control device.
4. excavator remote control system as claimed in claim 2, it is characterized in that, described control device comprises the first intensity adjustment device and the second intensity adjustment device, described the first intensity adjustment device is connected with the first linear actuator of described actuating unit, in order to regulate the working dynamics of described the first linear actuator, described the second intensity adjustment device is connected with the second linear actuator of described actuating unit, in order to regulate the working dynamics of described the second linear actuator.
5. excavator remote control system as claimed in claim 2; it is characterized in that; described control device comprises the first power protector and the second power protector; described the first power protector is connected with the first linear actuator of described actuating unit; in order to the driver part of protecting described the first linear actuator, be unlikely to overload; described the second power protector is connected with the second linear actuator of described actuating unit, is unlikely to overload in order to the driver part of protecting the second linear actuator.
6. excavator remote control system as claimed in claim 1, it is characterized in that, described control device comprises the first exporting change rate limiter, and described the first exporting change rate limiter is connected with described height speed controller, in order to limit the exporting change rate of described height speed controller.
7. excavator remote control system as claimed in claim 1, it is characterized in that, described control device comprises the second exporting change rate limiter, and described the second exporting change rate limiter is connected with described pilot controller, in order to limit the exporting change rate of described pilot controller.
8. the fault-tolerance processing method of an excavator remote control system, it is characterized in that, comprise excavator remote control system as claimed in claim 7, described fault-tolerant processing parts comprise action timer, stroke defect counter and delay timer, described action timer is carried out the used time of predetermined action for recording described control device, described stroke defect counter is for recording when described control device is carried out corresponding actions the mistake occurred, described delay timer is timely for time delay under predetermined state, specifically comprises the steps:
Step a, described action timer start timing;
Whether step b, the timing of the described action timer of inspection surpassed for first scheduled time, performed step c if surpassed for first scheduled time, over first scheduled time, performed step f;
Step c, check whether described stroke defect rolling counters forward value is 0, if not for performing step d, as be 0 and perform step f;
Steps d, described stroke defect counter cumulative 1;
Step e, described pilot controller signal are clear 0, and the walking pilot signal is clear 0, finishes and exits;
Step f, described delay timer start timing;
Whether step g, wait the described delay timer timing of poll arrived for second scheduled time;
Step h, stroke defect counter clear 0.
9. the fault-tolerance processing method of excavator remote control system as claimed in claim 8, is characterized in that, described action timer comprises and sends timer and receive timer.
10. the fault-tolerance processing method of excavator remote control system as claimed in claim 8, is characterized in that, described stroke defect counter comprises and sends error counter and count of receive error device.
11. the fault-tolerance processing method of excavator remote control system, is characterized in that as claimed in claim 8, described first scheduled time is 800 milliseconds.
12. an excavator, is characterized in that, comprises as arbitrary described excavator remote control system in claim 1-7.
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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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| 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 CN102433909A (en) | 2012-05-02 |
| CN102433909B true 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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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103243772A (en) * | 2013-05-08 | 2013-08-14 | 三一重机有限公司 | Engineering machine and operating control system thereof |
| CN104677582B (en) * | 2015-02-11 | 2017-10-03 | 青岛雷沃工程机械有限公司 | A kind of walking method for testing vibration of 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 |
| CN113983226B (en) * | 2021-10-26 | 2023-08-22 | 三一重机有限公司 | Excavator walking control method and device and excavator |
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| CN1262716A (en) * | 1998-03-18 | 2000-08-09 | 日立建机株式会社 | Automatically operated shovel and stone crushing system comprising same |
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| CN101280569A (en) * | 2008-05-23 | 2008-10-08 | 同济大学 | Walking telescopic arm type remote control digging machine |
| CN201687031U (en) * | 2010-03-26 | 2010-12-29 | 上海海希工业通讯设备有限公司 | Wireless remote-control crawler-type digging machine |
| US20110282519A1 (en) * | 2009-01-20 | 2011-11-17 | Husqvarna Ab | Control system for a remote control work machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH11117353A (en) * | 1997-10-14 | 1999-04-27 | Hitachi Constr Mach Co Ltd | Automatic operation construction machinery |
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| CN1262716A (en) * | 1998-03-18 | 2000-08-09 | 日立建机株式会社 | Automatically operated shovel and stone crushing system comprising same |
| US6112139A (en) * | 1998-10-29 | 2000-08-29 | Case Corporation | Apparatus and method for wireless remote control of an operation of a work vehicle |
| CN101280569A (en) * | 2008-05-23 | 2008-10-08 | 同济大学 | Walking telescopic arm type remote control digging machine |
| US20110282519A1 (en) * | 2009-01-20 | 2011-11-17 | Husqvarna Ab | Control system for a remote control work machine |
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