CN105544642A - Remote control system and method for small excavator - Google Patents
Remote control system and method for small excavator Download PDFInfo
- Publication number
- CN105544642A CN105544642A CN201511001950.7A CN201511001950A CN105544642A CN 105544642 A CN105544642 A CN 105544642A CN 201511001950 A CN201511001950 A CN 201511001950A CN 105544642 A CN105544642 A CN 105544642A
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- Prior art keywords
- intelligent controller
- action
- proportional valve
- excavator
- digiplex
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a remote control system and method for a small excavator. The remote control system comprises a wireless remote controller, an intelligent controller, a switch, a sensor, an electric control proportional valve and an electric control pump control and action execution mechanism, wherein the intelligent controller is arranged on an electric control excavator; the switch and the sensor are respectively connected with a switching quantity input interface and an analog quantity input interface; the electric control proportional valve and the electric control pump control and action execution mechanism are sequentially connected with a switching quantity output interface. A control method for realizing composite actions is provided, learning and automatic playback functions can be achieved, the defect that the traditional small excavator system can only realize single action is overcome, the continuity, consistency and comfort level for operation are improved when the excavator does the composite actions, and the intelligence level of the excavator is improved.
Description
Technical field
The present invention relates to a kind of tele-control system and method, be particularly useful for mini-excavator.
Background technology
Along with the development of engineering machinery intelligent technology, Remote control technology etc. are successively applied in engineering machinery, significantly improve the operating habit of user, improve operating efficiency.In some bad working environments, when operator is inconvenient to enter execute-in-place, utilize wireless remote control, a lot of convenience can be brought to operator.
For mini-excavator, send instruction by remote controller, after controller receives instruction, Logic judgment and calculating, export hydraulic control executing agency by control ratio electromagnetic valve, complete various operational motion.At present, this implementation has the following disadvantages and needs improvements: 1, intelligent level not enough, can not realize the study of digging machine and automatic playback function.
2, conventional excavators adopts hydraulic control main pump, swing arm is preferential, the technology that scraper bowl interflow, dipper interflow etc. affect operation comfort is all realized by hydraulic technique itself, and when adopting electric control pump to control, the preferential grade with interflow of action is all realized by controller, when controller receives the composite move instruction of remote controller transmission, the assignment of traffic problem that hydraulic control pump is considered must be considered.But current telecontrol engineering just rests on simple action and realizes, and the comfortableness of operation is not considered, therefore continuity of operation, uniformity and comfortableness are poor.
Therefore, the higher mini-excavator tele-control system of intelligent level and method is urgently developed.
Summary of the invention
For above-mentioned existing technical problem, the invention provides a kind of mini-excavator tele-control system and method, to improve intelligent level, improve the comfortableness of operation.
For achieving the above object, the invention provides a kind of mini-excavator tele-control system, comprise Digiplex and be arranged on the intelligent controller on automatically controlled excavator; Described Digiplex comprises emitter and receiving system; Described intelligent controller comprises main control chip, the switch value input interface be attached thereto respectively, analog input interface, output switch parameter interface, data memory module and field-bus interface, and field-bus interface and Digiplex pass through wireless connections; Also comprise the switch and sensor that are connected with switch value input interface, analog input interface respectively, and the electronically controlled proportional valve be connected successively with output switch parameter interface, electric control pump control and action actuating mechanism.
Further, described Digiplex adopts two-ways cpu, during first CPU work, second CPU carries out monitoring to first CPU, if first CPU produces instruction by mistake, second CPU is by the work order of cut-out first, to ensure the automatic closing function realizing remote control system under any abnormal operating state, any rub-out signal is avoided to produce false command, the generation of minimizing accident to receiver or communication interface.
The present invention provides again a kind of control method of above-mentioned mini-excavator tele-control system, comprises following several situation.
(1) control method of composite move:
(1-1) when intelligent controller receive simultaneously Digiplex send two or more action commands time, intelligent controller according to self-defining action priority level, the action of first rear drive corresponding electromagnetic proportional valve control action executing agency; Then, the fuel injection pressure signal that intelligent controller inputs according to sensor, calculates the flow needed for each electronically controlled proportional valve driven, and the flow proportional in real time between each electronically controlled proportional valve of adjustment.
(2) control method of learning functionality:
(2-1) study preparation: when intelligent controller receives the learn command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, the output of the electromagnetic proportional valve driving next action corresponding successively, until everything all reaches initial position, then intelligent controller stops exporting, and drives horn blast one second.
(2-2) learning process: operator performs the standard operation of automatically controlled excavator operation, comprises scraper bowl and excavates/unloading, dipper adduction, outer pendulum, swing arm promotes, decline, left revolution, right-hand rotation, and left lateral is walked, right lateral is walked, straight line moving, swing arm left avertence, right avertence, and composite move; Everything collection, in learning process, is stored in memory by intelligent controller.
(2-3) study terminates: when intelligent controller receives the study halt instruction of Digiplex transmission, then learn to terminate, the everything gathered in learning process is stored in memory by intelligent controller;
(3) control method of playback function:
(3-1) playback prepares: when intelligent controller receives the play-back command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, drive successively next action electromagnetic proportional valve output, until everything all reaches initial position, then intelligent controller stop export.
(3-2) replayed section: intelligent controller, according to the signal input of the data stored in learning process, drives electronically controlled proportional valve control action executing agency, by the everything of study successively playback out.
(3-3) playback terminates: when intelligent controller receives the playback halt instruction of Digiplex transmission, or intelligent controller completes all playback actions, then playback terminates, and intelligent controller drives and stops exporting.
Instant invention overcomes the deficiency that can only realize single action of conventional small excavator system, when making excavator carry out composite move, the continuity operated, uniformity and comfortableness are improved, and possess study and automatic playback function, improve the level of intelligence of excavator, meet the many-sided instructions for use of operator.
Accompanying drawing explanation
Fig. 1 is electric theory diagram of the present invention;
Fig. 2 is the electric theory diagram of intelligent controller of the present invention;
Fig. 3 is the flow chart that learning functionality of the present invention realizes;
Fig. 4 is the flow chart of playback function implementation of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As depicted in figs. 1 and 2, mini-excavator tele-control system of the present invention comprises Digiplex, and this Digiplex adopts two-ways cpu, comprises emitter and receiving system; Comprise the intelligent controller be arranged on automatically controlled excavator, this intelligent controller comprises main control chip, the switch value input interface be attached thereto respectively, analog input interface, output switch parameter interface, data memory module and field-bus interface, and field-bus interface and Digiplex pass through wireless connections; Also comprise the switch and sensor that are connected with switch value input interface, analog input interface respectively, and the electronically controlled proportional valve be connected successively with output switch parameter interface, electric control pump control and action actuating mechanism.
This mini-excavator tele-control system, when implementing, has following function.
(1) continuity of composite move and the specific implementation of comfortableness:
(1-1) when Digiplex has two or more signals to trigger simultaneously, intelligent controller receives two or more action commands that Digiplex sends simultaneously, and according to self-defining action priority level, the corresponding electromagnetic proportional valve of first rear drive controls executing agency's action.Then, the fuel injection pressure signal that intelligent controller inputs according to sensor, calculates the flow needed for each electronically controlled proportional valve driven, and the flow proportional in real time between each electronically controlled proportional valve of adjustment.
For 1.5 tons of mini-excavators for example, intelligent controller on the one hand receives by field-bus interface the operator input signal that Digiplex is sent to, on the other hand by On-off signal port and analog input port processing switching value and sensor input signal.When Digiplex trigger simultaneously swing arm promote+turn round composite move time, according to self-defining action priority level, first swing arm single movement, intelligent controller drives swing arm proportioning valve to perform swing arm enhancing action.Then, when swing arm rises to certain altitude, intelligent controller drives revolution proportioning valve to perform revolution action simultaneously.Intelligent controller distributes to revolution proportioning valve by 80% of total flow, 20% distributes to swing arm proportioning valve, and the distribution condition of this flow proportional, the fuel injection pressure signal size of the sensor input of two actions that can collect according to intelligent controller carrys out real-time change, realizes the comfortableness of the continuous of composite move and operation with this.
(2) remote controller switch is got to " study " position by digging machine operator, and intelligent controller receives learn command, first performs study preparation work; After preparation completes, operator carries out standard operation operation, and intelligent controller gathers action input signal; After completing etc. learning process, the data collected are stored in memory by intelligent controller.The specific implementation of learning functionality, as shown in Figure 3.
(2-1) study preparation: when intelligent controller receives the learn command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, the output of the electromagnetic proportional valve driving next action corresponding successively, until everything all reaches initial position, then intelligent controller stops exporting, and driving horn blast one second, the work of prompting operator study preparation completes.
(2-2) learning process: operator performs the standard operation of automatically controlled excavator operation, comprises scraper bowl and excavates/unloading, dipper adduction, outer pendulum, swing arm promotes, decline, left revolution, right-hand rotation, and left lateral is walked, right lateral is walked, straight line moving, swing arm left avertence, right avertence, and composite move; Everything collection, in learning process, is stored in memory by intelligent controller.
(2-3) study terminates: when intelligent controller receives the study halt instruction of Digiplex transmission, then learn to terminate, the everything gathered in learning process is stored in memory by intelligent controller;
(3) remote controller switch is got to " playback " position by operator, intelligent controller receives play-back command, first playback preparation is performed, after completing etc. preparation, controller reading memory data is as input, provide output signal, drive the action of electromagnetic proportional valve control action executing agency.The specific implementation of playback function, as shown in Figure 4.
(3-1) playback prepares: when intelligent controller receives the play-back command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, drive successively next action electromagnetic proportional valve output, until everything all reaches initial position, then intelligent controller stops exporting, and playback preparation completes.
(3-2) replayed section: intelligent controller, according to the signal input of the data stored in learning process, drives electronically controlled proportional valve control action executing agency, by the everything of study successively playback out.
(3-3) playback terminates: when intelligent controller receives the playback halt instruction of Digiplex transmission, or intelligent controller completes all playback actions, then playback terminates, and intelligent controller drives and stops exporting.
Enforcement example above with reference to the specific embodiment of the present invention describes the present invention; but be not limitation of the present invention; the equivalent variations that those skilled in the art does according to spirit of the present invention and modification; all belong to the protection domain of the claims in the present invention, the present invention obviously can make various changes in above disclosed concrete scope.The present invention, except small type hydraulic excavator, is also generally suitable for the Long-distance Control of other engineering machinery or electromechanical equipment.
Claims (3)
1. a mini-excavator tele-control system, is characterized in that, comprises Digiplex and is arranged on the intelligent controller on automatically controlled excavator; Described Digiplex comprises emitter and receiving system; Described intelligent controller comprises main control chip, the switch value input interface be attached thereto respectively, analog input interface, output switch parameter interface, data memory module and field-bus interface, and field-bus interface and Digiplex pass through wireless connections; Also comprise the switch and sensor that are connected with switch value input interface, analog input interface respectively, and the electronically controlled proportional valve be connected successively with output switch parameter interface, electric control pump control and action actuating mechanism.
2. a kind of mini-excavator long-range control method according to claim 1, is characterized in that, described Digiplex adopts two-ways cpu.
3. a control method for a kind of mini-excavator tele-control system as claimed in claim 1, is characterized in that, comprises following several situation:
(1) control method of composite move:
(1-1) when intelligent controller receive simultaneously Digiplex send two or more action commands time, intelligent controller according to self-defining action priority level, the action of first rear drive corresponding electromagnetic proportional valve control action executing agency; Meanwhile, the fuel injection pressure signal that intelligent controller inputs according to sensor, calculates the flow needed for each electronically controlled proportional valve driven, and the flow proportional in real time between each electronically controlled proportional valve of adjustment;
(2) control method of learning functionality:
(2-1) study preparation: when intelligent controller receives the learn command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, the output of the electromagnetic proportional valve driving next action corresponding successively, until everything all reaches initial position, then intelligent controller stops exporting, and drives horn blast;
(2-2) learning process: operator performs the standard operation of automatically controlled excavator operation, comprises scraper bowl and excavates/unloading, dipper adduction, outer pendulum, swing arm promotes, decline, left revolution, right-hand rotation, and left lateral is walked, right lateral is walked, straight line moving, swing arm left avertence, right avertence, and composite move;
(2-3) study terminates: when intelligent controller receives the study halt instruction of Digiplex transmission, then learn to terminate, the everything gathered in learning process is stored in memory by intelligent controller;
(3) control method of playback function:
(3-1) playback prepares: when intelligent controller receives the play-back command of Digiplex transmission, intelligent controller is exported by port and drives electronically controlled proportional valve control action executing agency that automatically controlled excavator is adjusted to initial position, adjustment action comprises successively: car load is just returning, swing arm is promoted to maximum position, receive maximum position in dipper adduction, scraper bowl, and judges whether this action completes by the fuel injection pressure signal size that sensor collects; After an action completes, the output of the electromagnetic proportional valve that intelligent controller stops this action corresponding, drive successively next action electromagnetic proportional valve output, until everything all reaches initial position, then intelligent controller stop export;
(3-2) replayed section: intelligent controller, according to the signal input of the data stored in learning process, drives electronically controlled proportional valve control action executing agency, by the everything of study successively playback out;
(3-3) playback terminates: when intelligent controller receives the playback halt instruction of Digiplex transmission, or intelligent controller completes all playback actions, then playback terminates, and intelligent controller drives and stops exporting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511001950.7A CN105544642A (en) | 2015-12-29 | 2015-12-29 | Remote control system and method for small excavator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201511001950.7A CN105544642A (en) | 2015-12-29 | 2015-12-29 | Remote control system and method for small excavator |
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| CN105544642A true CN105544642A (en) | 2016-05-04 |
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| CN201511001950.7A Pending CN105544642A (en) | 2015-12-29 | 2015-12-29 | Remote control system and method for small excavator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109235530A (en) * | 2018-11-08 | 2019-01-18 | 北京拓疆者智能科技有限公司 | Hydraulic system and excavator for excavator |
| CN110244602A (en) * | 2019-05-27 | 2019-09-17 | 中国飞机强度研究所 | A kind of portable pressurized strut open/close control device |
| WO2022211751A1 (en) * | 2021-04-02 | 2022-10-06 | Hi̇droman Hi̇droli̇k San. Ve Ti̇c. Ltd. Şti̇ | Mini loader |
| CN117166572A (en) * | 2023-09-12 | 2023-12-05 | 武昌理工学院 | Remote intelligent control method for unmanned excavator |
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| CN117166572A (en) * | 2023-09-12 | 2023-12-05 | 武昌理工学院 | Remote intelligent control method for unmanned excavator |
| CN117166572B (en) * | 2023-09-12 | 2024-03-15 | 武昌理工学院 | Remote intelligent control method for unmanned excavator |
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Application publication date: 20160504 |