CN110543133A - safe and reliable remote control system and method for crawler walking - Google Patents
safe and reliable remote control system and method for crawler walking Download PDFInfo
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- CN110543133A CN110543133A CN201910691252.6A CN201910691252A CN110543133A CN 110543133 A CN110543133 A CN 110543133A CN 201910691252 A CN201910691252 A CN 201910691252A CN 110543133 A CN110543133 A CN 110543133A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1108—Relay module
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Abstract
the invention discloses a safe and reliable remote control system and method for crawler walking. The invention relates to a safe and reliable remote control system for crawler traveling, which comprises: the device comprises a signal acquisition module, a signal processing module, an execution module and a control system. The invention has the beneficial effects that: the remote control system adopts signal input based on the remote controller, signal processing based on the electric control system and terminal execution based on the pneumatic system, so that the remote control system has a simple structure, is integrated and modularized and is convenient to be additionally arranged on various crawler traveling chassis.
Description
Technical Field
the invention relates to the field of traditional control, in particular to a safe and reliable remote control system and method for crawler walking.
Background
the crawler traveling chassis has the outstanding advantages of wide road condition adaptability, strong climbing capability, strong obstacle and cross-country capability and the like, and is widely applied to the action parts of agricultural machinery, engineering machinery, forest fire control and military vehicles. However, the steering operation of most crawler traveling chassis still adopts mechanical operation, needs the operation personnel to drive personally, and the operation is loaded down with trivial details, under some adverse circumstances, can't guarantee personal safety.
The traditional technology has the following technical problems:
at present, most of control systems and methods for crawler traveling chassis have the defects of complex mechanisms and high cost, and lack of mechanisms for ensuring the reliability of the control systems, and more importantly, lack of effective control methods for emergency situations such as signal loss and remote emergency stop.
Disclosure of Invention
The invention aims to provide a safe and reliable remote control system and method for crawler running.
in order to solve the above technical problem, the present invention provides a safe and reliable remote control system for crawler traveling, comprising: the device comprises a signal acquisition module, a signal processing module, an execution module and a control system;
The signal acquisition module mainly comprises a remote controller transmitting end, a remote controller receiving end, an air pressure controller, a voltage controller, a temperature controller, a position sensor and the like. An operator holds the transmitting end of the remote controller by hand and sends an operating instruction through key operation, the receiving end of the remote controller receives the operating instruction, and the air pressure controller, the voltage controller, the temperature controller and the position sensor are respectively used for detecting the air pressure of an air path, the voltage of a battery, the temperature in the control box and a position signal of a piston rod of the air cylinder relative to an air cylinder body;
The signal processing module is composed on the basis of an electric control system and comprises a battery, a core controller, a double-control electromagnetic valve, a relay and the like, wherein an operation signal provided by a remote controller and air pressure, voltage, temperature and position signals detected by a sensor are input into the core controller, and then signals are output to the corresponding electromagnetic valve, the relay and the like through a control algorithm; the battery provides power for the whole control system;
the execution module is composed based on a pneumatic system and comprises an air pump, an air storage tank, a double-control electromagnetic valve, an air cylinder, a pull wire, a position sensor and the like, wherein the on-off and the direction of an air path are controlled through the double-control electromagnetic valve, an air cylinder rod is controlled to move in a telescopic mode, and the air cylinder rod is connected with the pull wire to generate a pulling action; the double-control electromagnetic valve has the function of power-off maintenance, and can maintain the connection or disconnection state of the air path in the power-off state;
the remote control system comprises a temperature control system, a voltage control system, an air pressure control system and a crawler travel control system.
In one embodiment, the temperature control system mainly comprises a core controller, a temperature controller, a radiator and the like, wherein the temperature controller inputs signals to the core controller, and the core controller outputs signals to control the start and stop of the radiator, so that the control box is in a certain temperature range.
in one embodiment, the voltage control system mainly comprises a core controller, a battery, a voltage controller, an audible and visual alarm and the like, wherein the voltage controller inputs signals to the core controller, and the controller outputs signals to control the audible and visual alarm to flash and sound so as to remind an operator of paying attention and timely charge a power supply, thereby ensuring that the power supply voltage is within a normal use range.
in one embodiment, the air pressure control system mainly comprises a core controller, an air pump, an air storage tank, an air pressure controller, a relay, an overflow valve and the like, wherein the air pressure controller inputs signals to the core controller, and the controller outputs signals to control the air pump to start and stop, so that the air circuit is in a certain air pressure range.
In one of them embodiment, crawler-belt walking control system mainly includes the remote controller, a battery, the core control ware, the air pump, the gas holder, two accuse solenoid valves, the cylinder, act as go-between, position sensor etc. operating personnel sends remote controller operating instruction, input core control ware, core control ware output signal control gas circuit break-make and direction, thereby control cylinder pole concertina movement, cylinder pole tip links to each other and acts as go-between, the other end of acting as go-between is connected to the member that the upper band spring of crawler drive mechanism resets, act as go-between through the action of pulling and the action of spring resetting of acting as go-between, crawler-belt and the breaking away: when the left and right tracks are simultaneously connected with power, the tracks walk linearly, otherwise, the tracks stop walking. When the left crawler belt is separated from the power and the right crawler belt is connected with the power, the crawler belt turns left, otherwise, the crawler belt turns right.
a safe and reliable remote control method for crawler traveling comprises the following steps: the remote control method comprises a temperature control method, a voltage control method, an air pressure control method and a crawler travel control method; the temperature control method comprises the steps that firstly, an upper temperature limit T1 and a lower temperature limit T2 are set, when the temperature controller detects that the temperature is larger than T1, signals are generated and input into a core controller, and the core controller outputs signals to control the radiator to be opened; when the temperature drops to T2, the temperature controller generates a signal and inputs it to the core controller, which outputs a signal to control the heat sink to turn off.
the voltage control method comprises the steps that firstly, a lower voltage limit U1 and an upper voltage limit U2 are set, when the voltage controller detects that the voltage is smaller than U1, a signal is generated and input into the core controller, and the core controller outputs a signal to control the audible and visual alarm to flash and sound to remind an operator to charge the power supply; when the voltage is greater than U2, the voltage controller generates a signal and inputs the signal into the core controller, and the core controller outputs a signal to control the audible and visual alarm to be turned off.
the air pressure control method comprises the steps that firstly, the lower air pressure limit P1 and the upper air pressure limit P2 are set, when the air pressure controller detects that the air pressure is smaller than P1, signals are generated and input into the core controller, the core controller outputs signals to control the relay to suck, and the air pump works; when the air pressure rises to P2, the air pressure controller generates a signal and inputs the signal into the core controller, the core controller outputs the signal to control the relay to be disconnected, and the air pump stops working.
in one embodiment, the crawler travel control method comprises an emergency control method.
in one embodiment, the emergency condition mainly comprises three conditions of signal loss, remote emergency stop and stop restart.
in one embodiment, the control method comprises the following steps:
when the remote control system works, the transmitting end of the remote controller continuously transmits the connection signal, the remote control receiving end continuously receives the connection signal, and when the remote control receiving end fails to receive the connection signal within a certain time (such as 0.5s), the signal loss is determined. When the signal is lost, the track immediately stops walking, and safe operation is ensured.
the remote control operation enables an operator to be spaced from the crawler belt by a certain distance, and when an emergency occurs, the operator needs to perform remote emergency stop, so that an emergency stop button is installed at a remote control transmitting end, and the safety operation is ensured. In order to ensure that the emergency stop button is not affected by signal loss, the emergency stop button is used for cutting off the remote controller connection signal, so that remote emergency stop is reliably realized.
Under any condition, after the crawler stops walking and before the crawler is started again to walk, the remote controller needs to be connected again, misoperation is prevented, and safe operation is ensured.
In one embodiment, the crawler travel control method comprises the following steps:
1) the system self-checking detects each control device of the system and the connection between each control device;
2) starting the emergency stop to ensure that the connection signal between the transmitting end and the receiving end of the remote controller can be connected;
3) Starting a connection signal between a transmitting end and a receiving end of the remote controller;
4) The transmitting end of the remote controller transmits an instruction through key operation, and the receiving end of the remote controller receives the instruction;
5) the remote controller receives an instruction and inputs the instruction into the core controller, and the controller outputs the instruction to control the electromagnetic valve to work;
6) The electromagnetic valve works to control the action of the cylinder;
7) The cylinder controls the movement of the crawler belt;
8) After the position sensor on the cylinder detects that the cylinder acts in place, the core controller controls the electromagnetic valve to be closed, and the electromagnetic valve has a power-off maintaining function, so that the cylinder maintains a state, and the crawler belt maintains the state.
9) And 4, completing the whole process of one-time remote control key operation by the steps 4-8.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods when executing the program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of any of the methods.
A processor for running a program, wherein the program when running performs any of the methods.
The invention has the beneficial effects that:
The remote control system adopts signal input based on the remote controller, signal processing based on the electric control system and terminal execution based on the pneumatic system, so that the remote control system has a simple structure, is integrated and modularized and is convenient to be additionally arranged on various crawler traveling chassis;
the invention adopts the double-control electromagnetic valve and the position sensor to control the cylinder to move in a stretching way, the moving position of the cylinder is reliable, the double-control electromagnetic valve is controlled to be powered off by detecting the feedback of the cylinder, the service life of the electromagnetic valve is prolonged, and the energy consumption is reduced;
the invention realizes the control of the temperature of the control box, the voltage of the battery and the air pressure of the air path through the temperature control system, the voltage control system and the air pressure control system respectively, thereby improving the working reliability of the system;
The invention adopts continuous transmitting and receiving connection signals to ensure that the transmitting end of the remote controller keeps signal connection with the receiving end, and when the connection signal is failed to be received, the system judges that the signal is lost, and automatically controls the machine to stop working; meanwhile, an emergency stop button is arranged at the transmitting end of the remote controller and used for cutting off the transmission of the connection signal, so that the button reliably realizes the remote emergency stop function. The control method effectively solves the hazards of emergency conditions such as signal loss, remote emergency stop and the like.
Drawings
Fig. 1 is a schematic structural diagram of a remote control system according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a pneumatic actuator according to an embodiment of the present invention.
FIG. 3 is a flow chart of the temperature control of the control box according to the embodiment of the present invention.
FIG. 4 is a flowchart illustrating the control of the power supply voltage according to the embodiment of the present invention.
Fig. 5 is a flowchart illustrating a control process for adjusting the air pressure of the air path according to an embodiment of the present invention.
Fig. 6 is a flow chart of the crawler walking remote control according to the embodiment of the present invention.
FIG. 7 is a flowchart of the steps of the crawler travel remote control operation according to the embodiment of the present invention.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
As shown in fig. 1, the present embodiment provides a safe and reliable remote control system for crawler traveling, which uses a PLC as a core controller, and includes a dual-control electromagnetic valve, a relay, an audible and visual alarm, an indicator light, a radiator, and peripheral devices and devices, such as an air cylinder and an air pump, controlled by the PLC. Also included are various controllers to which signals are provided: the device comprises an air pressure controller, a voltage controller, a temperature controller, a position sensor and an emergency stop button. In addition, the remote control system also comprises a remote control transmitting end and a remote control receiving end, and the battery provides a control power supply for the remote control system. The PLC is used as a core controller of the system, receives various signals and processes the signals according to a certain control algorithm to control peripheral equipment and devices.
as shown in fig. 2, in the pneumatic actuator, a bridge type gear box 08 is connected with left and right track driving wheels through left and right output shafts 081, 082, an engine is connected with an input shaft 083 of the gear box 08 through belt transmission, the tensioning and the release of the belt transmission are controlled through a walking tensioning mechanism 04, and a cylinder 01 is respectively connected with the walking tensioning mechanism 04 and a brake mechanism 05 through pull wires. The tensioning mechanism 04 and the brake mechanism 05 are interlocked in such a way that the tensioning mechanism 04 connects the belt drive when tensioned and the brake mechanism 05 disengages the brake when tensioned. The tensioning mechanism 04 and the braking mechanism 05 are respectively provided with a return spring.
Left and right shifting forks 06 and 07 are correspondingly installed on output shafts 081 and 082 of the gearbox 08, the shifting forks 06 and 07 can rotate for a certain angle and are provided with return springs, and the left and right shifting forks 06 and 07 are respectively used for controlling the power of the left and right output shafts 081 and 082 of the gearbox 08 to be separated from and connected with each other. The cylinder 02 is connected with the left shifting fork 06, and the cylinder 03 is connected with the right shifting fork 07.
The cylinders 01, 02 and 03 are respectively connected with the air storage tank through respective electromagnetic valves, the PLC controls the on-off of the electromagnetic valves so as to control the stretching of the cylinders 01, 02 and 03, when the cylinder 01 retracts, a pull wire connected with the cylinder 01 pulls the tensioning mechanism 04 to tension so as to enable the belt to be in transmission connection, and meanwhile, the brake mechanism 05 is pulled to tension so as to enable the brake to be disengaged, so that the crawler belt is controlled to travel; when the cylinder 01 extends out, the stay wire connected with the cylinder 01 is loosened, the tensioning mechanism 04 and the brake mechanism 05 are in a loosening state under the action of the return spring, the tensioning mechanism 04 is loosened to separate belt transmission, and the brake mechanism is loosened to connect the brake, so that the crawler belt is controlled to stop. When the cylinder 02 retracts, a connection wire connected with the cylinder 02 pulls the left shifting fork 06 to separate a left output shaft 081 of the gearbox 08, so that the left crawler belt stops and the right crawler belt walks, and the left steering of the crawler belt is controlled; when the cylinder 02 extends out, a pull wire connected with the cylinder 02 is loosened, the left shifting fork 06 returns under the action of the return spring, so that the left output shaft 081 of the gearbox 08 is connected again, and the crawler belt is controlled to walk linearly. Similarly, cylinder 03 telescoping motion controls track right turn.
The electromagnetic valves are double-control electromagnetic valves, and position sensors (1.1, 1.2, 2.1, 2.2, 3.1 and 3.2) are further installed at the two ends of the air cylinder. When one end of the double-control electromagnetic valve is connected to enable the cylinder 01 to extend out, the position sensor 1.1 sends a signal to the PLC after detecting the extending position of the cylinder 01, the PLC controls the double-control electromagnetic valve to be powered off after processing, and the double-control electromagnetic valve has a power-off state maintaining function, so that the loss of electric energy is saved under the condition that the cylinder 01 is ensured to extend out in place; on the contrary, when the other end of the double-control electromagnetic valve is connected to enable the air cylinder 01 to retract, the position sensor 1.2 sends a signal to the PLC after detecting the retracting position of the air cylinder 01, and the PLC controls the double-control electromagnetic valve to be powered off and kept after processing. The position control method of the cylinders 02, 03 is as described above.
As shown in fig. 3, a control flow for adjusting the temperature of the control box is shown, the temperature control system mainly comprises a PLC, a temperature controller and a radiator, the temperature controller detects the ambient temperature of the system and processes and transmits a signal to the PLC, the PLC executes according to the flow chart of fig. 3, the PLC receives a temperature controller signal T0 and compares the temperature controller signal with a set upper limit value T1 and a set lower limit value T2, and if the temperature controller signal is higher than the upper limit value T1, the radiator is driven to work, and the ambient temperature of the control box is reduced; if the temperature is lower than the lower limit value T2, the radiator is stopped being driven, so that the automatic starting and stopping of the radiator are realized, and good environmental conditions are created for the normal operation of system electronic elements.
as shown in fig. 4, a power supply voltage control process is shown, wherein a voltage control system mainly comprises a PLC, a battery, a voltage controller and an audible and visual alarm, the voltage controller detects the voltage of the battery of the system and processes and transmits the signal to the PLC, the PLC executes according to the flowchart of fig. 4, the PLC receives a voltage controller signal U0 and compares the signal with a set upper voltage limit value U2 and a set lower voltage limit value U1, and if the signal is lower than the lower voltage limit value U1, the audible and visual alarm is driven to alarm, and a crawler stops walking to remind a user of charging; when the voltage is higher than the upper limit value U2 after charging, the audible and visual alarm is turned off, and the user can operate normally; therefore, the real-time monitoring of the battery voltage is realized, and the sustainable use of the power supply is ensured.
as shown in fig. 5, the air pressure control flow of the air path is shown, the air pressure control system mainly comprises a PLC, an air pressure controller, a relay, an air pump and an air storage tank, the air controller detects the air pressure of the air path and processes the signal and transmits the signal to the PLC, the PLC executes the flow chart shown in fig. 5, the PLC receives a signal P0 of the air pressure controller and compares the signal with a set upper limit value P2 and a set lower limit value P1 of the air pressure, and if the signal is lower than the lower limit value P1, the relay is actuated, and the air pump starts; if the pressure is higher than the upper limit value P2, the relay is disconnected, the air pump stops working, so that the automatic start and stop of the air pump are realized, and the stable pressure of the air path is ensured. In addition, an overflow valve is further installed in the gas path and connected with the gas storage tank, and when the pressure of the gas path exceeds a set maximum value, excess gas can be discharged from the overflow valve, so that the safety of the gas path is ensured.
As shown in fig. 6, after the remote control system is started, the crawler travel control process includes the following steps:
Step S110, whether each device of the self-checking control system is abnormal or not and whether each device is connected with an abnormal device or not are judged, and step S120 is executed after the abnormality is judged to be not generated;
step S120, the emergency stop comprises an emergency stop button on a control crawler electric control box, the emergency stop on an unlocking control box ensures that a power supply is switched on, the emergency stop on an unlocking remote controller transmitting end ensures that a connecting signal between the remote controller transmitting end and a receiving end can be connected, and step S130 is executed after the unlocking is confirmed;
Step S130, detecting whether the power supply is under-voltage, stopping the crawler belt to run if the power supply is under-voltage in the crawler belt running process, ensuring the operation safety, and executing step S150 after confirming that the electric quantity is sufficient;
step S150, detecting whether the connection signal between the transmitting end and the receiving end of the remote controller is connected, and executing step S160 after the connection is confirmed;
Step S160, transmitting an instruction through key operation of a transmitting end of the remote controller, and receiving the instruction by a receiving end of the remote controller;
step S170, the electromagnetic valve is a double-control electromagnetic valve in the gas path execution system, one end of the electromagnetic valve is connected with the gas storage tank through a gas pipe, the other end of the electromagnetic valve is connected with the cylinder through a gas pipe, and the operation of the electromagnetic valve means that the electromagnetic suction controls the gas inlet direction of the cylinder;
Step S180, the cylinder action refers to the telescopic motion of a cylinder;
step S190, the crawler movement refers to crawler walking, stopping, left turning and right turning;
Step S200, detecting whether the cylinder moves in place through a position sensor, and executing step S190 after confirming that the cylinder moves in place;
and step S210, the electromagnetic valve is closed, namely the electromagnetic attraction coil of the electromagnetic valve is powered off, and the electromagnetic valve keeps the air inlet direction of the control cylinder unchanged, namely the state of the cylinder is unchanged and the walking state of the crawler belt is unchanged.
The whole process of the remote control key operation is completed in steps S170 to S210.
The remote controller transmitting end is provided with an emergency stop knob, a start switch and a start key, the LED lamp is used for remote emergency stop operation, the start switch is used for turning on and turning off a power supply of the remote controller transmitting end, the start key is used for turning on a connecting signal between the remote controller transmitting end and the receiving end, the LED lamp is used for displaying the power state of the remote controller transmitting end, a green lamp is displayed when the power supply is sufficient, and a red lamp is displayed when the power supply is insufficient. The remote control transmitter is also provided with a walking button, a stopping button, a left turning button and a right turning button which are respectively used for controlling the walking, stopping, left turning and right turning of the remote control crawler.
As shown in fig. 7, the flow of the crawler belt walking remote control operation steps of the embodiment: when the system needs to be started, the engine is started firstly, then the power switch and the emergency stop button on the control box are turned on, the start switch and the emergency stop button on the transmitting end of the remote controller are turned on, the start key on the transmitting end of the remote controller is turned on, and then the transmitting instruction is operated through the keys on the transmitting end of the remote controller, so that the moving state of the crawler can be controlled. When the system needs to be shut down, the crawler is operated to stop through the keys at the transmitting end of the remote controller, then a start switch and an emergency stop button at the transmitting end of the remote controller are shut down, a power switch and an emergency stop button on the control box are shut down, and finally the engine is shut down.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A safe and reliable remote control system for crawler traveling is characterized by comprising: the device comprises a signal acquisition module, a signal processing module, an execution module and a control system;
the signal acquisition module mainly comprises a remote controller transmitting end, a remote controller receiving end, an air pressure controller, a voltage controller, a temperature controller, a position sensor and the like. An operator holds the transmitting end of the remote controller by hand and sends an operating instruction through key operation, the receiving end of the remote controller receives the operating instruction, and the air pressure controller, the voltage controller, the temperature controller and the position sensor are respectively used for detecting the air pressure of an air path, the voltage of a battery, the temperature in the control box and a position signal of a piston rod of the air cylinder relative to an air cylinder body;
The signal processing module is composed on the basis of an electric control system and comprises a battery, a core controller, a double-control electromagnetic valve, a relay and the like, wherein an operation signal provided by a remote controller and air pressure, voltage, temperature and position signals detected by a sensor are input into the core controller, and then signals are output to the corresponding electromagnetic valve, the relay and the like through a control algorithm; the battery provides power for the whole control system;
The execution module is composed based on a pneumatic system and comprises an air pump, an air storage tank, a double-control electromagnetic valve, an air cylinder, a pull wire, a position sensor and the like, wherein the on-off and the direction of an air path are controlled through the double-control electromagnetic valve, an air cylinder rod is controlled to move in a telescopic mode, and the air cylinder rod is connected with the pull wire to generate a pulling action; the double-control electromagnetic valve has the function of power-off maintenance, and can maintain the connection or disconnection state of the air path in the power-off state;
The remote control system comprises a temperature control system, a voltage control system, an air pressure control system and a crawler travel control system.
2. A safe and reliable remote control system for crawler belt walking as recited in claim 1 wherein the temperature control system mainly comprises a core controller, a temperature controller, a radiator, etc., the temperature controller inputs signals to the core controller, the core controller outputs signals to control the start and stop of the radiator, thereby making the control box in a certain temperature range.
3. The safe and reliable remote control system for crawler traveling as recited in claim 1, wherein the voltage control system mainly comprises a core controller, a battery, a voltage controller, an audible and visual alarm, etc., the voltage controller inputs signals to the core controller, and the controller outputs signals to control the audible and visual alarm to flash and sound to remind an operator to pay attention and charge the power supply timely, thereby ensuring that the power supply voltage is within a normal use range.
4. a safe and reliable remote control system for crawler belt walking as recited in claim 1 wherein the pneumatic control system mainly comprises a core controller, an air pump, an air storage tank, a pneumatic controller, a relay, an overflow valve, etc., the pneumatic controller inputs signals to the core controller, and the controller outputs signals to control the start and stop of the air pump, so that the air circuit is in a certain air pressure range.
5. The safe and reliable remote control system for crawler traveling according to claim 1, wherein the crawler traveling control system mainly comprises a remote controller, a battery, a core controller, an air pump, an air storage tank, a double control solenoid valve, an air cylinder, a pull wire, a position sensor and the like, an operator sends an operation instruction of the remote controller and inputs the operation instruction into the core controller, the core controller outputs a signal to control the on-off and the direction of an air passage, thereby controlling the telescopic motion of an air cylinder rod, the end part of the air cylinder rod is connected with the pull wire, the other end of the pull wire is connected to a rod piece with a spring reset on the crawler transmission mechanism, and the left and right crawlers are controlled to be separated from or connected with: when the left and right tracks are simultaneously connected with power, the tracks walk linearly, otherwise, the tracks stop walking. When the left crawler belt is separated from the power and the right crawler belt is connected with the power, the crawler belt turns left, otherwise, the crawler belt turns right.
6. A safe and reliable remote control method for crawler running is characterized by comprising the following steps: the remote control method comprises a temperature control method, a voltage control method, an air pressure control method and a crawler travel control method; the temperature control method comprises the steps that firstly, an upper temperature limit T1 and a lower temperature limit T2 are set, when the temperature controller detects that the temperature is larger than T1, signals are generated and input into a core controller, and the core controller outputs signals to control the radiator to be opened; when the temperature drops to T2, the temperature controller generates a signal and inputs it to the core controller, which outputs a signal to control the heat sink to turn off.
the voltage control method comprises the steps that firstly, a lower voltage limit U1 and an upper voltage limit U2 are set, when the voltage controller detects that the voltage is smaller than U1, a signal is generated and input into the core controller, and the core controller outputs a signal to control the audible and visual alarm to flash and sound to remind an operator to charge the power supply; when the voltage is greater than U2, the voltage controller generates a signal and inputs the signal into the core controller, and the core controller outputs a signal to control the audible and visual alarm to be turned off.
The air pressure control method comprises the steps that firstly, the lower air pressure limit P1 and the upper air pressure limit P2 are set, when the air pressure controller detects that the air pressure is smaller than P1, signals are generated and input into the core controller, the core controller outputs signals to control the relay to suck, and the air pump works; when the air pressure rises to P2, the air pressure controller generates a signal and inputs the signal into the core controller, the core controller outputs the signal to control the relay to be disconnected, and the air pump stops working.
7. A safe and reliable remote control method for crawler traveling according to claim 1, wherein the crawler traveling control method comprises a control method of an emergency.
8. A safe and reliable remote control method for crawler traveling according to claim 7, wherein the emergency condition mainly includes three conditions of signal loss, remote emergency stop and stop restart.
9. a safe and reliable remote control method for crawler traveling according to claim 8, wherein the control method is as follows:
when the remote control system works, the transmitting end of the remote controller continuously transmits the connection signal, the remote control receiving end continuously receives the connection signal, and when the remote control receiving end fails to receive the connection signal within a certain time (such as 0.5s), the signal loss is determined. When the signal is lost, the track immediately stops walking, and safe operation is ensured.
the remote control operation enables an operator to be spaced from the crawler belt by a certain distance, and when an emergency occurs, the operator needs to perform remote emergency stop, so that an emergency stop button is installed at a remote control transmitting end, and the safety operation is ensured. In order to ensure that the emergency stop button is not affected by signal loss, the emergency stop button is used for cutting off the remote controller connection signal, so that remote emergency stop is reliably realized.
Under any condition, after the crawler stops walking and before the crawler is started again to walk, the remote controller needs to be connected again, misoperation is prevented, and safe operation is ensured.
10. a safe and reliable remote control method for crawler traveling according to claim 1, wherein the crawler traveling control method comprises the steps of:
1) The system self-checking detects each control device of the system and the connection between each control device;
2) Starting the emergency stop to ensure that the connection signal between the transmitting end and the receiving end of the remote controller can be connected;
3) Starting a connection signal between a transmitting end and a receiving end of the remote controller;
4) the transmitting end of the remote controller transmits an instruction through key operation, and the receiving end of the remote controller receives the instruction;
5) The remote controller receives an instruction and inputs the instruction into the core controller, and the controller outputs the instruction to control the electromagnetic valve to work;
6) The electromagnetic valve works to control the action of the cylinder;
7) The cylinder controls the movement of the crawler belt;
8) After the position sensor on the cylinder detects that the cylinder acts in place, the core controller controls the electromagnetic valve to be closed, and the electromagnetic valve has a power-off maintaining function, so that the cylinder maintains a state, and the crawler belt maintains the state.
9) And 4, completing the whole process of one-time remote control key operation by the steps 4-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691252.6A CN110543133A (en) | 2019-07-29 | 2019-07-29 | safe and reliable remote control system and method for crawler walking |
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