CN114592559A - Remote automatic control system of hydraulic excavator in special environment - Google Patents
Remote automatic control system of hydraulic excavator in special environment Download PDFInfo
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- 238000010276 construction Methods 0.000 claims abstract description 50
- 238000009412 basement excavation Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 239000003921 oil Substances 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 22
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- 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
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- 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
- E02F9/22—Hydraulic or pneumatic drives
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a hydraulic excavator remote automatic control system in a special environment, which comprises a remote end console and a vehicle-mounted end control system, wherein data and instructions between the remote end console and the vehicle-mounted end control system are transmitted through a wireless communication system. The remote end operation console comprises an industrial personal computer and a display, and the industrial personal computer receives and transmits data through a wireless communication system; the display displays the video data and the state information of the hydraulic excavator received by the industrial personal computer in a split screen mode. The vehicle-mounted end control system mainly comprises a vehicle-mounted controller, a sensor and a driving system, wherein the vehicle-mounted controller is arranged in the hydraulic excavator and mainly controls the movement of the hydraulic excavator and vehicle-mounted end equipment. According to the method, a three-dimensional model of a construction area is obtained through a laser radar, a track planning file is automatically generated through algorithm processing, and excavation behaviors in an excavation task are controlled through a finite-state machine program in a vehicle-mounted controller.
Description
Technical Field
The invention relates to the technical field of engineering construction, in particular to a remote automatic control system of a hydraulic excavator in a special environment.
Background
At present, the hydraulic excavator still plays an irreplaceable role in the engineering construction site. However, with the continuous expansion of the field of human activities, many special working environments that the conventional hydraulic excavator cannot adapt to appear, such as: environments such as harmful, toxic, dangerous, emergency and disaster relief, and the like, wherein the life safety of a driver cannot be guaranteed. Meanwhile, with the continuous improvement of the scientific and technical level, the technical level of the engineering machinery industry is also continuously improved. Nowadays, the excavator is required to be more and more in quantity in engineering construction, and the excavator is required to be more and more highly in the aspects of operation efficiency, operation precision, operation range and the like.
The traditional hydraulic excavator is not suitable for operation in special environments such as harmful environment, toxic environment and dangerous environment, and the application range and the operation area of the excavator are greatly limited. In addition, the traditional hydraulic excavator has the advantages that an operator manually operates in a cab, the automation degree is low, the training period of the driver is long, and the operation quality is different due to the experience of the driver.
In summary, there is a need for a remote automatic control system of a hydraulic excavator in a special environment to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a remote automatic control system of a hydraulic excavator in a special environment, which aims to solve the problem that the hydraulic excavator cannot work in the special environment.
In order to achieve the purpose, the invention provides a hydraulic excavator remote automatic control system in a special environment, which comprises a remote end console and a vehicle-mounted end control system, wherein data and instructions between the remote end console and the vehicle-mounted end control system are transmitted through a wireless communication system.
The hydraulic excavator remote automatic control system in the special environment further comprises a remote control system; the remote control system comprises a remote control sending end and a remote control receiving end; the remote control sending end sends an operation instruction of an operator to a remote controller receiving end; and the remote control receiving end forwards the operation instruction to the vehicle-mounted end control system.
The remote end operating platform comprises an industrial personal computer and a display, and the industrial personal computer receives and transmits data through a wireless communication system; the display displays the video data and the state information of the hydraulic excavator received by the industrial personal computer in a split screen mode.
The vehicle-mounted end control system mainly comprises a vehicle-mounted controller, a sensor and a driving system, wherein the vehicle-mounted controller is arranged in the hydraulic excavator and mainly controls the movement of the hydraulic excavator and vehicle-mounted end equipment.
Preferably, the sensor comprises a three-dimensional lidar and a webcam; the three-dimensional laser radar is installed on a platform at the top of a cab of the hydraulic excavator, and three-dimensional point cloud data of a construction area and the surrounding environment are collected; the network camera is arranged on a platform at the top of a cab of the hydraulic excavator; the network camera collects video data of a construction area and the surrounding environment, and is also provided with a storage device for storing the data collected by the network camera; and the vehicle-mounted controller controls the laser radar and the network camera to move.
Preferably, the sensor comprises a three-dimensional electronic compass, which is installed in the hydraulic excavator and collects azimuth data and inclination data of the hydraulic excavator relative to the horizontal plane.
Preferably, the sensor also comprises rotary encoders, a stay wire rotary encoder and a pressure transmitter, wherein the number of the rotary encoders is 4, the rotary encoders are respectively arranged at the connecting shafts of the movable arm, the bucket rod and the bucket joint and at the rotating shaft of the rotary table of the excavator, and the included angle between the joints of the working device and the deflection angle of the rotary table are acquired; the number of the pressure transmitters is 2, the pressure transmitters are respectively arranged at oil outlets of the main pump 1 and the main pump 2, and the pressure at the oil outlet of the main pump is collected; the number of the stay wire rotary encoders is 3, the stay wire rotary encoders are respectively arranged on the movable arm, the bucket rod and the bucket hydraulic oil cylinder, and the telescopic length of each hydraulic oil cylinder is acquired.
Preferably, the number of the electromagnetic proportional valves is 7, and the electromagnetic proportional valves are respectively installed at pilot oil passages of a multi-path reversing valve of the hydraulic system and outlets of main pumps to control the stroke of a hydraulic cylinder of the working device, the rotating speed and the torque of a hydraulic motor of the walking device and the displacement of the main pumps.
Preferably, the vehicle-mounted controller comprises a communication part and an electric control part, wherein the communication part adopts a CAN bus network structure and realizes communication among devices based on a CANopen protocol; the electric control system part adopts codesys programming platform programming, utilizes EPEC library function to set the maximum value, the minimum value and the slope of the current, directly outputs PWM signals to the electromagnetic proportional valve of the hydraulic system, controls the multi-way reversing valve of the working device and further controls the movement of the working device.
Preferably, a QT software platform is arranged in the industrial personal computer and used for realizing three-dimensional point cloud data operation processing, excavation operation path planning, excavation path track planning, construction parameter setting, and display of a three-dimensional environment model of a construction area and simulation animation of an excavator working device.
Preferably, the display includes two display areas for respectively displaying video information of the construction area and the surrounding environment and information of the operation state of the excavator.
The controller may also implement a fault self-diagnostic function.
The technical scheme of the invention has the following beneficial effects:
according to the invention, algorithm processing and coordinate system conversion are completed through the self-positioning function of the laser radar, so that the consistency of the self-positioning of the laser radar and the coordinates of a construction area is realized, and the function of normalization processing is realized. Scanning a construction area through a three-dimensional laser radar to obtain three-dimensional environment point cloud data; converting the three-dimensional point cloud data into a three-dimensional model of a construction area through a triangulation algorithm for path planning; and controlling the three-dimensional laser radar to execute the scanning of the construction area through the vehicle-mounted controller.
According to the method, a digging operation path planning file of a working device is generated through the processing of a path planning method according to the construction parameter setting of a QT software interface, a three-dimensional model of a construction area and the structure size of the working device; according to the track planning method and the excavation operation action limiting conditions, the angle sequence of each joint angle of the working device is obtained through solving by an inverse kinematics equation of the working device of the hydraulic excavator, and a track planning file is automatically generated.
In the invention, the vehicle-mounted controller receives operation instruction data sent by a remote end console or a remote controller, the operation instruction data is resolved into the stroke of the hydraulic cylinder of the working device, and the hydraulic cylinder of the working device is driven to reach the specified stroke. And the vehicle-mounted controller receives the sensor data, obtains the pose information of each joint of the excavator, and adjusts the motion of the working device. The vehicle-mounted controller realizes the automatic alarm function of system hardware and software faults so as to guide after-sales personnel or operating personnel to carry out fault removal in time.
In the invention, data and operation instruction transmission between a remote end industrial personal computer and a vehicle-mounted end controller is realized through a wireless communication system; data exchange among equipment in the vehicle-mounted end control system is realized through an equipment communication system based on a CAN bus network structure, and the integrity of system functions is realized; the hydraulic excavator has the advantages that the hydraulic excavator has the remote automatic control function, the automation degree is greatly improved, the construction operation under toxic, harmful and dangerous environments can be realized, the safety of operators is guaranteed, and the operation efficiency is improved.
According to the invention, data such as included angle of each joint of the working device, rotating angle of the rotary table, outlet pressure of the main pump and the like in the excavation operation process are automatically counted and formed into a document, so that a traceability file in the excavation operation process is formed, and the traceability file can be used for later analysis and optimization.
In the invention, the actual value of the included angle of each joint of the working device can be acquired in real time through a sensor, and the actual position of the working device can be simulated in real time on a software interface; acquiring video data of a construction area and a surrounding environment through a network camera, and transmitting the video data to a display for an operator; under the condition of low visibility, an operator can also know the conditions of a construction area and the surrounding environment in real time through the three-dimensional environment model on the software interface.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic view of a remote automatic control system of a hydraulic excavator
FIG. 2 is an overall structure of a remote automatic control system of a hydraulic excavator
FIG. 3 is an electrical schematic block diagram of a hydraulic excavator remote automatic control system
FIG. 4 is a CAN bus network topology diagram of the vehicle-mounted end control system
FIG. 5 is a block diagram of an automatic excavation control system
FIG. 6 is a flowchart of a main routine of the vehicle controller
FIG. 7 is a flowchart of an automatic mining process
FIG. 8 is a flowchart of the excavation operation procedure
FIG. 9 is an automatic mining state transition diagram
FIG. 10 is a system functional diagram of a remote automatic control system of a hydraulic excavator
FIG. 11 is a general technical route schematic diagram of a hydraulic excavator remote automatic control system
FIG. 12 is a flow chart of three-dimensional environment modeling
FIG. 13 is a flow chart of path planning and trajectory planning
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 to 11, a remote automatic control system of a hydraulic excavator in a special environment includes a remote end console and a vehicle-mounted end control system, and data and command transmission between the remote end console and the vehicle-mounted end control system is realized through a wireless communication system;
the hydraulic excavator remote automatic control system in the special environment further comprises a remote control system; the remote control system comprises a remote control sending end and a remote control receiving end; the remote control sending end sends an operation instruction of an operator to the remote control receiving end; and the remote control receiving end forwards the operation instruction to the vehicle-mounted end control system.
The remote end operation console comprises an industrial personal computer and a display, and the industrial personal computer receives and transmits data through a wireless communication system; the display displays the video data and the state information of the hydraulic excavator received by the industrial personal computer in a split screen mode.
The vehicle-mounted end control system mainly comprises a vehicle-mounted controller, a sensor and an electromagnetic proportional valve, wherein the vehicle-mounted controller is arranged in the hydraulic excavator and mainly controls the movement of the hydraulic excavator and vehicle-mounted end equipment.
The sensor comprises a three-dimensional laser radar and a network camera; the three-dimensional laser radar is installed on a platform at the top of a cab of the hydraulic excavator, and three-dimensional point cloud data of a construction area and the surrounding environment are collected; and the vehicle-mounted controller controls the servo drive of the laser radar.
Scanning point cloud data of the laser radar can be normalized into a coordinate system of the working device through an axis normalization method, so that the system can be controlled accurately. And scanning the construction area by adopting a laser radar, and continuously and linearly scanning at a constant speed towards the construction area in front of the excavator. The industrial personal computer acquires laser ranging data and the coding angle of each axis of the laser radar in real time during linear scanning, the acquisition time of single group of data is 1ms according to the device performance and the hardware design time, the maximum angular velocity is 10 degrees/s according to the laser radar design, the maximum distance between adjacent sampling points at the position of 30m, swept by the laser radar in the data transmission time is 2.75cm, and the minimum step distance is a design index of 5cm under the condition that the data transmission time is far smaller than 6m of the system.
Referring to fig. 10, the working area discrete point data acquired in real time during the scanning process is used for generating a visual three-dimensional point cloud picture, and the three-dimensional point cloud data can be processed to generate a continuous contour model, so that the construction area can be more intuitively represented. The flow of processing three-dimensional point cloud data is roughly as follows:
(1) and (5) point cloud data reduction. Because the scanning resolution is high and the scanning construction area range is large, the point cloud data needs to be reduced, so that the occupation of a system memory is reduced, and the speed of processing the three-dimensional point cloud data is increased.
(2) And filtering the point cloud data. Under the influence of random factors of a construction area and a surrounding environment, noise points may exist in the point cloud data, and a large influence may be generated on a model construction step in a later stage, so that the volume or the area of a three-dimensional model of the construction area and the surrounding environment is deformed.
(3) And (4) reconstructing grids. And projecting the processed three-dimensional point cloud data onto a reference plane, and triangularizing the data on the reference plane.
(4) And (5) reconstructing a curved surface. And obtaining a triangular network curved surface model according to the three-dimensional topological information of the point cloud.
The operator can simply operate the three-dimensional point cloud model, such as checking a profile of a designated section through a key, or displaying the three-dimensional point cloud model between two designated sections, and the like, and the method mainly comprises two parts of point cloud map generation and splicing.
The network camera is arranged on a platform at the top of a cab of the hydraulic excavator; the network camera collects video data of a construction area and the surrounding environment; the network camera is also provided with a video recorder for storing the data acquired by the network camera; and the vehicle-mounted controller controls the servo drive of the network camera.
The sensor comprises a three-dimensional electronic compass which is arranged in the hydraulic excavator and used for acquiring azimuth data and inclination data relative to the horizontal plane of the hydraulic excavator.
The sensor also comprises rotary encoders, a pull wire rotary encoder and a pressure transmitter, wherein the number of the rotary encoders is 4, the rotary encoders are respectively arranged at the connecting shafts of the movable arm, the bucket rod and the bucket joint and at the rotating shaft of the rotary table of the excavator, and the included angle between the joints of the working device and the deflection angle of the rotary table are collected; the number of the pressure transmitters is 2, the pressure transmitters are respectively arranged at oil outlets of the main pump 1 and the main pump 2, and the pressure at the oil outlet of the main pump is collected; the number of the stay wire rotary encoders is 3, the stay wire rotary encoders are respectively arranged on the movable arm, the bucket rod and the bucket hydraulic oil cylinder, and the telescopic length of each hydraulic oil cylinder is acquired.
The number of the electromagnetic proportional valves is 7, and the electromagnetic proportional valves are respectively installed at pilot oil passages of a multi-path reversing valve of a hydraulic system and outlets of main pumps and used for controlling the stroke of a hydraulic cylinder of a working device, the rotating speed and the torque of a hydraulic motor of a walking device and the displacement of the main pumps.
The vehicle-mounted controller comprises a communication part and an electric control part, wherein the communication part adopts a CAN bus network structure and realizes communication among devices based on a CANopen protocol; the electric control system part adopts codesys programming platform programming, utilizes EPEC library function to set the maximum value, the minimum value and the slope of current, directly outputs PWM signals to an electromagnetic proportional valve of the hydraulic system, controls a multi-way reversing valve of the working device and further controls the movement of the working device.
Referring to fig. 3, in the CAN bus network, communication between devices complies with the CANopen protocol, where a master station is an on-board controller and other devices are slaves. When all the devices are powered on, the vehicle-mounted controller serving as the master station sends an NMT network management instruction to the network, so that other devices in the CAN bus network enter an operation state from a pre-operation state. Meanwhile, the vehicle-mounted controller serving as the master station sends a synchronous message to the CAN bus network to ensure that each sensor synchronously feeds back data to the vehicle-mounted controller. And the vehicle-mounted controller receives and processes the received sensor feedback message, adjusts the action of the hydraulic excavator and feeds the state information of the hydraulic excavator back to the industrial personal computer of the remote end console.
Referring to fig. 6-8, the on-board controller program flow is as follows:
(1) after the vehicle-mounted controller is electrified, an NMT network management instruction is sent to the CAN bus network, so that equipment in the CAN bus enters an operation state from a pre-operation state.
(2) And acquiring a mode selection operation instruction sent by a remote end console, and entering an automatic mode or a manual mode.
(3a) In automatic mode
A. The vehicle-mounted controller collects a traveling track instruction of the industrial personal computer, and the traveling device of the excavator is controlled through the electromagnetic proportional valve to drive the excavator to travel to a construction area.
B. The excavating operation program of the hydraulic excavator enters an initialization state, and in the state, the loading controller adjusts the working device to reach the initial pose of the excavating operation; and collecting data of each sensor, collecting an excavating track instruction of the industrial personal computer, and resolving the instruction into the stroke of each joint of the oil cylinder.
C. The automatic mining finite state machine in the vehicle-mounted controller is transferred in each behavior state according to the sensor data and the transfer conditions of each state; and the mining working device executes each action in the corresponding mining behavior in sequence along with the state transition.
D. And adjusting the action of the working device through a fuzzy PID control program according to the target joint included angle value of the action to be executed by the working device.
E. And entering a standby state, acquiring an operation instruction of the industrial personal computer, and performing the next operation task or stopping the operation.
(3b) Manual mode
The vehicle-mounted controller collects and processes an operation instruction sent by the remote controller, and controls the discharge capacity of the multi-way reversing valve and the main pump through the electromagnetic proportional valve, so that the movement of the working device and the running device of the hydraulic excavator is controlled.
Referring to fig. 7 to 9, in the automatic mode, the implementation method of the automatic mining finite state machine on the vehicle-mounted controller in step C mainly includes the following steps:
1. and (3) mining task decomposition: when the hydraulic excavator carries out an excavation task, the typical excavation task can be decomposed into a series of actions such as boom descending, arm descending, bucket posture adjustment, boom descending, arm descending, bucket retracting, boom lifting, turntable rotation, arm lifting, bucket extending, turntable returning, boom descending, arm descending and bucket retracting according to the action behaviors.
2. And (3) mining behavior definition: further defining the actions as the following functional behaviors according to the relevance of the actions of the excavator working device: digging and positioning: the method comprises the steps of moving arm descending, bucket rod descending and bucket pose adjustment; excavating: comprises the steps of bucket rod descending, bucket contraction and movable arm lifting; automatic unloading: comprises the steps of revolving a rotary table, lifting a bucket rod and extending a bucket; fourthly, posture resetting: the boom descends, the arm descends, and the bucket contracts.
3. Determining a state set and a trigger condition:
the state set of the mining task finite state machine includes 6 states, and includes a start state and a stop state in addition to the 4 kinds of functional behaviors defined as states.
Selecting the real-time stroke value L of each joint hydraulic cylinder fed back by the stay cord rotary encoder and the real-time rotating angle alpha of the rotary table fed back by the rotary encoder of the rotary table as the input of the finite-state machine; when the input values L and alpha are equal to the preset value LiAnd alphaiThe difference between the values is less than the allowable error range, i.e. | L-Li| < ε and | α - αiIf | < epsilon, state transition is triggered.
4. Determining the structure of the finite state machine:
each state in the state set is composed of one or more actions, such as actions of lowering an arm, retracting a bucket, lifting a boom and the like in an automatic digging state, so that the state composed of the actions can be regarded as a simple finite state machine, and a two-stage finite state machine structure is formed.
(1) The finite state machine mathematical model of the excavation task is as follows:
M＝{C，S，S0，δ，Se}
wherein M represents a certain mining task; c represents a set of input signals; s represents the set of states that exist in this task; s0Represents an initial state, which is an element in S, i.e. S0E is S; δ represents a state transition function, which determines which state to transition to; seRepresented as the final state of the output.
(2) The finite state machine mathematical model of a certain functional behavior in the mining task is as follows:
G＝{c，s，s0，δ2，se}
g represents a certain functional behavior in the mining task; c represents a set of input signals; s represents the set of states that exist in this behavior; s0Represents an initial state; delta. for the preparation of a coating2Representing a state transition function; seRepresented as the final state of the output.
5. Determining a state transition diagram: the data collected by the sensor is input into the finite-state machine, the finite-state machine enables 6 states to be converted according to the input data and the transition conditions of all the states, and the excavator working device is driven to perform corresponding actions while the states are converted, so that one working cycle is completed.
6. And determining a program flow chart of the finite-state machine, and completing programming of the vehicle-mounted controller according to the program flow chart.
The vehicle-mounted controller can also realize a fault self-diagnosis function.
The industrial personal computer is internally provided with a QT software platform and is used for realizing three-dimensional point cloud data operation processing, driving path planning, excavation operation path planning, excavation path track planning, construction parameter setting, and display of a three-dimensional environment model of a construction area and simulation animation of an excavator working device.
Referring to fig. 11, according to the construction parameter setting of the QT software interface, the three-dimensional model of the construction area, the kinematic model of the working device, and the geometric constraint condition are obtained through algorithm processing, and the excavation operation path planning file of the working device is generated through path planning processing. According to the condition of a construction area, the path planning mainly adopts the following two methods:
(1) and (4) planning a fast path. The path planning method is adopted under the condition that no obstacle exists in a construction area, and the excavator working device working rules under different working conditions and different working tasks are established, so that the excavator working device can complete the excavation working task according to a specific excavation working action sequence under a certain working environment and task.
(2) And planning an obstacle avoidance path. This method is adopted in the case where an obstacle affects the excavation work path in the construction area. And establishing an artificial potential field according to the three-dimensional environment model, and calculating an obstacle avoidance operation path of the excavator working device through a combined algorithm of the artificial potential field and the particle swarm algorithm so as to ensure the safety and smoothness of the excavation operation path.
The excavation task is performed under the condition that the kinematic characteristics of the working device are met, after path planning is completed and an excavation working path is obtained, trajectory planning is performed on the excavation path, and the time sequence of the position, the speed and the acceleration of the working device is obtained under the condition that the kinematic characteristics of the working device are restrained. The rough trajectory planning process is as follows:
(1) and (4) time domain division. And dividing the time axis of the excavation work task at equal intervals according to the interpolation period.
(2) And (6) path division. And in the interpolation period, approximating the curve segment of the excavation operation path by using the straight line segment, and calculating the coordinates of the interpolation point.
(3) And (5) constraint adjustment. Controlling the movement speed of the working device by adjusting the length of the interpolation straight line segment; and controlling the acceleration of the motion of the working device by controlling the length change rate of the interpolation straight line segment.
And solving the included angle of the joint through an inverse kinematics equation of the working device of the hydraulic excavator according to the coordinates of the interpolation points, and further generating an included angle control sequence of each joint.
The display comprises two display areas, and the display areas respectively display video information of the construction area and the surrounding environment and information of the running state of the excavator.
In the hydraulic excavator remote automatic control system under the special environment, algorithm processing and coordinate system conversion are completed through the self-positioning function of the laser radar, the consistency of the self-positioning of the laser radar and the coordinates of a construction area is realized, and the normalization processing function is realized. Scanning a construction area through a three-dimensional laser radar to obtain three-dimensional environment point cloud data; converting the three-dimensional point cloud data into a three-dimensional model of a construction area through a triangulation algorithm for path planning; and controlling the three-dimensional laser radar to execute the scanning of the construction area through the vehicle-mounted controller.
In the hydraulic excavator remote automatic control system under the special environment, according to the construction parameter setting of a QT software interface, a three-dimensional model of a construction area and the structure size of a working device, an excavation operation path planning file of the working device is generated through the processing of a path planning method; according to the track planning method and the excavation operation action limiting conditions, the angle sequence of each joint angle of the working device is obtained through solving by an inverse kinematics equation of the working device of the hydraulic excavator, and a track planning file is automatically generated.
In the remote automatic control system for the hydraulic excavator in the special environment, the vehicle-mounted controller receives operation instruction data sent by the remote end console or the remote controller, the operation instruction data is resolved into the stroke of the hydraulic cylinder of the working device, and the hydraulic cylinder of the working device is driven to reach the specified stroke. And the vehicle-mounted controller receives the sensor data, obtains the pose information of each joint of the excavator, and adjusts the motion of the working device. The vehicle-mounted controller realizes the automatic alarm function of system hardware and software faults so as to guide after-sales personnel or operating personnel to carry out fault elimination in time.
In the hydraulic excavator remote automatic control system under the special environment, data and operation instruction transmission between a remote end industrial personal computer and a vehicle-mounted end controller is realized through a wireless communication system; data exchange among all devices in the vehicle-mounted end control system is realized through a device communication system based on a CAN bus network structure, and the integrity of system functions is realized; the hydraulic excavator has the advantages that the hydraulic excavator has the remote automatic control function, the automation degree is greatly improved, the construction operation under toxic, harmful and dangerous environments can be realized, the safety of operators is guaranteed, and the operation efficiency is improved.
According to the hydraulic excavator remote automatic control system under the special environment, data such as included angle angles of joints of a working device, rotating angles of a rotary table and outlet pressure of a main pump in the excavating operation process are automatically counted and documents are formed, traceability files in the excavating operation process are formed, and the hydraulic excavator remote automatic control system can be used for analysis and optimization in the later period.
In the hydraulic excavator remote automatic control system under the special environment, the actual value of the included angle of each joint of the working device can be acquired in real time through the sensor, and the actual position of the working device can be simulated in real time on a software interface; acquiring video data of a construction area and a surrounding environment through a network camera, and transmitting the video data to a display for an operator; under the condition of low visibility, the operator can also real-timely display the conditions of the construction area and the surrounding environment through the three-dimensional environment model on the software interface.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A hydraulic excavator remote automatic control system in a special environment comprises a remote end console and a vehicle-mounted end control system, wherein data and instructions between the remote end console and the vehicle-mounted end control system are transmitted through a wireless communication system.
The remote end operation console comprises an industrial personal computer and a display, and the industrial personal computer receives and transmits data through a wireless communication system; the display displays the video data and the state information of the hydraulic excavator received by the industrial personal computer in a split screen mode.
The vehicle-mounted end control system mainly comprises a vehicle-mounted controller, a sensor and a driving system, wherein the vehicle-mounted controller is arranged in the hydraulic excavator and mainly controls the movement of the hydraulic excavator and vehicle-mounted end equipment.
2. The hydraulic excavator remote automatic control system under a special environment as claimed in claim 1, wherein the hydraulic excavator remote automatic control system under a special environment further comprises a remote control system; the remote control system comprises a remote control sending end and a remote control receiving end; the remote control sending end sends an operation instruction of an operator to a remote controller receiving end; and the remote control receiving end forwards the operation instruction to the vehicle-mounted end control system.
3. The remote automatic control system of the hydraulic excavator in the special environment as claimed in claim 1, wherein the sensor comprises a three-dimensional laser radar and a network camera; the three-dimensional laser radar is installed on a platform at the top of a cab of the hydraulic excavator, and three-dimensional point cloud data of a construction area and the surrounding environment are collected; the network camera is arranged on a platform at the top of a cab of the hydraulic excavator; the network camera collects video data of a construction area and the surrounding environment, and is also provided with a storage device for storing the data collected by the network camera. And the vehicle-mounted controller controls the laser radar and the network camera to move.
4. The remote automatic control system for the hydraulic excavator in the special environment as claimed in claim 1, wherein the sensor comprises a three-dimensional electronic compass, and the three-dimensional electronic compass is installed in the hydraulic excavator and is used for collecting azimuth data and inclination data of the hydraulic excavator relative to a horizontal plane.
5. The hydraulic excavator remote automatic control system under the special environment according to claim 4, wherein the sensor further comprises 4 rotary encoders, a pull line rotary encoder and a pressure transmitter, the rotary encoders are respectively installed at the connecting shafts of the movable arm, the bucket rod and the bucket joint and at the rotating shaft of the turntable of the excavator, and the included angle between the joints of the working device and the deflection angle of the turntable are collected; the number of the pressure transmitters is 2, the pressure transmitters are respectively arranged at oil outlets of the main pump 1 and the main pump 2, and the pressure at the oil outlet of the main pump is collected; the number of the stay wire rotary encoders is 3, the stay wire rotary encoders are respectively arranged on the movable arm, the bucket rod and the bucket hydraulic oil cylinder, and the telescopic length of each hydraulic oil cylinder is acquired.
6. The remote automatic control system of the hydraulic excavator under the special environment as claimed in claim 1, wherein the number of the electromagnetic proportional valves is 7, and the electromagnetic proportional valves are respectively installed at a pilot oil path of a multi-path reversing valve of the hydraulic system and an outlet of a main pump to control the stroke of a hydraulic cylinder of a working device, the rotating speed and the torque of a hydraulic motor of a walking device and the displacement of the main pump.
7. The hydraulic excavator remote automatic control system under a special environment according to claim 1, wherein the vehicle-mounted controller comprises a communication part and an electric control part, the communication part adopts a CAN bus network structure, and communication among devices is realized based on a CANopen protocol; the electric control system part adopts codesys programming platform programming, utilizes EPEC library function to set the maximum value, the minimum value and the slope of current, directly outputs PWM signals to an electromagnetic proportional valve of the hydraulic system, controls a multi-way reversing valve of the working device and further controls the movement of the working device.
The controller may also implement a fault self-diagnostic function.
8. The remote automatic control system for the hydraulic excavator under the special environment as claimed in claim 1, wherein a QT software platform is arranged in the industrial personal computer and is used for realizing the operation processing of three-dimensional point cloud data, the planning of an excavation operation path, the planning of an excavation path track, the setting of construction parameters, the display of a three-dimensional environment model of a construction area and the simulation animation of an excavator working device.
9. The remote automatic control system for the hydraulic excavator under the special environment as claimed in claim 1, wherein the display comprises two display areas for displaying video information of the construction area and the surrounding environment and information of the operation state of the excavator respectively.
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