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A three-dimensional attitude display and remote automatic control system of an excavator

An automatic control system, three-dimensional attitude technology, applied in mechanically driven excavators/dredgers, earthmoving machines/shovels, construction, etc., can solve difficult engineering implementation, development difficulties, and software versatility And other issues

Active Publication Date: 2019-09-10
NANJING TECH UNIV +1
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0002] In recent years, excavators have played an important role in disaster relief and post-disaster reconstruction. Under these working conditions, it is urgent to develop a system that can ensure the safety of operators and the quality of work. Some 3D visualization technologies have been used on excavators, but These softwares are not very versatile, it is difficult to develop and cannot perfectly cooperate with the measurement and control system, and it is difficult to realize in engineering

Method used

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  • A three-dimensional attitude display and remote automatic control system of an excavator
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  • A three-dimensional attitude display and remote automatic control system of an excavator

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Embodiment Construction

[0078] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0079] Such as figure 1 and figure 2 As shown, the three-dimensional posture display and its remote automatic control system of the present invention include an excavator operation module, a data acquisition module, a computer 202 (the computer includes a real-time trajectory calculation module), a trajectory control module, an operation information monitoring module, a data storage module and a three-dimensional visualization module,

[0080] The excavator operation module includes an oil control loop composed of an operating handle 201, a computer 202, a DSP controller 203, an electro-hydraulic proportional valve 208 and a multi-way valve 209; an oil supply circuit composed of a pilot pump 207, a front pump 205 and a rear pump 206 Components: boom hydraulic cylinder 210, arm hydraulic cylinder 211, bucket hydraulic cylinder 212 and swing motor 213;...

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Abstract

The invention discloses a three-dimensional attitude display and remote automatic control system of an excavator. A pull line type displacement sensor is adopted to acquire a displacement signal of amoveable arm hydraulic cylinder, a bucket rod hydraulic cylinder and a scraper bucket hydraulic cylinder, and the displacement signal is sent to a computer through a data acquisition card; a car bodyrotation angle signal is acquired through an electronic compass, and the car body rotation angle signal is sent to the computer through an RS232 serial port; the computer is used for storing and processing data, so that a three-dimensional animated simulation attitude of the excavator is displayed in real time; an expected track of a scraper bucket tail end is planned; according to a practical displacement and car body rotation signal of a working device, a control algorithm is run by performing kinematic conversion on the practical displacement and car body rotation signal and comparing the practical displacement and car body rotation signal subjected to kinematic conversion with expected track data so as to correct the track; a CAN communication mode is adopted for realizing data communication between the computer and a special DSP controller of the excavator; operation state information is monitored in real time; operation track of tooth tips of X, Y and Z-axis scraper bucket and athree-dimensional displacement curve of the tooth tips of the scraper bucket are displayed in real time; and remote automatic control is realized through WEB service of a virtual instrument.

Description

technical field [0001] The invention relates to a three-dimensional attitude display and remote automatic control system of an excavator. Background technique [0002] In recent years, excavators have played an important role in disaster relief and post-disaster reconstruction. Under these conditions, it is urgent to develop a system that can ensure the safety of operators and the quality of work. Some 3D visualization technologies have been used on excavators, but The generality of these software is not strong, it is difficult to develop and can not perfectly cooperate with the measurement and control system, so it is difficult to realize in engineering. Displaying the three-dimensional posture of the excavator and adopting remote automatic control can greatly improve the operation efficiency and operation quality, and ensure the safety of personnel. At the same time, in the research of excavator remote monitoring, control algorithm research, experimental data analysis, wo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E02F9/26E02F9/20E02F3/43
CPCE02F3/437E02F9/205E02F9/26E02F9/265
Inventor 殷晨波冯浩
Owner NANJING TECH UNIV
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