A one-key wireless control method for efficient operation of a large excavator

Abstract

This invention proposes a one-button wireless control method for efficient operation of large excavators. First, the excavator's hydraulic system is electronically modified. Then, a wireless control device is built to enable single-step control of each component's movements. Next, the high-frequency, repetitive, sequential actions of the excavator are analyzed. Finally, based on a "sensor-control" approach, one-button control of these sequential actions is achieved. The device includes a remote controller, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves, enabling wireless control of both single-step and sequential actions. This method integrates real-time perception and precise control of the excavator's operating components, achieving efficient and accurate one-button sequential control and improving the excavator's operational efficiency.

Description

Technical Field

[0001] This invention relates to a one-button wireless control method for efficient operation of large excavators, specifically a one-button wireless control method for efficient operation of large excavators, belonging to the field of disaster relief. Background Technology

[0002] An excavator is an earthmoving machine that uses a bucket to excavate materials above or below the machine's bearing surface and load them into transport vehicles or unload them into a stockpile. Due to its wide range of uses and low operating costs, excavators have become one of the most important machines in engineering construction. Excavators typically require a human operator in the cab and are characterized by highly repetitive operational sequences. Excavators, especially large excavators, face challenges in dangerous scenarios such as natural disaster relief. These challenges arise because secondary disasters frequently occur at the rescue site, and the equipment's low level of automation pose serious threats to the safety of the operator and low efficiency in executing sequential actions.

[0003] To ensure the safety of operators, research on wireless control of excavators has been conducted both domestically and internationally, such as the utility model patent "A Remote Unmanned Excavator Based on 4G Wireless Communication" (application number: CN201720950289.2) from China Electronics Technology Group Corporation Information Industry Co., Ltd. However, existing methods only control single-step movements of the excavator, lacking research on one-button control technology for sequential movements. Therefore, the problem of low efficiency in executing sequential movements by excavators remains unsolved. Summary of the Invention

[0004] To address the above problems, this invention proposes a one-click wireless control method for efficient operation of large excavators. This method integrates real-time status sensing and precise control of the excavator's working components, enabling efficient and accurate one-click sequential control and improving the excavator's operational efficiency.

[0005] This invention provides a one-click wireless control method for efficient operation of large excavators, characterized by the following specific steps:

[0006] Step 1: Modify the electrical control of the excavator's hydraulic system;

[0007] A direct-acting solenoid valve is connected in parallel to the pilot valve corresponding to each action of the actuator. This solenoid valve replaces the function of the handle. Each actuator needs to be connected to two solenoid valves.

[0008] Step 2: Set up the wireless control device and realize the single-step control of the excavator's various actuators;

[0009] The wireless control device includes a remote control, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves;

[0010] The remote control is used to generate control commands for excavator operation. It has multiple buttons, divided into single-step control buttons and serialized control buttons. The wireless transmission module is used to establish a communication link between the remote control and the signal processing module. The signal processing module is used to receive and parse the control commands from the remote control and information from other sensors on the excavator, and send control commands to the current generation module. The current generation module is used to receive the control commands from the signal processing module, is connected to the solenoid valve, and energizes the corresponding solenoid valve according to the control commands.

[0011] Each actuator of the excavator has two actions, corresponding to two single-step action control buttons on the remote control; single-step wireless control of the actions of each actuator of the excavator can be achieved through each single-step control button.

[0012] Step 3: Analyze the high-frequency, repetitive, sequential actions of the excavator;

[0013] 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism;

[0014] 2) Driving posture when entering flat roads and uphill sections;

[0015] 3) Driving posture when entering a downhill slope;

[0016] 4) Enter parking position;

[0017] Step 4: Implement one-click control of the excavator's sequential actions based on "perception-control";

[0018] The status of the actuators includes the yaw angle of the upper turntable. , Traveling mechanism heading angle Boom pitch angle Pitch angle of the boom Bucket cylinder extension length Pressure at the bottom inside the bucket Bucket cylinder internal pressure Angle information is obtained through inertial measurement units installed on the upper turntable, traveling mechanism, boom, and stick; length information is obtained through distance sensors installed on the bucket cylinder; and pressure information is obtained through pressure sensors installed inside the bucket cylinder and on the bottom inner side of the bucket. The heading angle range is... The angle increases clockwise; the boom pitch angle is defined as the angle between the direction from the boom-top turntable connection point to the boom-stick connection point and the horizontal direction; the stick pitch angle is defined as the angle between the direction from the boom-stick connection point to the stick-bucket connection point and the horizontal direction, with a range of... ;

[0019] 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism.

[0020] Sub-step 1: Energize the solenoid valve that controls the bucket tilting;

[0021] Sub-step 2: When At this time, de-energize the solenoid valve that controls the bucket tilting.

[0022] Sub-step 3: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable;

[0023] Sub-step 4: When When the solenoid valve is de-energized, the control ends.

[0024] 2) Driving posture when entering flat roads and uphill sections

[0025] Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable;

[0026] Sub-step 2: When When the solenoid valve is de-energized, the control ends.

[0027] 3) Driving posture when entering a downhill slope

[0028] Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable;

[0029] Sub-step 2: When When the solenoid valve is de-energized, the control ends.

[0030] 4) Enter parking position

[0031] Sub-step 1: If Proceed to sub-step 3; if Energize the solenoid valve that controls the bucket tilting; when the bucket tilts to its limit, the extension and retraction length of the bucket cylinder is 0.

[0032] Sub-step 2: When At that time, de-energize the solenoid valve in step 1;

[0033] Sub-step 3: If Proceed to sub-step 5; if Energize the solenoid valve that controls the boom descent; if Energize the solenoid valve that controls the boom's ascent; The boom pitch angle is the pre-measured angle when the excavator is parked;

[0034] Sub-step 4: When At that time, de-energize the solenoid valve in step 3;

[0035] Sub-step 5: If and End control The internal pressure of the bucket cylinder when it is under no force is measured in advance; otherwise, proceed to sub-step 6.

[0036] Sub-step 6: If Energize the solenoid valve that controls the boom descent; if Energize the solenoid valve that controls the boom's ascent;

[0037] Sub-step 7: If and In step 6, de-energize the solenoid valve to end the control process; if and De-energize the solenoid valve in sub-step 6 and proceed to sub-step 8;

[0038] Sub-step 8: Energize the solenoid valve that controls the boom descent. At this time, de-energize the solenoid valve that controls the boom descent to end the control.

[0039] Beneficial effects:

[0040] 1. The device of the present invention includes a remote controller, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves, which can realize wireless control of excavator single-step actions and sequential actions.

[0041] 2. The method of this invention integrates real-time perception and precise control of the excavator's working components, breaks through the fully closed-loop adaptive control technology of serialized operation, realizes efficient and precise one-click serialized operation, and improves the operating efficiency of the excavator. Attached Figure Description

[0042] Figure 1 Overall design scheme diagram for one-button wireless control method of large excavators;

[0043] Figure 2 Design structure diagram for a one-button wireless control device for large excavators. Detailed Implementation

[0044] The technical solutions provided by the present invention will be described in detail below with reference to specific examples. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0045] This invention proposes a one-button wireless control method for efficient operation of large excavators. First, the excavator's hydraulic system is electronically modified. Then, a wireless control device is built to achieve single-step control of each actuator. Next, the high-frequency repetitive sequential actions of the excavator are analyzed. Finally, based on "sensor-control," one-button control of the excavator's sequential actions is achieved. The device includes a remote controller, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves, enabling wireless control of both single-step and sequential actions of the excavator. This method integrates real-time perception and precise control of the excavator's operating components, achieving efficient and accurate one-button sequential control and improving the excavator's operating efficiency. The overall design scheme is as follows: Figure 1 As shown, the specific steps include:

[0046] Step 1: Modify the electrical control of the excavator's hydraulic system;

[0047] The hydraulic system of an excavator is an assembly that organically connects various hydraulic components with pipelines according to the transmission requirements of the excavator's working devices and various mechanisms. It mainly includes a hydraulic oil tank, main pump, distribution valve, various pipelines, and components such as cylinders and motors that perform various actions. Its function is to use hydraulic oil as the working medium, utilize the hydraulic pump to convert the engine's mechanical energy into hydraulic energy and transmit it, distribute the hydraulic energy to various actuators through the distribution valve, and then have each actuator convert the hydraulic energy back into mechanical energy to realize the various actions of the excavator.

[0048] An excavator typically has six actuators: the left and right travel motors, the swing motor, the boom cylinder, the stick cylinder, and the bucket cylinder. During excavator operation, each actuator performs only two actions, such as the forward and reverse rotation of the motor and the raising and lowering of the boom.

[0049] The operator controls the actuators to complete corresponding actions via a "handle → pilot valve → working valve assembly". To achieve wireless control of the excavator, the excavator's hydraulic system needs to be electronically modified to accept electrical signals. This invention connects a direct-acting solenoid valve in parallel to the pilot valve corresponding to each actuator's action. This solenoid valve replaces the function of the handle; each actuator requires two solenoid valves.

[0050] The working principle of a direct-acting solenoid valve is as follows: when energized, the solenoid valve coil generates electromagnetic force to lift the closing element from the valve seat, thus opening the valve; when de-energized, the electromagnetic force disappears, and the spring force presses the closing element onto the valve seat, thus closing the valve.

[0051] After the above modifications are completed, the actuators are controlled to perform corresponding actions by energizing different solenoid valves.

[0052] Step 2: Set up the wireless control device and realize the single-step control of the excavator's various actuators;

[0053] The wireless control device includes a remote control, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves, such as... Figure 2 As shown.

[0054] The remote control generates control commands for excavator operation and features multiple buttons, categorized into single-step and sequential control buttons. The wireless transmission module establishes a communication link between the remote control and the signal processing module; communication methods can include Sub-1GHz, 4G, etc. The signal processing module receives and analyzes control commands from the remote control and information from other sensors on the excavator, then issues control commands to the current generation module. The current generation module receives these control commands from the signal processing module, connects to the solenoid valves, and energizes the corresponding solenoid valves according to the control commands.

[0055] Each actuator of the excavator has two actions, corresponding to two single-step control buttons on the remote control. These single-step control buttons allow for wireless control of each actuator's movement. The single-step control actions of the excavator's actuators include: forward and backward movement of the travel mechanism, counter-clockwise and clockwise rotation of the top turntable, boom raising and lowering, stick raising and lowering, and bucket tilting outward and retracting.

[0056] Step 3: Analyze the high-frequency, repetitive, sequential actions of the excavator;

[0057] During operation, excavators need to repeatedly perform some sequential actions. This invention identifies the following four types of actions.

[0058] 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism;

[0059] When the bucket begins to unload, the bucket tilts outward. After the material is unloaded, the upper turntable rotates back to the front of the traveling mechanism to begin the next excavation operation.

[0060] 2) Driving posture when entering flat roads and uphill sections

[0061] When the excavator is moving, the boom should be positioned in the direction of travel; when the excavator is going uphill, the drive wheels should be at the rear, that is, the upper turntable and the traveling mechanism should be in the same direction.

[0062] 3) Driving posture when entering a downhill slope

[0063] When the excavator is going downhill, the drive wheels should be in front, that is, the upper turntable and the traveling mechanism should be in opposite directions.

[0064] 4) Enter parking position

[0065] The most common parking posture for excavators is: the stick is perpendicular to the ground, the bucket is tilted out to its limit, the bucket teeth are upright on the ground, and the bucket cylinder is in a state of no force.

[0066] Step 4: Implement one-click control of the excavator's sequential actions based on "perception-control";

[0067] This invention enables one-button wireless control of sequential actions based on the state perception and precise control of the excavator's actuators. The state of the actuators includes the yaw angle of the upper turntable. , Traveling mechanism heading angle Boom pitch angle Pitch angle of the boom Bucket cylinder extension length Pressure at the bottom inside the bucket Bucket cylinder internal pressure Angle information is acquired through inertial measurement units installed on the upper turntable, traveling mechanism, boom, and stick; length information is acquired through distance sensors installed on the bucket cylinder; and pressure information is acquired through pressure sensors installed inside the bucket cylinder and on the bottom inner side of the bucket. The heading angle range is... The angle increases clockwise; the boom pitch angle is defined as the angle between the direction from the boom-top turntable connection point to the boom-stick connection point and the horizontal direction; the stick pitch angle is defined as the angle between the direction from the boom-stick connection point to the stick-bucket connection point and the horizontal direction, with a range of... .

[0068] The control commands for the excavator's serialized actions are generated through the serialized operation buttons on the remote control. The signal processing module receives and analyzes the control commands from the remote control and the information from the excavator's sensors to determine the control process for each action.

[0069] 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism.

[0070] Sub-step 1: Energize the solenoid valve that controls the bucket tilting;

[0071] Sub-step 2: When At this time, de-energize the solenoid valve that controls the bucket tilting.

[0072] Sub-step 3: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable;

[0073] Sub-step 4: When When the solenoid valve is de-energized, the control ends.

[0074] 2) Driving posture when entering flat roads and uphill sections

[0075] Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable;

[0076] Sub-step 2: When When the solenoid valve is de-energized, the control ends.

[0077] 3) Driving posture when entering a downhill slope

[0078] Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable;

[0079] Sub-step 2: When When the solenoid valve is de-energized, the control ends.

[0080] 4) Enter parking position

[0081] Sub-step 1: If Proceed to sub-step 3; if Energize the solenoid valve that controls the bucket tilting; when the bucket tilts to its limit, the extension and retraction length of the bucket cylinder is 0.

[0082] Sub-step 2: When At that time, de-energize the solenoid valve in step 1;

[0083] Sub-step 3: If Proceed to sub-step 5; if Energize the solenoid valve that controls the boom descent; if Energize the solenoid valve that controls the boom's ascent; The boom pitch angle is the pre-measured angle when the excavator is parked;

[0084] Sub-step 4: When At that time, de-energize the solenoid valve in step 3;

[0085] Sub-step 5: If and End control The internal pressure of the bucket cylinder when it is under no force is measured in advance; otherwise, proceed to sub-step 6.

[0086] Sub-step 6: If Energize the solenoid valve that controls the boom descent; if Energize the solenoid valve that controls the boom's ascent;

[0087] Sub-step 7: If and In step 6, de-energize the solenoid valve to end the control process; if and De-energize the solenoid valve in sub-step 6 and proceed to sub-step 8;

[0088] Sub-step 8: Energize the solenoid valve that controls the boom descent. At this time, de-energize the solenoid valve that controls the boom descent to end the control.

Claims

1. A one-key wireless control method for efficient operation of a large excavator, characterized in that, The specific steps are as follows: Step 1: Modify the electrical control of the excavator's hydraulic system; A direct-acting solenoid valve is connected in parallel to the pilot valve corresponding to each action of the actuator. This solenoid valve replaces the function of the handle. Each actuator needs to be connected to two solenoid valves. Step 2: Set up the wireless control device and realize the single-step control of the excavator's various actuators; The wireless control device includes a remote control, a wireless transmission module, a signal processing module, a current generation module, and multiple solenoid valves; The remote control is used to generate control commands for excavator operation. It has multiple buttons, divided into single-step control buttons and serialized control buttons. The wireless transmission module is used to establish a communication link between the remote control and the signal processing module. The signal processing module is used to receive and parse the control commands from the remote control and information from other sensors on the excavator, and send control commands to the current generation module. The current generation module is used to receive the control commands from the signal processing module, is connected to the solenoid valve, and energizes the corresponding solenoid valve according to the control commands. Each actuator of the excavator has two actions, corresponding to two single-step action control buttons on the remote control; single-step wireless control of the actions of each actuator of the excavator can be achieved through each single-step control button. Step 3: Analyze the high-frequency, repetitive, sequential actions of the excavator; 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism; 2) Driving posture when entering flat roads and uphill sections; 3) Driving posture when entering a downhill slope; 4) Enter parking position; Step 4: Implement one-click control of the excavator's sequential actions based on "perception-control"; The status of the actuators includes the yaw angle of the upper turntable. , Traveling mechanism heading angle Boom pitch angle Pitch angle of the boom Bucket cylinder extension length Pressure at the bottom inside the bucket Bucket cylinder internal pressure Angle information is obtained through inertial measurement units installed on the upper turntable, traveling mechanism, boom, and stick; length information is obtained through distance sensors installed on the bucket cylinder; and pressure information is obtained through pressure sensors installed inside the bucket cylinder and on the bottom inner side of the bucket. The heading angle range is... The angle increases clockwise; the boom pitch angle is defined as the angle between the direction from the boom-top turntable connection point to the boom-stick connection point and the horizontal direction; the stick pitch angle is defined as the angle between the direction from the boom-stick connection point to the stick-bucket connection point and the horizontal direction, with a range of... ; 1) The bucket unloads material, and the upper turntable rotates to the front of the traveling mechanism. Sub-step 1: Energize the solenoid valve that controls the bucket tilting; Sub-step 2: When the electromagnetic valve controlling the bucket roll-over is de-energized; Sub-step 3: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; Sub-step 4: When When the solenoid valve is de-energized, the control ends. 2) Driving posture when entering flat roads and uphill sections Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; Sub-step 2: When the electromagnetic valve is powered off, the control ends. 3) Driving posture when entering a downhill slope Sub-step 1: If Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the clockwise rotation of the upper turntable; if Energize the solenoid valve that controls the counterclockwise rotation of the upper turntable; Sub-step 2: When the electromagnetic valve is powered off, the control ends. 4) Enter parking position Sub-step 1: If Proceed to sub-step 3; if Energize the solenoid valve that controls the bucket tilting; when the bucket tilts to its limit, the extension and retraction length of the bucket cylinder is 0. Sub-step 2: When the electromagnetic valve in sub-step 1 is de-energized; Sub-step 3: if go to sub-step 5; if energize the solenoid valve that controls lowering of the boom; if energize the solenoid valve that controls raising of the boom; is the pitch angle of the boom at which the excavator is parked, as measured beforehand. Sub-step 4: When the electromagnetic valve in sub-step 3 is de-energized; Sub-step 5: if and , end control, is the internal pressure of the bucket oil cylinder when it is in the force-free state, which is measured in advance; otherwise, enter sub-step 6; Sub-step 6: If Energize the solenoid valve that controls the boom descent; if Energize the solenoid valve that controls the boom's ascent; Sub-step 7: If and In step 6, de-energize the solenoid valve to end the control process; if and De-energize the solenoid valve in sub-step 6 and proceed to sub-step 8; Sub-step 8: energize the solenoid valve that controls lowering of the boom, and when the solenoid valve that controls lowering of the boom is de-energized, the control is ended.

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