Hydraulic remote control system

Abstract

The hydraulic remote control system of the application controls the hydraulic cylinder of the actuator, which comprises a remote controller, a receiver, a driver and a cloud, the remote controller is bidirectionally connected with the receiver through wireless communication, the receiver is bidirectionally connected with a plurality of drivers through CAN communication respectively, the driver is bidirectionally connected with the cloud through wireless communication respectively, each driver is connected with a plurality of hydraulic pistons, and each hydraulic piston drives an actuator; the cloud comprises a data interaction module, a cloud MCU module and a fault prediction module which are bidirectionally connected in sequence; the fault prediction module comprises a sample acquisition unit, a sample expansion unit, an expansion determination unit, a sample set production unit and a model training unit which are connected in sequence and constitute a neural network prediction network, the state and parameters of each actuator and each hydraulic cylinder are transmitted to the neural network, the neural network reversely transmits the prediction results to the remote controller display screen through wireless communication and CAN communication for real-time monitoring of the actuator and the hydraulic cylinder.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology, specifically a hydraulic remote control system. Background Technology

[0002] Hydraulic systems are widely used in industries such as oil drilling, interior construction, water conservancy projects, and ship hoisting. Reducing safety hazards for on-site workers and making hydraulic systems more efficient and easier to operate are pressing needs in these applications.

[0003] Currently, some remote-controlled hydraulic devices have been applied in industrial settings, and their functionality is gradually being improved. However, the displacement of the controlled mechanism during control can only be observed visually, lacking a quantifiable and intuitive display of this displacement. This forces operators to control the hydraulic device at close range, failing to achieve true remote control. Furthermore, the imprecise perception of movement distance by the human eye makes existing hydraulic control systems unsuitable for applications requiring precise operation. On the other hand, fault repair relies on manual inspection, demanding high levels of experience from workers. This often results in inaccurate fault localization and inefficient troubleshooting, leading to high labor costs.

[0004] Based on the above analysis, the problems and shortcomings of the existing technology are as follows:

[0005] The observation of mechanism displacement is not intuitive or precise enough: Current remote control devices cannot provide a device or system that can accurately and intuitively display the displacement of the controlled mechanism. Operators can only observe and judge the displacement of the mechanism with the naked eye. This control method is not precise or intuitive enough, especially in application scenarios that require precise control.

[0006] Limited remote control: Due to the lack of precise display of displacement, operators must control the hydraulic device at close range, which cannot guarantee the safety of operators in some operating environments with potential safety hazards.

[0007] Fault prediction and repair are quite difficult: there are no relevant equipment or systems that can accurately and efficiently predict and diagnose the causes of hydraulic system failures. Furthermore, after a failure occurs, maintenance personnel need to rely on experience to determine the cause, resulting in long repair times and high labor costs. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a hydraulic remote control system that solves the problems mentioned in the background section.

[0009] To achieve the objective of this invention, the present invention adopts the following technical solution:

[0010] This invention discloses a hydraulic remote control system for controlling the hydraulic cylinders of several actuators. The system includes: a remote controller, a receiver, a driver, and a cloud platform. The remote controller is bidirectionally connected to the receiver via wireless communication. The receiver is bidirectionally connected to several drivers via CAN communication. Each driver is bidirectionally connected to the cloud platform via wireless communication. Each driver is connected to several motors, and each motor is connected to a hydraulic piston via a worm gear structure. Each hydraulic piston drives one actuator. The remote controller includes: a display screen, a joystick, buttons, a remote communication module, and a remote MCU module. The display screen, joystick, and buttons are connected to the remote MCU module, which is bidirectionally connected to the remote communication module. The receiver includes: a receiving communication module, a receiving MCU module, and a motion status indication module. The receiving communication module is bidirectionally connected to the receiving MCU module, and the receiving MCU module is connected to the motion status indication module. The driver includes: a driving communication module, a driving MCU module, a monitoring module, a motor selection module, a PWM pulse width modulation module, a rotary encoder module, and a position detection module. The driving communication module is bidirectionally connected to the driving MCU module, and the driving MCU module is bidirectionally connected to the monitoring module. The motor selection module, PWM pulse width modulation module, rotary encoder module, and position detection module are bidirectionally connected. The detection module is connected to the drive MCU module, the motor selection module and the PWM pulse width control module are connected to the motor, the motor drives the hydraulic cylinder, the hydraulic cylinder drives the actuator, the monitoring module is connected to the motor and / or the hydraulic cylinder and / or the actuator, the PWM pulse width control module and the rotary encoder module are connected to the motor, the position detection module monitors the specific position of the hydraulic piston, the monitoring module monitors the parameters of the motor and / or the hydraulic cylinder and / or the actuator, and the PWM pulse width control module is connected to each motor of the drive; the cloud includes: a data interaction module, a cloud MCU module and a fault prediction module connected in sequence; the remote control communication module is connected via wireless... The wired communication module is bidirectionally connected to the receiving communication module. The receiving communication module is bidirectionally connected to the drive communication module via CAN communication. The drive communication module is bidirectionally connected to the data interaction module via wireless communication. The fault prediction module includes a sample acquisition unit, a sample expansion unit, an expansion judgment unit, a sample set production unit, and a model training unit connected in sequence. These form a neural network prediction network. The important states and parameters of each actuator and each hydraulic cylinder are transmitted to the neural network. The neural network transmits its prediction results back to the display screen of the remote controller via wireless communication and CAN communication, so as to monitor the state and parameters of the corresponding actuator and the corresponding hydraulic cylinder in real time.

[0011] The hydraulic remote control system of the present invention includes: a monitoring module comprising: an ultrasonic flow meter, a voltage detection unit, a temperature detection unit, a current detection unit, a displacement measurement unit, a three-dimensional coordinate measurement unit, a torque sensor, and a pressure gauge. The ultrasonic flow meter and pressure gauge are respectively connected to the hydraulic cylinder, transmitting the pressure and flow rate of the hydraulic oil in the hydraulic cylinder to the display screen and / or fault prediction module of the remote controller. The voltage detection unit, temperature detection unit, and current detection unit are respectively connected to the motor, transmitting the voltage, temperature, and current of each motor to the display screen and / or fault prediction module of the remote controller. The torque sensor and displacement measurement unit are respectively connected to each actuator, transmitting the torque and displacement of each actuator to the display screen and / or fault prediction module of the remote controller. The three-dimensional coordinate measurement unit is connected to the end effector, transmitting the displacement of the end effector to the display screen and / or fault prediction module of the remote controller.

[0012] The hydraulic remote control system of the present invention, wherein: the end effector is an actuator controlled by each driver to complete the final action.

[0013] In the hydraulic remote control system of the present invention, the important states and important parameters are one or more selected by the operator from the pressure and flow rate of the hydraulic oil in the hydraulic cylinder and the displacement and torque of the actuator.

[0014] A method for remotely controlling an actuator using the hydraulic remote control system of the present invention, wherein:

[0015] (a) The remote control will transmit the commands to the receiver.

[0016] The operator issues execution commands via buttons and / or joysticks, and the remote control communication module of the remote control transmits the execution commands to the receiving communication module of the receiver via wireless communication.

[0017] (ii) The receiver transmits the above execution commands to different drivers.

[0018] The receiver's receiving communication module distributes the above execution commands to the driving communication modules of different drivers. The driving communication modules transmit the above execution commands to the driving MCU module. The driving MCU module controls the motor selection module to select the corresponding motor according to the above execution commands, and switches the selected motor to the PWM output loop of the PWM pulse width control module. The PWM pulse width control module controls the motor. At the same time, the monitoring module, rotary encoder module and position detection module respectively detect the status and parameters of the motor and / or hydraulic cylinder and / or actuator, and transmit their status and parameters sequentially through the driving MCU module, driving communication module, receiving communication module and receiving MCU module to the motion status indication module. The motion status indication module displays the above parameters. At the same time, the status and parameters of the motor and / or hydraulic cylinder and / or actuator are transmitted sequentially through the driving MCU module, driving communication module, receiving communication module, remote control communication module and remote control MCU module to the display screen of the remote control.

[0019] (III) The drive transmits the status and parameters of the hydraulic cylinders and actuators mentioned above to the cloud.

[0020] The drive communication module transmits the status and parameters of the hydraulic cylinder and actuator to the cloud data interaction module via wireless communication. The data interaction module transmits the important status and parameters of the hydraulic cylinder and actuator to the fault prediction module via the cloud MCU module. The fault prediction module processes the data through a neural network composed of a sample acquisition unit, a sample expansion unit, an expansion judgment unit, a sample set production unit, and a model training unit to obtain the prediction result. The prediction result is then fed back to the display screen of the remote controller via the cloud MCU module, the data interaction module, the drive communication module, the receiving communication module, the remote control communication module, and the remote control MCU module in sequence.

[0021] A method for remotely controlling an actuator using the hydraulic remote control system of the present invention, wherein the neural network is a pre-trained neural network.

[0022] Beneficial effects

[0023] 1. The hydraulic remote control system of this invention, equipped with a remote controller, receiver, and driver, enables precise remote control of hydraulic devices. Users can control complex hydraulic devices with multiple hydraulic cylinders remotely from a safe and complex industrial environment, thus better ensuring the safety of operators. This system replaces the complex mechanical controls of traditional hydraulic systems with simpler button and joystick controls, making the control of hydraulic equipment simple and easy to learn. Simultaneously, operators can view the real-time and precise movement positions of each piston within the hydraulic cylinder, the movement positions of each mechanism, and the motion and coordinate parameters of the end effector on the LCD screen in the center of the remote controller, making the control effect intuitive and accurate.

[0024] 2. The hydraulic remote control system of this invention includes a data interaction module and a fault diagnosis and prediction module in the cloud. The cloud receives data from various sensors of the hydraulic system through the data receiving module, and the fault diagnosis and prediction module monitors various parameters of the hydraulic system in real time. Based on the detected real-time data, the fault diagnosis and prediction module performs fault diagnosis and prediction on the hydraulic system, generating a diagnostic prediction result. The diagnostic prediction result is displayed on the remote control's screen, showing the fault level, fault location, and fault cause. Based on the fault level, fault location, and fault cause, corresponding pre-set contingency plans and operational prompts are configured on the remote control. When a fault is about to occur, the operator can operate according to the system's suggested contingency plans to avoid the fault. This helps operators promptly identify and resolve potential faults, preventing economic losses and personal injury caused by faults. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structural connection relationship of the hydraulic remote control system of the present invention;

[0026] Figure 2 This is a schematic diagram showing the detailed structural connection relationship between the remote controller, receiver, one of the drivers, and cloud in the hydraulic remote control system of the present invention.

[0027] Figure 3 This is a schematic diagram of the monitoring module.

[0028] Figure 4 This is a schematic diagram of the fault prediction module.

[0029] exist Figures 1 to 4In Chinese: 1 is the remote control; 2 is the receiver; 3 is the driver; 4 is the cloud; 5 is the communication module; 6 is the receiving MCU module; 7 is the motor selection module; 8 is the PWM pulse width control module; 9 is the driver communication module; 10 is the cloud MCU module; 11 is the driver MCU module; 12 is the motion status indication module; 13 is the monitoring module; 14 is the data interaction module; 15 is the fault prediction module; 16 is the rotary encoder module; 17 is the position detection module; 18 is the sample acquisition unit; 19 is the sample expansion unit; 20 is the extended judgment unit; 21 is the sample set generation unit; 22 is the model training unit; 23 is the voltage detection unit; 24 is the temperature detection unit; 25 is the current detection unit; 26 is the displacement measurement unit; 27 is the three-dimensional coordinate measurement unit; 28 is the hydraulic cylinder; 29 is the actuator; 30 is the display screen; 31 is the joystick; 32 is the button; 33 is the remote control communication module; 34 is the remote control MCU module; 35 is the ultrasonic flow meter; 36 is the torque sensor; 37 is the pressure gauge; 38 is the motor; 39 is the hydraulic piston. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] like Figure 1 As shown, the hydraulic remote control system of the present invention controls the hydraulic cylinders 28 of several actuators 29. It includes: a remote controller 1, a receiver 2, a driver 3 and a cloud 4. The remote controller 1 is bidirectionally connected to the receiver 2 via wireless communication. The receiver 2 is bidirectionally connected to several drivers 3 via CAN communication. Each driver 3 is bidirectionally connected to the cloud 4 via wireless communication. Each driver 3 is connected to several hydraulic cylinders 28. Each hydraulic cylinder 28 drives one actuator 29.

[0032] like Figure 2 As shown, the remote controller 1 includes: a display screen 30, a joystick 31, a button 32, a remote communication module 33, and a remote MCU module 34. Several displays screens 30, several joysticks 31, and several buttons 32 are respectively connected to the remote MCU module 34, and the remote MCU module 34 is bidirectionally connected to the remote communication module 33.

[0033] like Figure 2As shown, receiver 2 includes: a receiving communication module 5, a receiving MCU module 6, and a motion status indication module 12. The receiving communication module 5 and the receiving MCU module 6 are bidirectionally connected, and the receiving MCU module 6 and the motion status indication module 12 are connected.

[0034] like Figure 2 As shown, the driver 3 includes: a driver communication module 9, a driver MCU module 11, a monitoring module 13, a motor gating module 7, a PWM pulse width control module 8, a rotary encoder module 16, and a position detection module 17. The driver communication module 9 is bidirectionally connected to the driver MCU module 11, and the driver MCU module 11 is bidirectionally connected to the monitoring module 13. The motor gating module 7, the PWM pulse width control module 8, the rotary encoder module 16, and the position detection module 17 are all connected to the driver MCU module 11. The motor gating module 7 and the PWM pulse width control module 8 are connected to the motor 3. The actuator 29 is driven by motor 38, which in turn drives hydraulic cylinder 38. Monitoring module 13 is connected to motor 38 and / or hydraulic cylinder 28 and / or actuator 29 respectively. PWM pulse width control module 8 and rotary encoder module 16 are connected to motor 38. Position detection module 17 monitors the maximum stroke, minimum stroke, and center position of hydraulic piston 39. Monitoring module 13 monitors the parameters of each motor 38 and / or hydraulic cylinder 28 and / or actuator 29. PWM pulse width control module 8 is connected to each motor 38 of the actuator 3.

[0035] like Figure 3 As shown, the monitoring module 13 includes: an ultrasonic flow meter 35, a voltage detection unit 23, a temperature detection unit 24, a current detection unit 25, a displacement measurement unit 26, a three-dimensional coordinate measurement unit 27, a torque sensor 36, and a pressure gauge 37. The ultrasonic flow meter 35 and the pressure gauge 37 are respectively connected to each hydraulic cylinder 28, transmitting the flow rate and pressure of each hydraulic cylinder 28 to the motion status indication module 12 and / or the fault prediction module 15. The voltage detection unit 23, the temperature detection unit 24, and the current detection unit 25 are respectively connected to the motor 38, transmitting the voltage, temperature, and current of each motor 38 to the motion status indication module 12. The torque sensor 36 and the displacement measurement unit 26 are respectively connected to each actuator 29, transmitting the torque and displacement of each actuator 29 to the motion status indication module 12 and / or the fault prediction module 15. The three-dimensional coordinate measurement unit 27 is connected to the end effector, transmitting the displacement of the end effector to the motion status indication module 12 and / or the fault prediction module 15. The motor 38 drives the hydraulic piston 39 through a worm gear structure.

[0036] like Figure 2 and Figure 4As shown, the cloud 4 includes: a data interaction module 14, a cloud MCU module 10, and a fault prediction module 15 connected bidirectionally in sequence; the remote control communication module 33 is bidirectionally connected to the receiving communication module 5 via wireless communication, the receiving communication module 5 is bidirectionally connected to the drive communication module 9 via CAN communication, and the drive communication module 9 is bidirectionally connected to the data interaction module 14 via wireless communication; the fault prediction module 15 includes: a sample acquisition unit 18, a sample expansion unit 19, an expansion judgment unit 20, a sample set production unit 21, and a model training unit 22 connected bidirectionally in sequence, which form a neural network prediction network. The important states and important parameters of each actuator 29 and hydraulic piston and / or hydraulic cylinder 28 are transmitted to the above neural network, and the neural network transmits its prediction results back to the display screen 30 of the remote controller 1 via wireless communication and CAN communication, so as to monitor the states and parameters of the corresponding actuator 29 and corresponding hydraulic piston 39 and / or hydraulic cylinder 28 in real time.

[0037] The method of remotely controlling an actuator using the hydraulic remote control system of the present invention includes:

[0038] (a) Remote controller 1 will transmit the execution command to receiver 2

[0039] The operator issues an execution command via button 32 and / or joystick 31, and the remote control communication module 33 of the remote controller 1 transmits the above execution command to the receiving communication module 5 of the receiver 2 via wireless communication;

[0040] (ii) Receiver 2 transmits the above execution commands to different drivers 3

[0041] The receiving communication module 5 of receiver 2 distributes the above execution command to the driving communication module 9 of different drivers 3. The driving communication module 9 transmits the above execution command to the driving MCU module 11. The driving MCU module 11 controls the motor selection module 7 to select the corresponding motor 38 according to the above execution command, and switches the selected motor 38 to the PWM output loop of the PWM pulse width control module 8. The PWM pulse width control module 8 controls the motor 38 and / or the hydraulic cylinder 28. At the same time, the monitoring module 13, the rotary encoder module 16 and the position detection module 17 respectively detect the status and parameters of the motor 38 and / or the hydraulic cylinder 28 and / or the actuator 29, and transmit them to the display screen 30 of the remote controller 1 in sequence through the driving MCU module 11, the driving communication module 9, the receiving communication module 5, the remote control communication module 33 and the remote control MCU module 34. The operator of the remote controller 1 can see the status and parameters of the motor 38 and / or the hydraulic cylinder 28 and / or the actuator 29 on the display screen 30.

[0042] (III) The actuator 3 transmits the status and parameters of the hydraulic cylinder 28 and the actuator 29 to the cloud 4.

[0043] The drive communication module 9 transmits the status and parameters of the hydraulic cylinder 28 and actuator 29 to the data interaction module 14 of the cloud 4 via wireless communication. The data interaction module 14 transmits the important status and parameters of the hydraulic cylinder 28 and actuator 29 to the fault prediction module 15 via the cloud MCU module 10. The important status and parameters refer to one or more of the flow rate, pressure of the hydraulic cylinder and displacement and torque of the actuator selected by the operator. After processing by the neural network composed of the sample acquisition unit 18, sample expansion unit 19, expansion judgment unit 20, sample set production unit 21 and model training unit 22, the fault prediction module 15 usually selects the flow rate, pressure of the hydraulic cylinder and torque and displacement of the actuator to input into the neural network to obtain the prediction result. The prediction result is then fed back to the display screen 30 of the remote controller 1 via the cloud MCU module 10, data interaction module 14, drive communication module 9, receiving communication module 2, remote control communication module 33 and remote control MCU module 34. The neural network is a pre-trained neural network.

[0044] Remote controller 1 is used to convert the operator's control actions into commands and send them to the receiver; at the same time, the control effect fed back by the receiver and the fault prompt information fed back by the cloud will be displayed on the remote controller.

[0045] Receiver 2 is used to convert the commands transmitted by the remote control into CAN bus protocol format and distribute them to the corresponding hydraulic device actuators. At the same time, information such as the control effect fed back by the actuators is also fed back to the receiver via the CAN bus, and then wirelessly transmitted by the receiver to the remote control.

[0046] The driver 3 parses the CAN commands sent by the receiver and controls the hydraulic system. Simultaneously, it collects and transmits feedback information from modules such as the monitoring module, rotary encoder module, and position detection module.

[0047] The receiving communication module 5 is used to receive the wireless signal sent by the remote control and convert it into CAN protocol and transmit it to the driver 3.

[0048] The receiving MCU module 6 is used to control other modules on the receiver 2.

[0049] The motor selection module 7 is used to select the appropriate hydraulic piston according to the instruction.

[0050] The PWM pulse width modulation module 8 is used to control the hydraulic piston through PWM pulse width modulation technology. The motor rotates in both directions to drive the worm gear, thereby changing the position of the moving piston in the hydraulic cylinder and realizing the control of the hydraulic device.

[0051] The MCU module 11 is used to control other modules on the driver.

[0052] The motion status indicator module 12 is used to indicate the currently online motor and the direction of rotation of the motor.

[0053] The rotary encoder module 16 can calculate the current position of the piston inside the hydraulic cylinder by counting the number of output pulses of the rotary encoder.

[0054] The position detection module 17 includes: forward maximum detection, return maximum detection, and center position detection. Three infrared photocells are positioned at corresponding locations to effectively determine whether the piston inside the hydraulic cylinder is in these three specific positions. By programming the microcontroller CPU, the piston automatically returns to the center position when it reaches its limit, effectively protecting the hydraulic cylinder and the entire hydraulic system. The motor selection module 7 includes an address decoder module and a relay module. Enabling and disabling the motor can be achieved through software programming of the main control CPU module 6.

[0055] The monitoring module 13 is used to detect various parameters of the hydraulic system during operation. In addition to the components mentioned above, it also includes an ultrasonic flow meter, a torque sensor, and other related sensors, enabling real-time detection of various parameters of the hydraulic system and the detection and judgment of hydraulic system faults based on the detected data.

[0056] The voltage detection unit 23 is used to detect the voltage of the hydraulic system during operation.

[0057] The temperature detection unit 24 is used to detect the temperature of the hydraulic system during operation.

[0058] The current detection unit 25 is used to detect the current of the hydraulic system during operation.

[0059] The displacement measurement unit 26 can measure the displacement of each moving mechanism through displacement sensors, rotation sensors, and other means, and display it in real time at the remote control terminal.

[0060] The three-dimensional coordinate measurement unit 27, by connecting a depth camera within the driver 3, can monitor the real-time motion of the end effector. When the operator selects an area of ​​the end effector with a mouse on the remote control, the three-dimensional coordinates of the end effector can be displayed in real time; when the target motion position of the end effector is selected with the mouse, the three-dimensional coordinates of that position can also be displayed in real time.

[0061] The fault prediction module 15 is used for fault prediction and diagnosis based on real-time monitoring data. The fault prediction module 15 performs fault diagnosis and prediction on the hydraulic system based on the detected real-time data, generating a diagnostic prediction result. Based on the diagnostic prediction result, the fault level is determined as Level I, Level II, or Level III, with Level I being the most urgent and Level III being the least urgent. The diagnostic prediction result is sent to remote controller 1 and displayed on its screen. The diagnostic prediction result includes the fault location and the cause of the fault.

[0062] The sample acquisition unit 18 is used to acquire normal data and fault data of the corresponding hydraulic system. The normal data includes various parameters of the hydraulic system under normal operating conditions, and the fault data includes various parameters of the hydraulic system under abnormal operating conditions.

[0063] The sample expansion unit 19 is used to input hydraulic system sample data into the generator to expand the sample data.

[0064] The extended judgment unit 20 is used to determine the accuracy of the sample data through the judge and output extended sample data that meets the requirements.

[0065] The sample set generation unit 21 is used to synthesize a usable expanded sample dataset from the sample datasets that meet the requirements.

[0066] Model training unit 22 is used to train the fault diagnosis prediction model using the available augmented sample dataset.

[0067] The data interaction module 14 can transmit the data of various sensors in the hydraulic system to the fault prediction module. After the fault prediction result is generated, the diagnostic information is sent to the display screen 30 of the remote controller 1.

[0068] The remote control 1 also has a power detection module. After the remote control 1 is turned on, it can continuously detect the battery power and display the remaining power in real time on the LCD screen. When the power is too low, there will be a low power warning to remind the user to charge it in time.

[0069] The remote control 1 is equipped with a left joystick and a right joystick. Both the left and right joysticks can correspond to four different actions, and the left and right joysticks can be operated simultaneously after the function is selected.

[0070] In summary, this hydraulic remote control system operates by using the function buttons on the remote controller 1 to select the corresponding control actions of the left and right joysticks. Simultaneously operating both joysticks and pushing them forward and backward sends wireless control commands to the receiver 2. Upon receiving the commands, the receiver 2 receives the commands, the MCU module 6 converts them into CAN bus protocol format, and distributes them to the corresponding driver 3 via the communication module 5. The driver 3 receives and parses the commands, driving the MCU module 11 to control the motor selection module 7 to select the corresponding motor 38 according to the execution commands. The selected motor 38 is then switched to the PWM output loop of the PWM pulse width modulation module 8. The PWM pulse width modulation module 8 controls the motor 38, causing it to rotate and drive the worm gear, thereby changing the position of the piston in the hydraulic cylinder and achieving control of the hydraulic device. During the control of the hydraulic device, the movement position of the piston in the hydraulic cylinder can be accurately calculated by counting the pulses emitted by the rotary encoder module 16. The displacement measurement unit 26 can measure the displacement of each mechanism, and the three-dimensional coordinate measurement unit 27 can measure the motion coordinates of the end effector. Ultimately, the position of the piston in each hydraulic cylinder, the motion displacement of each mechanism, and the motion image and coordinate parameters of the end effector can be displayed in real time on the display screen 30 on the remote controller 1, so as to provide intuitive feedback on the control effect to the equipment operator in a timely manner, thereby achieving precise control of the hydraulic equipment.

[0071] When controlling the hydraulic system, various sensors installed on the system monitor its parameters in real time. For example, voltage sensors detect voltage, current sensors detect current, and temperature sensors detect oil temperature. The actuator 3 transmits the real-time data of the hydraulic system monitored by the monitoring module 13 to the cloud 4 via the wireless communication module 9. The cloud 4 interacts with the actuator 3 and the remote controller 1 via the data interaction module 14. After receiving the real-time data, the fault diagnosis and prediction module 15 performs fault diagnosis and prediction based on the detected data. The generated diagnosis result is then wirelessly transmitted to the LCD screen on the remote controller via the data interaction module 14 for display. The displayed content includes the fault level, fault location, and fault cause. Based on the fault level, fault location, and fault cause, corresponding pre-set contingency plans and operation prompts are pre-set on the remote controller. When a fault is about to occur, the operator can avoid it by following the system's suggested contingency plans.

[0072] The above description discloses only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can exercise their rights within the scope of the technology disclosed in the present invention.

[0073] Any variations or modifications that can be easily conceived should be included within the scope of protection of this invention.

Claims

1. A hydraulic remote control system, wherein the hydraulic remote control system controls the hydraulic pistons (39) of a plurality of actuators (29), comprising: The system comprises a remote controller (1), a receiver (2), a driver (3), and a cloud (4). The remote controller (1) is bidirectionally connected to the receiver (2) via wireless communication. The receiver (2) is bidirectionally connected to several drivers (3) via CAN communication. Each driver (3) is bidirectionally connected to both the wireless communication and the cloud (4). Each driver (3) is connected to several hydraulic pistons (39), and each hydraulic piston (39) drives an actuator (29). The remote controller (1) includes: a display screen (30), a joystick (31), buttons (32), a remote control communication module (33), and a remote control MCU module (34). Several display screens (30), several joysticks (31), buttons (32), a remote control communication module (33), and a remote control MCU module (34) are also included. The joystick (31) and several buttons (32) are respectively connected to the remote control MCU module (34), and the remote control MCU module (34) is bidirectionally connected to the remote control communication module (33); the receiver (2) includes: a receiving communication module (5), a receiving MCU module (6) and a motion status indicator module (12), the receiving communication module (5) and the receiving MCU module (6) are bidirectionally connected, and the receiving MCU module (6) and the motion status indicator module (12) are connected; the driver (3) includes: a driving communication module (9), a driving MCU module (11), a monitoring module (13), a motor selection module (7), a PWM pulse width control module (8), and a rotation encoder. The encoder module (16) and position detection module (17), the drive communication module (9) and the drive MCU module (11) are bidirectionally connected, the drive MCU module (11) and the monitoring module (13) are bidirectionally connected, the motor gating module (7), the PWM pulse width control module (8), the rotary encoder module (16) and the position detection module (17) are respectively connected to the drive MCU module (11), the motor gating module (7) and the PWM pulse width control module (8) are respectively connected to the motor (38), the motor (38) drives the hydraulic cylinder (28), the hydraulic cylinder (28) drives the actuator (29), and the monitoring module (13) is respectively connected to the motor (38) and / or the position detection module (17). The hydraulic cylinder (28) and / or the actuator (29) are connected. The PWM pulse width control module (8) and the rotary encoder module (16) are connected to the motor (38) respectively. The monitoring module (13), the PWM pulse width control module (8) and the rotary encoder module (16) are connected to each motor (38) respectively. The position detection module (17) monitors the position of the actuator (29). The monitoring module (13) monitors the parameters of the motor (38) and / or the hydraulic cylinder (28) and / or the actuator (29). The cloud (4) includes: a data interaction module (14), a cloud MCU module (10) and a fault prediction module (15) connected in sequence.The remote control communication module (33) is bidirectionally connected to the receiving communication module (5) via wireless communication. The receiving communication module (5) is bidirectionally connected to the drive communication module (9) via CAN communication. The drive communication module (9) is bidirectionally connected to the data interaction module (14) via wireless communication. The fault prediction module (15) includes: a sample acquisition unit (18), a sample expansion unit (19), an expansion judgment unit (20), a sample set production unit (21), and a model training unit (22) connected in sequence. They form a neural network prediction network. The important states and important parameters of each actuator (29) and each hydraulic cylinder (28) are transmitted to the above neural network. The neural network transmits its prediction results back to the display screen (30) of the remote controller (1) via wireless communication and CAN communication. The states and parameters of the corresponding actuators (29) and the corresponding hydraulic cylinders (28) are monitored in real time. The monitoring module (13) includes: an ultrasonic flow meter (35), a voltage detection unit (23), a temperature detection unit (24), a current detection unit (25), a displacement measurement unit (26), a three-dimensional coordinate measurement unit (27), a torque sensor (36), and a pressure gauge (37). The ultrasonic flow meter (35) and the pressure gauge (37) are respectively connected to the hydraulic cylinder (28) to transmit the flow rate and pressure of the hydraulic cylinder (28) to the fault prediction module (15). The voltage detection unit (23), the temperature detection unit (24), and the current detection unit (25) are all connected to the hydraulic cylinder (28). The element (25) is connected to the motor (38) respectively, and transmits the voltage, temperature and current of each motor (38) to the fault prediction module (15); the torque sensor (36) and the displacement measurement unit (26) are connected to each actuator (29) respectively, and transmit the torque and displacement of each actuator (29) to the display screen (30) of the remote controller (1) and / or the fault prediction module (15); the three-dimensional coordinate measurement unit (27) is connected to the end effector, and transmits the three-dimensional coordinates of the end effector to the remote controller (1) and / or the fault prediction module (15).

2. The hydraulic remote control system as described in claim 1, characterized in that: The end effector is an actuator (29) controlled by each driver (3) to complete the final action.

3. The hydraulic remote control system as described in claim 2, characterized in that: The important states and important parameters are one or more that the operator can select from the hydraulic cylinder flow rate, hydraulic oil pressure, and actuator torque and displacement.

4. A method for remotely controlling an actuator using the hydraulic remote control system as described in claim 3, characterized in that: (a) The remote control (1) transmits the execution command to the receiver (2). The operator issues an execution command via button (32) or / and joystick (31), and the remote control communication module (33) of the remote controller (1) transmits the above execution command to the receiving communication module (5) of the receiver (2) via wireless communication. (ii) The receiver (2) transmits the above execution commands to different drivers (3). The receiver (2)'s receiving communication module (5) distributes the above execution command to the driving communication modules (9) of different drivers (3). The driving communication module (9) transmits the above execution command to the driving MCU module (11). The driving MCU module (11) controls the motor selection module (7) to select the corresponding motor (38) according to the above execution command, and switches the selected motor (38) to the PWM output loop of the PWM pulse width control module. The PWM pulse width control module (8) controls the motor (38). At the same time, the monitoring module (13), the rotary encoder module (16), and the position detection module (17) respectively detect the motor (38) and / or the liquid. The status and parameters of the pressure cylinder (28) and / or the actuator (29) are transmitted sequentially to the motion status indicator module (12) through the drive MCU module (11), the drive communication module (9), the receiving communication module (5) and the receiving MCU module (6). The motion status indicator module (12) displays the above parameters and transmits the status and parameters of the motor (38) and / or the hydraulic cylinder (28) and / or the actuator (29) sequentially to the display screen (30) of the remote controller (1) through the drive MCU module (11), the drive communication module (9), the receiving communication module (5), the remote control communication module (33) and the remote control MCU module (34). (iii) The driver (3) transmits the status and parameters of the hydraulic cylinder (28) and actuator (29) to the cloud (4). The drive communication module (9) transmits the status and parameters of the hydraulic cylinder (28) and actuator (29) to the data interaction module (14) of the cloud (4) via wireless communication. The data interaction module (14) transmits the important status and important parameters of the hydraulic cylinder (28) and actuator (29) to the fault prediction module (15) via the cloud MCU module (10). The fault prediction module (15) processes the neural network composed of the sample acquisition unit (18), sample expansion unit (19), expansion judgment unit (20), sample set production unit (21) and model training unit (22) to obtain the prediction result. The prediction result is then fed back to the display screen (30) of the remote controller (1) via the cloud MCU module (10), data interaction module (14), drive communication module (9), receiving communication module (5), remote control communication module (33) and remote control MCU module (34).

5. The method as described in claim 4, characterized in that: The neural network is a pre-trained neural network.

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