A system and method for improving the dynamic stability of excavators through remote driving

Abstract

This invention discloses a system and method for improving the dynamic stability of excavators during remote driving, comprising: vehicle body sensors, an on-board controller, a local base station, a remote controller, a remote handle, and a remote foot pedal. The remote handle and remote foot pedal are both electrically connected to the remote controller, and both the on-board controller and the remote controller are electrically connected to the local base station. By utilizing the powerful computing capabilities of the local base station to perform complex data calculations, replacing the traditional method of using the on-board controller and remote controller for data processing, computational efficiency can be significantly improved, latency reduced, and the stability of the control system enhanced. By using the local base station to calculate the dynamic stability coefficient K of the entire vehicle in real time, the driver can accurately control the vehicle speed based on the dynamic stability coefficient K, effectively preventing vehicle rollover or loss of control and improving the safety of remote driving. Simultaneously, it allows the vehicle to reach higher working speeds while ensuring safety, effectively improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of remote excavator driving technology, and in particular to a system and method for improving the dynamic stability of remote excavator driving. Background Technology

[0002] In the field of excavator remote driving technology, existing remote driving solutions mainly suffer from the following problems: First, existing remote driving systems only display various parameters on the screen, which differs significantly from the experience gained during vehicle operation. This makes it difficult to accurately judge the vehicle's condition and tilting tendency, thus hindering precise speed control. Second, there is a lack of intelligent control algorithms that organically combine safety and efficiency, making it difficult to achieve a dynamic balance between the two. Finally, adding sensors increases computational load; local computation places high demands on the onboard controller, while remote computation suffers from significant latency. Therefore, there is an urgent need for a system and method that can achieve a balance between operating speed and dynamic stability, reduce the risk of excavator tilting during remote driving, improve operating speed and safety, and enhance dynamic stability in excavator remote driving while improving operational efficiency and reducing latency. Summary of the Invention

[0003] In view of this, the present invention provides a system for improving the dynamic stability of remote driving of excavators, which can improve the safety and stability of remote driving, improve the computational efficiency of the remote driving system, reduce latency and improve the stability of the control system.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A system for improving the dynamic stability of a remotely operated excavator includes: a vehicle body sensor, an onboard controller, a local base station, a remote controller, a remote handle, and a remote foot pedal.

[0006] The vehicle body sensors include tilt sensors, slewing angle sensors, and rotation angle sensors, all of which are electrically connected to the vehicle controller. The remote handle and remote foot pedal are both electrically connected to the remote controller, and both the vehicle controller and the remote controller are electrically connected to the local base station.

[0007] Preferably, the local base station includes a vehicle tilt angle calculation module, a dynamic stability calculation module, and an operation output calculation module.

[0008] Preferably, the rotation angle sensor includes a boom rotation angle sensor, a stick rotation angle sensor, and a bucket rotation angle sensor.

[0009] This invention also discloses a method for improving the dynamic stability of remote driving of an excavator, applied to the aforementioned system for improving the dynamic stability of remote driving of an excavator. The method includes: vehicle body sensors acquiring real-time data of the entire vehicle and transmitting the real-time data to an on-board controller, which then transmits the real-time data to a local base station; the local base station analyzing and calculating the real-time data to obtain calculation results and operational suggestions based on the calculation results, and transmitting the calculation results and operational suggestions to a remote controller; the remote controller displaying the calculation results and operational suggestions on a display screen on a remote control handle, allowing the operator to operate the remote control handle and remote foot pedal according to the calculation results and operational suggestions displayed on the screen; the remote controller acquiring the input values ​​of the remote control handle and remote foot pedal and sending the input values ​​to the local base station; the local base station analyzing and calculating the input values ​​to calculate the output values ​​of the remote control handle and remote foot pedal, and transmitting the output values ​​to the on-board controller; and the on-board controller controlling the excavator's actions based on the output values.

[0010] Preferably, the real-time data of the vehicle acquired by the body sensors includes: tilt angle data of the excavator in the front-to-back direction and tilt angle data in the left-to-right direction acquired by the tilt angle sensor; slewing angle data of the upper body slewing angle acquired by the slewing angle sensor; and rotation angle data of the excavator's working device acquired by the rotation angle sensor.

[0011] Preferably, the rotation angle data of the working device includes: the rotation angle data of the excavator boom obtained by the boom rotation angle sensor; the rotation angle data of the excavator stick obtained by the stick rotation angle sensor; and the rotation angle data of the excavator bucket obtained by the bucket rotation angle sensor.

[0012] Preferably, the local base station analyzes and calculates real-time data to obtain calculation results and operational suggestions based on the calculation results, including: the vehicle tilt angle calculation module in the local base station calculates the vehicle tilt angle data and the vehicle slewing angle data based on the tilt angle data of the excavator in the front-to-back direction, the tilt angle data of the excavator in the left-to-right direction, and the upper body slewing angle data; the dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operational suggestions based on the upper body slewing angle data, the vehicle tilt angle data, the vehicle slewing angle data, and the rotation angle data of the excavator's working device.

[0013] Preferably, the local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote foot pedal, including: the operation output calculation module in the local base station has a preset stability and speed coefficient table. The operation output calculation module can quickly find the corresponding speed coefficient V by referring to the stability and speed coefficient table according to the dynamic stability coefficient K, and calculate the output values ​​of the remote handle and the remote foot pedal according to the speed coefficient V, the input value of the remote handle, and the input value of the remote foot pedal.

[0014] The beneficial effects of this invention are as follows: Compared with the prior art, the system for improving the dynamic stability of remote driving of excavators disclosed in this application utilizes the powerful computing power of a local base station to perform complex data calculations, replacing the traditional method of using on-board controllers and remote controllers for data processing. This significantly improves computing efficiency, reduces latency, and enhances the stability of the control system. By using the local base station to calculate the dynamic stability coefficient K of the entire vehicle in real time, the driver can accurately control the vehicle speed based on the dynamic stability coefficient K, effectively preventing vehicle rollover or loss of control and improving the safety of remote driving. At the same time, it can also enable the vehicle to reach a higher working speed while ensuring safety, effectively improving work efficiency.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] Figure 1 This is a system flowchart of the present invention;

[0017] Figure 2 This is a flowchart of the vehicle tilt angle calculation module of the present invention;

[0018] Figure 3 This is a flowchart of the dynamic stability calculation module of the present invention;

[0019] Figure 4 This is a flowchart of the operation output calculation module of the present invention. Detailed Implementation

[0020] This invention discloses a system for improving the dynamic stability of remote driving of excavators. It can improve the safety and stability of remote driving, increase the computational efficiency of the remote driving system, reduce latency, and improve the stability of the control system.

[0021] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] The following is for reference. Figures 1 to 4 This invention describes a system for improving the dynamic stability of a remotely operated excavator in an embodiment of the present invention.

[0024] This application discloses a system for improving the dynamic stability of excavators through remote driving, comprising: a vehicle body sensor, an on-board controller, a local base station, a remote controller, a remote handle, and a remote foot pedal.

[0025] The vehicle body sensors include tilt sensors, slewing angle sensors, and rotation angle sensors, all of which are electrically connected to the vehicle controller. The remote handle and remote foot pedal are both electrically connected to the remote controller, and both the vehicle controller and the remote controller are electrically connected to the local base station.

[0026] The tilt sensor is used to acquire the tilt angle data of the excavator in the front-to-back direction and the tilt angle data in the left-to-right direction. The slewing angle sensor is used to acquire the slewing angle data of the upper body. The rotation angle sensor is used to acquire the rotation angle data of the excavator's working device. The tilt sensor, slewing angle sensor and rotation angle sensor are all electrically connected to the vehicle controller and transmit the angle data they acquire to the vehicle controller. After processing the angle data, the vehicle controller sends it to the local base station for data analysis and calculation.

[0027] The local base station analyzes and calculates angle data to obtain the vehicle's dynamic stability coefficient K and operational suggestions. This data is then sent to the remote controller, which displays it on the remote control's screen for the driver to view. This helps the driver accurately assess the vehicle's condition and potential rollover. The driver can then use the dynamic stability coefficient K and operational suggestions to operate the remote control and pedals, enabling precise speed control.

[0028] The remote controller transmits the input data from the driver's remote control handle and remote foot pedal to the local base station. The local base station can calculate the output data of the remote control handle and remote foot pedal based on the input data and the dynamic stability coefficient K of the whole vehicle, and transmit the output data to the vehicle controller. The vehicle controller then processes the data and outputs the control to move the excavator.

[0029] This embodiment utilizes the powerful computing capabilities of a local base station to perform complex data calculations, replacing the traditional method of using onboard and remote controllers for data processing. This significantly improves computing efficiency, reduces latency, and enhances the stability of the control system. By using the local base station to calculate the vehicle's dynamic stability coefficient K in real time, drivers can accurately control the vehicle's speed based on the dynamic stability coefficient K, effectively preventing vehicle rollover or loss of control and improving the safety of remote driving. At the same time, it can also enable the vehicle to reach a higher operating speed while ensuring safety, effectively improving work efficiency.

[0030] In some embodiments, the local base station includes a vehicle tilt angle calculation module, a dynamic stability calculation module, and an operation output calculation module. The vehicle tilt angle calculation module can calculate the vehicle tilt angle data and vehicle slewing angle data based on the real-time vehicle data transmitted by the vehicle controller. The dynamic stability calculation module can calculate the vehicle dynamic stability coefficient K and vehicle operation suggestions based on the vehicle tilt angle data, vehicle slewing angle data, and real-time vehicle data. The operation output calculation module can calculate the remote handle output value and remote foot pedal output value based on the vehicle dynamic stability coefficient K, remote handle input value, and remote foot pedal input value.

[0031] In some embodiments, the rotation angle sensor includes a boom rotation angle sensor, a stick rotation angle sensor, and a bucket rotation angle sensor, wherein the boom rotation angle sensor is capable of acquiring rotation angle data of the excavator boom; the stick rotation angle sensor is capable of acquiring rotation angle data of the excavator stick; and the bucket rotation angle sensor is capable of acquiring rotation angle data of the excavator bucket.

[0032] This invention also discloses a method for improving the dynamic stability of remote driving of an excavator, applied to the aforementioned system for improving the dynamic stability of remote driving of an excavator, comprising the following steps: Vehicle body sensors acquire real-time data of the entire vehicle and transmit the real-time data to the on-board controller, which then transmits the real-time data to a local base station; the local base station analyzes and calculates the real-time data to obtain calculation results and operational suggestions based on the calculation results, and transmits the calculation results and operational suggestions to a remote controller; the remote controller displays the calculation results and operational suggestions on a display screen on a remote handle, allowing the operator to operate the remote handle and remote foot pedal according to the calculation results and operational suggestions displayed on the screen; the remote controller acquires the input values ​​of the remote handle and remote foot pedal and sends the input values ​​to the local base station; the local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and remote foot pedal, and transmits the output values ​​to the on-board controller; the on-board controller controls the excavator's actions according to the output values.

[0033] In some embodiments, the real-time data of the vehicle obtained by the body sensors includes: tilt angle data of the excavator in the front-to-back direction and tilt angle data in the left-to-right direction obtained by the tilt angle sensor; slewing angle data of the upper body slewing angle obtained by the slewing angle sensor; and rotation angle data of the excavator's working device obtained by the rotation angle sensor.

[0034] In some embodiments, the rotation angle data of the working device includes: rotation angle data of the excavator boom acquired by the boom rotation angle sensor; rotation angle data of the excavator stick acquired by the stick rotation angle sensor; and rotation angle data of the excavator bucket acquired by the bucket rotation angle sensor.

[0035] In some embodiments, the local base station analyzes and calculates real-time data to obtain calculation results and operational suggestions based on the calculation results, including: the vehicle tilt angle calculation module in the local base station calculates the vehicle tilt angle data and the vehicle slewing angle data based on the tilt angle data of the excavator in the front-rear direction, the tilt angle data of the excavator in the left-right direction, and the upper body slewing angle data; the dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operational suggestions based on the upper body slewing angle data, the vehicle tilt angle data, the vehicle slewing angle data, and the rotation angle data of the excavator's working device.

[0036] The calculation process of the vehicle tilt angle calculation module is as follows: S1. Establish a spatial coordinate system XYZ. Define vector A based on the tilt angle of the excavator in the front-rear direction and vector B based on the tilt angle data of the excavator in the left-right direction. Calculate the spatial coordinates of vector A and vector B. S2. Define the normal vector C of the tilt plane. Calculate the spatial coordinates of normal vector C based on the formula: normal vector C = vector A × vector B. S3. Calculate the vehicle tilt angle based on the fact that the angle between the tilt plane and the horizontal plane is equal to the angle between normal vector C and the Z-axis. S4. Calculate the corresponding vehicle rotation angle based on the vehicle tilt angle.

[0037] The dynamic stability calculation module's calculation process is as follows: S1. Establish a spatial coordinate system with the rotation center as the origin, the rotation plane as the XOY plane, the direction of the vehicle's working device as the positive X-axis, and the upper body fixed; S2. Calculate the negative rotation angle of the chassis; S3. Calculate the coordinates of the four vertices of the chassis in contact with the ground based on the vehicle's rotation angle; S4. Calculate the coordinates of the center of gravity of the boom, stick, and bucket based on the rotation angle of the upper body's working device; S5. Calculate the current overturning moment M1 on the four sides of the chassis based on the vehicle's tilt angle and rotation angle; S6. Calculate the vehicle's rotation angle and the upper body's working device's rotation angle after a unit time based on historical data, and repeat steps S2-S5 to calculate the single-unit stability. S7. Calculate the combined overturning moment M, M=i*M1+j*M2 (i is the current overturning moment coefficient, j is the future overturning moment coefficient), where i and j are both greater than 0, and i+j=1. In addition, the values ​​of i and j can be adjusted according to the actual situation; S8. Calculate the dynamic stability coefficient K, K=(1-M / M3)*100, where M3 is the preset overturning moment, which is measured experimentally; S9. By increasing or decreasing the rotation angle of the whole vehicle and the rotation angle of the upper body tooling device by a unit length, the overturning moment after a specific operation can be predicted. Among the multiple predicted overturning moments, select the action that can reduce the overturning moment the most, and transmit it to the remote controller to give the corresponding operation suggestion.

[0038] In some embodiments, the local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote foot pedal, including: the operation output calculation module in the local base station has a preset stability and speed coefficient table, the operation output calculation module can quickly find the corresponding speed coefficient V by referring to the stability and speed coefficient table according to the dynamic stability coefficient, and calculate the output values ​​of the remote handle and the remote foot pedal according to the speed coefficient V, the input value of the remote handle and the input value of the remote foot pedal.

[0039] The calculation process of the operation output calculation module is as follows: S1. Based on the dynamic stability coefficient K, refer to the stability and speed coefficient table to find the speed coefficient V corresponding to the current dynamic stability coefficient K; S2. Calculate the remote handle output value and the remote foot pedal output value. The remote handle output value = speed coefficient V * remote handle input value / 100, and the remote foot pedal output value = speed coefficient V * remote foot pedal input value / 100.

[0040] In this embodiment, the preset stability and speed coefficient table can be adjusted according to the actual situation.

[0041] Other components and operations of the excavator remote driving dynamic stability improvement system and excavator remote driving dynamic stability improvement method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for improving the dynamic stability of an excavator through remote driving, characterized in that, include: The vehicle body sensors acquire real-time data of the entire vehicle and transmit the real-time data to the vehicle controller, which then transmits the real-time data to the local base station. The local base station analyzes and calculates real-time data to obtain calculation results and operational suggestions based on the calculation results. The local base station then transmits the calculation results and operational suggestions to the remote controller. The remote controller displays the calculation results and operation suggestions on the screen on the remote handle. The operator can then operate the remote handle and remote foot pedal according to the calculation results and operation suggestions displayed on the screen. The remote controller acquires input values ​​from the remote handle and remote foot pedal and sends the input values ​​to the local base station; The local base station analyzes and calculates the input values ​​to determine the output values ​​of the remote handle and remote foot pedal, and then transmits the output values ​​to the vehicle controller. The on-board controller controls the excavator's actions based on the output values; The vehicle body sensors acquire real-time data for the entire vehicle, including: tilt angle data of the excavator in the front-to-back direction and tilt angle data in the left-to-right direction acquired by the tilt angle sensor; slewing angle data of the upper body slewing angle acquired by the slewing angle sensor; and rotation angle data of the excavator's working device acquired by the rotation angle sensor. The local base station analyzes and calculates real-time data to derive calculation results and operational suggestions based on these results. These include: the vehicle tilt angle calculation module in the local base station calculates the vehicle tilt angle and vehicle slewing angle based on the excavator's tilt angles in the front-to-back and left-to-right directions, as well as the upper body slewing angle; and the dynamic stability calculation module in the local base station calculates the dynamic stability coefficient K and operational suggestions based on the upper body slewing angle, vehicle tilt angle, vehicle slewing angle, and the rotation angle of the excavator's working device. The local base station analyzes and calculates the input values ​​to calculate the output values ​​of the remote handle and the remote foot pedal. The operation output calculation module in the local base station has a preset stability and speed coefficient table. The operation output calculation module can quickly find the corresponding speed coefficient V by referring to the stability and speed coefficient table according to the dynamic stability coefficient K, and calculate the output values ​​of the remote handle and the remote foot pedal according to the speed coefficient V, the input value of the remote handle and the input value of the remote foot pedal. The calculation process of the vehicle tilt angle calculation module is as follows: S1. Establish a spatial coordinate system XYZ. Define vector A based on the tilt angle of the excavator in the front-rear direction, and define vector B based on the tilt angle data of the excavator in the left-right direction. Calculate the spatial coordinates of vector A and vector B. S2. Define the normal vector C of the tilt plane. Calculate the spatial coordinates of normal vector C based on the formula: normal vector C = vector A × vector B. S3. Calculate the vehicle tilt angle based on the fact that the angle between the tilt plane and the horizontal plane is equal to the angle between normal vector C and the Z-axis. S4. Calculate the corresponding vehicle rotation angle based on the vehicle tilt angle. The dynamic stability calculation module's calculation process is as follows: S1. Establish a spatial coordinate system with the rotation center as the origin, the rotation plane as the XOY plane, the direction of the vehicle's working device as the positive X-axis, and the upper body fixed; S2. Calculate the negative rotation angle of the chassis; S3. Calculate the coordinates of the four vertices of the chassis in contact with the ground based on the vehicle's rotation angle; S4. Calculate the coordinates of the center of gravity of the boom, stick, and bucket based on the rotation angle of the upper body's working device; S5. Calculate the current overturning moment M1 on the four sides of the chassis based on the vehicle's tilt angle and rotation angle; S6. Calculate the vehicle's rotation angle and the upper body's working device's rotation angle after a unit time based on historical data, and repeat steps S2-S5 to calculate the single-unit stability. S7. Calculate the combined overturning moment M, M=i*M1+j*M2 (i is the current overturning moment coefficient, j is the future overturning moment coefficient), where i and j are both greater than 0, and i+j=1. In addition, the values ​​of i and j can be adjusted according to the actual situation; S8. Calculate the dynamic stability coefficient K, K=(1-M / M3)*100, where M3 is the preset overturning moment, which is measured experimentally; S9. By increasing or decreasing the rotation angle of the whole vehicle and the rotation angle of the upper body tooling device by a unit length, the overturning moment after a specific operation can be predicted. Among the multiple predicted overturning moments, select the action that can reduce the overturning moment the most, and transmit it to the remote controller to give the corresponding operation suggestion.

2. The method for improving dynamic stability of excavators through remote driving according to claim 1, characterized in that, The rotation angle data of the working device includes: The boom rotation angle data of the excavator boom acquired by the boom rotation angle sensor; The excavator stick rotation angle data acquired by the stick rotation angle sensor; The excavator bucket rotation angle data is obtained from the bucket rotation angle sensor.

3. A system for improving the dynamic stability of a remote-controlled excavator, characterized in that, The method for improving the dynamic stability of remote driving of an excavator according to any one of claims 1-2 includes: a vehicle body sensor, an on-board controller, a local base station, a remote controller, a remote handle, and a remote foot pedal; The vehicle body sensors include a tilt sensor, a slewing angle sensor, and a rotation angle sensor, all of which are electrically connected to the vehicle controller. The remote handle and the remote foot pedal are both electrically connected to the remote controller, and the vehicle controller and the remote controller are both electrically connected to the local base station; The local base station includes a vehicle tilt angle calculation module, a dynamic stability calculation module, and an operation output calculation module.

4. The system for improving the dynamic stability of excavators through remote driving according to claim 3, characterized in that, The rotation angle sensors include a boom rotation angle sensor, a stick rotation angle sensor, and a bucket rotation angle sensor.

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