Remote control device for controlling LNG (Liquefied Natural Gas) loading robot

Abstract

The utility model provides a remote control device for controlling an LNG (Liquefied Natural Gas) loading robot, which comprises a plurality of operating parts with different control functions on an operating panel, and each operating part generates a control signal during operation; the data acquisition board is electrically connected with the operation panel and is used for acquiring a control signal of an operation part on the operation panel and converting the control signal into a digital quantity signal; the remote communication module is electrically connected with the data acquisition board and the operation panel and used for transmitting control signals of the operation panel to the data acquisition board in a communication mode and transmitting digital signals converted by the data acquisition board to the LNG loading robot. Through the arrangement, the remote control device meets the requirements of the LNG loading operation on intelligence, convenience and safety of the robot, is suitable for the field operation of the LNG loading robot, and realizes the accurate control of the robot through the highly integrated and intelligent design, thereby improving the operation efficiency and safety.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, specifically to a remote control device for controlling an LNG loading robot. Background Technology

[0002] Pallet loading robots are used in the construction of liquefied natural gas (LNG) vessels. LNG vessels play a crucial role in the global energy transportation sector due to their ability to safely and efficiently transport clean energy—liquefied natural gas. With the transformation of the global energy structure and increasing environmental requirements, the demand for LNG vessel construction continues to grow. In the construction process of LNG vessels, the remote control operation device of the pallet loading robot is of great significance for improving construction efficiency and ensuring operational safety. Existing remote control devices may have problems such as complex operation, unstable signal transmission, and susceptibility to interference, which affect the efficiency and safety of the construction work. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this invention is to provide a remote control device for controlling an LNG palletizing robot. This device is designed to meet the intelligent, convenient, and safe requirements of LNG palletizing operations. It is particularly suitable for on-site operation of LNG palletizing robots, achieving precise control of the robot through highly integrated and intelligent design, thereby improving operational efficiency and safety.

[0004] In one aspect, this utility model provides a remote control device for controlling an LNG loading robot, comprising: an operation panel, a data acquisition board, and a remote communication module;

[0005] The operation panel has multiple operation components with different control functions, and each operation component generates a control signal when it is operated;

[0006] The data acquisition board is electrically connected to the operation panel and is used to acquire control signals of the operation components on the operation panel and convert the control signals into digital signals.

[0007] The remote communication module is electrically connected to the data acquisition board and the operation panel, and is used to transmit the control signals of the operation panel to the data acquisition board via communication, and to transmit the digital signals converted by the data acquisition board to the LNG loading robot.

[0008] Furthermore, the operating component includes:

[0009] A two-dimensional joystick is used to control the robot chassis's forward and backward movement, steering, and differential speed movement;

[0010] Potentiometer, used for fine-tuning the angle of the chassis steering wheel;

[0011] The motion mode switch is used to switch the robot between single-axis motion and compound motion modes.

[0012] Furthermore, the operating component also includes:

[0013] Automatic mode switch, used to start and stop automatic plate loading operation;

[0014] The loading operation joystick is used to control the movement of the plate picking position and the plate loading position;

[0015] The emergency stop button is used to stop the robot from moving.

[0016] The operation indicator light is used to indicate the operating status of the remote control through color changes.

[0017] Furthermore, the data acquisition board includes: an analog-to-digital converter and a signal conditioning circuit;

[0018] The analog-to-digital converter is used to convert analog signals into digital signals;

[0019] The signal conditioning circuit is used to process the converted digital signal.

[0020] Furthermore, the signal conditioning circuit includes a voltage regulator, an amplifier, and a filter connected in series.

[0021] The amplifier is used to enhance the output strength of digital signals;

[0022] The filter is used to remove noise and interference from digital signals;

[0023] The voltage regulator is used to provide a stable power supply for the remote control device.

[0024] Furthermore, the remote communication module uses a communication chip based on the CAM bus communication protocol.

[0025] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0026] 1. The remote control device of this utility model provides an efficient, safe and reliable control solution for the operation requirements of LNG loading robots, and achieves multiple technical effects such as convenient operation, precise control, flexible motion mode switching, automated operation support, rapid response in emergency situations and intuitive operation status indication.

[0027] 2. This utility model features a user-friendly control panel design that places the most frequently used control buttons in easily accessible locations, reducing operational difficulty and improving work efficiency. The equipped two-dimensional joystick and potentiometer enable precise control of the robot's movement. A motion mode switch allows operators to flexibly switch between single-axis and end-effector movements according to work requirements, enhancing operational flexibility. An automatic mode switch supports the start and stop of automatic loading operations, reducing operator workload and improving automation levels. An emergency stop button ensures rapid disconnection of control signals in emergencies, protecting personnel and equipment safety. The running indicator light visually displays the remote control's operating status through color changes, improving operational intuitiveness.

[0028] 3. This utility model uses an analog-to-digital converter on the data acquisition board, combined with a signal conditioning circuit, to ensure signal quality and stability and improve the system's anti-interference capability. Attached Figure Description

[0029] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0030] Figure 1 This is a structural diagram of a remote control device for controlling an LNG loading robot according to one embodiment of the present invention.

[0031] Figure 2 This is a panel design drawing of a remote control device in one embodiment of the present invention.

[0032] Figure 3 This is a design diagram of the dead zone of the joystick of the remote control device in one embodiment of this utility model.

[0033] Figure 4 This is a schematic diagram of the circuit board structure of the data acquisition board in one embodiment of the present invention.

[0034] Figure 5 This is a design drawing of a state machine for preventing accidental touches in one embodiment of the present invention. Detailed Implementation

[0035] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0036] Reference Figure 1As shown in the figure, a remote control device for controlling an LNG loading robot is provided according to an embodiment of the present invention, including: an operation panel, a data acquisition board and a remote communication module.

[0037] The operation panel has multiple operation units with different control functions. Each operation unit generates a control signal during operation. The data acquisition module is electrically connected to the operation panel and is used to acquire the control signals of the operation units on the operation panel and convert the control signals into digital signals. The remote communication module is electrically connected to the data acquisition board and the operation panel and is used to transmit the control signals of the operation panel to the data acquisition board via communication and transmit the converted digital signals from the data acquisition board to the LNG loading robot.

[0038] This invention utilizes multiple control components on the control panel with different functions, allowing users to intuitively generate different control signals and execute different control processes without direct contact with the LNG loading robot, thus improving operational convenience and safety. The data acquisition board accurately receives the control signals from the control panel and converts them into digital signals, avoiding errors and interference that may occur in traditional analog signal transmission. The remote communication module enables the transmission of control signals from the control panel to the data acquisition board via communication, and then transmits the converted digital signals from the data acquisition board to the LNG loading robot, achieving remote control and monitoring of the robot and improving work efficiency and flexibility.

[0039] Specifically, users generate different control signals through different operating components on the control panel, such as joystick control and button pressing. Then, the data acquisition board receives the control signals from the control panel, converts the electrical signals into digital signals, and receives the digital signals from the data acquisition board through the remote communication module. The signals are then transmitted to the LNG loading robot through network communication or other communication methods, and the robot performs corresponding operations based on the signal content, such as moving, grabbing, and placing LNG plates.

[0040] In some possible embodiments, the operating unit includes a two-dimensional joystick, a potentiometer, and a motion mode switching switch; the two-dimensional joystick is used to control the forward and backward, steering, and differential motion of the robot chassis; the potentiometer is used to fine-tune the angle of the chassis steering wheels; and the motion mode switching switch is used to switch the robot between single-axis motion and compound motion modes.

[0041] Furthermore, the control panel integrates multiple control components, including joysticks, buttons, switches, and indicator lights. The two-dimensional joystick controls the forward / backward, steering, and differential movements of the robot's chassis joints; the displacement of the joystick controls the robot's speed and direction. The potentiometer is used to fine-tune the angle of the robot chassis's steering wheels, achieving precise steering control. A motion mode switch allows the operator to switch between single-axis and compound motion modes.

[0042] In the above embodiments, the operating components also include an automatic mode switch for starting and stopping the automatic loading operation; a loading operation joystick for controlling the movement of the board picking position and the loading position; an emergency stop button for controlling the robot to stop moving; and a running indicator light for indicating the operating status of the remote control through color changes.

[0043] The emergency stop button is designed in red for visibility and easy access, allowing for quick power cut-off and robot cessation in emergencies. Indicator lights use different colors to display the remote control's operating status: green for normal operation, yellow for warning, and red for error.

[0044] Reference Figure 2 As shown, in a preferred embodiment of this utility model, the operation panel is equipped with multiple two-dimensional joysticks for robot motion control, enabling the robot to move along any axis in the joint coordinate system and in any direction in the Cartesian coordinate system, and controlling the movement speed through the joystick amplitude; one of the two-dimensional joysticks on the operation panel can realize the forward and backward, turning, and differential movement of the robot chassis, and the potentiometer on the operation panel can control the angle of the chassis steering wheel; the operation panel is equipped with a robot motion mode switching switch, which can realize the switching between single-axis movement and end effector movement of the robot; the operation panel is equipped with an automatic mode switch, which can start and stop the automatic loading operation; the operation panel is equipped with a loading operation joystick, which can realize the controllable movement of the loading position and the loading position; the operation panel is equipped with an emergency stop button, which is used to stop the robot movement in the event of a robot malfunction; the operation panel is equipped with a running indicator light, which indicates the operating status of the remote control through color changes.

[0045] Reference Figure 2 As shown, the control levers for controlling the robot chassis's forward and backward movement, steering, and differential motion are located on the far left of the control panel, the power switch is located on the far right, and the emergency stop button is located to the left of the power switch. The user-friendly design of the control panel places the most frequently used control buttons in easily accessible positions, improving work efficiency and safety.

[0046] Furthermore, the control panel also includes a network interface for remote configuration and monitoring. The remote configuration function allows users to flexibly adjust and optimize the performance of the remote control device, and the monitoring interface allows real-time monitoring of the working status and performance of the remote control device and the LNG loading robot, understanding key parameters such as the robot's position, speed, and load, as well as the working status and error information of the remote control device.

[0047] Furthermore, refer to Figure 3 As shown, the control panel also includes a joystick dead zone design, which avoids accidental operation during operation and improves the safety of the device.

[0048] Reference Figure 4 As shown, in some possible embodiments, the data acquisition board includes an analog-to-digital converter (ADC) and a signal conditioning circuit. The ADC is used to convert analog signals into digital signals; the signal conditioning circuit is used to process the converted digital signals.

[0049] By integrating an analog-to-digital converter and signal conditioning circuit into the data acquisition board, the analog input signals from the operation panel are efficiently and accurately converted into digital signals. The signal conditioning circuit further optimizes the digital signals, improving the control accuracy and response speed of the remote control device for the LNG loading robot, and ensuring the stability and reliability of the operation.

[0050] In the above embodiments, the signal conditioning circuit includes a voltage regulator, an amplifier, and a filter connected in series; the amplifier is used to enhance the output strength of the digital signal; the filter is used to remove noise and interference from the digital signal; and the voltage regulator is used to provide a stable power supply for the remote control device.

[0051] In the above embodiments, the data acquisition board is equipped with a software algorithm, which includes a debouncing algorithm and a signal dead zone control logic. The debouncing algorithm is used to eliminate erroneous signals caused by rapid operation of the device. The signal dead zone control logic is used to prevent erroneous operation caused by minor signal fluctuations.

[0052] This invention designs a data acquisition board based on remote control signal data. The data acquisition board uses a high-precision analog-to-digital converter to convert analog signals into digital signals. The signal conditioning circuit includes an amplifier, a filter, and a voltage regulator to ensure signal quality. The software algorithm is designed to achieve jitter removal and avoid erroneous signals caused by rapid operation. Signal dead-zone logic is designed to prevent erroneous operation caused by small signal fluctuations.

[0053] Specifically, the data acquisition board is a crucial component of the remote control device, responsible for converting physical operations on the control panel (such as joystick movement or button pressing) into digital signals that the robot can recognize and execute. The data acquisition board employs highly sensitive sensors to detect the joystick position and button status, uses an analog-to-digital converter (ADC) to convert analog signals into digital signals, and incorporates signal conditioning circuitry, including amplifiers, filters, and voltage regulators, to ensure signal quality and stability. Software algorithms are added to process the acquired digital signals, including debouncing, signal verification, and error correction. The analog voltage signal acquisition and signal conditioning circuitry design enhances the system's anti-interference capabilities. Debouncing algorithms prevent erroneous signals caused by rapid button or joystick operation. Signal dead-time logic prevents malfunctions caused by minute signal fluctuations.

[0054] This invention employs an analog-to-digital converter on a data acquisition board, along with a signal conditioning circuit, to ensure signal quality and stability and improve the system's anti-interference capability. The design of the dejitter algorithm and signal dead-zone logic prevents misoperation and ensures operational accuracy.

[0055] In some possible embodiments, the remote communication module employs a communication chip based on the CAM bus communication protocol to transmit control signals to the LNG loading robot.

[0056] The remote communication module is a crucial component of the remote control device, responsible for reliably transmitting control signals from the control panel to the LNG loading robot. The remote communication module employs the CAN bus communication protocol, a widely used communication protocol in embedded systems that enables efficient communication between multiple nodes while ensuring real-time data transmission and reliability.

[0057] Of course, the above describes the hardware structure of this utility model. In practical use, to better realize the control function, the remote communication module can be further improved according to actual needs. For example, the remote communication module may include a priority mechanism transmission unit to transmit control signals according to a set priority. A priority mechanism is designed so that high-priority messages (such as emergency stop signals) can be transmitted first, ensuring real-time performance, reliability, and safety. Specifically, the priority mechanism ensures that emergency signals such as emergency stop commands are transmitted first.

[0058] Furthermore, the remote communication module may also include a data transmission verification unit and an automatic retransmission request unit; the data transmission verification unit is used to check whether the data is complete and correct during transmission; the automatic retransmission request unit is used to automatically request the sender to retransmit when a data transmission error or loss is detected. The data transmission verification unit and the automatic retransmission request unit each contain a data transmission verification mechanism and an automatic retransmission request mechanism, respectively.

[0059] The aforementioned remote communication module enables improved remote control functionality. By integrating a data transmission verification mechanism and an automatic retransmission request mechanism, it enhances the reliability and integrity of data transmission. The data transmission verification mechanism checks the accuracy of data during transmission in real time, ensuring that the received data matches the sent data. The automatic retransmission request mechanism automatically triggers a retransmission request when data transmission errors or loss are detected, preventing control command failures caused by data loss or errors, and improving the stability and safety of the remote control device's control over the LNG loading robot.

[0060] In addition, the remote communication module may include encryption and security protocols to protect the data transmitted between the remote control device and the LNG loading robot. Specifically, the design of the remote communication module first adopts the CAM bus communication protocol as the basis for data transmission, ensuring that control signals can be transmitted stably and efficiently to the LNG loading robot. Next, a priority mechanism is introduced to ensure orderly transmission based on the urgency and importance of signals. By adding a data transmission verification mechanism and an automatic retransmission request mechanism, the integrity and correctness of the data are ensured through checksums and retransmission requests. Finally, to ensure the security of data transmission, encryption and security protocols are added to encrypt the transmitted data, preventing data leakage and unauthorized access.

[0061] The remote control device of this utility model, through its innovative design, significantly improves the operating efficiency and safety of the LNG loading robot, and meets the intelligent and convenient needs of industrial automation equipment.

[0062] In practical applications at LNG ship construction sites, operators can remotely control a pallet-loading robot to perform precise pallet loading operations using this remote control device. By switching on the automatic mode, operators can initiate preset automatic pallet loading programs to improve work efficiency. In emergencies, operators can immediately press the emergency stop button to ensure operational safety.

[0063] When the aforementioned remote control device controls the LNG loading robot, it generates control signals through the operation panel, the data acquisition board acquires the control signals and converts them into digital signals, and the remote communication module transmits the digital signals to the LNG loading robot to control the robot to perform corresponding operations.

[0064] This includes using an automatic retransmission request mechanism via the remote communication module to handle data loss during transmission; employing encryption and security protocols within the remote communication module to ensure data transmission security; and using the automatic mode switch on the operation panel to initiate the preset automatic plate-loading program.

[0065] like Figure 5As shown, this application designs five system states—manual, leveling, positioning, loading, and exit—based on the work process. The system state changes through different button operations (leveling, stopping, exiting, etc.) or feedback (no wall detected, leveling completed, fault, exit point reached). In each state, only pressing the corresponding button will execute the operation; pressing other buttons will not elicit a response.

[0066] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model. The above-described preferred features can be used in any combination without conflict.

Claims

1. A remote control device for controlling an LNG loading robot, characterized in that, include: Operation panel, data acquisition board, and remote communication module; The operation panel has multiple operation components with different control functions, and each operation component generates a control signal when it is operated; The data acquisition board is electrically connected to the operation panel and is used to acquire control signals of the operation components on the operation panel and convert the control signals into digital signals. The remote communication module is electrically connected to the data acquisition board and the operation panel, and is used to transmit the control signals of the operation panel to the data acquisition board via communication, and to transmit the digital signals converted by the data acquisition board to the LNG loading robot.

2. The remote control device for controlling an LNG loading robot according to claim 1, characterized in that, The operating components include: A two-dimensional joystick is used to control the robot chassis's forward and backward movement, steering, and differential speed movement; Potentiometer, used for fine-tuning the angle of the chassis steering wheel; The motion mode switch is used to switch the robot between single-axis motion and compound motion modes.

3. A remote control device for controlling an LNG loading robot according to claim 2, characterized in that, The operating component further includes: Automatic mode switch, used to start and stop automatic plate loading operation; The loading operation joystick is used to control the movement of the plate picking position and the plate loading position; The emergency stop button is used to stop the robot from moving. The operation indicator light is used to indicate the operating status of the remote control through color changes.

4. A remote control device for controlling an LNG loading robot according to claim 1, characterized in that, The data acquisition board includes: an analog-to-digital converter and a signal conditioning circuit; The analog-to-digital converter is used to convert analog signals into digital signals; The signal conditioning circuit is used to process the converted digital signal.

5. A remote control device for controlling an LNG loading robot according to claim 4, characterized in that, The signal conditioning circuit includes a voltage regulator, an amplifier, and a filter connected in series. The amplifier is used to enhance the output strength of digital signals; The filter is used to remove noise and interference from digital signals; The voltage regulator is used to provide a stable power supply for the remote control device.

6. A remote control device for controlling an LNG loading robot according to claim 1, characterized in that, The remote communication module uses a communication chip based on the CAM bus communication protocol.

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