Journal of Drive and Control (드라이브 ㆍ 컨트롤)

The Korean Society for Fluid Power and Construction Equipment (유공압건설기계학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on Driving Algorithm and Communication Characteristics for Remote Control of Mini Excavator

소형 굴삭기의 원격제어를 위한 주행 알고리즘 및 통신특성에 관한 연구

  • Received : 2018.08.28
  • Accepted : 2018.11.26
  • Published : 2018.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

Indoor construction site such as building demolition sites, tunnel, vinyl house, and cattle shed are subject to various risk factors such as falling stones, soot and bad odors. However, most of the mini excavators have no cabin that can protect the driver from such risk factors. Therefore, researches on remote control technology of construction equipment are actively conducted as a method for protecting the driver from the risk factors occurring in the working environment. For effective remote control, it is necessary to be able to control the travelling and work using a portable small transmitter. However, due to the limitation of the size of the transmitter, complex operation control is required to control two or more actuators with a single joystick. Also, it is essential to check how remote control characteristics change in various environments such as distance, signal strength, obstacle. Therefore, in this study, an algorithm that can control two actuators simultaneously with a single joystick signal was developed, and a communication method suitable for indoor and outdoor mini construction equipment by analyzing experimentally how the remote control characteristics vary according to various work environments and telecommunication methods proposed.

Keywords

OGSSB4_2018_v15n4_81_f0001.png 이미지

Fig. 1 Pedal valve and joystick

OGSSB4_2018_v15n4_81_f0002.png 이미지

Fig. 2 Remote controller(transmitter)

OGSSB4_2018_v15n4_81_f0003.png 이미지

Fig. 3 Traveling control strategy by one joystick

OGSSB4_2018_v15n4_81_f0004.png 이미지

Fig. 4 Traveling control algorithm

OGSSB4_2018_v15n4_81_f0005.png 이미지

Fig. 5 Concept of joystick absolute angle

OGSSB4_2018_v15n4_81_f0006.png 이미지

Fig. 7 Configuration of wireless communication test system

OGSSB4_2018_v15n4_81_f0007.png 이미지

Fig. 6 Control signal for valve by driving algorithm

OGSSB4_2018_v15n4_81_f0008.png 이미지

Fig. 8 Hydraulic circuit of test equipment

OGSSB4_2018_v15n4_81_f0009.png 이미지

Fig. 9 Test equipment of wireless communication

OGSSB4_2018_v15n4_81_f0010.png 이미지

Fig. 10 Configuration of test program11)

OGSSB4_2018_v15n4_81_f0011.png 이미지

Fig. 11 Input signal profile

OGSSB4_2018_v15n4_81_f0012.png 이미지

Fig. 12 Wireless communication test environment

OGSSB4_2018_v15n4_81_f0013.png 이미지

Fig. 13 Transformed signal by algorithm

OGSSB4_2018_v15n4_81_f0014.png 이미지

Fig. 14 Traveling algorithm test result graph

OGSSB4_2018_v15n4_81_f0015.png 이미지

Fig. 15 Response time measurement graph

OGSSB4_2018_v15n4_81_f0016.png 이미지

Fig. 16 Response time distribution of zigbee

OGSSB4_2018_v15n4_81_f0017.png 이미지

Fig. 17 Response time distribution of bluetooth

Table 1 Valve control strategy and parameter value

OGSSB4_2018_v15n4_81_t0001.png 이미지

Table 2 Specification of proportional solenoid valve

OGSSB4_2018_v15n4_81_t0002.png 이미지

Table 3 Specification of wireless communication module

OGSSB4_2018_v15n4_81_t0003.png 이미지

Table 4 Control mode by joystick position

OGSSB4_2018_v15n4_81_t0004.png 이미지

Table 5 Wireless communication test environment

OGSSB4_2018_v15n4_81_t0005.png 이미지

Table 6 Traveling algorithm test result

OGSSB4_2018_v15n4_81_t0006.png 이미지

Table 7 Response time measurement test result

OGSSB4_2018_v15n4_81_t0007.png 이미지

References

  1. I. H. Jin et al., "Study on the Remote Control Excavator for High-Risk Operations", 2010 25th ICROS Annual Conference (ICROS 2010), pp479-483, 2010.
  2. Y. M. Jeong and S. Y. Yang, "Development Trend of Remote Control Technology of Construction Machinery", Journal of Drive and Control, Vol.12, No.1, pp34-38, 2015. https://doi.org/10.7839/ksfc.2015.12.2.034
  3. Y. M. Jeong and S. Y. Yang, "Application Case of Sensor System Development for Excavator Automation", Journal of Drive and Control, Vol.12, No.3, pp77-81, 2015. https://doi.org/10.7839/ksfc.2015.12.4.077
  4. J. B. Jeong et al., "An Experimental Investigation on the Wireless Communication Characteristics for Remote Control of In Door Working Equipment", 2018 Spring Conference on Drive and Control, pp153-157, 2018.
  5. M. Nixon, Feature Extraction & Image Processing, Second Edition, Academic Press, Cambridge, pp74-75, 2008.
  6. HYDAC System GmbH, "Technical Documentation : Universal digital power amplifier", pp13-17, 2014.
  7. S. N. Yun, Y. B. Ham and J. H. Park, "A Study on Response Improvement of a Proportional Solenoid Actuator", Journal of Drive and Control, Vol.13, No.3, pp.47-52, 2016. https://doi.org/10.7839/KSFC.2016.13.3.047
  8. Sene Technologies, Inc., "User Manual : ProBee-ZS10", pp9-10, 2012.
  9. Sene Technologies, Inc., "User Manual : Parani-SD1000", pp8-9, 2010.
  10. The Basic of RF(Antenna Gain) : http://www.rfdh.com/bas_rf/begin/antenna.php3
  11. S. C. Han, "Development of an Electronic Simulator for Efficiency Improvement to Verify Electro-Hydraulic Servo Controllers in an Examination Set-up", Journal of Drive and Control, Vol.14, No.3, pp.50-57, 2017. https://doi.org/10.7839/KSFC.2017.14.3.050

Cited by

  1. Improvement of Energy Regeneration for Hydraulic Excavator Swing System vol.7, pp.1, 2018, https://doi.org/10.1007/s40684-019-00165-7
  2. 국소영역에서 이동표적의 상대위치 측정 장치 개발 vol.17, pp.4, 2020, https://doi.org/10.7839/ksfc.2020.17.4.008
  3. 강교량 재도장 로봇의 모니터링 모듈 시제품 개발 vol.17, pp.4, 2018, https://doi.org/10.7839/ksfc.2020.17.4.015
  4. 소형 필드로봇의 무선 원격 제어를 위한 조종시스템 구축에 관한 연구 vol.17, pp.4, 2020, https://doi.org/10.7839/ksfc.2020.17.4.103
  5. LTE 통신을 사용한 건설용 굴삭기 원격조종시스템 개발 vol.16, pp.3, 2021, https://doi.org/10.7746/jkros.2021.16.3.232