REMOTE CONTROL SYSTEM AND METHOD FOR CONSTRUCTION EQUIPMENT
First Claim
1. A remote control system of a construction machine, comprising:
- a remote device including a plurality of sensors for sensing a finger bending angle β
h with respect to a palm of an operator and a wrist position H of the operator, a remote control unit tracking an operation angle β
e of a bucket depending on the finger bending angle β
h with respect to the palm of the operator and a machine operating position E depending on the wrist position H of the operator, and a remote wireless transmitting and receiving unit wirelessly transmitting the tracked operation angle β
e of the bucket or the machine operating position E to the construction machine; and
a construction machine including an operation device including a boom, an arm, and a bucket, and an upper swing body, and controlling driving of the upper swing body or the operation device depending on the operation angle β
e of the bucket or the machine operating position E received from the remote device,wherein the remote device generates an absolute coordinate system using a rotational center point of an arm of the operator as an original point for setting a workspace, sets a predetermined angle in a Y-axis direction on the basis of an X axis in an area within a radius smaller than an inputted maximum radius by a predetermined size on an XY plane as the workspace when a maximum distance to which a wrist reaches in each direction axis of an anteroposterior direction X, a horizontal direction Y, and a longitudinal direction Z is inputted, and thereafter, matches a remote coordinate system and a machine coordinate system depending on the set workspace each other.
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Accused Products
Abstract
The present disclosure relates to a remote control system and a remote control method of a construction machine for reducing a fatigue degree of an operator at the time when the operator controls driving of the construction machine depending on his/her body motion in the remote control system of the construction machine. For this, according to the present disclosure, a value acquired by compensating for a predetermined value εβ with respect to a finger bending angle βh for a palm is tracked by a bending angle βe of a bucket at the time of tracking the position of the bucket depending on hand motion of the operator to reduce a finger bending movement amount of the operator, thereby reducing fatigue. Further, the workspace of the operator is set to be smaller than points which are maximally movable in each of X, Y, and Z-axis directions at the time of setting the workspace of the operator, the workspace of WSh of the operator set to be small and a machine workspace WSe match each other, and the operator performs an operation in the workspace which is set to be small, thereby reducing the fatigue.
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Citations
11 Claims
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1. A remote control system of a construction machine, comprising:
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a remote device including a plurality of sensors for sensing a finger bending angle β
h with respect to a palm of an operator and a wrist position H of the operator, a remote control unit tracking an operation angle β
e of a bucket depending on the finger bending angle β
h with respect to the palm of the operator and a machine operating position E depending on the wrist position H of the operator, and a remote wireless transmitting and receiving unit wirelessly transmitting the tracked operation angle β
e of the bucket or the machine operating position E to the construction machine; anda construction machine including an operation device including a boom, an arm, and a bucket, and an upper swing body, and controlling driving of the upper swing body or the operation device depending on the operation angle β
e of the bucket or the machine operating position E received from the remote device,wherein the remote device generates an absolute coordinate system using a rotational center point of an arm of the operator as an original point for setting a workspace, sets a predetermined angle in a Y-axis direction on the basis of an X axis in an area within a radius smaller than an inputted maximum radius by a predetermined size on an XY plane as the workspace when a maximum distance to which a wrist reaches in each direction axis of an anteroposterior direction X, a horizontal direction Y, and a longitudinal direction Z is inputted, and thereafter, matches a remote coordinate system and a machine coordinate system depending on the set workspace each other. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A remote control method of a construction machine for remotely controlling the construction machine including an operation device including a boom, an arm, and a bucket and an upper swing body in a remote area, the method comprising:
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receiving, by a remote device, a maximum distance to which a wrist is reachable in each direction axis of an anteroposterior direction X, a horizontal direction Y, and a longitudinal direction Z and setting a radius based on a distance smaller than the received maximum distance by a predetermined size as a workspace, and setting a predetermined area on an XY plane as an absolute swing area λ
;tracking an operation angle β
e of the bucket to track the operation angle β
e of the bucket depending on a finger bending angle β
h with respect to a palm of the operator and wirelessly transmit the tracked information to the construction machine;executing a position tracking mode to track a machine operating position E and wirelessly transmit the tracked information to the construction machine when a wrist position H of the operator belongs to the workspace; executing an absolute swing mode to recognize that a request for a swing operation is received from the operator and wirelessly transmit the swing operation request to the construction machine when the wrist position H of the operator belongs to the absolute swing area; executing an approximate position tracking mode to track the machine operating position E by setting a position H′
approximated to a point the closest to the workspace as the wrist position H of the operator and wirelessly transmit the tracked information to the construction machine when the wrist position H of the operator deviates from the workspace and the absolute swing area; andcontrolling, by the construction machine, driving of the operation device and the upper swing body in accordance with the tracking information or the swing operation request that is received from the remote device. - View Dependent Claims (9, 10)
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11. A remote control method of a construction machine for remotely controlling the construction machine including an operation device including a boom, an arm, and a bucket and an upper swing body in a remote area, the method comprising:
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receiving, by a remote device, a maximum distance to which a wrist is reachable in each direction axis of an anteroposterior direction X, a horizontal direction Y, and a longitudinal direction Z and setting a radius based on a distance smaller than the received maximum distance by a predetermined size as a workspace, and setting a predetermined area on an XY plane as an absolute swing area λ
;tracking an operation angle β
e of the bucket to track the operation angle β
e of the bucket depending on a finger bending angle β
h with respect to a palm of the operator and wirelessly transmit the tracked information to the construction machine;executing a position tracking mode to judge whether the upper swing body is driven when a wrist position H of the operator belongs to the workspace and only when the upper swing body is not driven, track a machine operating position E and wirelessly transmit the tracked information to the construction machine; executing an absolute swing mode to judge whether at least one of the boom and the arm is driven when the wrist position H of the operator belongs to the absolute swing area and only when the boom and the arm are not driven, wirelessly transmit a swing operation request to the construction machine; executing an approximate position tracking mode to judge whether the upper swing body is driven when the wrist position H of the operator deviates from the workspace and the absolute swing area and only when the upper swing body is not driven, set a position H′
approximated to the closest point to the workspace as the wrist position H of the operator and track the machine operating position E, and wirelessly transmit the tracked information to the construction machine; andcontrolling, by the construction machine, driving of the operation device and the upper swing body in accordance with the tracking information or the swing operation request that is received from the remote device.
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Specification