Study on the architecture of the remote control system for hydraulic excavator

摘要

The hydraulic excavator of field robot has been used in various fields of construction, such as digging, carrying loads, grounding and dumping loads. However, operating excavators in the hazard environment such as earthquake, nuclear decomposition etc is not suitable for human to operate on site. Therefore, a number of the skilled operator is gradually reduced by the dangerous working environment. Automation and remote control system of excavator has been studied to protect the operation special situations which cause safety or health risk to workers and to operate easily the skilled operator working. In this paper, the architecture of the remote control system for excavator includes the actuators, modeling, sensors, controller, components is proposed. In our system, the auto control mode and manual control mode are designed. Some experimental results of manual control mode are proposed and the operation simulations of the auto control mode are presented.