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null null null nullnull null null null null null nullnullnullnull nullnull null null nullnull nullnullnullnullnullnull null nullnullnull null null null null null nullnull null null null null nullnull null 倒 伽川nullnull 官, null null null null null null耐 , null 塊叫, nullnull時(shí) null null 塊哪nullnullnull null null null null null哪null nullnull null 反nullnull null null nullnull null null null null null姐null null null nullnullnull null null昭nullnull nullnull null null null nullnullnull, null nullnull昭 nullnullnullnull nullnull , nullnull null nullnull null null null null nullnullnull nullnull null null null null null null null nullnull null nullnullnullnull nullnull null null null null null null null 元 nullnullnull null null null nullnull null nullnullnull nullnull null null , nullnullnull , null null null 堪范 nullnullnullnull nullnull , nullnull null nullnull null null 秘nullnull 面nullnull null nullnullnull null null null null null null nullnull 。 null飯內(nèi), null null null null nullnullnull null null null卯nullnull null null nullnull nullnull null null null nullnullnull null nullnullnull nullnull呢 nullnullnullnullnullnullnullnull nullnull nullnull nullnull null nullnull雌 nullnullnull nullnull null堪null null null null nullnull null null nullnullnull null null null nullnullnullnull null nullnullnull null null null null null null null , nullnullnull nullnullnullnull null null nullnullnull nullnull nullnull null nullnull nullnull null nullnullnull null null nullnullnull nullnull nullnullnull null null null null null nullnull null nullnull null nullnull , nullnullnull 雌nullnullnullnull null null nullnullnull nullnullnull nullnull nullnullnull null null nullnullnull null null null nullnull null nullnull null null null nullnull null nullnull雌 null null nullnullnullnullnull null nullnullnull null null null null null nullnull null , nullnull nullnullnull nullnull null nullnullnull null null nullnull而null nullnull nullnull null nullnullnull null null null nullnullnull null null null nullnullnullnull nullnull null nullnull nullnullnull nullnull null null null nullnullnull null nullnullnull null null nullnullnull null nullnull null nullnullnull null null nullnullnull null nullnullnullnull null , nullnullnull nullnull nullnull nullnullnullnull nullnull nullnullnull null nullnullnull null null nullnullnull null null null null nullnullnull null nullnull nullnullnullnullnull null nullnull null null null null nullnullnull nullnull null null nullnullnull nullnull nullnull ! null? null#? % Fa u lt di a g n o s i s . 1 I n t 】, :心UCtion A s a rna in- strea m Pro duet of eonstruetiona l ma ehinery , h y d r a u l i e e x ca va t o r P l a y s a n i m P o r ta n t ro l e i n e o n s t r u e t i o n o f i n d u s t ri a l a nd e i vi l b u i l di n g s , t r a fi e fa e i l i t i e s , wa t e r e o n s e rv a n e y fa ci l i t i e s , h y d r o e l e e t r i e f a e i l i t i e s a nd 而litar y fa eilities. W itht he sustained developm ent ofthe national eeonomy , t h e d e 幻n a n d s o n e x ca v a to r 側(cè)11 inc rea ses by a 側(cè)de m argin yea : by ”a產(chǎn)‘〕. In 20 0 4 , t h e p r o d u e t i o n v o l u m e o f e x ca v a t o r i n C h i n a r ea e h e d 2 7 5 0 0 s e t s , a e e o u n t i n g fo r 2 7 . 8 % o f t h e p ro d u e t i o n t h r o u g h o u t t h e wo r l d . A t P r e s e n t , t h e i s s u e s r e l a t i n g t o e n v i r o n m e n t a l P ro t e ct i o n a nd e n e r g y e o n s e r v a t i o n h a v e a r o u s e d a g r e a t d ea l o f p u b l i e e o n e e r n . A s a r e s u l t , h i g h e r r e q u i r e m e n t s a r e p u t f o r w a r d o n r e l i a b i l i t y , e e o n o m i e e f i e i e n cy , f u n e t i o n a n d a u t o rna t i o n o f h y dr a u l i e e xca v a to r . T h e h 州 raulie exca vator Presently avai lable on th e 口進(jìn)rk et , h o w e v e r , 一 h a s t h e fo l l o 初ng di sa dvanta ges: (1 ) 助w degree of autotna tion: W hen using hydraulie exca va torto leveluP afield ordig a diteh, s i n e e t h e d r i v e r ha s t o e o n t r o l t h e b co m , 日幻的 an d b u ek et sim u lta n eo u sly , t h e i n t e n s i t y o f h i s l a bo ur 1 5 r e l a t i v e l y hi g h , a nd h e 1 5 a l s o r e q u i r e d t o b e w e l l s k i l l e d . ( 2 ) W h e n t h e h y d r a u l i e e x ca v a t o r 15 r u n ni 雌 , i f t h e P o w e r a b so r b e d b y t h e h y d r a u l i e s y s t e m e x e e e d s th e r a t e d po wer o f t h e e n gi n e , th e e ng i n e 側(cè)11sta lland even stoP. In sueh ca se, t h e o P e r a t i o na l P e 汀ortr進(jìn)n ee o f e x ca v ato r ca n , t b e b r o u g h t i n t o f u l l p l a y , a n d t h e f u e l co n s u m p t i o n 誡11also inerea se. (3 ) O w ing to its eom plica ted strueture and the ext rem e oPera ting environm ent, h y d r a u l i e e x ca v a t o r e nj o y s a r e l a t i v e l y hi g h f a u l t r a t e . W h e n e v e r a fa u l t o e e u r s , ma i n t e na n e e p e r s o n n e l h a v e t o ma k e g r ea t e f f o r t s t o i d e n t i f y t h e ca u s e o f fa u l t , w h i e h m ea n s t h e e x ca v a t o r w i l l b e o u t o f s e r v i e e fo r l o n g t i m e a n d t h u s t h e u s e r 誠11ineur huge eeonom ie losses . (4) Sinee the exca va tor ca n, t b e b r o u g h t u n d e r r e mo t e mo n i t o r i n g a nd ma n a g e m e n t , t h e r a t i o n a l d i s p a t e h i n g fo r e x ca v a to r ca n , t b e r ea l i ze d a n d t h e n e e d s o f mo d e r n e o n s t r u e t i o n ca n , t b e s a t i s f i e d . T h a n k s t o t h e e x t e n s i v e a p p l i ca ti o n o f e om p u t e r t e e h n o l o g y an d i n t e l l i g e n t e o n t r o l t e e h no l o g y , co n s t r u e t i o na l rna e h i n e r y h a s d e v e l o p ed f ro m h y d r a u l i ca l l y- co n tro l l e d t y P e t o d i gi ta l i ze d t yP e w h i e h 1 5 o f s i m P l i fi ed s t r u e t u r e , ea s y t o co n t r o l a n d mo r e i n t e l l i g e n t i z e d . Fo r e xa m p l e , t h e P C3 o o h y dr a u l i e e xca v a t o r r 以n u fa etu red b y Ja P an- b a sed K O M A T S U o b 面ns 3一 d im e n si o n t r aj e e t o r y e o n t r o l a b i li t y w it h t h e h e l p o f t h e t il t ed a n g l e s e n s o r s m o u n t e d a t i t s b o m , a rm a n d b u e k e t , o t h e r h y dr a u l ie e xca va t o r s ma n u fa e t u r e d b y V O L V O , C A T , K O 側(cè)護(hù)LT S U and H IT A C H obtain the rem ote mo ni tori n g ability thanks to the G P S mo u nted. T h e intelligentize d hydraulie exca vator 15 highly intelligentize d , a u t o r n a t e d a n d i n fo rma t i o n i ze d . I t s 一 521 一 醫(yī) 比In ly e m bo d ied in th e fo llo 初眼 aspeets:Itca n ca r y out automa tion;itrea lize s the trajeetory eontrolfo rwor拓叮 叫uipm ent, it rea l iz e s t h e s e lf- a da P t i n g po w e r ma t e hi n g co n t r o l b e t w e n e n gi n e a n d h y d ra u l ie p u m p ; it ca n ca r y o u t r e mo t e d a ta t ran s 而ssion, r e m o t e mo n i t o ri n g a n d r e mo t e ma n a ge m e n t , it ca n ca r r y o u t fa ul t di a g n o s i s a n d m a in t e na n e e . 2 Co m p 哈iti on of ln tel li 羅n吐雙月 E xca va for s te m 瓏.2 反hema tie diagr 田舊 o f co n tro lle r A s ind ica te d in Fi g . l , t h e i nt e l l i g e n ti z ed h 州ra ulie exca va torsys tem 15eom POsed ofaco ntro ller, a G P S ( G l o b a l PO s i t i o n S y s t e m ) , G P R S ( Ge n era l P a e k e t R a d i o Se r v i e e ) , a r e r n o t e s e r ve r , a r n o n i t o r , a 因rta ble faultdi 昭no sis system and etC. 嚨.1 Co m卯sition ofh 州ra ul ic ~ va to r inte】1運(yùn)entized rsystem 2.1 ( 勸nt洲目】er As i n dica ted in F ig.2 , t h e co n t ro l l e r 1 5 co m 卯 sed of aignal a叫uisition mo dule, 卯w er dri ve mo dule, mo ni to r m od u l e a n d G P s/ G P R S m o d u l e , a nd ta k e s a di gi ta l s i g n a l p roc e s s o r ( D 6 P ) a s i t s e o r e e o n t ro l u 垃t [2〕. Its sig n a l a eq u isitio n m ed u le m ea sur es th e tilted a呢le, p r e s s u r e , s P e e d a n d t em p e ra t u re t hr o 呀h periphera l senso rs, a n d t h es e s i g n a l s are s e n t t o t h e co n tro l l er a ft er g o i ng t h ro u g h a na l o g- di gi t co n v er s i o 幾 In thi s wa y , th e rea 卜tim e in fo n刀a tio n a bo u t th e e x Cav ato r 15 o b tai n ed . T h e mo n ito r 15 u sed to d isp lay th e m ain o 沐rati呢 Pa rame te rs sueh as engi ne speed , t he e 眼ine 011 tem Perature, e n g l n e 0 1 1 P r e s u r e a n d co l i ng wa t e r t e m p er a t u r e , to di sP l a y fa u l t co d e a nd gi ve an a l armo n t h e b a s i s o f t ha o P era t i ng co n d i ti o n s o f th e e xca v a t o r , a n d t o di s p l a y r ea l- t i m e i n f o rma t i o n a bo u t po s i ti o n a n d g e s t u r e o f b u e k e t i n t h e fo rm o f d i gi t o r fi g u r e · Si n e e t h e co n t ro l l e r co rn u ni ca t e s wi th o t h er Pa rt s i n C A N ( 偽 ntrolArea Netwo rk) mo de , a l o t o f 初re has be n dispensed , a nd t h u s t h e 5 1 9 汕1 一 co n tro l 一 522 一 reliability an d anti-interferenee ca Paeity have been im Pro ved . The CAN bus w hieh 15 adaPta ble to the oPera ti飛 enviro nme nt of hyd raulic exca va to r ensures thatthe co ntro lca n be carrled outin a rea l time , fi e 范ble and exPand able w ay and ma k es it ea sy fo r the co ntroller to fo rm a m ult卜co ntroller net、v o r k to g e t h e r 誠th other periPhera l devi ees. Sinee the C A N bus ado pts the m essa 獷based eneoding me thod and the priorit獷based no n destruct ive bus ar bitra tion teeh no logy , i t e nj o y s h i g h a n t i - i n t e 班erenee ca pad ty , h i gh r e l i a b i l i t y a n d r e l a t i v e l y h i g h r ea l- t i me ca p a e i t y . Th e co m u n i ca t i o n p r o t oc l o b s e r v e d b y C A N b u s m e e t s S A E J 1 9 3 9 , th e p h y s i ca l l a y e r o f C A N b u s me e t s S A E J 1 9 3 9 / 1 5 , t h e cornm u ni ca t i o n r a t e o f C A N b u s 1 5 2 5 0 K b i t / s , an d t h e t e rm l n a l re s i s ta n ce o f C A N b u s 1 5 1 2 o n [ 3 〕. Fo r th e p u rpo se o f m eeting th e req u ir em n t o n eo m fo rta b l e o p era tio n , t h e i n t e l l i g e n t h y d r a u l i e e xca va to r 1 5 四uipped 初th a co ntro lhandle designed in aeco rda nee 側(cè)th the Princi Ple of huma n engi ne ri ng A s indica ted in Fi g.3, an o p t i ca l t 即 e no n- co ntaet switeh 15 m ount ed on the co ntro l ha nd le. Thro ugh tha CAN bus, t h e s i g na l r e l a t i n g t o t h e di s P l a ce m e n t o f t h e e o n t r o l h a n d l e a n d t h e s i g nal o f t h e o p t i ca l s 誠teh ar e sent to the co ntro ller. T he buttons on the eontro l handle are used to seleet oPerati吧 m od e. If the ma nual oPera ting mo de 15 selec ted , t h e e o n t r o l ha n d l e 1 5 F i g . 3 Co n t ro l ha ndl e d es i, 曰 in aco rd an ee 嫩th hun坦n e側(cè), ne ri 呢 Princ iple , t h e o P e ra t o r i n P u t s o P e r a t i n g p a r a m e t e r s t h r o u g h t h e mo ni to r , a n d t h e n t h e e x ca va t o r w i l l o P e r a t e i n a e co r d a n e e w i t h t h e t r aj ec t o r y w h i e h 1 5 d e t e rm i n e d b y t h e e o n t ro l l e r o n t h e b a s i s o f t h e o p e r a t i n g P a r a m e t e r s , 5 0 t h a t t h e a u t o m a t i e e o n t r o l o n t h e e xc a v a t o r 1 5 r ea l i z e d . s t r u e t u r e , w h i e h e o n n e e t e d t o t h e s i m u l t a n eo u s l y . 】11e s n s s e v e r a l mo d e m s rna y b e s e r v e r fo r d a ts tr a n s m is s io n 、泛、 ~ 1 占2.2Remot七info 川陽tl叨 t. 此sr 川sl on G P R S is a 初reless paeket s側(cè)tehing teehnology w hieh ofters end- to- end w ireless IP eonneetion w ithin 誠de area and w hereby data 15 transm itted in Paeket. The strueture of remo te info rm ation transm ission mo dule of intelligentized hydra ulie exeavator15asindieated in Fi g.4. GPRS IP M odem 15eonneeted to the co 爪roller w hieh 15 rnounted on the e xca vator thro ugh R S232 po rt, a n d e x e h a n g e s d a ts w i t h t h e r e r n o t e s e r v e r v i a t h e I n t e r n e t . T h e e o n t ro l l e r 側(cè)11 eonvert the da ta aequired into the fo rma t w hieh ca n be trans而tted by the G PRS IP M odem , a n d t h e n t h e d a t a w i l l b e s e n t t o t h e r e mo t e s e r v e r b y t h e G P R S IP M o d e m v i a t h e I n t e r n e t . R e m o t e s e r v e r wi l l a l s o s e n d e o m ma n d t o t h e e o n t r o l l e r . I n t h i s wa y , t h e r e mo t e mo n i t o r i n g o n h y d ra u l i e e x ca v a to r 1 5 r ea l i ze d . Be t w e e n t h e G P R S I P M o d e m a n d t h e re mo t e s e r v e r 1 5 a C/ S 下島m o妞 C on U n陰i偽石On T C P幾Pe 竹OtO 閱! 獷 RS232Port Fig.4Struetureofre比IO te in fo n l犯tio n t獷已n 5 1而”幻n 2 . 3 A P P lica U on of G 玲 GPS 15 a globalwireless na vigation and Po sitioni 雌 system co m po sed of24 artifieialsa tellites an d ear th stations. W ith the help of GPS and G PRS, t h e r e m o t e m o n i t o r i ng , s e r vi e e a n d rna n a g e m e n t o n i n t e l l i g e n t i 名ed e x ca v a to r a r e rea liz e d . Be s id e s t h e in fo rm a t io n a b o u t P o s itio n o f e xca v a to r , t h e e o n t ro l l e r w h i e h 1 5 e q u i p p e d w i t h a G P S/ G P R S m o d u l e a l s o s e n d s t h e o p e r a t i n g P a r a m e t e r s o f t h e e xca v a t o r s u e h a s t e m p e r a t u r e , p r e s s u r e a n d w o r k i呀 hours to the rem ote server . 腸ble l 戶乃司喊.寸 Pl ann ing and 州ual lrl, ”ur 曰 喇ue for excava奴片 in 510診州瀏耐ng o講ra tlon el (’) 氏(.) 么(.) Exp 戈t己 V alue M ea sur 已 V alue Ex戶沈t曰 V alue M ea sur曰 V alue E x戶, t 已 V al ue M ea sur曰 V al ue G ro uP I 45.4844 45.32 一30.8705 一30.65 一 59.6139 一59.87 G ro uP Z 47.6061 47.53 一37.9184 一 38.20 一 54.6877 一54.32 G ro uP 3 49.3361 49.62 一43.4816 一4 3.43 一 50.4445 一50.59 G rouP 4 50.8090 5 1.20 一49.1842 一49.32 一46.6247 一46.31 G rouP S 52.0931 5 1.76 一53.9979 一54.03 一43.0952 一 43.27 G ro uP 6 53.2289 53.52 一58.4522 一58.53 一 39.7766 一39.82 G ro uP 7 54.2421 54.30 一62.6250 一62.32 一 36 6171 一36.33 G ro uP S 55.1501 54.90 一66.5701 一66.87 一 33.5799 一33.81 G ro uP g 55.9694 56.12 一70.3722 一70.56 一30.6382 一30.24 G rouP 10 56.6968 56.32 一73.9259 一74.22 一 27.7708 一28.02 T h e po sitio n co rd in a tes o f th e exc a v ato r are refleeted o n th e m ap b y th e eleetro n ie ma p p i n g sy ste m , 5 0 a s t h a t t h e s a t e l l i t e- b a s e d p o s i t i o n i n g the stoppage ofexca vato r ca used by engine stalling 15 efect ively avo ided , t h e f u e l e o n s u m p t i o n 15 o b v io u s l y r e d u e e d , t h e ca P a e i t y t o di a g no s e a n d e l ear fa u l t 15 g r ea t l y im p r o v e d 5 0 t h a t t h e o u t 一 o f- s e r vi e e d u r a t i o n ca u s ed b y ma i n t e n a n e e a n d r e P a i r 1 5 s ho r t e n ed ; t h e r e mo te m o n it o r i n g a n d ma n a g e m e n t o n e x c a va t o r a r e r ea l i z e d . 一 525 一 色 閱 be aPPlied to eonstruetiona l lr比ch in ery mo re a n d mo re 初dely, a n d i n t e l l i g e n t i z ed co n s tr u e t i o na l ma e hi n e r y wi l l s ur el y b eco m e th e d e v e l o p i呀 direction. Thank s fo r help and assista nee fro m Re search Institute under Gua呢元 M aeh inery Co . , L t d . a nd G u i l i n U r E l e e t ro ni e Te e h no l o 盯 , a nd t h a nk s fo r s - t h e N a t i o n a l 8 6 3 P ro g r a m P r oj ec t N u m b e r : 2 0 0 3 A A 4 3 0 1 9 0 ) . 及chno lo gy Li ugo ng Fi g.9 Fiel小lev lli雌 。沐ration of intel ligen t訪記 h州ra ul ieexca va to r ( A PPro val 5 o m Clus ion Sinee the int elligent ized hy擊aulie exca va tor rea lizes automa tion , g e t s i t s f u e l co ns u m P ti o n r e d u e ed a n d 1 5 br o u gh t u n d er r e mo t e m 耐tori 呀, fa u l t di a g n o si s a n d ma i n t e na nc e , i t r n e e t s t h e n e ed s o f m ed e rn co n s t r u e t i o n , i n c r e a s es t h e t ec h no l og y e o n te n t an d i n t e r na t i o na l co m P e t i t i v e p o w e r o f e n t e 印rise , s P r od u e t s , p u s h es t h e a u t o ma t ed d e g r e a n d i n t e l l i g e n t d e 盯e of ente印rise, 5 p r od u e t s o n t o a n e w s t a g e . Wi t h t h e d e v e l o p m e n t o f sc i e nc e a n d t ec h no l o g y , t h e i n fo rma t i o n t ec h no l o g y , a u to ma t i o n t ec h n o l o g y an d a rt i fi e i a l i n t e l l i g e nt t ec h no l o 盯 誡11 〔1〕 2.L.Ch en, FO rma t i o n , L 地代loPm ent, “ Ac t ua li t y a nd P ro s pe c t o f E xcav to r I nd us try i n Ch ina ” , G 州3tructi傭 加血認(rèn)iner, 升認(rèn)加109, & 施皿g翻曰材 , vo l . ( 1 1 ) , 2 5 - 2 9 . ( 2 0 0 4 ) . Y . Z ha n , O S P 腸瓜陽ller a耐 It: APPI藝ca ti流 , 氏刃i昭:China M aehi ne Pr創(chuàng)始 , p p . 1 1 一 3 2 , ( 2 0 0 1 ) . S A E 引叭N D A R D . V ehiele A pplica tion La yer SA E J1939/73 Is u曰 , ( 1 9 9 8 ) . J . x. F 認(rèn) R 峨記泊tics . Be 幼ing : C hi na 段ience and 口 1 飛eh nolog y P res s , p p . 1 任5 5 , ( 1 9 8 9 ) . ? IJ工es,,曰八J月啥?IJ1. ‘‘. 一 526 一