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? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? 倒伽川? ? 官 , ? ? ? ? ? ? ?耐 , ? ? 塊叫, ?時 ? ? 塊哪 ? ? ? ?哪 ? 反? ? ? ? ? ? ? ? ? ?姐? ? ? ? ? ? ?昭? ? ? ? ? ? ? , ? ? ?昭 ? , ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?元? ? ? ? ? ? ? ? ? ? ? ? , ? , ? ? ? 堪范 ? ? , ? ? ? ? ? ? ? ? 秘 ? ? 面? ? ? ? ? ? ? ? 。 ?飯內, ? ? ? ? ? ? ? ?卯? ? ? ? ? ? ? ? ?呢? ? ? ?雌 ? ?堪? ? ? ? ? ? ? ? ? ? ? ? ? ?, ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? , ? ? 雌? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?雌? ? ? ? ? ? ? ? ? , ? ? ? ? ? ?而? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? , ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ! ?#% F a u ltd i agn o s i s . 1 I n t 】, :心U Ct io n A sa r n a in - stre a m Pr oduet ofeon struetion a l m a ehinery , h y d rau l i eex c av a to r P l a y san i m P or t a n t r o l e i neons tr uet i ono fi n d us t r i a l a n d e i v ilb u i l d i n g s , tr a f f i e f a e i l i t i e s , w a t e re onse r v a ne y f ac il iti e s , h y d roe l eetr i e f ae i l i t i esa n d而l it a r yf aeil ities. With the sustaine d developm en tofthe nation a leeonomy , t h e d e幻n a n d so ne x c a v a t o r 側11 in c re ases by a 側de marginye a : by”a產 . In20 0 4 , t h e p ro d uet i on v o l u m eo f e x c a vator i n Chi nar e a e h e d2750 0 sets , aeeoun t i n g f o r 2 7 . 8 % o f t h e p r o d uet i on t h rou g h ou t t h e w o r l d . A t P r esen t , t h e i ssuesre l a t i n g to e nv i r on m e n ta l P r o t e c ti ona n d e ne r gy e onse rvat i on h a vear ouse d a g re at d e a l o f p u bl i ee onee rn . A sa r esu l t , high erre q u i re m en t sar e p u t f or w ar d on r e li a bi li ty , eeono mi ee f fi e i en c y , f unet i onan d a u t o r n a t i ono fh y d r a u l i ee x c a v a t o r . Th e h州raulie exc avator Presently av a i lable on t h e 口進rket , h o w e ver , 一 h as t h e f oll o 初ng d i s a dvant ages: (1 ) 助w degr ee of aut ot n ati on: W h enusing hydraul ie ex c av a t ort o leveluPaf iel dor di g adi t e h , s i nee t h e d r i ve r h a s to e on tr o l t h e b c o m , 日幻的an d b u eketsimu lt a n e o u sly , t h e i n te ns i ty o fhi s l a b o u r 1 5 re l at i ve lyh i g h , a n d h e 1 5a l s ore q u i r e d to b e w e l l s ki l led . (2) W h e n t h e h y d r au l ie e x c a vator 15 run n i 雌 , i f t h e P o w e ra b s o r b e db y t h e h y d r au l i es y ste m e xe ee d s t h e r a te d p o w e r o f t h ee n g i ne , t h ee n g i ne 側11st a lland evenstoP. In sueh c a se , t h eo P er a t i o n a l P e 汀ort r進n ee o f e x c a v ato r c a n , t b e b rou g h t i n t o f u l l p l a y , an d t h e f ue l c o nsu m p t i on 誡11alsoinere a se. (3) Owing to its eompl ic ated strueture andthe ex treme oPer ati n g environment, h yd r au l i ee x c a v a to r e n j o y sare l at i ve lyh i g hf au l t rate . W h ene ve ra f a u l t oe eurs , m a i n te n a ne e p er sonne lh av e to m a k e g r e a t e f f orts to i d en t i fy t h e c a us eo ff a u l t , wh ieh me a ns t h eex c a vator w i l lb eou t o f serv i ee f o r l on g t i m ean d t h us t h euser 誠11ineurhuge eeonom i e losses. (4) Sinee the ex c a v a tor c a n , t b e b rou g h t un d er re m o t e m o n i to r i n g a n d m a na g e m en t , t h era t i ona l di s p a te hi n g f o rex c a va t o r c a n , t b er e a l i z ed an d t h e nee d so f m o d erneons t r uet i on c a n , t b esa t i s fi e d . Th an k s tot h eex te ns i vea pp l ic at i ono f e o m p u te r t ee h no l o gy a n di n t e ll ig en t eon tr o l te e h n o l o gy , c o nstruet i o n a l r n a e hi ne r y h as d e ve l o p e d fr om h y d ra u l ic al l y - c o n t r o l l e d ty P e to dig it al i z ed t y P e w hi e h1 5o f s i m P l i f i e d struetur e , e a s y to c o n tr o l an d m o re i n t e l l ig e n t i ze d . F o re x a m p l e , t h e P C 3 oo h y d r au l i ee x c a v a t o r r r以n uf aetu re d by JaP an - b a sed KOMA T S U o b面ns3 一 dim en s i o ntr a j eetor y eon tro l a bi li ty with t h e h e lp o f t h e t il t e d an g l es ensors m oun te d at i ts b o o m , a r m an db ue k et,ot h e r hyd r a u l ie e x c a v a to r s m a n u f a etu r e dbyV OL VO , CAT , KO側護L T S U and H IT A C Hobtainthe remote m o n i tor ingabi litythankstothe G P S m o u nted. T heintelligentiz e dhydraulie exc avator 15highly intel ligenti z e d , au to rn ate d an di n f o r m a t i on i z ed . I ts 一 521 一 醫(yī) 比Inly e m b o d ie din t h e f ollo初眼 aspeets:Itc an c ar ry outautom ation;itre aliz esthe tra jeetoryeontrolf orwor拓叮 叫uipm ent, it r e a l iz e s t h es e lf - a d a Pting p o w e r m a teh i n g c o ntr o lb et w e e n e n g i n ea n dhyd r a u l ie p u mp ; it c a n c a r r y out r e m o te d a t a t r a n s 而ssi on,r e m o te m o n i to r i n g a n d re m o te m a na g e m en t, it c a n c a r ryo ut f au l t d i a g n o s is a nd m a in te n a n e e . 2 C o mp哈it i o n o fl n t e l l i羅n吐雙月 E xc a v a f o r s s s t em瓏.2 反he m a tiediag r田舊 of c o ntr o lle r A s in dic a te din F i g . l , t h e in t e l l ig e n t i z e d h州r a ulie ex c a v a tor sy stem 15 eomPOsedofac ontr oller, a GPS (Glob a l P O s i t io n S y ste m) , GPRS( G e n e r a lP ae k et R a di o S e r v i e e ) , are rno te se r v e r , arn on i to r , a 因r t a blef aultd i昭n o sis syst e m andet C . 嚨.1 C om卯si ti o nof h州r a u l i c v at o r inte】 1運entize d rsystem 2.1 (勸nt洲目 】 e r A s indic a te d inF ig . 2 , t h e c o n t r o l l er 1 5 c o m 卯se d of a ignal a叫uisition m o dule , 卯w er d r i ve m o dule , m o n i t o r m o d u l ean dGP s / GPRSm o d u l e , a n d t ak e s a d i g i t al s ig na l p r o c e ssor ( D6P ) as it se oree on t r o l u 垃t 2 . Its sign a l a equ isitio nm e d u lem e a s u r e s the tilte d a呢le, p re ssure , s P e e d an d t e m p e r a tu r e t h r o 呀h peripher a lsen s o rs,an d t he s es ig na l s a r e se n ttot h e c o n t r o l l e r a f te r g o i n g t h r o u g h a n a l o g - d i g i t c o nv e r s i o 幾 In th is w a y , t h e r e a 卜tim e inf o n刀atio na b o ut thee x Cav at or 15 o bt a i n e d . T h e m o n it o r 15 u se d t od isplay the m aino 沐rati呢 P a ram e t e rs suehas eng ine speed , t h e e 眼i ne 0 1 1 temPerature, en g l ne0 1 1 P re s s urea n d c o o l in g w a te r t e m p e r ature , t od i s P l a y f a u l t c o d ea n d g iv e a n a l a r m o n t h e b as i s o f t h a o P e r a t in g c o n di t i onso f t h e e x c a vator , an d to d i s p l a y r e a l - t i m e i n f o r m a t i on a b o u t p o s i t i onan d g es tu reo fb ue k et i n t h e f o r m o f dig i t or f i g ure S i nee t h e c o n t r o ll er c o r n r n u n i c a t es w i t h o t he r P a r t s i n CAN( 偽 nt r o l A r e a N et w o rk) m o d e , a l o t o f 初rehasbe e n dispense d , a n d t h us t h e5 19汕1 一 c o n t r o l 一 522 一 rel iability a n d anti -inter ferenee c aPaeityhavebeen imPr o ve d . T heC A N buswhieh 15 adaPt a ble tothe oPe r ati飛env iro n m e ntof hy d raul icex c a v at o r ensuresthat the c o ntr o lc a n be carrle d outin a re a l t im e , f i e 范ble and exPan dable w ayan d m a kesite a sy f o rthe c o ntroller t of o r m a m ult卜c ontrolle rnet、 v o r k t o g et h e r 誠th other per iPher a l dev iees.Sineethe C A Nbus ad o pts the m ess a 獷bas ed eneoding m e thodandthe pr i or it 獷 base d n o n destruc tivebus a r bit r a tionteeh n o logy , i t e n j o y s high an t i - i n t e 班ereneec apadty , hig h re l i a bi l i ty an d re l a t i v e ly high r e a l - t i m e c a p a e i ty . T h e c o m m un ic a t i on p ro t o c o l o b se rve db y CANb us m eets SAE J 1 9 3 9 , t h e p h y s ic all a y er o fCANb us m e ets SAE J 1939 / 15 , t h e c o r n m u n i c a t i onrateo fCANb us 1 5 25 0 Kbi t / s , a n d t h e t e r m l na lr e s i s t a n c e o fCANb us 1 5 12 o n 3. F o r the p u rpo seo fm eetin g the re qu ir e m e nto n eo mfo r t a b le oper atio n , t h e i n te l l ig en t h y d rau l i e e x c a v a t o r 1 5 四uippe d初th a c o ntr o lhandledesigned in aec ord anee 側th the Pr in c iPle of hum a n eng i n e e r ingA sindic ate d inF ig .3, a n o p t ic al t即e n o n -c o ntaetsw iteh 15m oun tedonthe c o ntr o l h an dl e. T hr o ughth a C A N bus , t h es ig n a l re l a t i n g tot h e d i s P l a c e m e n t o f t h ee on tr o lh a n dl ean d t h e s ig n a l o f t h eo p t ic al s 誠teh a r esentto the c o ntr o ller . T hebuttons on the eontr ol handle are usedtoseleetoPerati吧 mo d e. If the m a nual oPer ating m o de15 sele cte d , t h ee on tr o l h a n dl e 1 5 Fig . 3 C o n t r ol h a n d l e de si,曰in a c c o r da n ee 嫩th hun坦n e側, n e e r i呢Pr in ci ple , t h e o P e r a t or i n P u ts o P era t i n gp ara m eters t h rou g h t h e m o n it o r , an d t h e n t h eex c a v a to r w i l l o P er a te i n a e c o r d ane e wi t h t h e tr a j e c to r y whi e h1 5 d ete r m i ne d b y t h ee on t r o l l e ron t h e b as i so f t h eo p e rat i n g P a ra m e te r s , 5 0 t h a tt h eau to m a t i ee on tr o l o n t h e e x c av a to r 1 5r e a l i z e d . strueture , w hi e h eonneete d t o t h e s i m u l ta n e o us ly . 】 11e s n s s e v e r a l m o d e m s r n a y b e s e r v e r f o r d a t s tr a n sm is sio n 、泛 、 占 2 . 2 R e m o t七inf o川陽t l叨t.此s r川s s l o n G P R Sis a 初 reless paeket s側tehingteehnology w hieh of tersend - -to - -end w irelessIP eonneetion w ithin誠de are a and w hereby data15transm itted in Paeket . T he struetureofrem ote inf o rmation transmission m o dule of intell igentizedhydr a ulie exeavator15 asindieated in F i g.4.G PR S IP M odem 15 eonneeted tothe c o爪roll er wh ieh 15 rno unted on the e x c a vatorth r o ugh R S232 p o rt,a n d exe h an g e s d a t swi t h t h ere rn o te s er ve rv i a t h e I n t e rnet . Th e e on t r o l l er 側11 eonver t the d at a aequired intothe f o rm atwhieh c a n be trans而tted bytheG PR S IP M odem , a n d t h e n t h e d a ta wi l lb esen ttot h e re m o t ese rve r b y t h e GPRS I PM o d e m v i a t h e I n te rnet . R e m o te serv er w i l l a l sose n d e o m m a n d to t h ee on t r o l l e r . I n t hi s w a y , t h ere m o te m o n it or i n g on h yd r a u l i ee x c a v a t o r 1 5r e a l iz ed . B e t w ee n t h e GPRSIP M o d e m an d t h e r e m o te se rve r 1 5a C / S 下下島 mo妞 Con U n陰i偽石On n n T T TCP幾Pe e e e 竹竹Ot O閱! 獷獷 R R R S 2 3 2P o r t t t F ig . 4 S t r u e t ur eofr e 比I O te inf o nl犯t i ont獷 已n 51而”幻n 2 . 3AP Plic aU o n o f G 玲 GPS 15 a gl obalwireless n a v i g at i on and P o s ition i雌 system c omp o sedof 24arti fieial s atel lites a n d e a r th stations. W ith the help of G PSand G PR S, t h e re m o te m on it or i n g , ser v i e ean d r n a na g e m e n t on i n te l l ig e n t i名e d e x c a v at ora r ere a liz ed . B e side s the info r m atio nabo ut P o sitio no f e x c a v ato r , t h ee on t r o l l e r w hi e h1 5e q u ip p e dwith a GP S / GPRS m o d u l ea l sosen d s t h eo p er a t i n gP a ra m ete rso f t h e e x c a vatorsue h as te m p er a tu re , p ressur ean d w or ki呀hourstothe re m ote server. 腸bl el 戶乃司喊.寸 P l annin gand 州u a l l rl l,”u r曰 喇u ef o r exc ava奴片 i n 510診州瀏耐n go講r atlo n e e e e e l () ) )氏(.) ) )么(.) ) ) E E E E Exp戈t己Value e e Me a su r 已V a lue e e Ex戶沈t曰Value e e M e a sur曰 Value e eEx戶,t已V a lue e e M e a sur曰 V a lue e e G G Gr o uP I I I45.4844 4 445.32 2 2一 30.8705 5 5一 30.65 5 5一 59.6139 9 9一 59.87 7 7 G G Gr o uP Z Z Z 47.6061 1 147.53 3 3一 37.9184 4 4一 38.20 0 0一 54.6877 7 7一 54.32 2 2 G G Gr o uP 3 3 3 49.3361 1 149.62 2 2一 43.4816 6 6一4 3.43 3 3一 50.4445 5 5一 50.59 9 9 G G GrouP 4 4 450.8090 0 05 1.20 0 0一49.1842 2 2一 49.32 2 2一 46.6247 7 7一 46.31 1 1 G G GrouPS S S52.0931 1 15 1.76 6 6一 53.9979 9 9一 54.03 3 3一 43.0952 2 2一 4 3 .2 7 7 7 G G Gr o uP 6 6 65 3.2 2 8 9 9 95 3 . 5 2 2 2一58.4522 2 2一 58.53 3 3一 39.7766 6 6一 39.82 2 2 G G Gr o uP 7 7 754.2421 1 154.30 0 0一 62.6250 0 0一 62.32 2 2一 366171 1 1一 36.33 3 3 G G Gr o uP S S S55.1501 1 154.90 0 0一 66.5701 1 1一 66.87 7 7一 33 . 5 7 99 9 9一 33.81 1 1 G G Gr o uP g g g55.9694 4 456.12 2 2一 70.3722 2 2一 70.56 6 6一 30.6382 2 2一 30.24 4 4 G G G rouP 10 0 056.6968 8 856.32 2 2一 73.9259 9 9一 74.22 2 2一 27.7708 8 8一 28.02 2 2 T h e p o sitio n c o o r din a tes o f the ex ca v ato rare refleetedo n the m ap by the eleetro nie m a p ping syste m , 50as t h a tt h esate l l it e - - b ase d p os iti on i n g the stoppage ofexc avat or c a used byengine stalling 15 ef fe c tively av o i de d , the f u e l e o n s u mp tio n 15 o b v io u sly r e d u e e d , t h e c a Pa eity to d i ag n o s ea n d e l e a r f a u lt15 g r e a tly imp r o v e d 5 0 thatthe o ut 一o f - ser v i ee d ura t i on c a us e d b y m a i n te naneean d r e P a i r 1 5 s h o rten e d ; t h ere m o t em on it or i n g an d m a na g e m en t onexca v a to rarer e a li ze d . 一 525 一 色 閱 be a PPl i e d t o eonstruetio n a l l r比ch in ery m o r e a n d m o re 初dely , a n di n te l l ig e n t i z e dc o ns t r uet i o n a l m a e h i ne r y w i l l s u r e l y b e c o m e t h e d eve l o p i呀 direc tion. T han k s f o r help andassist anee fr om R e search Institute under Gua呢元 M aeh inery C o ., L t d . a n d G u i l i n U r El eet r o n i e T e e h n o l o 盯 , a n d t h a n k s f o rs- t h e N at i ona l86 3 P r o g r a mP r o je c t N u mb e r : 2 00 3AA 43 0 190 ) . 及chn