KR100545733B1 - Coal Cleaning Robot System and Method Thereof - Google Patents

Abstract

The present invention relates to a cleaning robot system and a method for treating coal which is loaded into a coal carrier in a power plant or the like and performs fine xanthan processing by itself or by remote control.

The cleaning robot system 200 according to the present invention includes a cabin unit 210, an input controller 212, a crane unit 220, a crane controller 222, an excavator 230, an excavator controller ( 232, RF receiver 240, remote controller 242, dozer 250, dozer controller 252, sweeper 260, sweeper controller 262, upper pivot 270, lower travel It has a configuration including the unit 280, the main controller 290 and the like.

According to the present invention, since it is possible to perform a variety of operations with a single equipment in the operation of unloading coal in the hatch of the coal carrier is efficient in terms of time and economics. It is effective in the prevention of safety accidents by using the cleaning robot system.

Sweeping, robot, coal, unloading, power plant, carrier, remote control, cabin, excavation, dozer, crane, sweeper

Description

Coal Cleaning Robot System and Method Thereof

Figure 1a is a view showing the operation of unloading coal using the CSU,

1b is a view for explaining the operation of unloading coal from the coal carrier to the conveyor belt through the CSU,

2 is a block diagram schematically showing the configuration of a cleaning robot system for processing xanthan coal according to an embodiment of the present invention;

3 is a configuration diagram schematically showing an internal configuration of a remote control transmission device for remotely controlling a cleaning robot system according to the present invention;

4A is a side view of a cleaning robot system according to a preferred embodiment of the present invention;

4b is a front view of a cleaning robot system according to a preferred embodiment of the present invention;

5 is a view schematically showing an operation panel of a remote control transmitting device for performing an operation of a cleaning robot system remotely;

6 is a flowchart illustrating an operation control process of a crane unit in a coal treatment method of a cleaning robot system according to an exemplary embodiment of the present invention.

7 is a flow chart showing an operation control process of the excavator in the coal treatment method of the cleaning robot system according to an embodiment of the present invention,

8 is a flowchart illustrating an operation control process of a dozer part and a sweeper part in a coal treatment method of a cleaning robot system according to an exemplary embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

100: CSU (Continuous Ship Unloader) 110: coal carrier

120: hatch 130: screw

140: outlet 200: cleaning robot system

210: cabin unit 212: input controller

220: crane part 222: crane part controller

230: Excavator 232: Excavator Controller

240: RF receiver 242: remote controller

250: dozer part 252: dozer part controller

260: sweeper part 262: sweeper part controller

270: upper turning portion 280: lower running portion

290: main controller 300: remote control transmitter

310: control lever part 320: operation button part

330: key input processing unit 340: RF transmitter

350: power battery 410: caterpillar

420: blower 430: loading box

500: operation panel 502: left main control unit

504: left driving control stick 506: right driving control stick

508: right main control unit 510: air gun button

512: brush button 514: motor 1 button

516: Motor 2 Button 518: Motor 3 Button

520: blower button 522: water pump button

524: lift button 526: power lamp

528: emergency stop button 530: RPM button

534: power mode selector 536: equipment selector

538: Work mode selector

The present invention relates to a cleaning robot system for treating coal and a method thereof, and more particularly, when unloading coal from a coal carrier in a power plant or the like, coal is injected into a coal carrier to carry out xanthan treatment through manual or remote control. It relates to a cleaning robot system and a method for processing the same.

In coal-fired power plants, coal is used mainly as fuel for power generation, and it is usually located along the coast for the convenience of transporting such coal fuel. Since most of the coal used as fuel in domestic thermal power plants is supplied by imports, coal fuel is generally transported by sea to coal carriers. When the coal carrier arrives at a dedicated berth on the coast, it uses the Continuous Ship Unloader (CSU) to unload the coal from the coal carrier.

Figure 1a is a view showing the operation of unloading coal using the CSU.

As shown in FIG. 1A, the coal unloading operation is performed using a CSU 100, a coal carrier 110, a hatch 120, a screw 130, an outlet 140, and the like.

The coal carrier 110 typically loads coal in about 9 hatches 120. The coal thus loaded is transferred to a conveyor belt for transportation through the CSU 100, and is transported to the low coal yard by the conveyor belt.

As shown in FIG. 1A, when one coal carrier 110 is docked at a pier, coal is unloaded using two CSUs 100. At this time, in order to maintain the balance of the coal carrier 110, each CSU (100) is to unload the coal from the outer side to the inner side based on the CSU (100) in the hatch (120).

1B is a view for explaining the operation of unloading coal from the coal carrier to the conveyor belt through the CSU.

The coal loaded in the hatch 120 of the coal carrier 110 is conveyed upward from the hatch 120 through a screw 130 provided in the CSU 100 and is transferred to the outlet 140 connected to the conveyor belt. The unloading work can be divided into three stages.

In the first step, the coal loaded in the hatch 120 is unloaded using only the CSU 100. If the amount of coal in the hatch 120 is unloaded, for example, when the coal is unloaded at about 2 to 3 meters (m) from the bottom of the hatch 120, it is difficult to unload the coal with only the CSU 100, and the separate equipment Coal unloading work should be carried out.

In the second step, a work such as a shovel truck or a payloader is used to lift, lift, and discharge the work, thereby assisting the coal unloading operation of the CSU 100. That is, after a considerable amount of coal is unloaded from the coal carrier 110, the payloader is introduced into the hatch 120 to collect the remaining xanthan near the screw 130 of the CSU 100, thereby collecting coal from the CSU 100. Make it easy to unload automatically. When the coal is about 1 to 2 meters from the bottom of the hatch 120 proceeds to the third step.

In the third step, the CSU 100 is withdrawn from the hatch 120 of the coal carrier 110 and the work worker is put into the hatch 120, and the remaining coal is left in the bag through the joint work of the payloader and the worker. Discharge into, and performs a cleaning operation in the hatch (120).

Summarizing the above process of unloading coal in the coal carrier 110 is shown in Table 1.

Work steps Unloading means Stage 1 CSU 2 steps CSU + Payloader 3 steps Payloader + worker

The first step unloading operation using the CSU 100 in the above process is convenient to control the CSU 100 by wireless or wired, but the second and third unloading operations are for the payloader operation and the final xanthan treatment. Since the working worker is put in, the hatch 120 of the ship has a problem that the working environment such as coal dust and noise is very poor.

In addition, in the third stage, when the work worker is put together with the payloader to finish the unloading work, there is a great risk of injury of the work worker. In particular, since coal-fired power plants operate 24 hours continuously, coal unloading operations must be carried out at night. Therefore, there is a problem that the possibility of occurrence of a safety accident persists due to an increase in fatigue of a worker who works at night.

However, in order to solve such a problem, if the number of working workers is increased to three shifts and the like, the labor cost is increased, and the injury rate of the working worker increases, resulting in an increase in the processing cost.

Therefore, a special equipment capable of handling the coal residues in the hatch 120 without the input of a workman as well as the simple function of lifting, lifting, discharging, etc. like a payloader for collecting and coal residues of the coal carrier 110 is provided. It is necessary but not yet developed.

In addition, since the working environment in the hatch 120 is poor, special equipment for collecting and xanthan coal processing should not only be able to be operated remotely, but also in some cases, the equipment operator should be able to ride and operate. No equipment has been developed.

On the other hand, if you look at the current state of the technology related to automation of large machinery among the industrial control system, the active research and development is progressing in universities and research institutes, but such devices are mainly for the stationary robot for building a vehicle in a car factory, or in the field of building automation or a humanoid robot. It is focused on the development of the field.

In addition, the automation of special large-scale equipment is impossible to mass-produce due to its characteristics, and has a form of custom-made to meet the specific purpose and special performance requirements for each site. However, because the domestic market is currently narrow and not widely recognized for the automation and robotic systems of heavy equipment, special equipment for coal collecting and xanthan processing for unloading coal on the coal carrier 110 or by remotely adjusting the work is performed. Is not invented.

In order to solve the above problems, the present invention, when unloading the coal from the coal carrier in a power plant, the cleaning robot that is introduced into the coal carrier to process the coal collecting coal and fine coal residue processing work by themselves or remote control It is an object of the present invention to provide a system and a method thereof.

In order to achieve the above object, the present invention provides a cleaning robot system in which a driver boards a manual steering or a remote control to perform a collection of coal and xanthan coal, the control for controlling the operation of the cleaning robot system part; An input controller for inputting an input command according to the manipulation of the control unit as data; A crane unit for removing the coal; A crane unit controller for controlling the operation of the crane unit; An excavation part used to dig or cut the coal; An excavator controller for controlling the operation of the excavator; A doser for pushing and pumping up the coal; A dozer controller for controlling the operation of the dozer; A sweeper unit for sweeping or sucking the xanthan coal; A sweeper unit controller for controlling the operation of the sweeper unit; An upper pivot portion for rotating the crane portion, the excavator portion and the sweeper portion; A lower running part hinged to the upper pivot part to support the upper pivot part, and for moving back and forth and left and right of the cleaning robot system; And transmitting a control signal to the crane controller, the excavator controller, the dozer controller, and the sweeper controller according to a steering signal input from the controller, wherein the upper turning portion rotates and the lower driving portion travels. It provides a cleaning robot system comprising a main controller for controlling the.

In addition, according to another object of the present invention, as a coal treatment method of a cleaning robot system in which a driver is manually operated or remotely controlled to perform the collection of coal and xanthan coal, (a) operation by receiving power Waiting; (b) determining whether a steering signal relating to the operation of the component is input from the steering unit; (c) transmitting pressure oil to a controller of a component operating according to the steering signal; And (d) controlling the operation of the component in detail through the pressure oil.

In addition, according to another object of the present invention, in the remote control transmission device for the driver to remotely control the cleaning robot system to input a command to perform the coal collecting and coal residues of coal, the operation command according to the operation of the driver A control lever unit for outputting an analog signal; An operation button unit having a plurality of buttons for inputting an operation command; A key input processing unit for converting an analog operation signal input from the control lever unit and command data input from the operation button unit into an analog command signal; An RF transmitter converting a command signal or an operation signal transmitted from the key input processor into a radio frequency signal and transmitting the radio signal to the air through an antenna; And a power battery supplying power required for the operation of the remote control transmitter.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used as much as possible even if displayed on different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

2 is a block diagram schematically illustrating a configuration of a cleaning robot system 200 for processing xanthan coal according to an embodiment of the present invention.

The cleaning robot system 200 according to the present invention includes a cabin unit 210, an input controller 212, a crane unit 220, a crane controller 222, an excavator 230, an excavator controller ( 232, RF receiver 240, remote controller 242, dozer 250, dozer controller 252, sweeper 260, sweeper controller 262, upper pivot 270, lower travel It has a configuration including the unit 280, the main controller 290 and the like.

In the cleaning robot system 200 having the above configuration, the crane unit 220, the excavation unit 230, the dozer unit 250, the sweeper unit 260, and the like are operated and controlled by hydraulic pressure. These components usually use hydraulic pressure because they require great force in operation. Not only can hydraulic pressure transmit a large force, but it is easy to control each component by the opening / closing operation of a hydraulic valve. In addition, since each valve of the hydraulic system can be electrically controlled, wireless control is also facilitated.

The cabin unit 210 is provided with a steering device for allowing the driver to manually control the cleaning robot system 200 by boarding. The cleaning robot system 200 according to the present invention can not only be manually controlled but also remotely controlled. In the case of manual steering, the driver rides in the cabin 210 to operate each functional part using various control levers and operation buttons (not shown) provided in the cabin 210.

The input controller 212 inputs an input command according to the manipulation of the control lever and the operation button in the cabin 210 as data. The input controller 212 inputs an input by the control lever to the main controller 290 as an analog signal, and converts the input by the operation button into digital data to the main controller 290.

The crane unit 220 is a device for removing coal residues attached to the inner wall of the hatch 120. Conventionally, the work worker attached a broom to a long pole to remove the coal residues attached to the hatch 120 by hand, but the crane portion 220 according to the present invention can easily remove the residual coal on the wall of the hatch 120. Can be.

The crane unit 220 includes a water cleaning valve (not shown) together with a wall cleaning brush (not shown) to spray water on the wall of the hatch 120 to remove the residual coal attached to the wall. In some cases, an air gun (not shown) may be provided to remove xanthan adhering to the wall of the hatch 120 using compressed air sprayed from the air gun.

The crane controller 222 controls the operation of the crane 220 according to the control signal of the main controller 290. That is, the crane controller 222 is to control the height or length of the crane 220 required to clean the wall surface of the hatch 120, or to control the operation of rotating the cleaning brush.

Excavation 230 is an element used to dig or crush coal, the hinge is coupled to the upper pivot 270 (Hinge).

The excavator controller 232 controls the operation of the excavator 230 according to the control signal of the main controller 290. The excavator controller 232 controls the power mode and the work mode to facilitate the work. In the case of the power mode, the first mode in which the fuel economy is given priority as the output mode of the engine in light work, the second mode in which the engine is the output mode in general work, and the second mode in which a large amount of work can be performed in a short time It operates in three speed mode. In the case of the work mode, the operation is facilitated by partially automating the work performing method, and it can be classified into a horizontal work mode, an excavation work mode, and a turning priority work mode.

The horizontal work mode is a mode for moving the excavator 230 horizontally for the excavation work, the excavation work mode is a mode for performing a standard standard excavation work, the turning priority work mode is to excavate the excavator 230 during the excavation work The operating mode of turning.

The RF receiver 240 is a device that receives a remote control signal as the driver remotely controls the cleaning robot system 200. The remote controller 242 amplifies the remote control signal received by the RF receiver 240, converts the digital signal into digital data, and transmits the digital signal to the main controller 290.

In the above, the excavator 230 is operated by manual or remote control, in the case of manual control, the operator operates by operating the steering lever provided in the cabin 210. That is, an operation signal according to the manipulation of the control lever is generated in the input controller 212 and applied to the main controller 290, and the main controller 290 applies a control signal corresponding to the operation signal to the excavator controller 232. As a result, the excavator controller 232 operates the excavator 230 with a hydraulic valve.

In addition, in the case of remote control of the excavator 230, a remote control signal according to the remote control of the driver is received by the RF receiver 240 and transmitted to the main controller 290 through the remote controller 242. Accordingly, the main controller 290 transmits a control signal to the excavator controller 232 so that the excavator controller 232 operates the excavator 230 as in the case of manual control.

The dozer part 250 is hinged to the lower driving part 280. The dozer unit 250 performs the operation of pushing out the coal and pumping it up.

The dozer controller 252 controls the operation of the dozer 250 according to the control signal of the main controller 290. That is, the dozer part controller 252 controls the doser part 250 to keep the form in contact with the coal to push the coal through the doser part 250, or controls the doser part 250 to operate up and down. .

Like the excavation part 230, the dozer part 250 operates according to the manipulation of the control lever provided in the cabin part 210. In the case of manual control, the driver operates a switch (not shown) provided in the cabin 210 to switch from the excavator 230 operation to the dozer 250 operation. In the case of the remote control, the driver operates the operation panel (shown later) provided in the cabin 210 to switch from the excavation mode to the dozer mode. In the control by the remote control, the electronic proportional control valve is controlled according to the control of the main controller 290.

The sweeper unit 260 is a device useful for treating xanthan in a ship, and has a form for sweeping the xanthan and a shape for sucking the xanthan. That is, when the cleaning robot system 200 moves the bottom of the hatch 120 to process the residual coal remaining on the bottom of the hatch 120, the sweeper unit 260 sweeps the outside xanthan into the sweeper unit 260. To collect and inhale.

The sweeper controller 262 controls the operation of the sweeper unit 260 according to the control signal of the main controller 290.

The upper pivot portion 270 is coupled to the crane portion 220, the excavation portion 230 and the sweeper portion 260, etc., the upper pivot portion 270 itself is a slewing bearing (undo Combined). In addition, the upper turning part 270 includes an engine (not shown) for driving each component including the lower driving part 280, and is provided with a cabin part 210 in which a driver can ride.

The lower running part 280 allows the front and rear movement of the cleaning robot system 200 according to the present invention, and the dozer part 250 is located at the front side. In addition, the lower running part 280 supports the upper turning part 270 coupled to the upper part.

On the other hand, since the cleaning robot system 200 according to the preferred embodiment of the present invention moves on the loaded coal, the traveling part of the lower running part 280 is prevented from being buried in coal as a traveling method (infinite track ( Caterpillar: 410 is preferred. However, in the exemplary embodiment of the present invention, the driving method of the lower driving unit 280 is not limited to the infinite track, and in some cases, it is possible to use a tire.

The main controller 290 is a central control unit for controlling the overall operation of the cleaning robot system 200 according to a preferred embodiment of the present invention. The main controller 290 receives an operation signal input from the cabin unit 210 or a remote control signal received through the RF receiver 240 as digital data, and includes a crane controller 222 and an excavator controller 232. ), The dozer part controller 252 and the sweeper part controller 262 to control the crane part 220, the excavation part 230, the dozer part 250, the sweeper part 260, the upper pivot part 270, and the like. The operation of the lower driving unit 280 is performed.

The crane controller 222, the excavator controller 232, the dozer controller 252, and the sweeper controller 262, including the main controller 290, are hydraulic methods for operating each component according to the opening and closing operation of the hydraulic valve. To control. When the main controller 290 controls each component, the pressure controller for controlling the delivery to the crane controller 222, excavator controller 232, dozer controller 252 and sweeper controller 262 To control.

3 is a configuration diagram schematically showing the internal configuration of the remote control transmission apparatus 300 for remotely controlling the cleaning robot system 200 according to the present invention.

The remote control transmitter 300 according to the present invention includes a steering lever unit 310, an operation button unit 320, a key input processing unit 330, an RF transmitter 340, an antenna 342, and a power battery 350. Has a configuration

The steering lever unit 310 outputs an operation command according to the driver's operation as an analog signal, and has a joy stick shape for this purpose. The steering lever 310 having a joy stick shape is mainly used for the operation of the excavator 230 and the dozer 250.

The operation button unit 320 includes a plurality of key input buttons for inputting a command regarding the operation of the cleaning robot system 200 according to the present invention.

The key input processing unit 330 converts the analog operation signal input from the control lever unit 310 and the command data input from the operation button unit 320 into an analog command signal and transmits the analog command signal to the RF transmitter 340. .

The RF transmitter 340 converts a command signal transmitted from the key input processor 330 into a radio frequency signal, or converts an operation signal input from the steering lever 310 through the key input processor 330 into a radio frequency signal. And wirelessly transmits to the air through the antenna 342.

The power battery 350 supplies power required for the operation of the remote control transmitter 300. The power battery 350 may use a primary battery that is used only once or a secondary battery that can be recharged and reused.

4A is a side view of a cleaning robot system 200 according to a preferred embodiment of the present invention, and FIG. 4B is a front view of a cleaning robot system 200 according to a preferred embodiment of the present invention.

As shown in FIG. 4A, the cleaning robot system 200 according to the present invention includes an upper pivot portion 270 coupled to an upper portion of the lower traveling portion 280, a crane portion 220 coupled to the upper pivot portion 270. Excavator 230 and the sweeper unit 260 is coupled. Here, the upper swing portion 270 is coupled to the upper portion of the lower running portion 280 by a swing bearing (not shown) is configured to enable a 360 degree rotation.

In addition, the upper turning part 270 includes an engine (not shown) for driving each component including the lower driving part 280, and is provided with a cabin part 210 in which a driver can ride. That is, the cleaning robot system 200 according to the present invention can be remotely controlled remotely through the remote control transmission device 300, in some cases, so that the driver can manually control by boarding the cabin unit 210 The cabin unit 210 is provided.

In addition, the upper swing portion 270 is provided with a loading box 430 for loading the xanthan by sweeping through the sweeper unit 260 during xanthan processing. The upper swing portion 270 is provided with a blower portion 420 for the suction force of the sweeper portion 260. The blower unit 420 has a fan (not shown) therein and is connected to the loading box 430. When the fan provided in the blower unit 420 is operated to release the air in the stacking box 430 to the outside, the air pressure inside the stacking box 430 is lowered, thereby loading the same principle as the operation principle of a vacuum cleaner (Vacuum Cleaner). The suction pressure is generated in the sweeper part 260 connected to the 430.

On the other hand, the lower running portion 280 supports the upper turning portion 270, has a crawler 410 for traveling back and forth and left and right, the front portion is provided with a dozer portion 250.

In the process of removing coal residues in the hatch 120 using the cleaning robot system 200 according to the present invention, the coal residues are often scattered to generate dust. In addition, in some cases, there is a problem that coal is entangled on the bottom of the hatch 120 due to moisture contained in the coal, and thus is not easily removed.

Therefore, in order to solve this problem, it is preferable to further include a water tank combination (not shown) and an air tank combination (not shown) in the sweeper part 260.

The water tank combination is provided with a water tank for storing water and a water sprayer (not shown) for spraying the stored water on the bottom of the hatch 120 to prevent the remaining coal from being scattered. In addition, the air tank assembly to compress the air to be sprayed to the bottom of the hatch (120). By doing this, it is possible to separate xanthan adhered to the floor. When the xanthan sucked through the sweeper unit 260 is accumulated in the loading box 430 by a predetermined amount or more, the remaining coal loaded in the loading box 430 should be discharged to the outside.

One side of the loading box 430 is provided with a loading box cylinder (not shown). When the rod (not shown) of the loading container cylinder protrudes, that is, the length of the loading container cylinder is extended, the loading box 430 is inclined forward. In addition, the front of the loading box 430 is provided with a loading box opening and closing box opening cylinder, when the loading box 430 is tilted forward by the expansion of the loading cylinder cylinder, the loading box opening and closing opening is opened by the operation of the loading box opening cylinder and inside the loading box 430 The loaded coal can be discharged to the outside.

FIG. 5 schematically illustrates an operation panel 500 of a remote control transmitter 300 for remotely performing an operation of the cleaning robot system 200 in the cleaning robot system 200 according to an exemplary embodiment of the present invention. Figure is shown.

The operation panel 500 of the remote control transmission device 300 shown in FIG. 5 is used for remote control, but the same operation panel 500 may be used even when the driver boards and manually operates the cabin 210. . On the other hand, although not shown separately the various manual operation lever in the cabin 210, the manual operation lever provided in the cabin 210 has the same function as the joystick (Joy Stick) for operation provided in the operation panel 500 The lever and its function are the same.

The operation panel 500 illustrated in FIG. 5 includes a left main control unit 502, a left driving control stick 504, a right driving control stick 506, a right main control unit 508, an air gun button 510, and a brush. Button 512, Motor 1 Button 514, Motor 2 Button 516, Motor 3 Button 518, Blower Button 520, Water Pump Button 522, Lift Button 524, Power Lamp 526 , Emergency stop button 528, RPM button 530, power mode selection unit 534, equipment selection unit 536, work mode selection unit 538 and the like.

The left main control unit 502 and the right main control unit 508 are used to input operation commands of the crane unit 220 and the excavator unit 230, and mainly in the crane unit 220 and the excavator unit 230. Control the raising or lowering of the boom, the raising or lowering of the arms, and the stretching or compression of the bucket. Here, the crane unit 220 is generally configured to include a boom, an arm, a bucket, and the like, and the excavation unit 230 includes a boom and an arm.

The left travel steering stick 504 and the right travel steering stick 506 input commands for forward, backward, left and right travel operations of the lower travel unit 280.

The air gun button 510 inputs an execution command of the air gun, and the brush button 512 inputs an execution command of the brush operation. Motor 1 button 514 inputs a command to operate the left brush provided in the sweeper unit 260, Motor 2 button 516 inputs a command to operate the right brush, motor 3 button 518 is a roller Enter a command to activate a brush (not shown).

The blower button 520 inputs a command to operate the blower unit 420, the water pump button 522 inputs a command for the operation of the water pump, and the lift button 524 is provided at the sweeper unit 260. Input a command to lower or raise the brush device.

The power lamp 526 emits light when power is supplied to the cleaning robot system 200, and the emergency stop button 528 inputs a command to temporarily stop all operations of the cleaning robot system 200 when an accident occurs. .

RPM button 530 inputs a command to increase or decrease the rotational speed of the engine (not shown) in the operation of the cleaning robot system 200, the power mode selector 534 is to operate the excavator 230 Enter the command to control.

The equipment selector 536 selects the operation mode of the excavator 230 or the dozer 250, and the work mode selector 538 selects the horizontal operation or the turning operation of the excavator 230.

Next, the preferable operation of the cleaning robot system 200 configured as described above will be described.

6 is a flowchart illustrating an operation control process of the crane unit 220 in the coal treatment method of the cleaning robot system according to an embodiment of the present invention.

The driver remotely controls the cleaning robot system 200 using the remote control transmitter 300, or rides in the cabin 210 of the cleaning robot system 200 to directly process the coal treatment work of the cleaning robot system 200. Can be controlled.

When the cleaning robot system 200 is powered on, the crane unit 220, the excavation unit 230, the dozer unit 250, the sweeper unit 260, the upper pivot unit 270, the lower traveling unit 280, and the like. Operate an engine (not shown) to obtain the power required to operate the engine. At this time, the engine generates a hydraulic pressure by driving a hydraulic pump (not shown) provided in each component. The pressure oil is transferred from the main controller 290 to the controller of each component in the control of each component.

As described above, the crane controller 222, the excavator controller 232, the dozer controller 252, the sweeper controller 262, etc., including the main controller 290, each component by the opening and closing operation of the hydraulic valve. To control.

Hydraulic valves are generally required to supply a large amount of pressure oil when hydraulic pressure is used for large force transmission, such as heavy equipment, and the like, and there is a limit to manually operating the opening or closing of such pressure or flow hydraulic valves. have. Accordingly, opening and closing of the hydraulic valve generally uses a pilot control method using pilot pressure. Pilot pressure refers to the use of hydraulic pressure as a signal for opening and closing the valve. The pilot control method is to control the opening and closing of the hydraulic valve by manipulating a pilot line to which the pilot pressure is applied. Pilot control makes it easier to operate the machine because it allows you to control larger forces with smaller forces. Therefore, when manually operating the cleaning robot system 200 according to the present invention, the driver boards the cabin unit 210 to operate a plurality of operation buttons and driving levers provided in the cabin unit 210. To control the equipment.

However, in the case of remote control, operations related to pilot control are difficult. In the case of remote control of the equipment, it is desirable to use an Electric Proportional Control Valve. Typically, the electronic proportional control valve refers to a valve that can be controlled in proportion to an electrical signal. In the case of the electromagnetic proportional control valve, it is possible to directly adjust the opening and closing of the valve by using a solenoid (Solenoid), but as in the case of manual operation, it is difficult to realistically because a large capacity solenoid must be used to directly control the opening and closing of the valve. Therefore, the pilot pressure, that is, the pilot line, is adjusted by the electromagnetic proportional control valve to control the opening and closing of the valve.

In a preferred embodiment of the present invention, when remotely controlling the cleaning robot system 200 according to the present invention, the operation of the hydraulic circuit is controlled by adjusting a pilot line using an electronic proportional control valve.

The electronic proportional control valve used in the embodiment of the present invention is an electromagnetic proportional pressure reducing valve for reducing the pressure, an electromagnetic proportional flow control valve for controlling the flow rate, and for controlling the direction and the flow rate depending on the purpose used. An electronic proportional directional flow control valve is used. On the other hand, the electronic proportional control valve is not only used in the case of remote control but also can be used for easy control even in the case of manual control.

After the power is turned on, the cleaning robot system 200 waits for an operation when no control command is input (S602).

In the operation standby state, the driver manipulates the operation panel 500 provided in the cabin 210 or the operation panel 500 provided in the remote control transmitter 300 to operate the cleaning robot system 200.

The driver inputs a driving command by operating the left driving control stick 504 or the right driving control stick 506 on the operation panel 500 to position the cleaning robot system 200 close to the loaded coal pile (S604). ).

At this time, the input from the cabin 210 is transmitted to the main controller 290 by the input controller 212, the remote control signal transmitted from the remote control transmitter 300 is the RF receiver 240 and the remote controller ( It is delivered to the main controller 290 by 242.

When the main controller 290 determines the input signal and the driving mode, the main controller 290 controls the lower driving unit 280 to allow the cleaning robot system 200 to move back and forth, left and right (S606).

In the operation of the lower running part 280, in the case of manual control, the left and right steering levers (not shown) inside the cabin part 210 are operated. The left and right steering levers inside the cabin 210 are provided with the left driving control stick 504 and the right traveling steering stick 506 provided in the operation panel 500 in the cabin 210 in the form of a lever. The driving of the lower driving unit 280 is controlled by adjusting the pilot pressure for controlling the left and right driving motors (not shown) by operating the left and right steering levers inside the cabin unit 210.

In the case of remote control, the speed and stop are controlled by adjusting a pilot line (not shown) connected to the main controller 290 by an electronic proportional control valve. The left driving control stick 504 and the right driving control stick 506 of the operation panel 500 are manipulated to drive forward and backward and left and right driving. At this time, the output of an engine (not shown) can also be adjusted by adjusting the pushing degree of the left traveling steering stick 504 and the right traveling steering stick 506.

On the other hand, when the operation command of the crane unit 220 is input from the left main control unit 502 or the right main control unit 508 on the operation panel 500 by the driver's operation (S608), The main controller 290 transmits the pressure oil to the crane controller 222 to operate the crane unit 220 (S610).

Subsequently, when a boom operation signal for raising or lowering the boom is input from the left main control unit 502 on the operation panel 500 (S612), the main controller 290 controls the crane unit controller 222. Operate the boom (S614).

When a command for brush operation such as a side brush or a roller brush provided in the crane unit 220 is input from the left main control unit 502 on the operation panel 500 (S616), the main controller 290 is a crane unit controller. The controller 222 is operated to operate the brush (S618).

In the above-described step S612 or step S616, it is possible to execute the driving mode for operating the lower driving unit 280 while operating the boom or the brush.

In the above-described step S604, without operating the lower traveling unit 280 to drive the cleaning robot system 200, a command for operating the upper turning unit 270 from the operation panel 500 is inputted and turning mode (S620). ), The main controller 290 controls the upper turning portion 270 so that the upper turning portion 270 equipped with the crane portion 220, the excavating portion 230, and the sweeper portion 260 is rotated within 360 degrees. (S622).

7 is a flowchart illustrating an operation control process of the excavator 230 in the coal treatment method of the cleaning robot system according to an embodiment of the present invention.

If the operation mode of the excavation unit 230 is input from the operation panel 500 by the driver's operation (S702), the main controller 290 transmits the pressure oil to the excavation unit controller 232 (S704). Therefore, the excavator controller 232 may operate the excavator 230 through the hydraulic oil.

Subsequently, when an operation command for the excavator boom is input from the operation panel 500 (S706), the main controller 290 controls the excavator controller 232 to perform an operation of raising or lowering the excavator boom (S708). .

In addition, when an operation command for the excavating arm is input from the operation panel 500 (S710), the main controller 290 controls the excavation controller 232 to perform the operation of pinching or extending the excavating arm (S712).

If the operation command for the excavator boom is not input in step S706 described above, and a command for bucket operation is input (S714), the main controller 290 controls the excavator controller 232 to pinch or unfold the bucket. Is executed (S716).

8 is a flowchart illustrating an operation control process of the doser 250 and the sweeper 260 in the coal treatment method of the cleaning robot system according to the preferred embodiment of the present invention.

If the dozer mode in which a command for the operation of the doser unit 250 is input from the operation panel 500 by the driver's operation (S802), the main controller 290 transmits the pressure oil to the dozer unit controller 252 (S804). ).

Subsequently, when a command for a swing motion is input from the operation panel 500 by the driver's operation (S806), the main controller 290 controls the dozer part controller 252 to operate the doser part 250 left and right. The swing operation is performed (S808).

In addition, when a command for the tilt operation is input from the operation panel 500 (S810), the main controller 290 controls the dozer part controller 252 to operate the doser part 250 at an up and down vertical angle (S812). .

On the other hand, if a command to operate the sweeper unit 260 is input from the operation panel 500 (S814), the main controller 290 transmits the pressure oil to the sweeper unit controller 262 (S816). Thus, the sweeper unit controller 262 can operate the sweeper unit 260.

Subsequently, when a command for brush operation is input from the operation panel 500 (S818), the main controller 290 controls the sweeper controller 262 to rotate the brush (S820).

Each brush is operated by a drive motor (not shown) during the operation of the sweeper unit 260. In addition, during operation of the sweeper unit 260, the suction port (not shown) for suction of each brush and xanthan is lowered, and after the operation is completed, the brush and the suction port are raised.

According to the present invention, when unloading coal from a coal carrier in a power plant or the like, it is possible to realize a cleaning robot system and a method for treating coal that is introduced into a coal carrier and performs coal collecting and fine xanthan processing work of coal through self or remote control. Can be.

On the other hand, the cleaning robot system according to the present invention has the advantage that can be effectively used not only for coal unloading work but also general road repair or street cleaning. In particular, in road repair work, there is an advantage that can be used for multi-purpose, such as excavating the road, maintenance of roadside trees, road cleaning.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

As described above, according to the present invention, since it is possible to perform various operations with one equipment in the work of unloading coal from the hatch of the coal carrier, it is efficient in terms of time and economy.

In addition, it is effective to prevent safety accidents by using the cleaning robot system to complete the unloading and removal of coal and the cleaning of the hatch in the coal unloading operation without additional input of the worker.

In addition, since the cleaning robot system according to the present invention can be remotely controlled, even if the driver does not ride in the cabin, there is an advantage that can be adjusted through the wireless remote control.

In addition, the cleaning robot system according to the present invention has an advantage that can be effectively used for general road repair or street cleaning as well as coal unloading work. In particular, in road repair work, there is an advantage that can be used for multi-purpose, such as excavating the road, maintenance of roadside trees, road cleaning.

Claims (34)

A cleaning robot system in which a driver rides a vehicle manually or remotely controls a coal collecting and xanthan coal processing, A control unit for controlling an operation of the cleaning robot system; An input controller for inputting an input command according to the manipulation of the control unit as data; A crane unit for removing the coal; A crane unit controller for controlling the operation of the crane unit; An excavation part used to dig or cut the coal; An excavator controller for controlling the operation of the excavator; A doser for pushing and pumping up the coal; A dozer controller for controlling the operation of the dozer; A sweeper unit for sweeping or sucking the xanthan coal; A sweeper unit controller for controlling the operation of the sweeper unit; An upper pivot portion for rotating the crane portion, the excavator portion and the sweeper portion; A lower running part hinged to the upper pivot part to support the upper pivot part, and for moving back and forth and left and right of the cleaning robot system; And The control signal is transmitted to the crane controller, the excavator controller, the dozer controller, and the sweeper controller according to the steering signal input from the controller, and the rotation operation of the upper turning portion and the driving operation of the lower driving portion are performed. Controlling main controller Cleaning robot system comprising a. The method of claim 1, The control unit is a cleaning robot system, characterized in that it comprises a control lever (Lever) and a plurality of operation buttons for controlling the cleaning robot system. The method of claim 1, wherein the control unit And a remote control transmission device for remotely controlling the operation of the cleaning robot system or the cabin unit for the driver to manually operate the cleaning robot system. According to claim 1, wherein the crane portion A water spray valve and an air gun (not shown) are provided along with a cleaning brush, and the crane unit controller injects water into the coal to remove the coal residue attached to the wall, and compresses the compressed air sprayed from the air gun. Cleaning robot system, characterized in that for performing the operation to remove the coal residues attached to the wall. The method of claim 1, wherein the excavator controller Control the excavator in power mode and work mode, In the case of the power mode, the first speed mode in which the fuel economy is preferentially considered as the output mode of the engine during light work, the second speed mode which is the output mode of the engine in general work, and a large amount of work can be performed in a short time. Operate in the third speed mode, In the case of the work mode, the robot robot for cleaning is characterized in that it includes a horizontal work mode, an excavation work mode, a turning priority work mode by facilitating manipulation by partially automating a work performing method. The method of claim 5, The horizontal work mode is a mode for moving the excavator horizontally for the excavation work, the excavation work mode is a mode for performing a general standard excavation work, the turning priority work mode is to rotate the excavator during the excavation work Cleaning robot system, characterized in that the mode. The method of claim 1, The robot part control of the crane part controller, the excavator part control of the excavator part controller, the dozer part control of the dozer part controller and the sweeper part control of the sweeper part controller are operated by a hydraulic valve. . According to claim 1, wherein the sweeper portion A cleaning robot system comprising: a brush for collecting the xanthan, a suction port for suctioning the xanthan, and a loading box for loading the xanthan. The method of claim 1, An RF receiver configured to receive a remote control signal as the driver remotely controls the cleaning robot system; And The remote controller amplifies the remote control signal received by the RF receiver, converts the digital signal into digital data, and delivers it to the main controller. Cleaning robot system, characterized in that it further comprises. The method of claim 9, When the remote control signal is input through the RF receiver and the remote controller, the main controller controls the crane controller, the excavator controller, the dozer controller and the sweeper controller by an electronic proportional control valve. Cleaning robot system. The method of claim 1, wherein the lower running portion And a caterpillar or a tire in a traveling manner to prevent the traveling portion from being buried in the coal. The apparatus of claim 3, wherein the remote control transmitter is A control lever unit outputting an operation command according to the driver's operation as an analog signal; An operation button unit having a plurality of buttons for inputting an operation command; A key input processing unit for converting an analog operation signal input from the control lever unit and command data input from the operation button unit into an analog command signal; An RF transmitter converting a command signal or an operation signal transmitted from the key input processor into a radio frequency signal and transmitting the radio signal to the air through an antenna; And A power battery for supplying power for operation of the remote control transmitter Cleaning robot system comprising a. The method according to claim 3 or 12, wherein The cabin unit or the remote control transmission device comprises a control panel for generating the operation signal or the command signal. The method of claim 13, wherein the operation panel A left main control part and a right main control part used to input operation commands of the crane part and the excavator part; A left driving control stick and a right driving control stick for inputting commands for forward, backward, left and right driving operations of the lower driving unit; An air gun button for inputting an execution command of an air gun; A brush button for inputting an execution command of a brush operation; A first motor button for inputting a command to operate a left brush provided in the sweeper unit; A second motor button for inputting a command to operate a right brush; A third motor button for inputting a command to operate the roller brush; A blower button for inputting a command to operate the blower unit; A water pump button for entering a command for the operation of the water pump; A lift button for inputting a command to lower or raise the brush device provided in the sweeper unit; An emergency stop button for inputting a command to temporarily stop all operations of the cleaning robot system when an accident occurs; An RPM button for inputting a command to increase or decrease the rotational speed of the engine in operation of the cleaning robot system; A power mode selection unit for inputting a command to control the operation of the excavator; An equipment selector for selecting an operation mode of the excavator or the dozer; And Work mode selection unit for selecting the horizontal operation or the turning operation of the excavator Cleaning robot system comprising a. The method of claim 14, And the left main control part and the right main control part mainly input commands for raising or lowering the boom, raising or lowering the arm, and extending or compressing the bucket from the crane part and the excavator part. The method of claim 1, The crane controller, the excavator controller, the dozer controller, and the sweeper controller, including the main controller, are controlled by a hydraulic method for operating each component according to the opening and closing operation of the hydraulic valve. . A coal treatment method of a cleaning robot system in which a driver boards a vehicle manually or remotely controls to collect coal and xanthan coal. (a) receiving power and waiting for operation; (b) determining whether a control signal relating to the operation of the component is input from the control unit; (c) transmitting pressure oil to a controller of a component operating according to the steering signal; And (d) controlling the operation of the component in detail through the pressure oil; The coal treatment method of the robot robot for cleaning, comprising a. 18. The device of claim 17, wherein the component is A crane unit for removing xanthan coal; An excavation part used to dig or cut the coal; A doser for pushing and pumping up the coal; A sweeper unit for sweeping or sucking the xanthan coal; An upper pivot portion for rotating the crane portion, the excavator portion and the sweeper portion; And A lower running part hinged to the upper pivot part to support the upper pivot part, and for moving back and forth and left and right of the cleaning robot system; The coal treatment method of the robot robot for cleaning, comprising a. 18. The controller of claim 17 wherein the controller of the component is A crane unit controller for controlling the operation of the crane unit; An excavator controller for controlling the operation of the excavator; A dozer controller for controlling the operation of the dozer; And Sweeper unit controller for controlling the operation of the sweeper unit The coal treatment method of the robot robot for cleaning, comprising a. The method of claim 17, The control unit is a coal processing method of the cleaning robot system, characterized in that it comprises a control lever (Lever) and a plurality of operation buttons for controlling the cleaning robot system. The method of claim 17, wherein the control unit And a remote control transmission device for remotely controlling the operation of the cleaning robot system or the cabin unit for the driver to manually operate the cleaning robot system. The method of claim 19, When the steering signal is a steering signal for the operation of the crane unit, Injecting water to the xanthan by the crane unit controller to remove the xanthan adhering to the wall surface and to remove the xanthan adhering to the wall surface by spraying compressed air using an air gun provided in the crane unit. The coal processing method of the robot robot for cleaning, characterized in that to carry out. The method of claim 19, wherein the excavator controller Control the excavator in power mode and work mode, In the case of the power mode, the first speed mode in which the fuel economy is preferentially considered as the output mode of the engine during light work, the second speed mode which is the output mode of the engine in general work, and a large amount of work can be performed in a short time. Operate in the third speed mode, In the case of the work mode, the operation of the operation method is partially automated to facilitate the manipulation, and the coal processing method of the cleaning robot system comprising a horizontal work mode, excavation work mode, turning priority work mode. The method of claim 23, wherein The horizontal work mode is a mode for moving the excavator horizontally for the excavation work, the excavation work mode is a mode for performing a general standard excavation work, the turning priority work mode is to rotate the excavator during the excavation work The coal processing method of the robot system for cleaning characterized by the above-mentioned mode. The method of claim 17, In step (b), the control unit An RF receiver configured to receive a remote control signal as the driver remotely controls the cleaning robot system; And The remote controller amplifies the remote control signal received by the RF receiver, converts the digital signal into digital data, and delivers it to the main controller. The coal processing method of the robot system for cleaning characterized in that it operates in a configuration including a. The method of claim 25, When the remote control signal is input through the RF receiver and the remote controller, the coal processing method of the cleaning robot system, characterized in that for controlling the controller of the component by an electronic proportional control valve. The method of claim 18, wherein the sweeper portion And a brush for collecting the xanthan coal, a suction port for suctioning the xanthan coal, and a loading box for loading the xanthan coal. The method of claim 18, wherein the lower running portion And a caterpillar or a tire operating in a traveling manner to prevent the traveling portion from being buried in the coal. The method of claim 19, The crane controller, the excavator controller, the dozer controller, and the sweeper controller, including the main controller, are controlled by a hydraulic method for operating each component according to the opening and closing operation of the hydraulic valve. Coal disposal method. 22. The device of claim 21, wherein the remote control transmitter is A control lever unit outputting an operation command according to the driver's operation as an analog signal; An operation button unit having a plurality of buttons for inputting an operation command; A key input processing unit for converting an analog operation signal input from the control lever unit and command data input from the operation button unit into an analog command signal; An RF transmitter converting a command signal or an operation signal transmitted from the key input processor into a radio frequency signal and transmitting the radio signal to the air through an antenna; And A power battery for supplying power for operation of the remote control transmitter Coal processing method of the robot robot for cleaning, characterized in that operating in a configuration comprising a. In the remote control transmission device for the driver to remotely control the cleaning robot system to input a command to perform coal collecting and coal residues of coal, A control lever unit outputting an operation command according to the driver's operation as an analog signal; An operation button unit having a plurality of buttons for inputting an operation command; A key input processing unit for converting an analog operation signal input from the control lever unit and command data input from the operation button unit into an analog command signal; An RF transmitter converting a command signal or an operation signal transmitted from the key input processor into a radio frequency signal and transmitting the radio signal to the air through an antenna; And A power battery for supplying power for operation of the remote control transmitter Remote control transmission device comprising a. The method of claim 31, wherein And the remote control transmission device includes an operation panel for generating the operation signal or the command signal. The method of claim 32, wherein the operation panel A left main control part and a right main control part for inputting commands for a crane operation and an excavation operation of the cleaning robot system; A left driving control stick and a right driving control stick for inputting commands for front, rear, left and right driving operations of the cleaning robot system; An air gun button for inputting an execution command for discharging air from the cleaning robot system; A brush button for inputting a brush operation command of the cleaning robot system; A first motor button for inputting a command to operate a left brush of the cleaning robot system; A second motor button for inputting a command to operate a right brush of the cleaning robot system; A third motor button for inputting a command to operate a roller brush of the cleaning robot system; A blower button for inputting a command to operate the air to be sucked into the cleaning robot system; A water pump button for inputting a command for operating a water pump of the cleaning robot system; A lift button for inputting a command to lower or raise the brush device of the cleaning robot system; An emergency stop button for inputting a command to temporarily stop all operations of the cleaning robot system when an accident occurs; An RPM button for inputting a command to increase or decrease the rotational speed of the engine in operation of the cleaning robot system; A power mode selection unit for inputting a command to control an excavation operation of the cleaning robot system; An equipment selection unit for selecting an excavation operation or a dozer operation of the cleaning robot system; And Work mode selection unit for selecting the horizontal operation or the turning operation of the excavation operation of the cleaning robot system Remote control transmitter, characterized in that. The method of claim 33, wherein The left main control part and the right main control part mainly input commands for raising or lowering the boom, raising or lowering the arm, extending or compressing the bucket in the crane operation and the excavation operation of the cleaning robot system. Remote control transmitter.

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