Essential difficulties in the operation processes of a single-bucket excavators is the fact that they are multi-functional machines. They can be fitted out with a range of various working features. Hence, elaborate automatic control system is being indispensable. It makes possible, the flexible co-operation with the operator in carrying out different technological tasks. The structure of this system ought to make possible an easy adaptation of the single-bucket excavator for carrying out specific tasks (without wasting a lot of machines' working time). This also applies to work in hazardous conditions for the operator, or completing the earth-moving operations with great precision. In this paper, a solution of such a system is discussed, backed by computer-aided controls in connection with remote control and laser control systems for fixing the position of the machine with improved precision.
This paper presents an analysis of various natural and civilization disasters being angled as possibilities of usage of the remote control or autonomous machines. There are determined the requirements for such a systems of theses vehicles or machines which are able to remove effects of natural disasters and local military conflicts or terrorist attacks. Idea of remote controlled working machines with using of external control, information and observation system is also presented.
Equipping engineering machines and trajectory vehicles with automatic and remote control systems is necessary in case there is any environmental hazard for an operator i.e. environment conditions, an impact from fire field etc. It is particularly crucial when there is no possibility for any person to be in a machine or in its close surrounding. It applies to both extreme environment conditions (high temperature, pressure or environment contamination) and the likeliness of direct man health and life hazard (i.e. removal, disposal or neutralization of hazardous materials or area demining -particularly when the enemy operates on a fire field). In all above cases of using engineering machines and trajectory vehicles there is a need to remote control without the possibility of using direct impulse feedback by operators. That is the reason why it is so necessary to work on elaboration vision system enabling determination of the machine location in geodesic system and operating accessories configuration. This paper describes an overall characteristics of the steering unit in an unmanned ground vehicle depending on tasks to be performed, considering the drive and the steering's system structure required. Current development of visual systems used in unmanned ground vehicles has been shown. A visual system to be used in remote controlled machines and ground vehicles has been presented. Its structure and limitations within picture depth estimation resulting from the system's structure have been presented. Furthermore the system of defining the cameras' location in an external reference system has been described.
Abstract-The Army use bridges to cross narrow water and terrain obstacles. The bridges are carried on wheel or caterpillar vehicles then they are laid on obstacle. Generally the bridges are not put by crane, but by special manipulator -called manipulator of mechanized bridge. This manipulator structure depends on kind of bridge and way of its laying.Independently from constructional solutions, manipulator has large angles of turn of elements (over 180º) and transfer considerable burdens in initial and final stage of laying process. Moreover dimension and mass restrictions for whole mechanized bridge cause that manipulator ought to be compact and light construction.In paper authors propose methodology of selection of geometrical structure for this type of devices. To accelerate process of searching right structures and geometrical parameters then to enlarge credibility of getting positive results, methods of structural synthesis were chosen. Authors emphasize importance of contemporary solutions in this area which enable preparing of preliminary foundations and requirements.Authors introduce practical implementation of results on example of Polish new military bridge. Proposed methodology of creation of kinematic structure of mechanized bridges manipulator can be applied to other similar technical devices.
Herewith it was presented as follows: the general structure of system remote controlling operations, working machines while using vision system and examples of the system results.
In automatic control process of a single bucket excavators' work the problem of taking the assumed trajectory by working fixtures is very important.In this paper are described the method of such measurements and the system for positioning of the bucket cutting edge with using the laser beam assumed to be the relation position has been presented.
SUMMARYThe functional structure of operator's computer aided system in control of single bucket excavator's work is presented. There is described two control algorithms making possible the realization of earth moving process and copying of working motions by computer aided system that were showed earlier by operator. The exemplary results of experimental researches indicate that the described system and control algorithms make possible the effective realization of technological tasks that are carried out by the single bucket excavators.
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