Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1 - - PowerPoint PPT Presentation

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Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1 - - PowerPoint PPT Presentation

Oct 20, 2023 121 likes •352 views

Research group - In vehilce networks Remote controlled skidsteer iCC 2017 Jeremy Lebon iCC 2017 1 VIVES University College - Association KU Leuven West-Flanders 2 iCC 2017 Research group - In vehilce networks Research Consultancy

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Remote controlled skidsteer

Jeremy Lebon

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Research group - In vehilce networks

iCC 2017

iCC 2017

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SLIDE 2

VIVES University College - Association KU Leuven

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West-Flanders

iCC 2017

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Research group - In vehilce networks

iCC 2017 3

Frédéric Lazoore Jeremy Lebon Sam Schotte

Training

  • In vehicle networks

(CAN, J1939, ISOBUS, CANOpen, LIN, FlexRay,…)

  • Mobile Automation

(CoDeSys, Bodas, MRS studio)

Research Consultancy

Support and consultancy to businesses

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Agenda

  • Introduction
  • Objectives of the project
  • Machine overview
  • Network overview
  • Components
  • Future

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Introduction

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300 ton of bombs every year

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Objectives

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  • Modify a mechanical controlled skidsteer
  • Hydraulical, electrical and mechanical

modifications

  • Integration of different CAN networks

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SLIDE 7

Machine overview

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INPUTS OUTPUTS VISUALIZATION

Traction lock Starter Diesel pump

  • Hydr. Act.

Gas throttle Act. Lights Horn Safety controller Display Inclinosensor Remote control

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Network overview

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CAN Networks

CANopen network

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CAN 1 CANopen Master CANopen Slave CANopen Slave Node ID: 127 Node ID: 100 Node ID: 10 Remote control receiver Inclinosensor TX-PDO TX-PDO 125 kbps

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CAN Networks

SAE J1939 - network

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CAN 3 250 kbps

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CAN Networks

Proprietary CAN networks

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CAN 2 CAN 4 CoDeSys 250 kbps 250 kbps

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Components

Safety controller

  • 4 CAN busses

– CANopen – J1939 – Proprietary

  • 8 PWM-I outputs

– Used for Hydraulics actuators

  • 4 Digital outputs for switching

relays

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Components Remote control

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2 TX-PDO’s

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Components

Inclinosensor

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Components

Gas throttle actuator

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10000 20000 30000 40000 50000 20 40 60

Value Distance in mm

Gas Throttle Actuator

CAN 3 TFAC LFE1 SAE J1939

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Components Display

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Programming

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IEC 61131

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Mechanics

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Hydraulics

Hydraulic actuator

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200 400 600 800 1000 1200 1400 1600 1800 2000 50 100 150 200 250

Current (mA) CANopen data (dec)

Flow according to CANopen Data

PWM – I (800 to 1800mA)

iCC 2017

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SLIDE 20

Future (2016-17)

Adjustments

  • Replacing controller

Additions for 2016-17

  • Adding counter balance weight
  • Adding a camera system
  • Adding pressure sensors for a complete self-diagnose
  • Adding a speed sensor

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SLIDE 21

Future – ‘Dreams’

Additions for 2017-18

  • Adding 3D camera for detection of obstructions
  • Adding GPS RTK tracking/driving

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Thank you for your attention Questions?

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Contact: jeremy.lebon@vives.be

iCC 2017