CN102767198B - Control system and control method of bulldozer - Google Patents
Control system and control method of bulldozer Download PDFInfo
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- CN102767198B CN102767198B CN201210235383.1A CN201210235383A CN102767198B CN 102767198 B CN102767198 B CN 102767198B CN 201210235383 A CN201210235383 A CN 201210235383A CN 102767198 B CN102767198 B CN 102767198B
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Abstract
The embodiment of the invention discloses a control system and a control method of a bulldozer. The control system comprises a remote operation subsystem, an on-vehicle control subsystem and a wireless communication subsystem, wherein the remote operation subsystem comprises a key switch and a remote controller; the key switch is provided with an R gear, an ON gear, a START gear and an OFF gear; the key switch of the remote operation subsystem is used for sending a preheating control command for low temperature start of the bulldozer through the R gear, sending a control command for vehicle power-up through the ON gear, sending a control command for engine starting through the START gear, and sending the control command for engine stop through the OFF gear; an on-vehicle controller in the on-vehicle control subsystem is used for receiving the control commands and controlling relevant functional units to finish relevant actions according to the contents of the commands. According to the embodiment of the invention, an operator and the bulldozer are independent of two operational environments, and in a safe and humanized environment, the operator operates the bulldozer and works in a polluted, radiant, execrable and dangerous environment.
Description
Technical field
The present invention relates to long-distance intelligent field operation, particularly relate to a kind of bulldozer control system and method.
Background technology
Bulldozer plays very important effect in people's work, the field related to also widely, but, sometimes, need the place of bulldozer work to have relatively extreme environmental aspect to occur, the operating mode in such as garbage loading embeading district just very severe, work can cause huge injury to the body and mind of device operator for a long time there, even can affect the happiness of family life; The engineering of getting rid of the danger of the barrier lake again after such as earthquake, device operator is speedily carried out rescue work in the unpredictable environment of life and death, proposes huge challenge to life protection.
For the working environment that these are extreme, visible, remote control technology is applied on earthmoving vehicles and is very important.
Summary of the invention
In view of this, main purpose of the present invention is just to provide a kind of bulldozer control system and method, effectively to carry out long-distance intelligent control to bulldozer.
To achieve these goals, present invention employs a kind of bulldozer long-distance intelligent operating system, this system comprises:
Remote operation subsystem, vehicle-mounted control subsystem and wireless telecommunications subsystem, wherein, remote operation subsystem comprises key switch, perching knife handle and remote controllers, described key switch is provided with R shelves, ON shelves, START shelves and OFF shelves, described wireless telecommunications subsystem comprises remote port and vehicle-mounted end, and described vehicle-mounted control subsystem comprises Vehicle Controller and electronic control unit ECU;
Key switch in remote operation subsystem, for being produced the instruction of bulldozer cold-starting warm-up control by R shelves, produce full car by ON shelves to power on control instruction, produce engine start control instruction by START shelves, produce engine cut-off control instruction by OFF shelves;
Perching knife handle in remote operation subsystem, for generation of perching knife action directive;
Remote controllers in remote operation subsystem, each control instruction for described key switch and perching knife handle being produced sends the remote port in wireless telecommunications subsystem to;
Remote port in wireless telecommunications subsystem, for receiving each control instruction that remote controllers transmit, converting each control instruction to radio signal, radio signal is sent to vehicle-mounted end;
Vehicle-mounted end in wireless telecommunications subsystem, for receiving the radio signal that remote port sends, being converted to each control instruction by radio signal, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem;
Vehicle Controller in vehicle-mounted control subsystem, for receiving each control instruction that vehicle-mounted end sends, and control corresponding functional unit according to command content, under the control of bulldozer cold-starting warm-up control instruction, power to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting; Full car power on control instruction control under, power to upper electrical relay, power on to complete full car; Under the control of engine start control instruction, control ECU makes starter work by control relay and starting relay, to complete engine start; Under the control of engine cut-off control instruction, control ECU makes engine stop work by controlling engine throttle actuating station, to complete flame-out parking; Under the control of perching knife action directive, to lifting, tilt and shake in electromagnetic valve group to be elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly, and control lifting, tilt or shake corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder in hydraulic cylinder group to complete perching knife action.
Preferably, described remote operation subsystem also comprises hand throttle,
Described hand throttle, accelerating control instruction for generation of motor, then the Vehicle Controller in vehicle-mounted control subsystem, also accelerating control instruction for receiving described motor, accelerate the control of control instruction at described motor under, complete the control to engine speed by control ECU.
Preferably, described remote operation subsystem also comprises walking handle and brake pedal,
Walking handle, for generation of the instruction of walking/course changing control, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, advance accordingly in gearshift reversing solenoid valve group, retreat, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, described walking/course changing control instruction control under, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism;
Brake pedal, for generation of the instruction of drop engine speed control for brake, Vehicle Controller then in vehicle-mounted control subsystem also for, receive the instruction of described drop engine speed control for brake, under the control of described control for brake instruction, reduce engine speed by control ECU, when rotating speed arrives idling, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete reduction of speed braking maneuver by hydraulic actuating mechanism.
Preferably, remote operation subsystem also comprises functional switch, and described functional switch comprises emergency stop switch, described emergency stop switch, control instruction is stopped for generation of anxious, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described urgency and stop control instruction, stop the control of control instruction in described urgency under, to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.
Preferably, described functional switch also comprises blade float switch, described blade float switch is for generation of blade float control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described blade float control instruction, under described blade float control instruction controls, control lifting electromagnetic valve group and perching knife lifting hydraulic cylinder is directly communicated with hydraulic oil container, perching knife is only worked by under the effect of self gravitation.
Preferably, described functional switch also comprises automatic spreading and spreads out pass, described automatic spreading spreads out and closes for generation of the control instruction that automatically paves, Vehicle Controller then in vehicle-mounted control subsystem also for, receive the described control instruction that automatically paves, under the control of the described control instruction that automatically paves, the flow process that automatically paves according to pre-setting completes the action that paves.
Preferably, described functional switch also comprises light switch and horn switch, described light switch is for generation of Lighting control instruction, described horn switch is for generation of loudspeaker control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described Lighting control instruction and/or loudspeaker control instruction, under the control of described Lighting control instruction and/or loudspeaker control instruction, power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
Preferably, described Vehicle Controller also for, engine start success after, to control relay power-off, thus protection starter.
Preferably, described perching knife handle is also for generation of perching knife action speed control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described perching knife action speed control instruction, under the control of described perching knife action speed control instruction, the size flowed by controlling power supply when being elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group completes the speed of perching knife action.
Preferably, vehicle-mounted control subsystem also comprises safe radar dynamic monitoring device, described safe radar dynamic monitoring device, for responding to the distance between bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, sends secure alert message to Vehicle Controller.
Preferably, vehicle-mounted end in wireless telecommunications subsystem is also for receiving the various operational factors that Vehicle Controller transmits, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port;
Accordingly, radio signal also for receiving the radio signal that vehicle-mounted end sends, is converted to described various operational factor by the remote port in wireless telecommunications subsystem.
Preferably, remote operation subsystem also comprises monitor supervision platform, and described monitor supervision platform is used for receiving the described various operational factor after conversion from remote port, and monitors described various operational factor.
To achieve these goals, present invention employs a kind of bulldozer long-distance intelligent method of operating, the method comprises:
The bulldozer cold-starting preheating instruction that R shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described bulldozer cold-starting preheating instruction controls Vehicle Controller and powers to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting;
The full car control instruction that powers on that N shelves in key switch produce by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, described full car power on control instruction control Vehicle Controller give upper electrical relay power, complete the full car of bulldozer and power on;
The engine start control instruction that START shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine start control instruction controls Vehicle Controller control ECU and makes starter work by control relay and starting relay, to complete engine start;
The perching knife action directive that perching knife handle produces is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described perching knife action directive control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group, and in control lifting, inclination or shake hydraulic cylinder group, corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder complete perching knife action;
The engine cut-off control instruction that OFF shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine cut-off control instruction controls Vehicle Controller control ECU and makes engine stop work, to complete flame-out parking; Wherein, the remote port in wireless telecommunications subsystem receives each control instruction that remote controllers transmit, and converts each control instruction to radio signal, radio signal is sent to vehicle-mounted end;
Vehicle-mounted end in wireless telecommunications subsystem receives the radio signal that remote port sends, and radio signal is converted to each control instruction, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem.
Preferably, described method also comprises:
After completing engine start, the motor that hand throttle produces also is accelerated control instruction and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and described motor accelerates control instruction allows Vehicle Controller complete the control to engine speed by control ECU.
Preferably, described method also comprises:
After completing engine start, walking/course changing control instruction that walking handle produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described walking/course changing control instruction controls that Vehicle Controller advances accordingly, retreats in gearshift reversing solenoid valve group, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, described walking/course changing control instruction control under, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism;
After completing engine start, the drop engine speed control for brake instruction that brake pedal produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described drop engine speed control for brake instruction controls Vehicle Controller control ECU and reduces engine speed, when rotating speed arrives idling, control Vehicle Controller to the left and right in clutch and brake electromagnetic valve group corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve power, complete reduction of speed braking maneuver by hydraulic actuating mechanism.
Preferably, described method also comprises:
After completing engine start, the urgency that emergency stop switch in functional switch produces also is stopped control instruction and is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described urgency is stopped control instruction and is controlled Vehicle Controller to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.
Preferably, described method also comprises:
After completing engine start, the blade float control instruction that blade float switch in functional switch produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described blade float control instruction controls Vehicle Controller control lifting electromagnetic valve group makes perching knife lifting hydraulic cylinder directly communicate with hydraulic oil container, and perching knife is only worked by under the effect of self gravitation.
Preferably, described method also comprises:
After completing engine start, automatic spreading in functional switch is also spread out the control instruction that automatically paves of closing generation and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and the described control instruction that automatically paves controls Vehicle Controller and completes according to the flow process that automatically paves pre-set the action that paves.
Preferably, described method also comprises:
After completing engine start, the Lighting control instruction that light switch in functional switch and horn switch also produce by the remote controllers in remote operation subsystem and loudspeaker control instruction send to Vehicle Controller by wireless telecommunications subsystem, described Lighting control instruction and/or loudspeaker control instruction control Vehicle Controller and power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
Preferably, described method also comprises:
Described Vehicle Controller, also after engine start success, to control relay power-off, thus protects starter.
Preferably, described method also comprises:
After completing engine start, the perching knife action speed control instruction that perching knife handle also also produces by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, and the size that when described perching knife action speed control instruction control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve accordingly and shakes solenoid valve in lifting, inclination and shake electromagnetic valve group, control power supply is flowed is to complete the speed of perching knife action.
Preferably, described method also comprises:
Distance between safe radar dynamic monitoring device induction bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, sends secure alert message to Vehicle Controller.
Preferably, described method also comprises:
After completing engine start, vehicle-mounted end in wireless telecommunications subsystem also receives the various operational factors that Vehicle Controller transmits, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port;
Accordingly, the remote port in wireless telecommunications subsystem also receives the radio signal that vehicle-mounted end sends, and radio signal is converted to described various operational factor.
Preferably, described method also comprises:
After completing engine start, monitor supervision platform receives the described various operational factor after conversion from remote port, and monitors described various operational factor.
As can be seen from the above-described embodiment, the present invention makes operator and bulldozer independent of in two working environments, and driver drives bulldozer and works in pollution, radiation, severe, dangerous environment in the environment of a safety, human nature.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the system construction drawing of a kind of bulldozer control system first of the present invention embodiment;
Fig. 2 is a preferred system construction drawing of the present invention's a kind of bulldozer control system first embodiment;
Fig. 3 is the system block diagram of medium-long range operational subsystems of the present invention;
Fig. 4 is the system block diagram of vehicle-mounted control subsystem in the present invention;
Fig. 5 is a flow chart of a kind of bulldozer controlling party of the present invention.
Detailed description of the invention
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in detail the embodiment of the present invention below in conjunction with accompanying drawing.
Embodiment one
Refer to Fig. 1, it is the system construction drawing of a kind of bulldozer control system that the embodiment of the present invention one discloses, as shown in Figure 1, this system 10 comprises: remote operation subsystem 11, vehicle-mounted control subsystem 12 and wireless telecommunications subsystem 13, wherein, remote operation subsystem 11 comprises key switch 111, perching knife handle 112 and remote controllers 110, described key switch 110 is provided with R shelves, ON shelves, START shelves and OFF shelves, described wireless telecommunications subsystem 13 comprises remote port 130 and vehicle-mounted end 131, described vehicle-mounted control subsystem 12 comprises Vehicle Controller 120 and electronic control unit ECU121,
Key switch 111 in remote operation subsystem 11, for being produced the instruction of bulldozer cold-starting warm-up control by R shelves, produce full car by ON shelves to power on control instruction, produce engine start control instruction by START shelves, produce engine cut-off control instruction by OFF shelves;
Perching knife handle 112 in remote operation subsystem 11, for generation of perching knife action directive;
Remote controllers 110 in remote operation subsystem 11, each control instruction for described key switch and perching knife handle being produced sends the remote port in wireless telecommunications subsystem to;
Remote port 130 in wireless telecommunications subsystem 13, for receiving each control instruction that remote controllers transmit, converting each control instruction to radio signal, radio signal is sent to vehicle-mounted end;
Vehicle-mounted end 131 in wireless telecommunications subsystem 13, for receiving the radio signal that remote port sends, being converted to each control instruction by radio signal, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem;
Vehicle Controller 120 in vehicle-mounted control subsystem 12, for receiving each control instruction that vehicle-mounted end 131 sends, and control corresponding functional unit according to command content, under the control of bulldozer cold-starting warm-up control instruction, power to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting; Full car power on control instruction control under, power to upper electrical relay, power on to complete full car; Under the control of engine start control instruction, control ECU makes starter work by control relay and starting relay, to complete engine start; Under the control of engine cut-off control instruction, control ECU makes engine stop work by engine throttle actuating station, to complete flame-out parking; Under the control of perching knife action directive, to lifting, tilt and shake in electromagnetic valve group to be elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly, and control lifting, tilt or shake corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder in hydraulic cylinder group to complete perching knife action.
It should be noted that, the mechanics of communication that wireless telecommunications subsystem adopts can be the wireless communication networks technology of CAN (Controller Area Network, controller local area network) network technology or other types.
Except the system shown in Fig. 1, preferably, the embodiment of the present invention additionally provides another kind of bulldozer control system, and as shown in Figure 2, its difference is, remote operation subsystem 11 also comprises further: hand throttle 113;
Hand throttle 113, accelerates control instruction for generation of motor;
Vehicle Controller 120 then in vehicle-mounted control 12 systems, also accelerating control instruction for receiving described motor, under accelerating the control of control instruction, completing the control to engine speed by control ECU at described motor.
Or, preferably, remote operation subsystem 12 also comprises walking handle 116 and brake pedal 117, wherein, walking handle 116, for generation of the instruction of walking/course changing control, Vehicle Controller 120 then in vehicle-mounted control subsystem 12 also for, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, advance accordingly in gearshift reversing solenoid valve group, retreat, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism; Brake pedal 114, for generation of the instruction of drop engine speed control for brake, Vehicle Controller 120 then in vehicle-mounted control subsystem 12 also for, receive the instruction of described drop engine speed control for brake, under the control of described drop engine speed control for brake instruction, reduce engine speed by control ECU, when rotating speed arrives idling, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete reduction of speed braking maneuver by hydraulic actuating mechanism.
Again or, preferably, remote operation subsystem 12 also comprises functional switch 115, described functional switch 115 comprises emergency stop switch, described emergency stop switch, stops control instruction for generation of anxious, then the Vehicle Controller 120 in vehicle-mounted control subsystem 12 also for, receive described urgency and stop control instruction, stop the control of control instruction in described urgency under, to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.Preferred further, functional switch wherein also comprises automatic spreading and spreads out pass, described automatic spreading spreads out and closes for generation of the control instruction that automatically paves, Vehicle Controller 120 then in vehicle-mounted control subsystem 12 also for, receive the described control instruction that automatically paves, under the control of the described control instruction that automatically paves, the flow process that automatically paves according to pre-setting completes the action that paves.Or, preferred further, functional switch 115 wherein also comprises blade float switch, described blade float switch is for generation of blade float control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described blade float control instruction, under the control of described blade float control instruction, control lifting electromagnetic valve group and make perching knife lifting hydraulic cylinder direct communicating with hydraulic oil container that perching knife is only worked by under the effect of self gravitation.Or, preferred further, functional switch 115 wherein also comprises light switch and horn switch, described light switch is for generation of Lighting control instruction, described horn switch is for generation of loudspeaker control instruction, Vehicle Controller 120 then in vehicle-mounted control subsystem 12 also for, receive described Lighting control instruction and/or loudspeaker control instruction, under the control of described Lighting control instruction and/or loudspeaker control instruction, power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
Again or, preferably, Vehicle Controller 120 also for, engine start success after, to control relay power-off, thus protection starter.
Again or, preferably, perching knife handle 111 is also for generation of perching knife action speed control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described perching knife action speed control instruction, under the control of described perching knife action speed control instruction, the size flowed by controlling power supply when being elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group completes the speed of perching knife action.
Again or, preferably, vehicle-mounted control subsystem 12 also comprises safe radar dynamic monitoring device, described safe radar dynamic monitoring device is for responding to the distance between bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, send secure alert message to Vehicle Controller.
Again or, preferably, vehicle-mounted end 131 in wireless telecommunications subsystem 13 is also for receiving the various operational factors that Vehicle Controller transmits, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port 130; Accordingly, radio signal also for receiving the radio signal that vehicle-mounted end 131 sends, is converted to described various operational factor by the remote port 130 in wireless telecommunications subsystem 13.
Again or, preferably, remote operation subsystem 11 also comprises monitor supervision platform 117, and described monitor supervision platform 117, for receiving the described various operational factor after conversion from remote port 130, and to be monitored described various operational factor.
It should be noted that, the embodiment of the present invention had both covered the system that any one preferred embodiment above-mentioned is formed, and also contemplated above-mentioned any multiple preferred embodiment and combined the system formed.Certainly, most preferably, above-mentioned all preferred embodiments are combined the system formed.
As can be seen from the above-described embodiment, the present invention makes operator and bulldozer independent of in two working environments, and driver drives bulldozer and works in pollution, radiation, severe, dangerous environment in the environment of a safety, human nature.
Embodiment two
Refer to Fig. 3, it is the structure chart of the remote operation subsystem in a kind of bulldozer control system 10 that in the present invention, embodiment two discloses.This remote operation subsystem 11 comprises:
Brake pedal 114, key switch 112, hand throttle 113, foot throttle 114, walking handle 116, perching knife handle 111, monitor supervision platform 117 and functional switch 115, wherein, functional switch 115 comprises emergency stop switch, blade float switch, automatic spreading spread out pass, light switch and horn switch.
Brake pedal 114 is for generation of the instruction of drop engine speed control for brake;
Key switch 112 is provided with R shelves, ON shelves, START shelves and OFF shelves, R shelves produce the instruction of bulldozer cold-starting warm-up control, ON shelves produce full car and to power on control instruction, and START shelves produce engine start control instruction, and OFF shelves produce engine cut-off control instruction;
Hand throttle 113 produces engine speed control instruction;
Walking handle 116 produces the instruction of walking/course changing control;
Perching knife handle 111 produces perching knife action directive and produces perching knife action speed control instruction;
Monitor supervision platform 117 for receiving the described various operational factor after conversion from remote port, and is monitored described various operational factor;
Functional switch 115 comprises emergency stop switch, blade float switch, automatic spreading spread out pass, light switch and horn switch, emergency stop switch produces and suddenly stops control instruction, blade float switch produces blade float control instruction, automatic spreading spreads out to close and produces the control instruction that automatically paves, light switch produces Lighting control instruction, and horn switch produces loudspeaker control instruction.
As can be seen from the above-described embodiment, the various switches comprised in remote operation subsystem 11 can realize the function originally closely operating the overwhelming majority that bulldozer just can complete.
Embodiment three
Refer to Fig. 4, it is the structure chart of the vehicle-mounted control subsystem 12 in a kind of bulldozer control system 10 that in the present invention, embodiment three discloses.This vehicle-mounted control subsystem 12 comprises:
Vehicle Controller 120 and ECU121, they control the key switch of bulldozer respectively, functional switch, hand throttle, perching knife handle, walking handle, upper electrical relay, control relay, starting relay, starter, motor, intelligent display, gear shift, reversing solenoid valve group, hydraulic pressure actuating station, torque-converters shift transmission, left and right clutch and brake electromagnetic valve group, hydraulic actuating mechanism, lifting, tilt, shake electromagnetic valve group, lifting is tilted, shake hydraulic cylinder group, preheating relay, heater plug, oil-break relay, oil cut-off valve, illumination relay, electric horn breaker point unit and engine throttle actuating station.
Vehicle Controller 120, for receiving each control instruction that vehicle-mounted end sends, and control corresponding functional unit according to command content, under the control of bulldozer cold-starting warm-up control instruction, power to preheating relay, there is preheating relay to power to heater plug, complete the preheating of bulldozer cold-starting; Full car power on control instruction control under, power to upper electrical relay, power on to complete full car; Under the control of engine start control instruction, control ECU makes starter work by control relay and starting relay, to complete engine start; Under the control of engine cut-off control instruction, control ECU makes engine stop work by engine throttle actuating station, to complete flame-out parking; Under the control of perching knife action directive, to lifting, tilt and shake in electromagnetic valve group to be elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly, and control lifting, tilt or shake corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder in hydraulic cylinder group to complete perching knife action; Under the control that motor accelerates control instruction or transmitter reduction of speed control instruction, complete the control to engine speed by control ECU; Under the control of walking/commutation control instruction, advance accordingly in gearshift reversing solenoid valve group, retreat, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; The instruction of walking/commutation control control under, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism; Under the control of drop engine speed control for brake instruction, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete reduction of speed braking maneuver by hydraulic actuating mechanism; Under suddenly stopping the control of control instruction, to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function; Under the control of blade float control instruction, control lifting electromagnetic valve group and perching knife lifting hydraulic cylinder is directly communicated with hydraulic oil container, perching knife is only worked by under the effect of self gravitation; Under the control of the control instruction that automatically paves, the flow process that automatically paves according to pre-setting completes the action that paves; Under the control of Lighting control instruction and/or loudspeaker control instruction, power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle; After engine start success, to control relay power-off, thus protection starter; Under the control of perching knife action speed control instruction, the size flowed by controlling power supply when being elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group completes the speed of perching knife action; Receive the secure alert message that safe radar dynamic monitoring device sends; Send various operational factor to the vehicle-mounted end in wireless telecommunications subsystem, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter;
ECU121 is used for making starter work by control relay and starting relay, to complete engine start under Vehicle Controller controls; Engine stop work is made, to complete flame-out parking by engine throttle actuating station; Complete the control to engine speed.
As can be seen from the above-described embodiment, vehicle-mounted control subsystem 12 can control bulldozer and completes and originally closely operate most functions that just can complete.
Embodiment four
Corresponding with above-mentioned a kind of bulldozer system, the embodiment of the present invention additionally provides a kind of bulldozer control method, refers to Fig. 5, comprises step:
S501: the bulldozer cold-starting preheating instruction that the R shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described bulldozer cold-starting preheating instruction controls Vehicle Controller and powers to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting;
S502: the full car control instruction that powers on that the N shelves in key switch produce by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, described full car power on control instruction control Vehicle Controller give upper electrical relay power, complete the full car of bulldozer and power on;
S503: the engine start control instruction that the START shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine start control instruction controls Vehicle Controller control ECU and makes starter work by control relay and starting relay, to complete engine start;
S504: the perching knife action directive that perching knife handle produces is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described perching knife action directive control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group, and in control lifting, inclination or shake hydraulic cylinder group, corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder complete perching knife action;
S505: the engine cut-off control instruction that the OFF shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine cut-off control instruction controls Vehicle Controller control ECU and makes engine stop work by engine throttle actuating station, to complete flame-out parking;
Wherein, the remote port in wireless telecommunications subsystem receives each control instruction that remote controllers transmit, and converts each control instruction to radio signal, radio signal is sent to vehicle-mounted end; Vehicle-mounted end in wireless telecommunications subsystem receives the radio signal that remote port sends, and radio signal is converted to each control instruction, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem.
Or, preferably, after completing engine start, the motor that hand throttle produces also is accelerated control instruction and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and described motor accelerates control instruction allows Vehicle Controller complete the control to engine speed by control ECU.
Again or, preferably, after completing engine start, walking/course changing control instruction that walking handle produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described walking/course changing control instruction controls that Vehicle Controller advances accordingly, retreats in gearshift reversing solenoid valve group, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism; After completing engine start, the drop engine speed control for brake instruction that brake pedal produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described drop engine speed control for brake instruction controls Vehicle Controller and reduces engine speed by control ECU, when rotating speed arrives idling, control Vehicle Controller to the left and right in clutch and brake electromagnetic valve group corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve power, complete reduction of speed braking maneuver by hydraulic actuating mechanism.
Again or, preferably, after completing engine start, the urgency that emergency stop switch in functional switch produces also is stopped control instruction and is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described urgency is stopped control instruction and is controlled Vehicle Controller to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.Or, preferred further, after completing engine start, the blade float control instruction that blade float switch in functional switch produces also is controlled lifting electromagnetic valve group by the remote controllers in remote operation subsystem makes perching knife lifting hydraulic cylinder directly communicate with hydraulic oil container, and perching knife is only worked by under the effect of self gravitation.Or, preferred further, after completing engine start, automatic spreading in functional switch is also spread out the control instruction that automatically paves of closing generation and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and the described control instruction that automatically paves controls Vehicle Controller and completes according to the flow process that automatically paves pre-set the action that paves.Or, preferred further, after completing engine start, the Lighting control instruction that light switch in functional switch and horn switch also produce by the remote controllers in remote operation subsystem and loudspeaker control instruction send to Vehicle Controller by wireless telecommunications subsystem, described Lighting control instruction and/or loudspeaker control instruction control Vehicle Controller and power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
Again or, preferably, described Vehicle Controller also engine start success after, to control relay power-off, thus protection starter.
Again or, preferably, after completing engine start, the perching knife action speed control instruction that perching knife handle also also produces by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, and the size that when described perching knife action speed control instruction control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve accordingly and shakes solenoid valve in lifting, inclination and shake electromagnetic valve group, control power supply is flowed is to complete the speed of perching knife action.
Again or, preferably, the distance between safe radar dynamic monitoring device induction bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, sends secure alert message to Vehicle Controller.
Again or, preferably, after completing engine start, vehicle-mounted end in wireless telecommunications subsystem also receives the various operational factors that Vehicle Controller transmits, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port;
Accordingly, the remote port in wireless telecommunications subsystem also receives the radio signal that vehicle-mounted end sends, and radio signal is converted to described various operational factor.
Again or, preferably, after completing engine start, monitor supervision platform receives the described various operational factor after conversion from remote port, and monitors described various operational factor.
It should be noted that, the embodiment of the present invention had both covered the method that any one preferred embodiment above-mentioned is formed, and also contemplated above-mentioned any multiple preferred embodiment and combined the method formed.Certainly, most preferably, above-mentioned all preferred embodiments are combined the method formed.
As can be seen from the above-described embodiment, the present invention makes operator and bulldozer independent of in two working environments, and driver drives bulldozer and works in pollution, radiation, severe, dangerous environment in the environment of a safety, human nature.
Above a kind of bulldozer control system provided by the present invention and method are described in detail, apply specific embodiment herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (18)
1. a bulldozer control system, it is characterized by, comprise remote operation subsystem, vehicle-mounted control subsystem and wireless telecommunications subsystem, wherein, remote operation subsystem comprises key switch, perching knife handle and remote controllers, described key switch is provided with R shelves, ON shelves, START shelves and OFF shelves, described wireless telecommunications subsystem comprises remote port and vehicle-mounted end, and described vehicle-mounted control subsystem comprises Vehicle Controller and electronic control unit ECU;
Key switch in remote operation subsystem, for being produced the instruction of bulldozer cold-starting warm-up control by R shelves, produce full car by ON shelves to power on control instruction, produce engine start control instruction by START shelves, produce engine cut-off control instruction by OFF shelves;
Perching knife handle in remote operation subsystem, for generation of perching knife action directive;
Remote controllers in remote operation subsystem, each control instruction for described key switch and perching knife handle being produced sends the remote port in wireless telecommunications subsystem to;
Remote port in wireless telecommunications subsystem, for receiving each control instruction that remote controllers transmit, converting each control instruction to radio signal, radio signal is sent to vehicle-mounted end;
Vehicle-mounted end in wireless telecommunications subsystem, for receiving the radio signal that remote port sends, being converted to each control instruction by radio signal, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem;
Vehicle Controller in vehicle-mounted control subsystem, for receiving each control instruction that vehicle-mounted end sends, and control corresponding functional unit according to command content, under the control of bulldozer cold-starting warm-up control instruction, power to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting; Full car power on control instruction control under, power to upper electrical relay, power on to complete full car; Under the control of engine start control instruction, control ECU makes starter work by control relay and starting relay, to complete engine start; Under the control of engine cut-off control instruction, control ECU makes engine stop work by controlling engine throttle actuating station, to complete flame-out parking; Under the control of perching knife action directive, to lifting, tilt and shake in electromagnetic valve group to be elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly, and control lifting, tilt or shake corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder in hydraulic cylinder group to complete perching knife action;
Described remote operation subsystem also comprises hand throttle, described hand throttle, control instruction is accelerated for generation of motor, Vehicle Controller then in vehicle-mounted control subsystem, also accelerate control instruction for receiving described motor, accelerate the control of control instruction at described motor under, complete the control to engine speed by control ECU;
Described remote operation subsystem also comprises walking handle and brake pedal,
Walking handle, for generation of the instruction of walking/course changing control, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, advance accordingly in gearshift reversing solenoid valve group, retreat, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism;
Brake pedal, for generation of the instruction of drop engine speed control for brake, Vehicle Controller then in vehicle-mounted control subsystem also for, receive the instruction of described drop engine speed control for brake, under the control of described drop engine speed control for brake instruction, reduce engine speed by control ECU, when rotating speed arrives idling, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete reduction of speed braking maneuver by hydraulic actuating mechanism;
Described remote operation subsystem also comprises functional switch, described functional switch comprises emergency stop switch, described emergency stop switch, stops control instruction for generation of anxious, then the Vehicle Controller in vehicle-mounted control subsystem also for, receive described urgency and stop control instruction, stop the control of control instruction in described urgency under, to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.
2. system according to claim 1, it is characterized by, described functional switch also comprises blade float switch, described blade float switch is for generation of blade float control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described blade float control instruction, under the control of described blade float control instruction, control lifting electromagnetic valve group and make perching knife lifting hydraulic cylinder direct communicating with hydraulic oil container that perching knife is only worked by under the effect of self gravitation.
3. system according to claim 1, it is characterized by, described functional switch also comprises automatic spreading and spreads out pass, described automatic spreading spreads out and closes for generation of the control instruction that automatically paves, Vehicle Controller then in vehicle-mounted control subsystem also for, receive the described control instruction that automatically paves, under the control of the described control instruction that automatically paves, the flow process that automatically paves according to pre-setting completes the action that paves.
4. system according to claim 1, it is characterized by, described functional switch also comprises light switch and horn switch, described light switch is for generation of Lighting control instruction, described horn switch is for generation of loudspeaker control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described Lighting control instruction and/or loudspeaker control instruction, under the control of described Lighting control instruction and/or loudspeaker control instruction, power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
5. system according to claim 1, is characterized by, described Vehicle Controller also for, engine start success after, to control relay power-off, thus protection starter.
6. system according to claim 1, it is characterized by, described perching knife handle is also for generation of perching knife action speed control instruction, Vehicle Controller then in vehicle-mounted control subsystem also for, receive described perching knife action speed control instruction, under the control of described perching knife action speed control instruction, the size flowed by controlling power supply when being elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group completes the speed of perching knife action.
7. system according to claim 1, it is characterized by, vehicle-mounted control subsystem also comprises safe radar dynamic monitoring device, described safe radar dynamic monitoring device is for responding to the distance between bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, send secure alert message to Vehicle Controller.
8. the system according to claim 1-7 any one, it is characterized by, vehicle-mounted end in described wireless telecommunications subsystem is also for receiving the various operational factors that Vehicle Controller transmits, described various operational factor comprises system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, any one parameter in duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port,
Accordingly, radio signal also for receiving the radio signal that vehicle-mounted end sends, is converted to described various operational factor by the remote port in wireless telecommunications subsystem.
9. system according to claim 8, is characterized by, and described remote operation subsystem also comprises monitor supervision platform, and described monitor supervision platform is used for receiving the described various operational factor after conversion from remote port, and monitors described various operational factor.
10. a bulldozer control method, is characterized by, and described method comprises:
The bulldozer cold-starting preheating instruction that R shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described bulldozer cold-starting preheating instruction controls Vehicle Controller and powers to preheating relay, powered to heater plug by preheating relay, complete the preheating of bulldozer cold-starting;
The full car control instruction that powers on that N shelves in key switch produce by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, described full car power on control instruction control Vehicle Controller give upper electrical relay power, complete the full car of bulldozer and power on;
The engine start control instruction that START shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine start control instruction controls Vehicle Controller control ECU and makes starter work by control relay and starting relay, to complete engine start;
The perching knife action directive that perching knife handle produces is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described perching knife action directive control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve and shake solenoid valve accordingly in lifting, inclination and shake electromagnetic valve group, and in control lifting, inclination or shake hydraulic cylinder group, corresponding lifting hydraulic cylinder, hydraulic tilt cylinder and shake hydraulic cylinder complete perching knife action;
The engine cut-off control instruction that OFF shelves in key switch produce is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described engine cut-off control instruction controls Vehicle Controller control ECU and makes engine stop work by engine throttle actuating station, to complete flame-out parking;
Wherein, the remote port in wireless telecommunications subsystem receives each control instruction that remote controllers transmit, and converts each control instruction to radio signal, radio signal is sent to vehicle-mounted end; Vehicle-mounted end in wireless telecommunications subsystem receives the radio signal that remote port sends, and radio signal is converted to each control instruction, each control instruction is sent to the Vehicle Controller in vehicle-mounted control subsystem;
Also comprise: after completing engine start, the motor that hand throttle produces also is accelerated control instruction and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and described motor acceleration control instruction control Vehicle Controller completes the control to engine speed by control ECU;
Also comprise:
After completing engine start, walking/course changing control instruction that walking handle produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described walking/course changing control instruction controls that Vehicle Controller advances accordingly, retreats in gearshift reversing solenoid valve group, neutral, one grade, second gear or third gear solenoid valve, completed commutation or the gear shifting action of gearbox by hydraulic pressure actuating station; Or, receive described walking/course changing control instruction, under the control of described walking/course changing control instruction, in clutch and brake electromagnetic valve group, corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve are powered to the left and right, complete left and right turn action by hydraulic actuating mechanism;
After completing engine start, the drop engine speed control for brake instruction that brake pedal produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described drop engine speed control for brake instruction controls Vehicle Controller control ECU and reduces engine speed, when rotating speed arrives idling, control Vehicle Controller to the left and right in clutch and brake electromagnetic valve group corresponding left and right clutch electromagnetic valve and left and right braking electromagnetic valve power, complete reduction of speed braking maneuver by hydraulic actuating mechanism;
Also comprise:
After completing engine start, the urgency that emergency stop switch in functional switch produces also is stopped control instruction and is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described urgency is stopped control instruction and is controlled Vehicle Controller to the power-off of oil-break relay, thus make oil cut-off valve power-off, kill engine oil circuit, completes sudden-stop function.
11. methods according to claim 10, is characterized by, and described method also comprises:
After completing engine start, the blade float control instruction that blade float switch in functional switch produces also is sent to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, described blade float control instruction controls Vehicle Controller control lifting electromagnetic valve group makes perching knife lifting hydraulic cylinder directly communicate with hydraulic oil container, and perching knife is only worked by under the effect of self gravitation.
12. methods according to claim 10, is characterized by, and described method also comprises:
After completing engine start, automatic spreading in functional switch is also spread out the control instruction that automatically paves of closing generation and sends to Vehicle Controller by wireless telecommunications subsystem by the remote controllers in remote operation subsystem, and the described control instruction that automatically paves controls Vehicle Controller and completes according to the flow process that automatically paves pre-set the action that paves.
13. methods according to claim 10, is characterized by, and described method also comprises:
After completing engine start, the Lighting control instruction that light switch in functional switch and horn switch also produce by the remote controllers in remote operation subsystem and loudspeaker control instruction send to Vehicle Controller by wireless telecommunications subsystem, described Lighting control instruction and/or loudspeaker control instruction control Vehicle Controller and power to illumination and/or electric horn breaker point unit, the action completing illumination and/or blow a whistle.
14. methods according to claim 10, is characterized by, and described method also comprises:
Described Vehicle Controller, also after engine start success, to control relay power-off, thus protects starter.
15. methods according to claim 10, is characterized by, and described method also comprises:
After completing engine start, the perching knife action speed control instruction that perching knife handle also also produces by the remote controllers in remote operation subsystem sends to Vehicle Controller by wireless telecommunications subsystem, and the size that when described perching knife action speed control instruction control Vehicle Controller is elevated electromagnetic valve, inclination electromagnetic valve accordingly and shakes solenoid valve in lifting, inclination and shake electromagnetic valve group, control power supply is flowed is to complete the speed of perching knife action.
16. methods according to claim 10, is characterized by, and described method also comprises:
Distance between safe radar dynamic monitoring device induction bulldozer and peripheral obstacle, when the distance responded to is less than default safe distance threshold value, sends secure alert message to Vehicle Controller.
17. methods according to claim 10-16 any one, it is characterized by, described method also comprises:
After completing engine start, vehicle-mounted end in wireless telecommunications subsystem also receives the various operational factors that Vehicle Controller transmits, described various operational factor comprises any one parameter in system voltage when bulldozer completes various action, motor voltage, rotating speed, work timing, water temperature, oil temperature, oil pressure, gear, amount of fuel, the full visual field of working environment, duty parameter and security parameter or any number of parameter, convert described various operational factor to radio signal, radio signal is sent to remote port;
Accordingly, the remote port in wireless telecommunications subsystem also receives the radio signal that vehicle-mounted end sends, and radio signal is converted to described various operational factor.
18. methods according to claim 17, is characterized by, and described method also comprises:
After completing engine start, monitor supervision platform receives the described various operational factor after conversion from remote port, and monitors described various operational factor.
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| CN103541397B (en) * | 2013-11-01 | 2016-08-17 | 上海三一重机有限公司 | One opens dynamic control device and excavator |
| MX363593B (en) * | 2014-02-14 | 2019-03-28 | Sandvik Mining & Construction Oy | Arrangement for initiating a remote operation mode. |
| CN107255164B (en) * | 2017-06-02 | 2023-02-28 | 泰安泰山国泰拖拉机制造有限公司 | Agricultural power mechanical device based on wireless control signal and control method |
| CN110782641A (en) * | 2019-09-20 | 2020-02-11 | 徐州立方机电设备制造有限公司 | Bulldozer remote control system based on 5g network |
| CN110905022B (en) * | 2019-12-16 | 2022-04-05 | 潍柴动力股份有限公司 | Bulldozer crawler speed control method and device and bulldozer |
| CN115573410B (en) * | 2022-12-09 | 2023-03-14 | 柳工常州机械有限公司 | Bulldozer and control system thereof |
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