CN111399408A

CN111399408A - Remote control monitoring system for bulldozer

Info

Publication number: CN111399408A
Application number: CN202010170301.4A
Authority: CN
Inventors: 赵金光; 于中有; 刘兰辉; 杨继红; 胡滨
Original assignee: Shantui Chutian Construction Machinery Co Ltd
Current assignee: Shantui Chutian Construction Machinery Co Ltd
Priority date: 2020-03-12
Filing date: 2020-03-12
Publication date: 2020-07-10

Abstract

The invention discloses a bulldozer remote control monitoring system which comprises an integrated seat, a network transmission system and a display system, wherein an outer armrest box is arranged on the outer side of the integrated seat, inner armrest boxes are arranged on two sides of the integrated seat, an intelligent touch display is arranged at the upper end of the outer armrest box, an inching pedal is arranged on one side of the outer armrest box, a walking handle, a working handle, an on-off switch, an emergency stop switch and a hand accelerator are arranged at the upper end of the inner armrest box, the emergency stop switch, the hand accelerator and the inching pedal are connected with the intelligent touch display through signal lines, the intelligent touch display, the walking handle and the working handle realize remote control on a vehicle-mounted end through the network transmission system, and the display system is connected with the network transmission system and used for displaying the running state of the bulldozer. The operation of functions such as one-key starting, anti-tilting, anti-collision, walking, work enabling and the like, the display of fault and warning information are realized, and the operation and the monitoring of the functional state of the remote complete machine equipment are realized.

Description

Remote control monitoring system for bulldozer

Technical Field

The invention relates to the technical field of bulldozer monitoring, in particular to a remote control monitoring system for a bulldozer.

Background

The existing remote control bulldozer mainly realizes the issuing of partial remote control instructions and the state monitoring of the running parameters of the whole bulldozer through a display and a monitoring panel. The remote control center is provided with a controller, a monitoring panel, a remote start key switch and other elements, particularly the controller is used as a core element of an intelligent control system, the utilization rate in the remote control center control system is low, and the remote control center control system is mainly used for receiving and detecting switching value instructions, converting data IDs, sending and receiving data and the like; the integrated all kinds of switches of control panel, pilot lamp and display, control panel information dispersion, the pilot lamp state only shows the on-off state, and the actual complete machine feedback information of non-, if anticollision and prevent the function of inclining, can see through the control panel that anticollision and prevent that the function of inclining has opened, but whether long-range bull-dozer has executed this instruction yet undefined, has very big potential safety hazard.

Disclosure of Invention

The invention aims at the defects in the prior art, and provides a bulldozer remote control monitoring system which realizes the operation of functions such as one-key starting, anti-tilting, anti-collision, walking, work enabling and the like, the display of fault and alarm information, the transceiving and processing of data of a vehicle-mounted end and a remote control center, and the operation and monitoring of the functional state of remote complete equipment.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a bull-dozer remote control monitored control system, includes integral type seat, network transmission system and display system, the outside of integral type seat is equipped with outer handrail case, and the both sides of integral type seat are equipped with interior handrail case, the upper end of outer handrail case is equipped with intelligent touch display, and one side of outer handrail case is equipped with the inching footboard, and the upper end of interior handrail case is equipped with walking handle, work handle, on-off switch, scram switch and hand throttle, scram switch, hand throttle and inching footboard passing signal line are connected with intelligent touch display, walking handle, work handle pass through network transmission system and realize remote control to on-vehicle end, display system and network transmission system are connected and are used for showing bull-dozer running state.

Preferably, the network transmission system comprises a CAN bus, a mainframe box, a CAN-to-Ethernet converter and a 5G-CPE data terminal, the mainframe box is connected with the 5G-CPE data terminal, the 5G-CPE data terminal is connected with the CAN-to-Ethernet converter, the intelligent touch display, the walking handle, the working handle and the CAN-to-Ethernet converter are all connected with the CAN bus, the CAN-to-Ethernet converter converts CAN bus signals into Ethernet data, and the Ethernet data is transmitted to the vehicle-mounted end through the network by the 5G-CPE data terminal, so that remote control is realized.

Preferably, the display system is a liquid crystal display screen, the screen of the liquid crystal display screen faces the integrated seat, the number of the liquid crystal display screens is five, the liquid crystal display screens are arranged in an up-down mode, the three arc-shaped displays above the liquid crystal display screens are spliced, and the two plane displays below the liquid crystal display screens are spliced.

Preferably, the main cabinet is connected with the 5G-CPE data terminal through a wireless or network cable.

Preferably, the display system is connected to the main cabinet through a high definition line.

Preferably, the intelligent touch display is installed at the upper end of the outer armrest box in an embedded manner.

Preferably, the inner armrest box and the seat are of an integrated structure.

Preferably, the display system is fixed at the upper end of the support box body, and the mainframe box, the 5G-CPE data terminal and the CAN-to-Ethernet converter are all arranged in the support box body.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention changes the original control thought and the realization mode of the remote control bulldozer from the control structure, removes a core component controller, a monitoring panel and a remote start key switch thereof, realizes the operations of data receiving, sending, processing, state display, instruction control and the like by utilizing an intelligent touch display, simplifies wire harnesses, integrates display and control into a whole, realizes the operations of functions such as one-key start, anti-tilt, anti-collision, walking, work enabling and the like, the display of fault and warning information, the receiving, sending and processing of data of a vehicle-mounted end and a remote control center, and realizes the operation and monitoring of the functional state of remote complete equipment; the system not only can truly display the running state of the bulldozer in the display system in real time, but also can carry out remote control, and is safer and more intelligent in control and more convenient and more stable in use.

2. The safety mechanism of the invention is more comprehensive, restrains misoperation, realizes multiple guarantees such as emergency shutdown and the like, controls all functions by one finger, monitors the state of the press key in real time, is more convenient to control the functions, accurately knows and controls all states of the bulldozer on site, and completely accords the operating instruction with the state of the complete bulldozer.

3. The invention realizes the transmission of data and images by using a 5G network, has higher bandwidth, lower time delay and high-definition pictures, and improves the safety and the applicability of remote operation; the data transmission form is directly converted from CAN data to Ethernet data or from Ethernet data to CAN data, and the data transmission is more reliable.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of the circuit connection of the present invention;

fig. 3 is a schematic diagram of data transmission according to the present invention;

fig. 4 is a schematic structural diagram of a main interface of the smart touch display.

In the figure: 1-liquid crystal display; 2-a main chassis; 3-a bracket box body; 4-outer armrest box; 5-5G-CPE data terminal; 6-CAN to Ethernet converter; 7-inch into the footboard; 8-smart touch display; 9-a power-off switch; 10-a working handle; 11-a scram switch; 12-a walking handle; 13-hand throttle; 14-one-piece seat.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a bull-dozer remote control monitored control system, including integral type seat 14, network transmission system and display system, the outside of integral type seat 14 is equipped with outer handrail case 4, and the both sides of integral type seat 14 are equipped with interior handrail case, and the upper end of outer handrail case 4 is equipped with intelligent touch display 8, the inside configuration host processor of intelligent touch display 8: renesas R-CarM12, the operating system is: the QNX operating system, referred to herein as PV1200(power view1200) by Murphy, Morphy. Of course, the intelligent touch display 8 supports the CAN bus as long as it has a touch function, and CAN be realized by a display with digital quantity and analog quantity interfaces, and the intelligent touch display 8 displays, controls and reminds the contents of vehicle-mounted information, alarm information, function state starting conditions and the like.

The intelligent touch display 8 virtualizes physical elements such as a peripheral rocker switch, an ignition switch, a knob switch and an indicator light, is realized by touch display programming, so that installation space is saved, a wire harness is simplified, misoperation is effectively prevented, safety is improved, as shown in FIG. 4, a main interface of the intelligent touch display 8 is subjected to regional display design according to functions, from top to bottom, L OGO is sequentially displayed from left to right, company L OGO is displayed, a time display area displays natural time, can be set and adjusted, an enabling state setting area displays the enabling state of a walking system, the enabling state of a working system, the floating state of a soil shovel and other actions, an engine oil temperature information display area displays the oil temperature of equipment in the current gear, parking, gear information such as gear information, a gear position and a specific speed and a specific fault and preset fault and a preset speed of a working system, a key operation area displays the current operating parameter, a key operation function, a key switch, a key operation control area displays the current running parameter, a key operation function, a key control area displays the oil temperature information of the equipment in the current gear position, the parking, the gear position information, the gear information display area, the gear position information display area displays the gear position information, the operating speed of the operating system, the operating.

One side of outer handrail case 4 is equipped with inch into footboard 7, the upper end of interior handrail case is equipped with walking handle 12, work handle 10, break-make switch 9, scram switch 11 and hand throttle 13, scram switch 11, hand throttle 13 and inch into footboard 7 are connected with intelligent touch display 8 through the signal line, intelligent touch display 8, walking handle 12, work handle 10 realizes remote control to the on-vehicle end through network transmission system, display system is connected with network transmission system and is used for showing bulldozer running state, display system is liquid crystal display, the screen of liquid crystal display faces integral type seat 14.

As shown in fig. 2-3, the network transmission system includes a CAN bus, a main chassis 2, a CAN-to-ethernet converter 6 and a 5G-CPE data terminal 5, the main chassis 2 is connected with the 5G-CPE data terminal 5, the 5G-CPE data terminal 5 is connected with the CAN-to-ethernet converter 6, a liquid crystal display 1 connected with the main chassis 2 is disposed at the upper end of the support chassis 3, an intelligent touch display 8, a walking handle 12, a working handle 10 and the CAN-to-ethernet converter 6 are all connected with the CAN bus, the CAN-to-ethernet converter 6 converts CAN bus signals into ethernet data, and the 5G-CPE data terminal 5 transmits the ethernet data to a vehicle-mounted end through a network to realize remote control; the mainframe box 2 is connected with a 5G-CPE data terminal 5 through a wireless or network cable; the display system is connected to the main cabinet 2 through a high definition line.

The functions of the concrete connecting structure and each part are as follows: the integrated seat 14 is positioned at the rear position of the center of the console (the floor of the console room), the base and the console floor support are fastened through screws, the seat supports the adjustment of the front and rear positions and the up and down positions, the front and rear positions are adjusted through a sliding rail, the up and down positions are adjusted through an inflation and deflation switch, the left and right inner armrest boxes and the seat form an integrated structure, and the seat backrest supports the multi-angle adjustment of the front and rear positions; the walking handle 12 and the working handle 10 are respectively fixed at the front ends of the inner handrail boxes at the left side and the right side through fastening screws, walking and steering of far-end equipment are realized by operating the walking handle 12, and lifting, inclining and angle adjusting control of the dozer blade of the far-end equipment is realized by operating the working handle 10; the hand throttle 13 is positioned at the rear side of the walking handle 12, is fixed on an inner armrest box at the left side of the seat through a fastening screw, and realizes the lifting control of the engine throttle of the remote equipment through screwing the hand throttle 13; the emergency stop button is positioned at the rear side of the working handle 10, is fixed on an inner armrest box at the right side of the seat through a switch self-clamping device and is used for controlling the far-end equipment to stop in emergency; the monitoring system is powered by an external 220V power grid, a working power supply is provided for the remote monitoring system through 220V-to-24V inverter equipment, the power-on and power-off switch 9 of the whole remote control center is arranged behind the emergency stop button, and the power-on and power-off switch 9 is switched on to realize power supply of the remote monitoring system; the intelligent touch display 8 is positioned at the front end of the right outer armrest box 4 and is installed in an embedded mode; the inching pedal 7 is fixed at the right front angle position of the seat through a fastening screw, and the auxiliary control and braking of the speed of the remote equipment are realized. The front end of the operating room is a display control support, wherein a main case 2, a 5G-CPE data terminal 5 and a CAN-to-Ethernet converter 6 are positioned inside a support case body 3, the main case 2, the 5G-CPE data terminal 5 and the CAN-to-Ethernet converter 6 are connected with each other through a network cable, the CAN-to-Ethernet converter 6 converts CAN bus signals into Ethernet data, and the Ethernet data is transmitted to a vehicle-mounted end through the 5G-CPE data terminal 5 through a network to realize remote control of the signals; the number of the liquid crystal display screens is five, the liquid crystal display screens are arranged in an up-and-down mode, three arc-shaped displays located above the liquid crystal display screens are spliced, two plane displays located below the liquid crystal display screens are spliced, the lower display screen mainly displays images of left and right cutting edges of a soil pushing shovel of the far-end bulldozer, the three display screens above the liquid crystal display screens mainly display images of the advancing direction and the retreating direction of the far-end soil pushing shovel and global images of the whole construction site, and real-time monitoring of far-end equipment is facilitated.

One end of the CAN-to-Ethernet converter 6 is connected with a CAN bus network of a remote control center through a CAN line, and the other end of the CAN-to-Ethernet converter is connected with the 5G-CPE data terminal 5 through a network line, so that the mutual conversion of CAN bus data and Ethernet data is realized. The scram signal, the accelerator signal and the inching pedal 7 signal are directly connected to the intelligent touch display 8 through a single wire, the intelligent touch display 8 judges the current state of the scram button by detecting the position change of the scram button, and if the scram button is not screwed down, the bulldozer executes a control instruction issued by the remote control center; if the hard stop button is unscrewed, the remote dozer device executes the stop command. The intelligent touch display 8 is connected with the remote control center through the CAN bus to realize data interconnection. The hand throttle 13 signal and the inching pedal 7 signal are both voltage signals, the intelligent touch display 8 detects the current signal change range of the hand throttle 13 and the inching pedal 7, the data value is displayed on the parameter interface of the intelligent touch display 8, meanwhile, the data is sent to the CAN bus, the CAN-to-Ethernet data converter reads CAN bus data, the CAN bus data is converted into Ethernet data, the data is transmitted to the 5G data terminal through a network cable, the 5G data terminal utilizes the 5G base station to upload the data to the 5G network, the 5G network transmits the data to the bulldozer end, the bulldozer end executes the current control instruction after receiving the remote control center data, and simultaneously uploads the execution result of the current equipment and the parameter information, after the remote control center receives the data information fed back by the bulldozer, the relevant parameters of the parameter interface of the whole bulldozer are normally displayed, and the relevant icon state is normally displayed, the alarm lamp carries out color display according to whether alarm information exists or not, the color of the current control module is changed according to the feedback information of the bulldozer in the opening state of each function, the information transmission is reliable, the distinguishing identification degree is high, and the information display is clear at a glance.

The data transmission of the remote control monitoring system is mainly realized by using a 5G network, and the specific realization mode is as follows: the control instruction issued by the remote control monitoring system is sent in the form of CAN data through a CAN bus, the control instruction is transmitted in the form of Ethernet data through a CAN-to-Ethernet data converter, the control instruction is transmitted remotely through a 5G network through a 5G-CPE data terminal 5, the vehicle-mounted end 5G-CPE data terminal 5 receives the control instruction issued by a remote control center, the Ethernet data is converted into CAN bus data through a vehicle-mounted end CAN-to-Ethernet data converter, and the vehicle-mounted end controller executes corresponding action after receiving the remote control instruction. The specific operation picture of the bulldozer is mainly characterized in that 4 cameras are mounted at the end of the bulldozer and located at the top end of a cab, the front end and the rear end of the center line of the cab top are 1, the left side and the right side of the cab top (the cab top can also be mounted on a left side door and a right side door according to the cab structure of different types and on a leading-out support which is one third away from the lower end) are 1 respectively, and the collected video picture is transmitted in real time and displayed in a display system.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. The utility model provides a bull-dozer remote control monitored control system which characterized in that: including integral type seat, network transmission system and display system, the outside of integral type seat is equipped with outer handrail case, and the both sides of integral type seat are equipped with interior handrail case, the upper end of outer handrail case is equipped with intelligent touch display, and one side of outer handrail case is equipped with the cun and advances the footboard, the upper end of interior handrail case is equipped with walking handle, work handle, on-off switch, scram switch and hand throttle, scram switch, hand throttle and cun advance the footboard passing signal line and be connected with intelligent touch display, walking handle, work handle pass through network transmission system and realize remote control to on-vehicle end, display system is connected with network transmission system and is used for showing bull-dozer running state.

2. A remote control monitoring system for a bulldozer according to claim 1, in which: the network transmission system comprises a CAN bus, a mainframe box, a CAN-to-Ethernet converter and a 5G-CPE data terminal, wherein the mainframe box is connected with the 5G-CPE data terminal, the 5G-CPE data terminal is connected with the CAN-to-Ethernet converter, the intelligent touch display, the walking handle, the working handle and the CAN-to-Ethernet converter are all connected with the CAN bus, the CAN-to-Ethernet converter converts CAN bus signals into Ethernet data, and the 5G-CPE data terminal transmits the Ethernet data to a vehicle-mounted end through a network to realize remote control.

3. A remote control monitoring system for a bulldozer according to claim 1, in which: the display system is a liquid crystal display screen, the screen of the liquid crystal display screen faces the integrated seat, the number of the liquid crystal display screen is five, the liquid crystal display screen is arranged in an upper mode and a lower mode, three arc-shaped displays above the liquid crystal display screen are spliced, and two plane displays below the liquid crystal display screen are spliced.

4. A remote control monitoring system for a bulldozer according to claim 2, in which: the main case is connected with a 5G-CPE data terminal through a wireless or network cable.

5. A remote control monitoring system for a bulldozer according to claim 1, in which: the display system is connected with the mainframe box through a high definition line.

6. A remote control monitoring system for a bulldozer according to claim 1, in which: the intelligent touch display is installed at the upper end of the outer armrest box in an embedded mode.

7. A remote control monitoring system for a bulldozer according to claim 1, in which: the inner armrest box and the seat are of an integrated structure.

8. A remote control monitoring system for a bulldozer according to claim 2, in which: the display system is fixed at the upper end of the support box body, and the mainframe box, the 5G-CPE data terminal and the CAN-to-Ethernet converter are all arranged in the support box body.