CN114265394A - Wire control system for construction machine and construction machine - Google Patents
Wire control system for construction machine and construction machine Download PDFInfo
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- CN114265394A CN114265394A CN202210183682.9A CN202210183682A CN114265394A CN 114265394 A CN114265394 A CN 114265394A CN 202210183682 A CN202210183682 A CN 202210183682A CN 114265394 A CN114265394 A CN 114265394A
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Abstract
The present disclosure provides a wire control system of an engineering machine and an engineering machine, wherein the wire control system comprises: the system comprises a domain control system, a power control system, a vehicle body control system and a steering control system; data transmission is carried out among the domain control system, the power control system, the vehicle body control system and the steering control system through buses; and the domain control system, the power control system, the vehicle body control system and the steering control system output control signals for carrying out corresponding control processing under a manned mode or an unmanned mode. The drive-by-wire system and the engineering machinery can realize manned and unmanned dual-mode operation, can realize one-key switching of two modes, can realize operation of the engineering machinery according to a set track, and have functions of automatic obstacle avoidance and the like; by realizing the unmanned driving mode, the personnel safety risk is reduced, the engineering cost is saved, and the use experience of the user is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a wire control system of engineering machinery and the engineering machinery.
Background
At present, the global ore mining requirement is large, the ore mining topography is complex and changeable, and the requirement on the maneuvering stability of mining equipment is high. The mining equipment comprises engineering machinery and the like, the engineering machinery comprises mine cars and the like, and the mine cities mainly undertake the transportation work of mine stripped objects, including loading, transportation, unloading, returning and the like. Along with the development of engineering machinery, the application demand degree of the unmanned technology in a mining area is increased, and at present, no technical scheme for applying the unmanned technology to a mine car exists in the prior art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a wire control system for a construction machine and a construction machine.
According to a first aspect of the present disclosure, there is provided a wire control system of a construction machine, including: the system comprises a domain control system, a power control system, a vehicle body control system and a steering control system; the domain control system, the power control system, the vehicle body control system and the steering control system are in data transmission through buses; the domain control system, the power control system, the vehicle body control system and the steering control system output control signals for carrying out corresponding control processing under a manned or unmanned dual mode.
Optionally, the domain control system includes a domain control module, a laser radar, and a millimeter wave radar; the domain control module includes: the device comprises a first bus communication port, a second bus communication port and an Ethernet interface; the domain control module is used for performing information interaction with other control modules through the second bus communication port; the millimeter wave radar is used for transmitting the obstacle information to the domain control module through the first bus communication port; and the laser radar is used for transmitting the terrain environment information to the domain control module through the Ethernet interface.
Optionally, the domain control system further includes a camera, an inertial navigation module, and a differential positioning terminal; the camera is used for transmitting a real-time image to the domain control module through the Ethernet interface; the inertial navigation module is used for transmitting speed and attitude angle information to the domain control module through the Ethernet interface; and the differential positioning terminal is used for transmitting the position information to the domain control module through the Ethernet interface.
Optionally, the power control system comprises a power control module, a manned/unmanned change-over switch; the power control module includes: a third bus communication port; the power control module is used for performing information interaction with other control modules through the third bus communication port; the manned/unmanned change-over switch is used for inputting a switching signal into the power control module so as to realize the switching of the manned mode or the unmanned mode.
Optionally, the power control system comprises a brake solenoid valve, an electronic accelerator pedal, a lifting solenoid valve, a descending solenoid valve, a hand brake opening solenoid valve, a hand brake closing solenoid valve, an angle sensor, an air pressure sensor, a hand brake opening switch and a hand brake closing switch; in the manned mode, the electronic accelerator pedal is used for transmitting an artificial driving accelerator signal to the power control module, and the power control module transmits the artificial driving accelerator signal to the engine control module through the third bus communication port; the hand brake opening switch is used for transmitting a hand brake opening signal to the power control module, and the power control module controls the hand brake opening electromagnetic valve according to the hand brake signal; the hand braking closing switch is used for transmitting a hand braking closing signal to the power control module, and the power control module controls the hand braking closing electromagnetic valve according to the hand braking closing signal.
Optionally, in the unmanned mode, the domain control module generates an accelerator signal, and the power control module transmits the accelerator signal to the engine control module through a third bus communication port; the domain control module generates a pulse width modulation signal, and the power control module outputs the pulse width modulation signal through a third bus communication port during braking to control the braking solenoid valve to realize proportional braking; the air pressure sensor is used for collecting air pressure of a braking air path and feeding the air pressure back to the power control module so that the power control module can perform braking control; the domain control module generates a starting signal, and the power control module transmits the starting signal to the hand brake starting electromagnetic valve through a third bus communication port so as to realize the hand brake starting; the domain control module generates a hand brake control signal, and the power control module transmits the hand brake control signal to the hand brake closing electromagnetic valve through a third bus communication port so as to control the hand brake closing electromagnetic valve to be closed; the field control module generates a lifting control signal, and the power control module transmits the lifting control signal to the lifting electromagnetic valve through a third bus communication port so as to control the lifting electromagnetic valve to lift the container; the field control module generates a landing control signal, and the power control module transmits the landing control signal to the landing solenoid valve through a third bus communication port so as to control the landing solenoid valve to realize the landing of the container; the angle sensor is used for collecting lifting angles of the container and feeding back the lifting angles to the power control module.
Optionally, the vehicle body control system comprises a vehicle body control module; the vehicle body control module comprises a fourth bus communication port; and the vehicle body control module carries out information interaction with other control modules through the fourth bus communication port.
Optionally, the vehicle body control system comprises a controlled power relay, an axle difference electromagnetic valve, a wheel difference electromagnetic valve, a power take-off electromagnetic valve, an exhaust electromagnetic valve, a wiper motor, a vehicle lamp switch, a horn switch, a wiper switch, an axle difference switch, a wheel difference switch, a power take-off switch and an exhaust switch; the vehicle lamp switch is used for transmitting a vehicle lamp control signal to the vehicle body control module in a manned driving mode, and the vehicle body control module controls the vehicle lamp according to the vehicle lamp control information; the horn switch is used for transmitting a horn control signal to the vehicle body control module, and the vehicle body control module controls the horn according to the horn control signal; the wiper switch is used for transmitting a wiper control signal to the vehicle body control module, and the vehicle body control module controls the wiper motor according to the wiper control signal; the axle difference switch is used for transmitting an axle difference control signal to the vehicle body control module, and the vehicle body control module controls the axle difference electromagnetic valve according to the axle difference control signal; the wheel difference switch is used for transmitting a wheel difference control signal to the vehicle body control module, and the vehicle body control module controls the wheel difference electromagnetic valve according to the wheel difference control signal; the power take-off switch is used for transmitting a power take-off control signal to the vehicle body control module, and the vehicle body control module controls the power take-off electromagnetic valve according to the power take-off control signal; the exhaust switch is used for transmitting an exhaust control signal to the vehicle body control module, and the vehicle body control module controls the exhaust electromagnetic valve according to the exhaust control signal.
Optionally, in the state of the unmanned driving mode, the domain control module generates a car light control signal, and the car body control module controls a corresponding car light according to the car light control signal; the domain control module generates a horn control signal, and the vehicle body control module controls a horn according to the horn control signal; the domain control module generates an axle difference control signal, and the vehicle body control module controls the axle difference electromagnetic valve according to the axle difference control signal; the domain control module generates a wheel difference control signal, and the vehicle body control module controls a wheel difference electromagnetic valve according to the wheel difference control signal; the domain control module generates a power taking control signal, and the vehicle body control module controls the power taking electromagnetic valve according to the power taking control signal; the domain control module generates an exhaust control signal, and the vehicle body control module controls an exhaust electromagnetic valve according to the exhaust control signal; the domain control module generates a wiper control signal, and the vehicle body control module controls a wiper motor according to the wiper control signal.
Optionally, the steering control system comprises a steering control module; the steering control module comprises a fifth bus communication port; and the steering control module performs information interaction with other control modules through the fifth bus communication port.
Optionally, the steering control system comprises a steering motor, a rotation angle sensor, a temperature sensor and a pressure sensor; under the state of the unmanned driving mode, the domain control module generates a steering control signal, and the steering control module controls a steering motor according to the steering control signal; the corner sensor is used for transmitting the detected front axle corner to the steering control module; the temperature sensor is used for transmitting the detected hydraulic oil temperature to the steering control module; and the pressure sensor is used for feeding back the detected hydraulic oil pressure to the steering control module.
According to a second aspect of the present disclosure, there is provided a working machine comprising: the drive-by-wire system of the construction machine is described above.
Optionally, the work machine comprises: an off-highway mine car.
The wire control system of the engineering machinery and the engineering machinery can realize manned and unmanned dual-mode operation, can realize one-key switching of two modes, can realize operation of the engineering machinery according to a set track, and has functions of automatic obstacle avoidance and the like; by realizing the unmanned driving mode, the personnel safety risk is reduced, the engineering cost is saved, and the use experience of the user is improved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a block schematic diagram of one embodiment of a drive-by-wire system of a work machine according to the present disclosure;
FIG. 2 is a schematic view of a domain control system in one embodiment of a drive-by-wire system of a work machine according to the present disclosure;
FIG. 3 is a schematic illustration of a power control system in an embodiment of a by-wire system of a work machine according to the present disclosure;
FIG. 4 is a schematic view of a body control system in one embodiment of a drive-by-wire system of a work machine according to the present disclosure;
fig. 5 is a schematic view of a steering control system in an embodiment of a by-wire system of a working machine according to the present disclosure.
Detailed Description
The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The terms "first", "second", and the like are used hereinafter only for descriptive distinction and have no other special meaning.
In one embodiment, as shown in fig. 1, the present disclosure provides a drive-by-wire system of a construction machine, including a domain control system 01, a power control system 02, a vehicle body control system 03, and a steering control system 04. The work machine may be of various types, such as an off-highway mine car or the like. Data transmission is performed among the domain control system 01, the power control system 02, the vehicle body control system 03 and the steering control system 04 through buses, and the buses CAN be CAN buses and the like. The domain control system 01, the power control system 02, the vehicle body control system 03 and the steering control system 04 output control signals for performing corresponding control processing in a manned or unmanned dual mode. The domain control system 01, the power control system 02, the vehicle body control system 03 and the steering control system 04 form a control main body, data transmission is carried out among the control systems through a CAN bus, and each actuating mechanism is controlled by corresponding pin output.
The invention provides a drive-by-wire system applied to an unmanned mode and a manned mode, which can be switched to the unmanned mode on the basis of the manned mode, and unmanned engineering machinery can control the functions of electrifying, starting, steering, tracing, driving, braking, obstacle avoidance, automatic unloading and the like of a whole vehicle.
In one embodiment, the domain control system includes a domain control module, a lidar, a millimeter wave radar, or the like; the domain control module comprises a first bus communication port, a second bus communication port and an Ethernet interface. And the domain control module performs information interaction with other control modules through the second bus communication port. The millimeter wave radar transmits the obstacle information to the domain control module through the first bus communication port, and the laser radar transmits the terrain environment information to the domain control module through the Ethernet interface.
The domain control system further comprises a camera, an inertial navigation module, a differential positioning terminal and the like. The camera transmits the real-time image to the domain control module through the Ethernet interface; the inertial navigation module transmits the speed and attitude angle information to the domain control module through an Ethernet interface; and the differential positioning terminal transmits the position information to the domain control module through the Ethernet interface.
As shown in fig. 2, the domain control system is protected by a fuse 12, a power supply 13 is connected to supply power to the domain control module 1, and a flash port 16 implements program flash of the domain control module 1. The CAN communication interface 5 realizes the information interaction between the domain control module 1 and other control modules of the non-road mine car through CAN communication.
The millimeter wave radar 9 transmits the detected barrier information to the domain control module 1 through the CAN communication interface 4. The laser radar 8 transmits the terrain environment information to the domain control module 1 through the ethernet interface 7. The camera 10 transmits the real-time image to the control module 1 through the ethernet interface 7. The inertial navigation module 11 transmits the speed, attitude angle and off-highway mine car position information to the domain control module 1 through the Ethernet interface 7 by the differential positioning terminal 12.
In one embodiment, the power control system includes a power control module, a manned/unmanned toggle switch, and the like. The power control module comprises a third bus communication port, and the power control module performs information interaction with other control modules through the third bus communication port. The manned/unmanned change-over switch inputs the switching signal into the power control module to realize the switching of the manned mode or the unmanned mode.
The power control system comprises a brake solenoid valve, an electronic accelerator pedal, a lifting solenoid valve, a landing solenoid valve, a hand brake opening solenoid valve, a hand brake closing solenoid valve, an angle sensor, an air pressure sensor, a hand brake opening switch, a hand brake closing switch and the like. Under the state of the manned driving mode, the electronic accelerator pedal transmits the manual driving accelerator signal to the power control module, and the power control module transmits the manual driving accelerator signal to the engine control module through the third bus communication port.
The hand braking opening switch transmits a hand braking opening signal to the power control module, and the power control module controls the hand braking opening electromagnetic valve according to the hand braking signal. The hand brake closing switch transmits a hand brake closing signal to the power control module, and the power control module controls the hand brake to close the electromagnetic valve according to the hand brake closing signal.
And in the state of the unmanned driving mode, the domain control module generates an accelerator signal, and the power control module transmits the accelerator signal to the engine control module through the third bus communication port. The domain control module generates a pulse width modulation signal, and the power control module outputs the pulse width modulation signal through the third bus communication port to control the brake solenoid valve to realize proportional braking during braking. The air pressure sensor collects the air pressure of the braking air circuit and feeds the air pressure back to the power control module so as to enable the power control module to perform braking control.
The domain control module generates a starting signal, and the power control module transmits the starting signal to the hand brake starting electromagnetic valve through the third bus communication port so as to realize hand brake starting. The domain control module generates a hand brake control signal, and the power control module transmits the hand brake control signal to the hand brake closing electromagnetic valve through the third bus communication port so as to control the hand brake closing electromagnetic valve to be closed.
The domain control module generates a lifting control signal, and the power control module transmits the lifting control signal to the lifting electromagnetic valve through the third bus communication port so as to control the lifting electromagnetic valve to lift the container. The domain control module generates a landing control signal, and the power control module transmits the landing control signal to the landing solenoid valve through the third bus communication port so as to control the landing solenoid valve to realize the landing of the container. The angle sensor collects the lifting angle of the container and feeds the lifting angle back to the power control module.
As shown in fig. 3, the power control system is protected by a fuse 14, a power supply 15 is connected to supply power to the power control module 13, and a flash port 17 realizes program flash of the power control module 13. The CAN communication interface 16 realizes the information interaction between the power control module 13 and other control modules of the non-road mine car through CAN communication. The manned/unmanned change-over switch 26 inputs a signal to the power control module 13, and the manned/unmanned mode is switched.
In the manned mode: the electronic accelerator pedal 19 transmits the manual driving accelerator signal to the power control module 13, and the power control module 13 transmits the accelerator signal to the engine through the CAN communication interface 16. The hand brake opening switch 27 transmits the hand brake signal to the power control module 13, and the power control module 13 outputs a control signal corresponding to a pin for controlling the hand brake opening solenoid valve 22. The hand brake closing switch 28 transmits the hand brake signal to the power control module 13, and the power control module 13 outputs a control signal corresponding to a pin to control the hand brake closing solenoid valve 23.
In the state of the unmanned mode: the throttle signal is generated by the operation of the domain control module 1 and is sent through the CAN communication interface 5, and the throttle signal is transmitted to the engine by the power control module 13 through the CAN communication interface 16. During braking, the domain control module 1 generates a pulse width modulation signal through operation, the pulse width modulation signal is sent through the CAN communication interface 5, and the power control module 13 outputs the pulse width modulation signal corresponding to a pin to control the brake solenoid valve 18 to realize proportional braking.
The air pressure sensor 25 collects the air pressure of the braking air path and feeds the air pressure back to the power control module 13 to perform closed-loop control braking. When the hand brake is judged to be opened, the domain control module 1 carries out operation to generate a signal, the signal is sent through the CAN communication interface 5, and the power control module 13 outputs a signal corresponding to a pin to control the hand brake opening electromagnetic valve 22 to realize the hand brake opening. When the hand brake is judged to be closed, the domain control module 1 generates a signal through operation, the signal is sent through the CAN communication interface 5, and the power control module 13 outputs a signal corresponding to a pin to control the hand brake closing electromagnetic valve 23 to close the hand brake.
When the container is judged to be lifted, the domain control module 1 operates to generate a signal, the signal is sent through the CAN communication interface 5, and the power control module 13 outputs a signal corresponding to a pin to control the lifting electromagnetic valve 20 to lift the container. When the container is judged to land, the domain control module 1 operates to generate a signal, the signal is sent through the CAN communication interface 5, and the power control module 13 outputs a signal corresponding to a pin to control the landing electromagnetic valve 21 to land the container. The angle sensor 24 collects the lifting angle of the cargo box and feeds the lifting angle back to the power control module 13 through analog quantity signals so as to carry out closed-loop control on the lifting of the cargo box.
In one embodiment, the vehicle body control system comprises a vehicle body control module, the vehicle body control module comprises a fourth bus communication port, and the vehicle body control module carries out information interaction with other control modules through the fourth bus communication port. The vehicle body control system comprises a controlled power supply relay, a shaft difference electromagnetic valve, a wheel difference electromagnetic valve, a power take-off electromagnetic valve, an exhaust electromagnetic valve, a wiper motor, a vehicle lamp switch, a horn switch, a wiper switch, a shaft difference switch, a wheel difference switch, a power take-off switch, an exhaust switch and the like. The vehicle lights may include dipped headlights, high beams, turn signals, etc., and the vehicle light switches may include dipped headlight switches, high beams, turn signal switches, etc.
Under the state of someone driving mode, car light switch gives car light control signal transmission to automobile body control module, and automobile body control module controls the car light according to car light control information. The horn switch transmits the horn control signal to the vehicle body control module, and the vehicle body control module controls the horn according to the horn control signal. The wiper switch transmits a wiper control signal to the vehicle body control module, and the vehicle body control module controls the wiper motor according to the wiper control signal. The axle difference switch transmits the axle difference control signal to the vehicle body control module, and the vehicle body control module controls the axle difference electromagnetic valve according to the axle difference control signal.
The wheel difference switch transmits a wheel difference control signal to the vehicle body control module, and the vehicle body control module controls the wheel difference electromagnetic valve according to the wheel difference control signal. The power take-off switch transmits the power take-off control signal to the vehicle body control module, and the vehicle body control module controls the power take-off electromagnetic valve according to the power take-off control signal. The exhaust switch transmits the exhaust control signal to the vehicle body control module, and the vehicle body control module controls the exhaust electromagnetic valve according to the exhaust control signal.
And under the state of the unmanned driving mode, the domain control module generates a car light control signal, and the car body control module controls the corresponding car light according to the car light control signal. The domain control module generates a horn control signal, and the vehicle body control module controls the horn according to the horn control signal. The domain control module generates a shaft difference control signal, and the vehicle body control module controls the shaft difference electromagnetic valve according to the shaft difference control signal.
The domain control module generates a wheel difference control signal, and the vehicle body control module controls a wheel difference electromagnetic valve according to the wheel difference control signal. The domain control module generates a power take-off control signal, and the vehicle body control module controls the power take-off electromagnetic valve according to the power take-off control signal. The domain control module generates an exhaust control signal, and the vehicle body control module controls the exhaust solenoid valve according to the exhaust control signal. The domain control module generates a wiper control signal, and the vehicle body control module controls a wiper motor according to the wiper control signal.
As shown in fig. 4, the vehicle body control system is protected by a fuse 330, the power supply 31 is connected to supply power to the vehicle body control module 29, and the programming port 33 realizes programming of the vehicle body control module 29. The CAN communication interface 32 enables the body control module 29 to communicate with other control modules of the off-highway mine car via CAN communication.
In the manned mode: the dipped headlight switch 49 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the dipped headlight 34 corresponding to a pin; the high beam switch 50 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal corresponding to a pin to control the high beam 35; the horn switch 51 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the horn 36 corresponding to a pin; the turn signal switch 52 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the turn signal 37 corresponding to a pin.
The clearance lamp switch 53 inputs signals to the vehicle body control module 29, and the vehicle body control module 29 outputs control signals corresponding to pins to control the clearance lamp 38; the working lamp switch 54 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the working lamp 39 corresponding to a pin; the fog lamp switch 55 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the fog lamp 42 corresponding to a pin.
The wiper switch 56 inputs a signal to the body control module 29, and the body control module 29 outputs a control signal to control the wiper motor 48 corresponding to the pin. The axle difference switch 57 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal to control the axle difference electromagnetic valve 44 corresponding to a pin. The wheel difference switch 58 inputs signals to the vehicle body control module 29, and the vehicle body control module 29 outputs control signals to control the wheel difference electromagnetic valve 58 corresponding to the pins.
The power take-off switch 59 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal corresponding to a pin to control the power take-off electromagnetic valve 46. The exhaust switch 60 inputs a signal to the vehicle body control module 29, and the vehicle body control module 29 outputs a control signal corresponding to a pin to control the exhaust solenoid valve 47.
In the state of the unmanned mode: the domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 outputs signals corresponding to pins to control the controlled power supply relay 43. The signal is generated by the operation of the domain control module 1 and is sent through the CAN communication interface 5, and the vehicle body control module 29 controls the dipped headlight 34 according to the pin output signal.
The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the high beam 35 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 outputs signals corresponding to pins to control the loudspeaker 36. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the steering lamp 37 according to pin output signals.
The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the automobile body control module 29 controls the clearance lamp 38 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 outputs signals corresponding to pins to control the working lamp 39. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the backup lamp 40 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the brake lamp 41 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 outputs signals corresponding to pins to control the fog lamp 42.
The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the shaft difference electromagnetic valve 44 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the wheel difference electromagnetic valve 45 according to pin output signals. The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the power take-off electromagnetic valve 46 according to pin output signals.
The domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the vehicle body control module 29 controls the exhaust electromagnetic valve 4 according to pin output signals. The signal is generated by the operation of the domain control module 1 and is sent through the CAN communication interface 5, and the wiper motor 48 is controlled by the body control module 29 corresponding to the pin output signal.
In one embodiment, the steering control system comprises a steering control module, the steering control module comprises a fifth bus communication port, and the steering control module performs information interaction with other control modules through the fifth bus communication port. The steering control system comprises a steering motor, a corner sensor, a temperature sensor, a pressure sensor and the like.
And under the state of the unmanned driving mode, the domain control module generates a steering control signal, and the steering control module controls the steering motor according to the steering control signal. And the corner sensor transmits the detected front axle corner to the steering control module. The temperature sensor transmits the detected hydraulic oil temperature to the steering control module; the pressure sensor feeds the detected hydraulic oil pressure back to the steering control module.
As shown in fig. 5, the steering control system is protected by a fuse 62, a power supply 63 is connected to supply power to the steering control module 61, and a flash port 65 implements program flash of the steering control module 61. The CAN communication interface 64 realizes the information interaction between the steering control module 61 and other control modules of the non-road mine car through CAN communication.
Under the state of the unmanned driving mode, the domain control module 1 generates signals through operation and sends the signals through the CAN communication interface 5, and the steering control module 61 controls the steering motor 66 according to pin output signals. The steering angle sensor 67 feeds back the detected front axle steering angle to the steering control module 61 for forming a steering closed loop control. The temperature sensor 68 detects hydraulic oil temperature and feeds back to the steering controller 61, and the pressure sensor detects hydraulic oil pressure and feeds back to the steering control module 61.
In one embodiment, the present disclosure provides a work machine including a drive-by-wire system of a work machine as in any one of the above embodiments, the work machine including an off-highway mine car or the like.
The wire control system of the engineering machinery and the engineering machinery in the embodiment can realize manned and unmanned dual-mode operation, can realize one-key switching of two modes, can realize operation of the engineering machinery according to a set track, and has functions of automatic obstacle avoidance and the like; by realizing the unmanned driving mode, the personnel safety risk is reduced, the engineering cost is saved, and the use experience of the user is improved.
The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (13)
1. A wire control system for a construction machine, comprising:
the system comprises a domain control system, a power control system, a vehicle body control system and a steering control system; the domain control system, the power control system, the vehicle body control system and the steering control system are in data transmission through buses; the domain control system, the power control system, the vehicle body control system and the steering control system output control signals for carrying out corresponding control processing under a manned or unmanned dual mode.
2. The drive-by-wire system of claim 1,
the domain control system comprises a domain control module, a laser radar and a millimeter wave radar; the domain control module includes: the device comprises a first bus communication port, a second bus communication port and an Ethernet interface;
the domain control module is used for performing information interaction with other control modules through the second bus communication port;
the millimeter wave radar is used for transmitting the obstacle information to the domain control module through the first bus communication port;
and the laser radar is used for transmitting the terrain environment information to the domain control module through the Ethernet interface.
3. The drive-by-wire system of claim 2,
the domain control system also comprises a camera, an inertial navigation module and a differential positioning terminal;
the camera is used for transmitting a real-time image to the domain control module through the Ethernet interface;
the inertial navigation module is used for transmitting speed and attitude angle information to the domain control module through the Ethernet interface;
and the differential positioning terminal is used for transmitting the position information to the domain control module through the Ethernet interface.
4. The drive-by-wire system of claim 2,
the power control system comprises a power control module and a manned/unmanned change-over switch; the power control module includes: a third bus communication port;
the power control module is used for performing information interaction with other control modules through the third bus communication port;
the manned/unmanned change-over switch is used for inputting a switching signal into the power control module so as to realize the switching of the manned mode or the unmanned mode.
5. The drive-by-wire system of claim 4,
the power control system comprises a brake electromagnetic valve, an electronic accelerator pedal, a lifting electromagnetic valve, a landing electromagnetic valve, a hand brake opening electromagnetic valve, a hand brake closing electromagnetic valve, an angle sensor, an air pressure sensor, a hand brake opening switch and a hand brake closing switch;
in the manned mode, the electronic accelerator pedal is used for transmitting an artificial driving accelerator signal to the power control module, and the power control module transmits the artificial driving accelerator signal to the engine control module through the third bus communication port;
the hand brake opening switch is used for transmitting a hand brake opening signal to the power control module, and the power control module controls the hand brake opening electromagnetic valve according to the hand brake signal;
the hand braking closing switch is used for transmitting a hand braking closing signal to the power control module, and the power control module controls the hand braking closing electromagnetic valve according to the hand braking closing signal.
6. The drive-by-wire system of claim 5,
in the unmanned driving mode, the domain control module generates an accelerator signal, and the power control module transmits the accelerator signal to the engine control module through a third bus communication port;
the domain control module generates a pulse width modulation signal, and the power control module outputs the pulse width modulation signal through a third bus communication port during braking to control the braking solenoid valve to realize proportional braking;
the air pressure sensor is used for collecting air pressure of a braking air path and feeding the air pressure back to the power control module so that the power control module can perform braking control;
the domain control module generates a starting signal, and the power control module transmits the starting signal to the hand brake starting electromagnetic valve through a third bus communication port so as to realize the hand brake starting;
the domain control module generates a hand brake control signal, and the power control module transmits the hand brake control signal to the hand brake closing electromagnetic valve through a third bus communication port so as to control the hand brake closing electromagnetic valve to be closed;
the field control module generates a lifting control signal, and the power control module transmits the lifting control signal to the lifting electromagnetic valve through a third bus communication port so as to control the lifting electromagnetic valve to lift the container;
the field control module generates a landing control signal, and the power control module transmits the landing control signal to the landing solenoid valve through a third bus communication port so as to control the landing solenoid valve to realize the landing of the container;
the angle sensor is used for collecting lifting angles of the container and feeding back the lifting angles to the power control module.
7. The drive-by-wire system of claim 2,
the vehicle body control system comprises a vehicle body control module; the vehicle body control module comprises a fourth bus communication port; and the vehicle body control module carries out information interaction with other control modules through the fourth bus communication port.
8. The drive-by-wire system of claim 7,
the vehicle body control system comprises a controlled power supply relay, a shaft difference electromagnetic valve, a wheel difference electromagnetic valve, a power take-off electromagnetic valve, an exhaust electromagnetic valve, a wiper motor, a vehicle lamp switch, a horn switch, a wiper switch, a shaft difference switch, a wheel difference switch, a power take-off switch and an exhaust switch;
the vehicle lamp switch is used for transmitting a vehicle lamp control signal to the vehicle body control module in a manned driving mode, and the vehicle body control module controls the vehicle lamp according to the vehicle lamp control information;
the horn switch is used for transmitting a horn control signal to the vehicle body control module, and the vehicle body control module controls the horn according to the horn control signal;
the wiper switch is used for transmitting a wiper control signal to the vehicle body control module, and the vehicle body control module controls the wiper motor according to the wiper control signal;
the axle difference switch is used for transmitting an axle difference control signal to the vehicle body control module, and the vehicle body control module controls the axle difference electromagnetic valve according to the axle difference control signal;
the wheel difference switch is used for transmitting a wheel difference control signal to the vehicle body control module, and the vehicle body control module controls the wheel difference electromagnetic valve according to the wheel difference control signal;
the power take-off switch is used for transmitting a power take-off control signal to the vehicle body control module, and the vehicle body control module controls the power take-off electromagnetic valve according to the power take-off control signal;
the exhaust switch is used for transmitting an exhaust control signal to the vehicle body control module, and the vehicle body control module controls the exhaust electromagnetic valve according to the exhaust control signal.
9. The drive-by-wire system of claim 8,
in the state of the unmanned driving mode, the domain control module generates car light control signals, and the car body control module controls corresponding car lights according to the car light control signals;
the domain control module generates a horn control signal, and the vehicle body control module controls a horn according to the horn control signal;
the domain control module generates an axle difference control signal, and the vehicle body control module controls the axle difference electromagnetic valve according to the axle difference control signal;
the domain control module generates a wheel difference control signal, and the vehicle body control module controls a wheel difference electromagnetic valve according to the wheel difference control signal;
the domain control module generates a power taking control signal, and the vehicle body control module controls the power taking electromagnetic valve according to the power taking control signal;
the domain control module generates an exhaust control signal, and the vehicle body control module controls an exhaust electromagnetic valve according to the exhaust control signal;
the domain control module generates a wiper control signal, and the vehicle body control module controls a wiper motor according to the wiper control signal.
10. The drive-by-wire system of claim 2,
the steering control system comprises a steering control module; the steering control module comprises a fifth bus communication port; and the steering control module performs information interaction with other control modules through the fifth bus communication port.
11. The drive-by-wire system of claim 10,
the steering control system comprises a steering motor, a corner sensor, a temperature sensor and a pressure sensor;
under the state of the unmanned driving mode, the domain control module generates a steering control signal, and the steering control module controls a steering motor according to the steering control signal;
the corner sensor is used for transmitting the detected front axle corner to the steering control module;
the temperature sensor is used for transmitting the detected hydraulic oil temperature to the steering control module;
and the pressure sensor is used for feeding back the detected hydraulic oil pressure to the steering control module.
12. A work machine, comprising:
the drive-by-wire system of a construction machine according to any one of claims 1 to 11.
13. The working machine of claim 12,
the construction machine includes: an off-highway mine car.
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| CN202210183682.9A CN114265394A (en) | 2022-02-28 | 2022-02-28 | Wire control system for construction machine and construction machine |
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| CN113848956A (en) * | 2021-11-09 | 2021-12-28 | 盐城工学院 | Unmanned vehicle system and unmanned method |
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| CN207877198U (en) * | 2017-12-15 | 2018-09-18 | 江门市腾米机器人技术有限公司 | A kind of unmanned and manned drive two-purpose forklift system |
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