CN115356969A - Unmanned control system for working machine and working machine - Google Patents
Unmanned control system for working machine and working machine Download PDFInfo
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- CN115356969A CN115356969A CN202211154169.3A CN202211154169A CN115356969A CN 115356969 A CN115356969 A CN 115356969A CN 202211154169 A CN202211154169 A CN 202211154169A CN 115356969 A CN115356969 A CN 115356969A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention provides an unmanned control system of a working machine and the working machine, belonging to the technical field of working machine control, the unmanned control system of the working machine comprises: the system comprises an electronic key panel, an execution assembly, an operation and control assembly, a data acquisition assembly and a vehicle control unit; the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the vehicle control unit are all connected with a communication bus of the operation machine; the electronic key panel is used for selecting a working mode of the operation machine, the data acquisition assembly is used for generating a control instruction in the working mode, the vehicle control unit is used for controlling the operation assembly and the execution assembly to move based on the control instruction, and after the working mode is selected through the electronic key panel, the vehicle control unit can automatically control the operation assembly and the execution assembly to move according to the control instruction of the data acquisition assembly, so that the automation level of the whole working process of the operation machine is effectively improved, and the unmanned control of the operation machine is realized.
Description
Technical Field
The invention relates to the technical field of operation machine control, in particular to an unmanned operation machine control system and an operation machine.
Background
The operating environment of large-scale operation machinery, such as loader etc. is various, and especially to the scene that some operation process repetition degree is high, the operation is frequent high, or the operating environment under some high-risk operating mode, it is higher to operator's requirement. With the development of technologies such as multi-sensor fusion sensing, automatic driving path planning, motion control and the like, the loader is also approaching to the automatic control direction.
However, most of the automatic controls are currently performed for a certain independent component or an independent system, and it is difficult to satisfy unmanned control of the entire work machine.
Disclosure of Invention
The invention provides an unmanned control system of a working machine and the working machine, which are used for solving the defect that the whole unmanned control of the working machine cannot be realized in the prior art, and the unmanned control of the whole working process of the working machine is efficiently realized through the mutual cooperation of an electronic key panel, an execution assembly, an operation and control assembly, a data acquisition assembly and a whole vehicle controller.
The invention provides an unmanned control system of a working machine, comprising: the system comprises an electronic key panel, an execution assembly, a control assembly, a data acquisition assembly and a vehicle control unit;
the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the whole vehicle controller are all connected with a communication bus of the working machine;
the electronic key panel is used for selecting a working mode of the working machine, the data acquisition assembly is used for generating a control instruction in the working mode, the vehicle control unit is used for controlling the operation assembly and the execution assembly to act based on the control instruction, and the working mode comprises a manual mode, a remote control mode and an unmanned control mode.
According to the unmanned control system of the working machine, the electronic key panel comprises a manual mode key, a remote control key and an unmanned control key, and the data acquisition assembly comprises a remote controller and a sensor group;
the manual mode key, the remote control key and the unmanned control key are all connected with a communication bus of the operation machine;
when the vehicle control unit receives a selection signal of the manual mode button, the vehicle control unit controls the execution assembly to act according to an operation instruction of the control assembly;
when the vehicle control unit receives a selection signal of the remote control key, the vehicle control unit receives a control instruction of the remote controller and controls the execution assembly to act through the control instruction;
when the vehicle control unit receives the selection signal of the unmanned control key, the vehicle control unit receives environmental data collected by the sensor group and generates a control instruction through the environmental data to control the action of the execution assembly.
The unmanned control system for the working machine further comprises an anti-collision assembly;
the anti-collision assembly is connected with a communication bus of the working machine and is arranged on the working machine;
when the operation machine is in a working mode of a remote control key or an unmanned control key, the anti-collision assembly is used for detecting the distance between an obstacle and the operation machine, and when the distance is smaller than a preset distance, the vehicle control unit controls the operation machine to stop running.
According to the unmanned control system for the working machine, the anti-collision assembly comprises a camera and a laser radar;
the camera is used for detecting obstacles, and the laser radar is used for detecting the distance between the obstacles and the operation machine.
According to an unmanned control system of a working machine provided by the invention, the executing assembly comprises: the hydraulic shovel comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit;
the oil pump motor execution unit, the steering execution unit, the braking execution unit, the walking motor execution unit and the shovel loading execution unit are all connected with a communication bus of the working machine;
the hydraulic system of the operation machine is used for pumping oil, the steering execution unit is used for controlling the operation machine to steer, the braking execution unit is used for controlling the operation machine to brake, the walking motor execution unit is used for controlling the walking of the operation machine, and the shoveling execution unit is used for controlling the lifting and the retraction of the bucket of the operation machine.
According to the unmanned control system of the working machine, the execution assembly further comprises a parking execution unit, and the electronic key panel further comprises an electronic parking key;
the parking execution unit and the electronic parking button are connected with a communication bus of the working machine;
when the vehicle control unit receives the selection signal of the electronic parking button, the vehicle control unit controls the parking execution unit to act.
According to an unmanned control system of a working machine provided by the invention, the control assembly comprises: a steering wheel, a brake pedal, an accelerator pedal and a handle;
the steering wheel is used for sending a steering signal to the vehicle control unit, the brake pedal is used for sending a brake signal to the vehicle control unit, the accelerator pedal is used for sending an accelerator signal to the vehicle control unit, and the handle is used for sending a bucket lifting signal and a retracting signal.
According to the unmanned control system of the working machine, the handle comprises a rocker switch and a key switch;
the rocker switch with key switch set up in the top of handle, the rocker switch with key switch is used for controlling operation machine's gear switches.
The unmanned control system for the working machine further comprises a power management module;
the power management module is connected with a communication bus of the working machine and used for controlling low-voltage electric equipment in the working machine.
The invention also provides a working machine comprising the unmanned control system for the working machine.
The invention provides an unmanned control system of a working machine and the working machine, the unmanned control system of the working machine comprises: the system comprises an electronic key panel, an execution assembly, an operation and control assembly, a data acquisition assembly and a vehicle control unit; the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the whole vehicle controller are all connected with a communication bus of the operation machine, the module integration level is high, the maintenance is convenient, and the system has no redundancy; the electronic key panel is used for selecting a working mode of the operation machine, the data acquisition assembly is used for generating a control instruction in the working mode, the vehicle control unit is used for controlling the operation assembly and the execution assembly to act based on the control instruction, the working mode comprises a manual mode, a remote control mode and an unmanned control mode, and after the working mode is selected through the electronic key panel, the vehicle control unit can control the operation assembly and the execution assembly to act automatically according to the control instruction of the data acquisition assembly, so that the automation level of the whole working process of the operation machine is effectively improved, and the unmanned control of the operation machine is realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a work machine unmanned control system according to the present disclosure;
fig. 2 is a schematic structural view of the handle provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
Example 1:
the present embodiment describes a work machine unmanned control system and a work machine according to the present invention with reference to fig. 1 to 2.
Fig. 1 is a schematic structural diagram of an unmanned control system for a working machine according to the present invention.
As shown in fig. 1, an unmanned control system for a working machine according to an embodiment of the present invention includes: the system comprises an electronic key panel, an execution assembly, a control assembly, a data acquisition assembly, an anti-collision assembly, a power management module and a vehicle control unit; the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the vehicle control unit are all connected with a communication bus of the operation machine; the electronic key panel is used for selecting a working mode of the working machine, the data acquisition assembly is used for generating a Control instruction in the working mode, the Vehicle Control Unit (VCU) is used for controlling the operation assembly and the execution assembly to act based on the Control instruction, and the working mode comprises a manual mode, a remote Control mode and an unmanned Control mode.
In one particular implementation, the work machine is illustrated as a power loader, which may employ different control schemes.
The working process is that an operator can select the working mode of the electric loader through the electronic key panel according to working requirements, and the switching of the working mode can only be manually operated on the electronic key panel in consideration of safety and standby energy consumption.
The key selection signal of the electronic key panel is grouped into a frame of data to be transmitted to the vehicle controller through the communication bus (i.e. the CAN _ a bus in fig. 1) at a fixed period. And then the vehicle control unit controls the data acquisition assembly to generate a corresponding control instruction according to the selected working mode, and the vehicle control unit controls the execution assembly to act by using the control instruction. It should be noted that the functions of the vehicle control unit of the electric loader include the following:
1. the electric loader is driven and controlled, and the working state and the power output of the motor are reasonably controlled according to the working conditions such as the requirement of an operator, the state of a vehicle and the like, so that the driving working condition requirement is met. The method comprises the working conditions of acceleration, deceleration, constant speed, braking, retreating and the like.
2. And (3) braking energy feedback control, namely judging a braking mode according to information of a brake pedal and an accelerator pedal, vehicle running information and power battery state information, calculating braking torque distribution and recovering partial energy.
3. The energy of the whole vehicle is optimized, and the optimal energy utilization rate is obtained and the use is prolonged by coordinating and managing a motor driving system, a battery management system, a transmission system and other vehicle-mounted energy consumption parts of the electric vehicle.
4. Fault diagnosis and protection, fault diagnosis, corresponding safety protection processing, and fault code storage and callback.
5. Network management, organization information transmission, network state monitoring, network node management and the like.
6. And monitoring the vehicle state, namely sending the state information and the fault diagnosis information of each jurisdiction object to a bus, and displaying the state information and the fault diagnosis information by the vehicle control unit through an integrated digital instrument.
In the embodiment, the electronic key panel comprises a manual mode key, a remote control key and an unmanned control key, and the data acquisition assembly comprises a remote controller and a sensor group; the manual mode key, the remote control key and the unmanned control key are all connected with a communication bus of the operation machine; when the vehicle control unit receives a selection signal of the manual mode key, the vehicle control unit controls the action of the execution assembly according to an operation instruction of the control assembly; when the vehicle control unit receives a selection signal of a remote control key, the vehicle control unit receives a control instruction of a remote controller and controls an execution assembly to act through the control instruction; when the vehicle control unit receives a selection signal of the unmanned control key, the vehicle control unit receives environmental data collected by the sensor group and generates a control instruction through the environmental data to control the action of the execution assembly.
Specifically, different working modes can be selected through the electronic key panel, and an operator can select the corresponding working mode according to actual needs.
When the operator selects the manual mode, the electric loader enters the manual mode, namely, the operator controls the electric loader through the control assembly. An operator sends a control command generated by control to the vehicle control unit through the control assembly, and the vehicle control unit controls the corresponding execution assembly to act according to the control command, so that manual mode control is achieved. The manual mode is that the operator controls the electric loader by himself, and operations including starting and stopping, accelerating, loading and the like are all completed through manual control.
When the operator selects the remote control key on the electronic key panel, the electric loader is in a remote control mode, and the vehicle control unit does not respond to various signals output by control assemblies such as a steering wheel, a brake pedal, an accelerator pedal and a handle. The remote control sending end and the remote control receiving end communicate through LoRa wireless communication, the name of LoRa is Long Range Radio (Long Range Radio), the biggest characteristic is that the distance of propagation is farther than that of other wireless modes under the same power consumption condition, the unification of low power consumption and Long Range is realized, the distance of the remote control sending end and the remote control receiving end is enlarged by 3-5 times than that of the traditional wireless Radio frequency communication under the same power consumption condition, in the embodiment, a LoRa wireless module can adopt an LLCC68 chip design, the LLCC68 adopts an advanced LoRa modulation technology, and the anti-interference performance and the communication distance of the remote control sending end and the remote control receiving end far exceed the products of the traditional FSK and GFSK modulation modes. The module has the characteristics of small volume, low power consumption, long transmission distance, strong anti-interference capability and the like, and can be widely applied to various wireless communication fields.
The remote control sending end is provided with controls such as keys, when a user triggers the keys, key signals are captured by a processor inside the remote control sending end and are packaged into a frame of control instruction, and the frame of control instruction is transmitted out through the LoRa wireless module; after receiving the LoRa wireless data, the remote control receiving end analyzes a control instruction, and transmits the control instruction to the vehicle control unit through a communication bus (namely, a CAN _ B bus in fig. 1), and the vehicle control unit controls a corresponding execution element to execute a corresponding action according to the control instruction. The wireless communication mode may be other communication modes, for example, network communication adopts a 4G or 5G communication module to realize transmission of remote control data.
When the operator selects the unmanned control key on the electronic key panel, the electric loader is in an unmanned control mode, and the vehicle control unit does not respond to various signals output by the steering wheel, the brake pedal, the accelerator pedal, the handle and other control assemblies. At the moment, the vehicle control unit receives environment data collected by the sensor group, including various different state data of the electric loader, generates a corresponding control strategy based on algorithm data and transmits the control strategy to the vehicle control unit through a communication bus (namely a CAN _ B bus in figure 1), and the vehicle control unit transmits the control strategy to each execution system through a CAN _ A bus to execute corresponding actions, so that the work in an unmanned automatic control mode is completed.
The intelligent domain device in fig. 1 includes a sensor group and a processor, the processor is arranged to reduce data processing pressure of the vehicle controller, the processors of the remote control receiving end and the remote control transmitting end are also used to reduce data processing pressure of the vehicle controller, and the matrix keys of the remote control transmitting end are operation keys of different control instructions. Through three different operating modes, different working environments can be adapted to, and in a conventional working environment, an operator can select a conventional manual mode to perform manual control on the electric loader. Under a special working environment, an operator can select a remote control mode or an unmanned control mode, and in the remote control mode, the operator controls different actions of the electric loader through different operation instructions of the remote control key by the remote control key. In the unmanned control mode, the electric loader reads different environmental data and vehicle data through various vehicle-mounted sensors, and then the vehicle control unit generates corresponding control logic after analyzing and processing the data, so that the unmanned control of the electric loader is realized. Because the electric loader executes different working modes under different control modes, the electric loader can adapt to different working environments and meet different working requirements of users.
Further, the execution component in this embodiment specifically includes: the hydraulic shovel comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit; the oil pump motor execution unit, the steering execution unit, the braking execution unit, the walking motor execution unit and the shovel loading execution unit are all connected with a communication bus of the working machine; the hydraulic system of the operation machine comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit, wherein the oil pump motor execution unit is used for pumping oil for the hydraulic system of the operation machine, the steering execution unit is used for controlling the steering of the operation machine, the braking execution unit is used for controlling the braking of the operation machine, the walking motor execution unit is used for controlling the walking of the operation machine, and the shovel loading execution unit is used for controlling the lifting and the retraction of a bucket of the operation machine.
Specifically, after receiving the control command, the vehicle control unit controls the execution component to perform a corresponding action no matter the control command is generated by control in a manual mode, the control command is sent by a remote controller, or the control command is generated by automatic detection of data by a vehicle-mounted sensor of the electric loader. At this time, the execution units in the corresponding execution modules are controlled to perform corresponding actions according to specific control instructions.
For example, if the control command is to control the operation of the hydraulic system, the corresponding oil pump motor actuator operates to pump oil to the hydraulic system. And if the control command is a steering command, the corresponding steering execution unit acts to realize the steering of the electric loader. And if the control command is a braking command, the corresponding braking execution unit acts to realize the braking of the electric loader. And if the control command is a walking command, the corresponding walking motor execution unit acts to control the electric loader to move forwards or backwards. And if the control command is a bucket loading command, the corresponding shovel execution unit acts to control the electric loader to complete a loading task and the like. Different control instructions correspond to different execution units, so that the effective control of the electric loader can be realized more accurately, and the remote or unmanned control safety of the electric loader is improved.
The execution assembly in the embodiment further comprises a parking execution unit, and the electronic key panel further comprises an electronic parking key; the parking execution unit and the electronic parking button are connected with a communication bus of the operation machine; when the vehicle control unit receives a selection signal of the electronic parking button, the vehicle control unit controls the parking execution unit to act.
Specifically, after a user presses the electronic parking button, the parking execution unit corresponding to the electric loader controls the electric loader to enter a parking mode, the electric loader stops running, and each execution element stops working, so that safe running and safe operation of the electric loader are guaranteed.
The control assembly in this embodiment includes: a steering wheel, a brake pedal, an accelerator pedal and a handle; the steering wheel is used for sending a steering signal to the vehicle control unit, the brake pedal is used for sending a brake signal to the vehicle control unit, the accelerator pedal is used for sending an accelerator signal to the vehicle control unit, and the handle is used for sending a bucket lifting signal and a retracting signal. Wherein, the handle comprises a rocker switch and a key switch; the rocker switch and the key switch are arranged at the top end of the handle and used for controlling gear switching of the operation machine.
Specifically, the control assembly is mainly effective in a manual mode, the work flow of each component is that the steering wheel transmits angle information to the vehicle control unit through a communication bus (namely a CAN _ A bus), and the vehicle control unit transmits a steering strategy to the steering execution unit through the CAN _ A bus to realize steering; the brake pedal transmits the opening degree information to the vehicle control unit through a CAN _ A bus, and the vehicle control unit transmits a braking strategy and an energy recovery strategy to the braking execution unit through the CAN _ A bus to realize braking; the accelerator pedal transmits the opening information to the vehicle control unit through the CAN _ A bus, and the vehicle control unit formulates a walking strategy and transmits the walking strategy to the walking motor execution system by combining the gear information to control the advancing of the electric loader. The handle transmits the direction and the opening information of the operating lever to the vehicle control unit through the CAN _ A bus, and the vehicle control unit transmits strategies of the movable arm and the bucket to the shovel loading execution unit through the CAN _ A bus, so that the lifting of the movable arm, the retraction and release of the bucket and the like are realized.
Fig. 2 is a schematic structural diagram of the handle provided by the present invention, and as shown in fig. 2, the handle can move in four directions, namely, forward, backward, left, and right directions, and meanwhile, a rocker switch and a key switch are arranged at the top of the handle, so that an operator can switch gears through the rocker switch and the key switch, and a shovel-loading execution unit can realize the lifting of a movable arm, the retraction of a bucket, and the like according to the opening degree of a control lever.
The anti-collision assembly in the embodiment is connected with a communication bus of the operation machine, and is arranged on the operation machine; when the operating machine is in a working mode of a remote control key or an unmanned control key, the anti-collision assembly is used for detecting the distance between the obstacle and the operating machine, and when the distance is smaller than a preset distance, the vehicle control unit controls the operating machine to stop running. The anti-collision assembly comprises a camera and a laser radar; the camera is used for detecting the barrier, and the laser radar is used for detecting the distance between the barrier and the operation machine.
Specifically, when the electric loader works in a remote control mode or an unmanned control mode, due to a certain delay of a control signal, especially in the remote control mode, a live video picture is generally required to be transmitted in real time so that a remote operation end can make a correct operation. Taking the speed per hour of the electric loader as 40km and the time delay as 100ms as an example, before the control instruction of the remote control end is received by the electric loader, the electric loader moves by about 1 meter, which inevitably brings about great potential safety hazard. The anti-collision assembly can timely perform safety detection, the specific detection mode is that the barrier is detected through the camera, then the distance value between the barrier and the electric operation machine is detected through the laser radar, and the working safety of the electric operation machine can be effectively ensured by detecting the distance between the barrier and the electric loader, the surrounding environment and other data in real time. Establish initiative anticollision early warning mechanism through crashproof subassembly, can realize carrying out safety protection to operation machinery and new people etc. under the complicated operating mode of various differences, for example, when detecting that the distance of electric loader apart from pedestrian or other barriers is less than when predetermineeing the distance, just control electric loader stop work this moment to guarantee electric loader and pedestrian's safety.
The power management module in this embodiment is connected to a communication bus of the work machine, and the power management module is used to control low-voltage electric devices in the work machine.
Specifically, the voltage management module mainly manages low-voltage electric equipment including a steering lamp, a high beam and a low beam, and the power management module executes corresponding actions after receiving related control instructions of the vehicle control unit, so that the problems of power supply and the like in the electric loader are solved.
Example 2:
this embodiment provides a comparatively basic implementation, and a work machine unmanned control system includes: the system comprises an electronic key panel, an execution assembly, an operation and control assembly, a data acquisition assembly and a vehicle control unit; the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the vehicle control unit are all connected with a communication bus of the operation machine, the module integration level is high, the maintenance is convenient, and the system has no redundancy; the electronic key panel is used for selecting a working mode of the operation machine, the data acquisition assembly is used for generating a control command in the working mode, the vehicle control unit is used for controlling the operation assembly and the execution assembly to act based on the control command, and after the working mode is selected through the electronic key panel, the vehicle control unit can automatically control the operation assembly and the execution assembly to act according to the control command of the data acquisition assembly, so that the automation level of the whole working process of the operation machine is effectively improved, and the unmanned control of the operation machine is realized.
Example 3:
the main structure of this embodiment is the same as that of embodiment 2, and further, on the basis of embodiment 2, the unmanned control system for working machines in this embodiment further includes an anti-collision component; the anti-collision assembly is connected with a communication bus of the operation machine and arranged on the operation machine; when the operating machine is in the operating mode of remote control button or unmanned control button, anticollision subassembly is used for detecting the barrier and is apart from the operating machine, and when the distance was less than the default distance, vehicle control unit control operating machine stopped the operation. The anti-collision assembly comprises a camera and a laser radar; the camera is used for detecting the barrier, and the laser radar is used for detecting the distance between the barrier and the operation machine.
Specifically, when the electric loader works in a remote control mode or an unmanned control mode, due to a certain delay of a control signal, especially in the remote control mode, a live video picture is generally required to be transmitted in real time so that a remote operation end can make a correct operation. Taking the speed per hour of the electric loader as 40km and the time delay of 100ms as examples, before the control command of the remote control end is received by the electric loader, the electric loader moves by about 1 meter, which inevitably brings great potential safety hazards. The anti-collision assembly can timely perform safety detection, the specific detection mode is that the barrier is detected through the camera, then the distance value between the barrier and the electric operation machine is detected through the laser radar, and the working safety of the electric operation machine can be effectively ensured by detecting the distance between the barrier and the electric loader, the surrounding environment and other data in real time. Establish initiative anticollision early warning mechanism through crashproof subassembly, can realize carrying out safety protection to operation machinery and new people etc. under the complicated operating mode of various differences, for example, when detecting that the distance of electric loader apart from pedestrian or other barriers is less than when predetermineeing the distance, just control electric loader stop work this moment to guarantee electric loader and pedestrian's safety.
Example 4: the main structure of this embodiment is the same as embodiment 2, and further, on the basis of embodiment 2, as shown in fig. 1, the execution component in this embodiment includes: the hydraulic shovel comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit; the oil pump motor execution unit, the steering execution unit, the braking execution unit, the walking motor execution unit and the shovel loading execution unit are all connected with a communication bus of the working machine; the hydraulic system of the operation machine comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit, wherein the oil pump motor execution unit is used for pumping oil for the hydraulic system of the operation machine, the steering execution unit is used for controlling the steering of the operation machine, the braking execution unit is used for controlling the braking of the operation machine, the walking motor execution unit is used for controlling the walking of the operation machine, and the shovel loading execution unit is used for controlling the lifting and the retraction of a bucket of the operation machine.
Specifically, after receiving the control instruction, the vehicle control unit controls the execution component to perform a corresponding action no matter the control instruction is generated by control in a manual mode, the control instruction is sent by a remote controller, or the control instruction is generated after automatic detection of data by a vehicle-mounted sensor of the electric loader and the like. At this time, the execution units in the corresponding execution modules are controlled to perform corresponding actions according to specific control instructions.
For example, if the control command is to control the operation of the hydraulic system, the corresponding oil pump motor actuator operates to pump oil to the hydraulic system. And if the control command is a steering command, the corresponding steering execution unit acts to realize the steering of the electric loader. And if the control command is a braking command, the corresponding braking execution unit acts to realize the braking of the electric loader. And if the control command is a walking command, the corresponding walking motor execution unit acts to control the electric loader to move forwards or backwards. And if the control command is a bucket loading command, the corresponding shovel execution unit acts to control the electric loader to complete a loading task and the like. Different control commands correspond to different execution units, so that the effective control of the electric loader can be realized more accurately, and the remote or unmanned control safety of the electric loader is improved.
Example 5:
the main structure of this embodiment is the same as that of embodiment 4, and further, on the basis of the above embodiment, the execution assembly in this embodiment further includes a parking execution unit, and the electronic key panel further includes an electronic parking key; the parking execution unit and the electronic parking button are connected with a communication bus of the working machine; when the vehicle control unit receives a selection signal of the electronic parking button, the vehicle control unit controls the parking execution unit to act.
Specifically, after a user presses the electronic parking button, the parking execution unit corresponding to the electric loader controls the electric loader to enter a parking mode, the electric loader stops running, and each execution element stops working, so that safe running and safe operation of the electric loader are guaranteed.
Example 6:
the main structure of this embodiment is the same as embodiment 2, and further, on the basis of the above embodiment, as shown in fig. 1, the control assembly in this embodiment includes: a steering wheel, a brake pedal, an accelerator pedal and a handle; the steering wheel is used for sending a steering signal to the vehicle control unit, the brake pedal is used for sending a brake signal to the vehicle control unit, the accelerator pedal is used for sending an accelerator signal to the vehicle control unit, and the handle is used for sending a bucket lifting signal and a retraction signal. Wherein, the handle comprises a rocker switch and a key switch; the rocker switch and the key switch are arranged at the top end of the handle and used for controlling gear switching of the operation machine.
Specifically, the control assembly is mainly effective in a manual mode, the work flow of each component is that the steering wheel transmits angle information to the vehicle control unit through a communication bus (namely a CAN _ A bus), and the vehicle control unit transmits a steering strategy to the steering execution unit through the CAN _ A bus to realize steering; the brake pedal transmits the opening degree information to the vehicle control unit through the CAN _ A bus, and the vehicle control unit transmits a braking strategy and an energy recovery strategy to the braking execution unit through the CAN _ A bus to realize braking; the accelerator pedal transmits the opening information to the vehicle control unit through the CAN _ A bus, and the vehicle control unit formulates a walking strategy and transmits the walking strategy to the walking motor execution system by combining with gear information to control the advancing of the electric loader. The handle transmits the direction and the opening information of the operating lever to the vehicle control unit through the CAN _ A bus, and the vehicle control unit transmits strategies of the movable arm and the bucket to the shovel loading execution unit through the CAN _ A bus, so that the lifting of the movable arm, the retraction and release of the bucket and the like are realized.
Fig. 2 is a schematic structural diagram of the handle provided by the present invention, and as shown in fig. 2, the handle can move in four directions, namely, forward, backward, left, and right directions, and meanwhile, a rocker switch and a key switch are arranged at the top of the handle, so that an operator can switch gears through the rocker switch and the key switch, and a shovel-loading execution unit can realize the lifting of a movable arm, the retraction of a bucket, and the like according to the opening degree of a control lever.
Example 7:
the main structure of this embodiment is the same as that of embodiment 2, and further, on the basis of the above embodiment, as shown in fig. 1, this embodiment further includes a power management module; the power management module is connected with a communication bus of the operation machine and is used for controlling low-voltage electric equipment in the operation machine.
Specifically, the voltage management module mainly manages low-voltage electric equipment including a steering lamp, a far-and-near light and the like, and the power management module executes corresponding actions after receiving related control instructions of the vehicle control unit, so that the problems of power supply and the like in the electric loader are solved.
Example 8:
based on the same general inventive concept, the present invention also protects a working machine comprising the unmanned control system for a working machine according to any of the above embodiments, the working machine comprising an electric loader or the like.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on the understanding, the above technical solutions substantially or otherwise contributing to the prior art may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An unmanned control system for a work machine, comprising: the system comprises an electronic key panel, an execution assembly, a control assembly, a data acquisition assembly and a vehicle control unit;
the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the whole vehicle controller are all connected with a communication bus of the working machine;
the electronic key panel is used for selecting a working mode of the working machine, the data acquisition assembly is used for generating a control instruction in the working mode, the vehicle control unit is used for controlling the operation assembly and the execution assembly to act based on the control instruction, and the working mode comprises a manual mode, a remote control mode and an unmanned control mode.
2. The work machine unmanned control system of claim 1, wherein the electronic key panel comprises manual mode keys, remote control keys, and unmanned control keys, and the data acquisition assembly comprises a remote control and a sensor set;
the manual mode key, the remote control key and the unmanned control key are all connected with a communication bus of the operation machine;
when the vehicle control unit receives a selection signal of the manual mode button, the vehicle control unit controls the execution assembly to act according to an operation instruction of the control assembly;
when the vehicle control unit receives a selection signal of the remote control key, the vehicle control unit receives a control instruction of the remote controller and controls the action of the execution assembly through the control instruction;
when the vehicle control unit receives a selection signal of the unmanned control key, the vehicle control unit receives environmental data collected by the sensor group and generates a control instruction through the environmental data to control the action of the execution assembly.
3. The work machine unmanned control system of claim 2, further comprising an anti-collision assembly;
the anti-collision assembly is connected with a communication bus of the operation machine and arranged on the operation machine;
when the operation machine is in a working mode of a remote control key or an unmanned control key, the anti-collision assembly is used for detecting the distance between an obstacle and the operation machine, and when the distance is smaller than a preset distance, the vehicle control unit controls the operation machine to stop running.
4. The work machine unmanned control system of claim 3, wherein the collision avoidance assembly comprises a camera and a lidar;
the camera is used for detecting obstacles, and the laser radar is used for detecting the distance between the obstacles and the operation machine.
5. The work machine unmanned control system of claim 1, wherein the implement assembly comprises: the hydraulic shovel comprises an oil pump motor execution unit, a steering execution unit, a braking execution unit, a walking motor execution unit and a shovel loading execution unit;
the oil pump motor execution unit, the steering execution unit, the braking execution unit, the walking motor execution unit and the shoveling execution unit are all connected with a communication bus of the working machine;
the hydraulic system of the operation machine is used for pumping oil, the steering execution unit is used for controlling the operation machine to steer, the braking execution unit is used for controlling the operation machine to brake, the walking motor execution unit is used for controlling the walking of the operation machine, and the shoveling execution unit is used for controlling the lifting and the retraction of the bucket of the operation machine.
6. The work machine unmanned control system of claim 5, wherein the actuation assembly further comprises a park actuation unit, the electronic button panel further comprises an electronic park button;
the parking execution unit and the electronic parking key are connected with a communication bus of the working machine;
when the vehicle control unit receives the selection signal of the electronic parking button, the vehicle control unit controls the parking execution unit to act.
7. The work machine unmanned control system of claim 1, wherein the steering assembly comprises: a steering wheel, a brake pedal, an accelerator pedal and a handle;
the steering wheel is used for sending a steering signal to the vehicle control unit, the brake pedal is used for sending a braking signal to the vehicle control unit, the accelerator pedal is used for sending an accelerator signal to the vehicle control unit, and the handle is used for sending a bucket lifting signal and a retracting signal.
8. The work machine unmanned control system of claim 7, wherein the handle comprises a rocker switch and a push button switch;
the rocker switch with key switch set up in the top of handle, the rocker switch with key switch is used for controlling operation machine's gear switches.
9. The work machine unmanned control system of any of claims 1-8, further comprising a power management module;
the power management module is connected with a communication bus of the working machine and used for controlling low-voltage electric equipment in the working machine.
10. A work machine, characterized in that the work machine comprises a work machine unmanned control system according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211154169.3A CN115356969A (en) | 2022-09-21 | 2022-09-21 | Unmanned control system for working machine and working machine |
| PCT/CN2022/142814 WO2024060456A1 (en) | 2022-09-21 | 2022-12-28 | Unmanned control system of operation machine, and operation machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211154169.3A CN115356969A (en) | 2022-09-21 | 2022-09-21 | Unmanned control system for working machine and working machine |
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| CN115356969A true CN115356969A (en) | 2022-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211154169.3A Pending CN115356969A (en) | 2022-09-21 | 2022-09-21 | Unmanned control system for working machine and working machine |
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| Country | Link |
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| CN (1) | CN115356969A (en) |
| WO (1) | WO2024060456A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060456A1 (en) * | 2022-09-21 | 2024-03-28 | 三一重机有限公司 | Unmanned control system of operation machine, and operation machine |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016143174A1 (en) * | 2015-03-11 | 2016-09-15 | 株式会社クボタ | Work vehicle and travel control device for automatic travel of work vehicle |
| CN108797669B (en) * | 2018-06-20 | 2020-12-22 | 清华大学 | Autonomous 3D excavating construction robot |
| CN211293747U (en) * | 2019-09-16 | 2020-08-18 | 沈阳航空航天大学 | Autonomous operation control system of PZ60DT of well-closing rice transplanter |
| CN111576541A (en) * | 2020-06-10 | 2020-08-25 | 徐工集团工程机械有限公司 | Engineering machinery autonomous control system and method based on 5G network |
| CN114592559A (en) * | 2020-12-04 | 2022-06-07 | 长安大学 | Remote automatic control system of hydraulic excavator in special environment |
| CN115356969A (en) * | 2022-09-21 | 2022-11-18 | 三一重机有限公司 | Unmanned control system for working machine and working machine |
-
2022
- 2022-09-21 CN CN202211154169.3A patent/CN115356969A/en active Pending
- 2022-12-28 WO PCT/CN2022/142814 patent/WO2024060456A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024060456A1 (en) * | 2022-09-21 | 2024-03-28 | 三一重机有限公司 | Unmanned control system of operation machine, and operation machine |
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| WO2024060456A1 (en) | 2024-03-28 |
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