CN211427114U

CN211427114U - Remote control driving control device applied to front and back double-steering container truck

Info

Publication number: CN211427114U
Application number: CN202020223952.0U
Authority: CN
Inventors: 营健; 韩焕杰; 陈伟; 粱辉
Original assignee: Sinotruk Jinan Power Co Ltd
Current assignee: Sinotruk Jinan Power Co Ltd
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-09-04
Anticipated expiration: 2030-02-27

Abstract

The utility model discloses a remote control driving control device applied to a front and back double-steering container truck, a controller of the remote control driving control device comprises a shell, and a Beidou positioning module, a CAN bus, a NXP vehicle gauge controller and a 433MHz wireless transceiver which are arranged in the shell, wherein the Beidou positioning module is connected with the NXP vehicle gauge controller, an antenna of the Beidou positioning module is arranged on the shell, and the NXP vehicle gauge controller is respectively connected with a vehicle power system, a front axle steering direction controller, a rear axle steering direction controller and the 433MHz wireless transceiver through the CAN bus; the 433M wireless transmission remote controller comprises a remote controller shell and a 433M wireless transceiver module which is arranged in the remote controller shell and is communicated with the 433MHz wireless transceiver, wherein an indicator lamp, an emergency stop switch and a key which are respectively and electrically connected with the 433M wireless transceiver module are arranged on the remote controller shell. The control of the front steering gear and the rear steering gear is realized, and the vehicle is ensured to run in a safe range.

Description

Remote control driving control device applied to front and back double-steering container truck

Technical Field

The utility model relates to a be applied to remote control of front and back double-steering container truck and drive controlling means belongs to autopilot technical field.

Background

The related technology of remote control driving is widely applied, and not only can replace a driver to complete some operations in dangerous occasions, but also can meet practical requirements of over-the-horizon driving and labor intensity reduction. Particularly, under certain specific working conditions, such as remote control driving of mine cars and port cars is more strongly required, for example, a large number of mine cars of the company must be remotely driven, and operators far beyond thousands of kilometers can remotely control a huge truck operating in a mining area to complete various operations, so that the labor efficiency is greatly improved, and the working fatigue strength is reduced.

With the improvement of the intelligent and unmanned level of the port, the large-scale collection truck can realize remote control driving to meet the driving requirements under some special scenes, and the interest in the industry is more and more brought up, but the large-scale container in the port needs the large-scale collection truck to carry. The trucks have the characteristics of the structure, most typically adopt a special structure of eight axles and front and rear double-axle steering, the special structure requires that a controller for remote control driving has the capability of simultaneously controlling front and rear double-hydraulic steering gears, and the existing remote control driving scheme is a control scheme aiming at the conventional single steering gear and cannot meet the requirement in the aspect.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a be applied to the remote control of front and back double-steering container truck and drive controlling means can realize the control to two direction machines in the front and back, ensures that controlled vehicle moves at safe within range.

The utility model provides a technical scheme that its technical problem adopted is:

the embodiment of the utility model provides a be applied to remote control driving controlling means of two container truck that turn around, including controller and 433M wireless transmission remote controller, the controller includes the casing and installs big dipper orientation module, CAN bus, NXP car rule level controller and 433MHz wireless transceiver in the casing, big dipper orientation module is connected with NXP car rule level controller, and big dipper orientation module's antenna sets up on the casing, NXP car rule level controller is connected with vehicle driving system, front axle steering direction machine controller and rear axle steering direction machine controller respectively through the CAN bus, 433MHz wireless transceiver is connected with NXP car rule level controller through the CAN bus;

the 433M wireless transmission remote controller includes remote controller casing and 433M wireless transceiver module, 433M wireless transceiver module sets up in the remote controller casing and communicates with 433MHz wireless transceiver through 433M wireless network, be provided with pilot lamp, scram switch and button on the remote controller casing, pilot lamp, scram switch and button be connected with 433M wireless transceiver module electricity respectively.

As a possible implementation manner of this embodiment, the casing is a fully-enclosed waterproof dustproof aluminum alloy casing.

As a possible implementation manner of this embodiment, the housing is provided with two fixing plates and two harness sockets, the two fixing plates are respectively disposed on two side surfaces of the housing, the harness sockets are disposed at the bottom of the housing, and the harness sockets are internally provided with CAN bus cables.

As a possible implementation manner of this embodiment, the NXP vehicle-scale controller includes an MPC5634M control chip.

As a possible implementation manner of this embodiment, the NXP vehicle-scale controller includes a master MPC 5639 5634M control chip and a slave MPC 5633 5634M control chip, and the master MPC5634M control chip and the slave MPC5634M control chip are cascaded through an SPI bus.

As a possible implementation manner of this embodiment, the master MPC5634M is connected to the front axle steering direction controller and the rear axle steering direction controller through the CAN bus respectively; the auxiliary MPC5634M control chip is connected with the vehicle power system and the 433MHz wireless transceiver respectively through the CAN bus.

The utility model discloses technical scheme beneficial effect that can have as follows:

the utility model discloses compare in the scheme in the past can realize safely, reliably the control function of container truck under the harbour operational environment.

The utility model discloses a reliable wireless network receives the control command of remote controller, realizes advancing, turning to and the control action of braking to the collection truck that has special construction.

The utility model discloses can realize traveling along fixed route in the specific area with the help of the beidou system of high accuracy, possess certain autopilot's function.

The utility model discloses a control system rack that controller CAN direct mount to vehicle is driven in remote control, through the driving system of multichannel CAN bus connection to vehicle, front axle steering direction machine controller, rear axle steering direction machine controller, CAN receive the control action that the remote controller sent out and come, the conversion is to the control of vehicle, the running state of feedback vehicle, thereby constitute a complete remote control driving control system, realized the control to two front and back traversing motors, ensured that controlled vehicle moves at safe within range.

Description of the drawings:

FIG. 1 is a block diagram illustrating a remote steering control for a front-to-back dual steer container truck according to an exemplary embodiment;

FIG. 2 is a block diagram of a controller according to an exemplary embodiment;

fig. 3 is a block diagram illustrating a 433M wireless transmission remote controller according to an exemplary embodiment.

Detailed Description

The invention will be further explained with reference to the following embodiments and drawings:

in order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments in combination with the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. In order to simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily limit the invention.

As shown in fig. 1 to 3, the embodiment of the utility model provides a be applied to remote control driving controlling means of two steering container trucks around being used, including controller 1 and 433M wireless transmission remote controller 2, controller 1 includes casing 11 and installs big dipper orientation module, CAN bus, NXP car rule controller 12 and 433MHz wireless transceiver 13 in the casing, big dipper orientation module is connected with NXP car rule controller, and big dipper orientation module's antenna 14 sets up on the casing, NXP car rule controller 12 is connected with vehicle driving system 3, front axle steering direction controller 4 and rear axle steering direction controller 5 respectively through the CAN bus, 433MHz wireless transceiver 2 is connected with NXP car rule controller 12 through the CAN bus;

the 433M wireless transmission remote controller 2 includes remote controller casing 21 and 433M wireless transceiver module, 433M wireless transceiver module sets up in the remote controller casing and communicates with 433MHz wireless transceiver through 433M wireless network, be provided with pilot lamp 22, scram switch 23 and button 24 on the remote controller casing 21, pilot lamp 22, scram switch 23 and button 24 be connected with 433M wireless transceiver module electricity respectively.

As a possible implementation manner of this embodiment, the casing is a fully-enclosed waterproof dustproof aluminum alloy casing. The shell adopts a fully-closed waterproof and dustproof design, is made of aluminum alloy, and meets the protection grade of IP 65.

As a possible implementation manner of this embodiment, the housing 11 is provided with two fixing plates 15 and two harness sockets 16, the two fixing plates 15 are respectively disposed on two side surfaces of the housing 11, the harness sockets 16 are disposed at the bottom of the housing, and the CAN bus cable is disposed in the harness sockets. The fixing plate is provided with a bolt hole mounting position, so that the fixing plate can be conveniently fixed on the corresponding position of the cabinet by using bolts during mounting.

As a possible implementation manner of this embodiment, the NXP vehicle-scale controller includes a master MPC 5639 5634M control chip and a slave MPC 5633 5634M control chip, and the master MPC5634M control chip and the slave MPC5634M control chip are cascaded through an SPI bus. The vehicle gauge control chip MPC5634 of the NXP can work in a severe temperature and electromagnetic environment, and ensures that the system can work reliably on a port operation site.

As a possible implementation manner of this embodiment, the master MPC5634M is connected to the front axle steering direction controller and the rear axle steering direction controller through the CAN bus respectively; the auxiliary MPC5634M control chip is connected with the vehicle power system and the 433MHz wireless transceiver respectively through the CAN bus. The remote control driving controller is internally integrated with 4 paths of CAN buses, supports a CANopen protocol, is respectively used for acquiring vehicle operation data and connecting front axle steering, rear axle steering and 433MHz wireless transceivers.

The utility model discloses inside through CAN bus connection 433M wireless transmission remote controller at the controller, realize and hand the interaction between the operator of remote controller. The remote control signal transceiver adopts an industrial-grade 433MHz wireless network, supports a Lora mode, and can realize reliable communication within a range of 1 kilometer.

The utility model discloses integrated high accuracy ublox's high accuracy beidou system orientation module of high accuracy possesses 10Hz data update frequency, can realize the meter level location, has effectively ensured the collection truck and has gone the purpose according to specific orbit in the regional scope of injecing; the high-precision Beidou system has the advantages that the function of the high-precision Beidou system is added on the basis of the prior art, the area and the running track of the electronic fence can be preset, the controller can control the vehicle according to the preset area and the running track, the controlled vehicle can be ensured to run in a safe range, and the automatic braking can be realized when the controlled vehicle exceeds the range.

The remote control driving controller aims at the problems that the existing remote control driving controller of a truck can only control a single-axle truck and cannot meet the control requirement of a port truck and a big dipper system is lack to ensure that the truck is always operated in a safe operation area. The utility model aims at providing a controller is driven in remote control of large-scale collection truck design for harbour, especially can realize realizing controlling two direction machines around to increased the beidou system module of high accuracy, make collection truck can only move in specific fence along specific orbit, the part of main control is except around the bi-directional machine, transaxle motor controller in addition, electronic braking system etc. also can control the car light of collection truck, conventional parts such as loudspeaker simultaneously.

In order to illustrate the working principle of the solution according to the present invention, the following will be combined with this embodiment of the port truck and the accompanying drawings to illustrate the present invention further:

as can be seen from figure 1, the utility model discloses applied a MPC 5633 5634M Main Control Unit (MCU) based on POWERPC kernel, dominant frequency is 80MHz, has 1 Mb's procedure Flash memory to abundant peripheral hardware such as abundant GPIO, SPI, UART, I2C and FLEXCAN have been integrated, provide perfect hardware resource support for constructing this application system. Because the MPC 5633 5634M of monolithic only supports 2 way CAN buses, and the utility model discloses need 4 way CAN buses, consequently arrange two-piece MPC 5636 on same board, cascaded the SPI bus of the two, two MPC 5633 5634M are as main chip and supplementary chip respectively, wherein main chip accomplish with the interaction of vehicle and remote controller, the supplementary chip is accomplished with the interaction of two front and back direction machines. The two MCUs interact through the SPI bus to form a whole system to complete the control function.

As can be seen from fig. 1 and 2, the big dipper module is added in the scheme, so that the position of the controlled collection truck can be confirmed in the operation process. This big dipper module further has improved the precision of location with the help of thousand seeking positioning system, can realize the meter level location. Under the support of high-precision positioning, the electronic fence function and the driving path planning function of the truck collection can be realized, so that the controlled truck collection can only drive according to a specific area within a specific range, and the truck collection stops immediately beyond the specified area, thereby greatly improving the safety of system operation. Meanwhile, the judgment of the positioning state is added to the control logic, the collection truck is controlled to run only under the condition of good positioning condition, and once the positioning data is lost, the running of the collection truck can be stopped immediately when the vehicle cannot confirm the position of the collection truck.

The remote controller described in fig. 3 is used by an operator to control a vehicle, and it can be seen in fig. 1 that the remote controller and the controller are connected through a 433MHz network, and communication between the remote controller and the controller supports frequency modulation communication to improve reliability. When the heartbeat packet is lost and exceeds a certain period, the receiver can immediately send abnormal information to the remote control driving controller, and a vehicle can immediately stop running under the control of the remote control driving controller, so that the collection truck is prevented from being out of control.

The remote control driving controller is respectively connected with the front steering axle and the rear steering axle through two CAN buses, and controls the steering of the vehicle in a mode of unequal rotation angles and opposite directions. The steering angle applied to the front steering axle and the rear steering axle is calculated according to the steering characteristic of the vehicle and a vehicle body dynamic equation, and the angle is continuously corrected in the steering process to form closed-loop control, so that the stable and reliable steering function of the vehicle is realized. The remote controller shown in fig. 3 is also provided with an automatic driving function, after an operator presses a button, under the condition that the vehicle is normal and well positioned, the automatic driving mode can be entered, the tracking driving is realized by means of the electronic fence and the path which are set previously, and the operator only needs to apply simple intervention, so that the operation difficulty is reduced, and the control workload is reduced in daily repetitive work. The emergency stop button on the remote controller can realize one-key emergency stop of the vehicle, so that the vehicle can be braked in time under dangerous conditions.

The foregoing is only a preferred embodiment of the present invention, and those skilled in the art can make several improvements and decorations without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.

Claims

1. A remote control driving control device applied to a front-rear double-steering container truck is characterized by comprising a controller and a 433M wireless transmission remote controller, wherein the controller comprises a shell, and a Beidou positioning module, a CAN bus, an NXP vehicle-specification controller and a 433MHz wireless transceiver which are arranged in the shell, the Beidou positioning module is connected with the NXP vehicle-specification controller, an antenna of the Beidou positioning module is arranged on the shell, the NXP vehicle-specification controller is respectively connected with a vehicle power system, a front axle steering direction machine controller and a rear axle steering direction machine controller through the CAN bus, and the 433MHz wireless transceiver is connected with the NXP vehicle-specification controller through the CAN bus;

2. The remote control driving control device applied to the front and rear double-steering container truck as claimed in claim 1, wherein the shell is a fully-enclosed waterproof dustproof aluminum alloy shell.

3. The remote control driving control device as claimed in claim 1, wherein the housing has two fixing plates and two harness sockets, the two fixing plates are respectively disposed on two sides of the housing, the harness sockets are disposed on the bottom of the housing, and the harness sockets are disposed with CAN bus cables.

4. The remote steering control device for the front and rear double steering container truck as claimed in any one of claims 1 to 3, wherein the NXP vehicle scale controller comprises an MPC 5638 5634M control chip.

5. The remote control driving control device as claimed in claim 4, wherein the NXP vehicle scale controller comprises a master MPC 5638 5634M control chip and a slave MPC 5633 5634M control chip, the master MPC 5633 5634M control chip and the slave MPC5634M control chip being cascaded via SPI bus.

6. The remote control driving control device applied to the front and rear double steering container truck as claimed in claim 5, wherein the master MPC5634M control chip is respectively connected with the front axle steering direction controller and the rear axle steering direction controller through CAN buses; the auxiliary MPC5634M control chip is connected with the vehicle power system and the 433MHz wireless transceiver respectively through the CAN bus.