WO2024060456A1

WO2024060456A1 - Unmanned control system of operation machine, and operation machine

Info

Publication number: WO2024060456A1
Application number: PCT/CN2022/142814
Authority: WO
Inventors: 蒋伟; 王发群; 沈忱
Original assignee: 三一重机有限公司
Priority date: 2022-09-21
Filing date: 2022-12-28
Publication date: 2024-03-28
Also published as: CN115356969A

Abstract

An unmanned control system of an operation machine and an operation machine, belonging to the technical field of operation mechanical control. The unmanned control system of the operation machine comprises: an electronic key panel, an execution assembly, a control assembly, a data acquisition assembly and a whole vehicle controller, the electronic key panel, the execution assembly, the control assembly, the data acquisition assembly and the whole vehicle controller being all connected to a communication bus of the operation machine. The electronic key panel is used for selecting a working mode for the operation machine. The data acquisition assembly is used for generating a control instruction in the working mode. The whole vehicle controller is used for controlling the execution assembly to act on the basis of the control instruction; and after selecting the working mode by means of the electronic key panel, the whole vehicle controller can automatically control the execution assembly to act according to the control instruction of the data acquisition assembly.

Description

Unmanned control system for operating machinery and operating machinery

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202211154169.3 and the invention title "Unmanned control system for working machinery and working machinery" submitted on September 21, 2022, which is fully incorporated herein by reference.

Technical field

The present application relates to the technical field of operating machinery control, and in particular to an unmanned control system for operating machinery and the operating machinery.

Background technique

Large operating machinery, such as loaders, operate in diverse environments. Especially for certain scenarios where the operation process is highly repetitive, the operation frequency is high, or the operating environment under certain high-risk working conditions, the requirements for operators are higher. With the development of multi-sensor fusion perception, automatic driving path planning, motion control and other technologies, loaders are also moving towards automatic control.

However, most of the current automatic controls are mostly targeted at an independent component or system, which is difficult to satisfy the unmanned control of the entire operating machinery.

Contents of the invention

This application provides an unmanned control system for working machinery and working machinery to solve the shortcomings in the existing technology of being unable to realize overall unmanned control of working machinery. Through electronic button panels, execution components, control components, data acquisition components and The cooperation of the vehicle controllers effectively realizes unmanned control of the overall workflow of the work machinery.

This application provides an unmanned control system for working machinery, including: an electronic button panel, an execution component, a control component, a data acquisition component and a vehicle controller;

The electronic key panel, the execution component, the control component, the data collection component and the vehicle controller are all connected to the communication bus of the working machine;

The electronic button panel is used to select the working mode of the working machine, the data collection component is used to generate control instructions in the working mode, and the vehicle controller is used to control the control component based on the control instructions. and the action of the execution component, and the working mode includes manual mode, remote control mode and unmanned control mode.

According to an unmanned control system for working machinery provided by this application, the electronic button panel includes a manual mode button, a remote control button and an unmanned control button, and the data collection component includes a remote controller and a sensor group;

The manual mode button, the remote control button and the unmanned control button are all connected to the communication bus of the working machine;

When the vehicle controller receives the selection signal of the manual mode button, the vehicle controller controls the action of the execution component according to the operating instructions of the control component;

When the vehicle controller receives the selection signal of the remote control button, the vehicle controller receives the control instruction of the remote remote control and controls the action of the execution component through the control instruction;

When the vehicle controller receives the selection signal of the unmanned control button, the vehicle controller receives the environmental data collected by the sensor group, and generates a control instruction through the environmental data to control the action of the execution component.

An unmanned control system for operating machinery provided according to this application also includes an anti-collision component;

The anti-collision component is connected to the communication bus of the working machine, and the anti-collision component is provided on the working machine;

When the working machine is in the working mode of remote control button or unmanned control button, the anti-collision component is used to detect the distance between the obstacle and the working machine. When the distance is less than the preset distance, the vehicle control The controller controls the working machinery to stop running.

According to an unmanned control system for working machinery provided by this application, the anti-collision component includes a camera and a laser radar;

The camera is used to detect obstacles, and the laser radar is used to detect the distance between the obstacle and the working machine.

According to an unmanned control system for working machinery provided by this application, the execution components include: an oil pump motor execution unit, a steering execution unit, a brake execution unit, a traveling motor execution unit and a shovel execution unit;

The oil pump motor execution unit, steering execution unit, brake execution unit, traveling motor execution unit and shovel execution unit are all connected to the communication bus of the working machine;

The oil pump motor execution unit is used to pump oil for the hydraulic system of the working machine, the steering execution unit is used to control the steering of the working machine, and the brake execution unit is used to control the braking of the working machine. The traveling motor execution unit is used to control the traveling of the working machine, and the shoveling execution unit is used to control the lifting and retracting of the bucket of the working machine.

According to an unmanned control system for working machinery provided by this application, the execution component further includes a parking execution unit, and the electronic button panel further includes an electronic parking button;

The parking execution unit and the electronic parking button are both connected to the communication bus of the working machine;

When the vehicle controller receives the selection signal of the electronic parking button, the vehicle controller controls the parking execution unit to act.

According to an unmanned control system for working machinery provided by this application, the control components include: a steering wheel, a brake pedal, an accelerator pedal and a handle;

The steering wheel is used to send a steering signal to the vehicle controller, the brake pedal is used to send a braking signal to the vehicle controller, and the accelerator pedal is used to send an accelerator signal to the vehicle. Controller, the handle is used to send bucket lifting and retracting signals.

According to an unmanned control system for working machinery provided by this application, the handle includes a rocker switch and a key switch;

The rocker switch and the push button switch are arranged at the top end of the handle, and the rocker switch and the push button switch are used to control the gear switching of the working machine.

According to an unmanned control system for operating machinery provided by the present application, the unmanned control system further includes a power management module;

The power management module is connected to the communication bus of the operating machine, and the power management module is used to control the low-voltage electrical equipment in the operating machine.

This application also provides a working machine, which includes the unmanned control system of the working machine as described in any one of the above.

This application provides an unmanned control system for operating machinery and an unmanned operating machinery. The unmanned control system for operating machinery includes: an electronic button panel, an execution component, a control component, a data acquisition component and a vehicle controller; wherein, the electronic button panel , execution components, control components, data acquisition components and vehicle controllers are all connected to the communication bus of the working machinery. The modules are highly integrated, easy to maintain, and the system has no redundancy; the electronic button panel is used to select the working mode of the working machinery, data The acquisition component is used to generate control instructions in the working mode. The vehicle controller is used to control the control components and execute component actions based on the control instructions. The working modes include manual mode, remote control mode and unmanned control mode. The working mode is selected through the electronic button panel. After that, the vehicle controller can automatically control the operating components and execute component actions according to the control instructions of the data acquisition component, effectively improving the automation level of the overall workflow of the working machinery and realizing unmanned control of the working machinery.

Description of the drawings

In order to explain the technical solutions in this application or the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are of the present invention. For some embodiments of the application, those of ordinary skill in the art can also obtain other drawings based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the unmanned control system for operating machinery provided by this application;

Figure 2 is a schematic structural diagram of the handle provided by this application.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application. , not all examples. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

Example 1:

This embodiment describes an unmanned control system for a working machine and a working machine of the present application with reference to FIGS. 1-2 .

FIG1 is a schematic diagram of the structure of an unmanned control system for an operating machine provided in the present application.

As shown in Figure 1, an unmanned control system for working machinery provided by an embodiment of the present application includes: an electronic button panel, an execution component, a control component, a data acquisition component, an anti-collision component, a power management module and a vehicle controller. ; Among them, the electronic button panel, execution component, control component, data acquisition component and vehicle controller are all connected to the communication bus of the working machine; the electronic button panel is used to select the working mode of the working machine, and the data acquisition component is used to select the working mode of the working machine. The vehicle control unit (VCU, Vehicle Control Unit) is used to control the control components and execute component actions based on the control instructions. The working modes include manual mode, remote control mode and unmanned control mode.

In a specific implementation process, the operating machinery is explained by taking an electric loader as an example, and the electric loader can adopt different control modes.

Among them, the workflow is that the operator can select the working mode of the electric loader through the electronic button panel according to work needs. For safety and standby energy consumption considerations, the switching of the working mode can only be manually operated on the electronic button panel.

The key selection signal group of the electronic key panel is packaged into a frame of data and transmitted to the vehicle controller through the communication bus (i.e., the CAN_A bus in Figure 1) at a fixed period. Then the vehicle controller will control the data acquisition component to generate corresponding control instructions according to the selected working mode, and the vehicle controller will then use the control instructions to control the execution component actions. It is worth mentioning that the functions of the electric loader vehicle controller include the following:

1. Electric loader drive control, according to the operator's requirements, vehicle status and other working conditions, reasonably control the working state and power output of the motor to meet the driving conditions, including acceleration and deceleration, constant speed, braking and reverse conditions.

2. Braking energy feedback control, based on brake pedal and accelerator pedal information, vehicle driving information, and power battery status information, determines the braking mode, calculates braking torque distribution, and recovers part of the energy.

3. Vehicle energy optimization, through the coordination and management of the electric vehicle's motor drive system, battery management system, transmission system and other vehicle energy-consuming components, to obtain the best energy utilization and extend the use.

4. Fault diagnosis and protection, perform fault diagnosis, and perform corresponding safety protection processing in a timely manner, and store and call back fault codes.

5. Network management, organizing information transmission, network status monitoring, network node management, etc.

6. Vehicle status monitoring, sending the status information and fault diagnosis information of the respective jurisdiction objects to the bus, which will be displayed by the vehicle controller through the comprehensive digital instrument.

In this embodiment, the electronic button panel includes a manual mode button, a remote control button and an unmanned control button, and the data collection component includes a remote controller and a sensor group; the manual mode button, the remote control button and the unmanned control button all communicate with the operating machinery. The bus is connected; when the vehicle controller receives the selection signal of the manual mode button, the vehicle controller controls the execution component action according to the operating instructions of the control component; when the vehicle controller receives the selection signal of the remote control button, the vehicle controller The controller receives the control instructions from the remote controller and controls the actions of the execution components through the control instructions; when the vehicle controller receives the selection signal of the unmanned control button, the vehicle controller receives the environmental data collected by the sensor group and passes the environmental data Data generation control instructions control execution component actions.

Specifically, different working modes can be selected through the electronic button panel, and the 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, that is, the operator controls the electric loader through the control component. The operator sends the control instructions generated by the operation to the vehicle controller through the control component. The vehicle controller controls the corresponding execution components to act according to the control instructions, thereby realizing the control of the manual mode. The manual mode means that the operator controls the electric loader himself, including starting, stopping, accelerating, loading and other operations are all completed by manual control.

When the operator selects the remote control button on the electronic button panel, it indicates that the electric loader is in remote control mode. At this time, the vehicle controller will no longer respond to the steering wheel, brake pedal, accelerator pedal, and handle. Various signals output by control components. The remote control sender and remote control receiver communicate through LoRa wirelessly. LoRa is called Long Range Radio. Its biggest feature is that it can propagate farther than other wireless methods under the same power consumption conditions, achieving low power. Unification of power consumption and long distance, it can extend the communication distance by 3 to 5 times compared with traditional wireless radio frequency under the same power consumption. In this embodiment, the LoRa wireless module can be designed using LLCC68 chip. LLCC68 adopts advanced LoRa modulation technology. The anti-interference performance and communication distance are far superior to the current FSK and GFSK modulation products. This module has the characteristics of small size, low power consumption, long transmission distance, and strong anti-interference ability, and can be widely used in various wireless communication fields.

The remote control sender is equipped with buttons and other controls. When the user triggers the button, the button signal is captured by the processor inside the remote control sender, and packaged into a frame of control instructions, which is transmitted through the LoRa wireless module; the remote control receiver receives the LoRa wireless data analysis After the control command is issued, it is transmitted to the vehicle controller through the communication bus (i.e., the CAN_B bus in Figure 1). The vehicle controller controls the corresponding actuator to perform the corresponding action according to the control command. The wireless communication method can also be other communication methods. For example, network communication uses 4G or 5G communication modules to realize the transmission of remote control data.

When the operator selects the unmanned control button on the electronic button panel, it indicates that the electric loader is in unmanned control mode at this time. At this time, the vehicle controller will no longer respond to the steering wheel, brake pedal, and accelerator pedal. , handles and other control components output various signals. At this time, the vehicle controller accepts the environmental data collected by the sensor group, including various status data of the electric loader, and then generates the corresponding control strategy based on the algorithm data and passes it to the controller through the communication bus (i.e., the CAN_B bus in Figure 1). The vehicle controller transmits the control strategy to each execution system through the CAN_A bus to perform corresponding actions, thereby completing the work in the unmanned automatic control mode.

Among them, the smart domain device in Figure 1 includes a sensor group and a processor. The processor can reduce the data processing pressure of the vehicle controller. The processors of the remote control receiver and the remote control sender also reduce the data processing pressure of the vehicle controller. Pressure, the matrix buttons on the remote control transmitter are the operation buttons for different control instructions. Through three different working modes, it can adapt to different working environments. In a regular working environment, the operator can choose the regular manual mode for manual control of the electric loader. In special working environments, the operator can choose remote control mode or unmanned control mode. In remote control mode, the operator controls different actions of the electric loader through remote control buttons and different operating instructions of the remote control buttons. In the unmanned control mode, the electric loader reads different environmental data and vehicle data through various on-board sensors, and then the vehicle controller generates corresponding control logic based on data analysis and processing to realize the unmanned control of the electric loader. People control. Since the electric loader executes different working modes under different control methods, the electric loader can adapt to various working environments and meet the different working needs of users.

Further, the execution components in this embodiment specifically include: an oil pump motor execution unit, a steering execution unit, a brake execution unit, a traveling motor execution unit and a shovel execution unit; an oil pump motor execution unit, a steering execution unit, and a brake execution unit. , the traveling motor execution unit and the shovel execution unit are all connected to the communication bus of the work machine; the oil pump motor execution unit is used to pump oil for the hydraulic system of the work machine, the steering execution unit is used to control the steering of the work machine, and the brake execution unit is used to It controls the braking of the working machinery, the traveling motor execution unit is used to control the walking of the working machinery, and the shovel execution unit is used to control the lifting and retracting of the bucket of the working machinery.

Specifically, after receiving the control command, whether it is a control command generated by manipulation in manual mode, a control command sent by a remote control, or a control command generated after automatically detecting data from on-board sensors of an electric loader, the entire vehicle The controller will control the execution components to perform corresponding actions. At this time, the execution unit in the corresponding execution component will be specifically controlled to perform corresponding actions according to the specific control instructions.

For example, if the control instruction is to control the operation of the hydraulic system, the corresponding oil pump motor execution unit operates to pump oil for the hydraulic system. If the control command is a steering command, the corresponding steering execution unit acts to realize the steering of the electric loader. If the control command is a braking command, the corresponding brake execution unit operates to realize braking of the electric loader. If the control command is a walking command, the corresponding walking motor executes the unit action to control the electric loader to move forward or backward. If the control instruction is a bucket loading instruction, the corresponding bucket loading execution unit will act to control the electric loader to complete the loading task, etc. Different control instructions correspond to different execution units, which can more accurately achieve effective control of the electric loader and improve the safety of remote or unmanned control of the electric loader.

The execution component in this embodiment also includes a parking execution unit, and the electronic button panel also includes an electronic parking button; both the parking execution unit and the electronic parking button are connected to the communication bus of the working machine; when the vehicle controller receives the electronic When the parking button is selected, the vehicle controller controls the action of the parking execution unit.

Specifically, when the user presses the electronic parking button, the parking execution unit corresponding to the electric loader will control the electric loader to enter the parking mode, the electric loader will stop running, and each actuator will stop working, ensuring Safe operation and safe operation of electric loaders.

The control components in this embodiment include: a steering wheel, a brake pedal, an accelerator pedal and a handle; the steering wheel is used to send a steering signal to the vehicle controller, the brake pedal is used to send a braking signal to the vehicle controller, and the accelerator pedal is used to send a braking signal to the vehicle controller. The pedal is used to send accelerator signals to the vehicle controller, and the handle is used to send bucket lifting and retracting signals. Among them, the handle includes a rocker switch and a key switch; the rocker switch and the key switch are arranged on the top of the handle, and the rocker switch and the key switch are used to control gear switching of the working machine.

Specifically, the control component is mainly effective in manual mode. The workflow of each component is as follows: the steering wheel transmits angle information to the vehicle controller through the communication bus (i.e. CAN_A bus), and the vehicle controller passes the steering strategy through The CAN_A bus is transmitted to the steering execution unit to realize steering; the brake pedal transmits the opening information to the vehicle controller through the CAN_A bus, and the vehicle controller transmits the braking strategy and energy recovery strategy to the brake execution unit through the CAN_A bus. Realize braking; the accelerator pedal transmits the opening information to the vehicle controller through the CAN_A bus. The vehicle controller combines the gear information to formulate a walking strategy and transmits it to the walking motor execution system to control the movement of the electric loader. The handle transmits the direction and opening information of the joystick to the vehicle controller through the CAN_A bus. The vehicle controller transmits the boom and bucket strategies to the shovel execution unit through the CAN_A bus to realize the lifting and lowering of the boom and bucket. of retracting and releasing etc.

Among them, Figure 2 is a schematic structural diagram of the handle provided by this application. As shown in Figure 2, the handle can move in four directions: forward, backward, left, and right. At the same time, a rocker switch and a key switch are arranged on the top of the handle. The operator can switch gears through the rocker switch and key switch. The shovel execution unit realizes the lifting and lowering of the boom and the retracting and unfolding of the bucket according to the opening of the joystick.

The anti-collision component in this embodiment is connected to the communication bus of the working machine, and the anti-collision component is installed on the working machine; when the working machine is in the remote control button or unmanned control button working mode, the anti-collision component is used to detect obstacles. When the distance between the object and the working machinery is less than the preset distance, the vehicle controller controls the working machinery to stop running. Among them, the anti-collision component includes a camera and a lidar; the camera is used to detect obstacles, and the lidar is used to detect the distance between the obstacle and the operating machinery.

Specifically, when the electric loader works in remote control mode or unmanned control mode, due to a certain delay in the control signal, especially in remote control mode, it is usually necessary to transmit live video footage in real time so that the remote operator can make correct control. action. Taking an electric loader with a speed of 40km per hour and a delay of 100ms as an example, before the control command from the remote control is received by the electric loader, the loader has moved about 1 meter, which inevitably brings great safety risks. Safety detection can be carried out in a timely manner through anti-collision components. The specific detection method is to detect obstacles through cameras, then detect the distance between obstacles and electric working machinery through laser radar, and detect the distance between obstacles and electric loaders in real time. , as well as surrounding environment and other data, can effectively ensure the working safety of electric working machinery. An active anti-collision warning mechanism is established through the anti-collision component, which can realize the safety protection of working machinery and newcomers under various complex working conditions. For example, when it is detected that the distance between the electric loader and pedestrians or other obstacles is less than When the distance is preset, the electric loader is controlled to stop working at this time to ensure the safety of the electric loader and pedestrians.

The power management module in this embodiment is connected to the communication bus of the working machine, and the power management module is used to control low-voltage electrical equipment in the working machine.

Specifically, the voltage management module mainly manages low-voltage electrical equipment, including turn signals, high and low beams, etc. The power management module performs corresponding actions after receiving relevant control instructions from the vehicle controller to ensure the power consumption in the electric loader. Supply and other issues.

Example 2:

This embodiment provides a relatively basic implementation method, an unmanned control system for work machinery, including: an electronic button panel, an execution component, a control component, a data collection component and a vehicle controller; wherein, the electronic button panel, execution component The components, control components, data acquisition components and vehicle controller are all connected to the communication bus of the working machinery. The modules are highly integrated, easy to maintain, and the system has no redundancy; the electronic button panel is used to select the working mode of the working machinery, and the data acquisition component It is used to generate control instructions in the working mode. The vehicle controller is used to control the control components and execute component actions based on the control instructions. After selecting the working mode through the electronic button panel, the vehicle controller can automatically control the components according to the control instructions of the data acquisition component. Controlling the actions of operating components and executing components effectively improves the automation level of the overall workflow of the operating machinery and realizes unmanned control of the operating machinery.

Example 3:

The main structure of this embodiment is the same as that of Embodiment 2. Furthermore, based on the above-mentioned Embodiment 2, the unmanned control system of the working machine in this embodiment also includes an anti-collision component; a communication bus between the anti-collision component and the working machine. Connected, the anti-collision component is set on the working machine; when the working machine is in the working mode of remote control button or unmanned control button, the anti-collision component is used to detect the distance between the obstacle and the working machine. When the distance is less than the preset distance, The vehicle controller controls the working machinery to stop running. Among them, the anti-collision component includes a camera and a lidar; the camera is used to detect obstacles, and the lidar is used to detect the distance between the obstacle and the operating machinery.

Specifically, when the electric loader works in remote control mode or unmanned control mode, due to the certain delay of the control signal, especially in remote control mode, it is usually necessary to transmit the on-site video image in real time so that the remote operation end can make correct control actions. Taking the electric loader with a speed of 40km/h and a delay of 100ms as an example, before the control command of the remote control end is received by the electric loader, the loader has moved about 1 meter, which inevitably brings great safety hazards. The anti-collision component can be used to perform safety detection in a timely manner. The specific detection method is to detect obstacles through the camera, and then detect the distance between the obstacle and the electric working machinery through the laser radar. By real-time detection of the distance between the obstacle and the electric loader, as well as data such as the surrounding environment, the working safety of the electric working machinery can be effectively guaranteed. By establishing an active anti-collision warning mechanism through the anti-collision collision component, it is possible to achieve safety protection for operating machinery and newcomers under various complex working conditions. For example, when it is detected that the distance between the electric loader and pedestrians or other obstacles is less than the preset distance, the electric loader is controlled to stop working to ensure the safety of the electric loader and pedestrians.

Embodiment 4: The main structure of this embodiment is the same as that of Embodiment 2. Further, based on the above-mentioned Embodiment 2, as shown in Figure 1, the execution components in this embodiment include: an oil pump motor execution unit, a steering execution unit, The brake execution unit, travel motor execution unit and shovel execution unit; the oil pump motor execution unit, steering execution unit, brake execution unit, travel motor execution unit and shovel execution unit are all connected to the communication bus of the working machine; the oil pump motor execution unit The unit is used to pump oil for the hydraulic system of the work machine, the steering execution unit is used to control the steering of the work machine, the brake execution unit is used to control the braking of the work machine, the travel motor execution unit is used to control the walking of the work machine, and the shovel execution unit Used to control the lifting and retracting of the bucket of working machinery.

Specifically, after receiving the control command, whether it is a control command generated by manipulation in manual mode, a control command sent by a remote control, or a control command generated by automatically detecting data from on-board sensors of an electric loader, the entire vehicle The controller will control the execution components to perform corresponding actions. At this time, the execution unit in the corresponding execution component will be specifically controlled to perform corresponding actions according to the specific control instructions.

For example, if the control instruction is to control the operation of the hydraulic system, the corresponding oil pump motor execution unit will be activated to pump oil for the hydraulic system. If the control instruction is a steering instruction, the corresponding steering execution unit will be activated to realize the steering of the electric loader. If the control instruction is a braking instruction, the corresponding braking execution unit will be activated to realize the braking of the electric loader. If the control instruction is a walking instruction, the corresponding walking motor execution unit will be activated to control the electric loader to move forward or backward. If the control instruction is a bucket loading instruction, the corresponding shovel loading execution unit will be activated to control the electric loader to complete the loading task, etc. Different control instructions correspond to different execution units, which can realize effective control of the electric loader more accurately and improve the safety of remote or unmanned control of the electric loader.

Example 5:

The main structure of this embodiment is the same as that of Embodiment 4. Furthermore, on the basis of the above embodiment, the execution component in this embodiment also includes a parking execution unit, and the electronic button panel also includes an electronic parking button; the parking execution unit and The electronic parking buttons are all connected to the communication bus of the working machine; when the vehicle controller receives the selection signal of the electronic parking button, the vehicle controller controls the action of the parking execution unit.

Example 6:

The main structure of this embodiment is the same as that of Embodiment 2. Furthermore, on the basis of the above embodiment, as shown in Figure 1, the control assembly in this embodiment includes: a steering wheel, a brake pedal, an accelerator pedal and a handle; the steering wheel It is used to send the steering signal to the vehicle controller, the brake pedal is used to send the braking signal to the vehicle controller, the accelerator pedal is used to send the accelerator signal to the vehicle controller, and the handle is used to send the bucket lifting signal and retraction Signal. Among them, the handle includes a rocker switch and a key switch; the rocker switch and the key switch are arranged on the top of the handle, and the rocker switch and the key switch are used to control gear switching of the working machine.

Example 7:

The main structure of this embodiment is the same as that of Embodiment 2. Furthermore, on the basis of the above embodiment, as shown in Figure 1, this embodiment also includes a power management module; the power management module is connected to the communication bus of the working machine, and the power management module The module is used to control low-voltage electrical equipment in work machinery.

Example 8:

Based on the same general inventive concept, this application also protects a working machine. The working machine includes the unmanned control system for the working machine as in any of the above embodiments. The working machine includes an electric loader, etc.

The device embodiments described above are only illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in One location, or it can be distributed across multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the part of the above technical solutions that essentially contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disc, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

An unmanned control system for operating machinery, including: an electronic button panel, an execution component, a control component, a data acquisition component and a vehicle controller;

The electronic key panel, the execution component, the control component, the data collection component and the vehicle controller are all connected to the communication bus of the working machine;

The electronic button panel is used to select the working mode of the working machine, the data collection component is used to generate control instructions in the working mode, and the vehicle controller is used to control the control component based on the control instructions. and the action of the execution component, and the working mode includes manual mode, remote control mode and unmanned control mode.
The unmanned control system for work machinery according to claim 1, wherein the electronic button panel includes a manual mode button, a remote control button and an unmanned control button, and the data collection component includes a remote controller and a sensor group;

The manual mode button, the remote control button and the unmanned control button are all connected to the communication bus of the working machine;

When the vehicle controller receives the selection signal of the manual mode button, the vehicle controller controls the action of the execution component according to the operating instructions of the control component;

When the vehicle controller receives the selection signal of the remote control button, the vehicle controller receives the control instruction of the remote remote control and controls the action of the execution component through the control instruction;

When the vehicle controller receives the selection signal of the unmanned control button, the vehicle controller receives the environmental data collected by the sensor group, and generates control instructions through the environmental data to control the execution component. action.
The unmanned control system for work machinery according to claim 2, further comprising an anti-collision component;

The anti-collision component is connected to the communication bus of the working machine, and the anti-collision component is provided on the working machine;

When the working machine is in the working mode of remote control button or unmanned control button, the anti-collision component is used to detect the distance between the obstacle and the working machine. When the distance is less than the preset distance, the vehicle control The controller controls the working machinery to stop running.
The unmanned control system for operating machinery according to claim 3, wherein the anti-collision component comprises a camera and a laser radar;

The camera is used to detect obstacles, and the laser radar is used to detect the distance between the obstacle and the working machine.
The unmanned control system of work machinery according to claim 1, wherein the execution components include: an oil pump motor execution unit, a steering execution unit, a brake execution unit, a traveling motor execution unit and a shovel execution unit;

The oil pump motor execution unit, steering execution unit, brake execution unit, traveling motor execution unit and shovel execution unit are all connected to the communication bus of the working machine;

The oil pump motor execution unit is used to pump oil for the hydraulic system of the working machine, the steering execution unit is used to control the steering of the working machine, and the brake execution unit is used to control the braking of the working machine. The traveling motor execution unit is used to control the traveling of the working machine, and the shoveling execution unit is used to control the lifting and retracting of the bucket of the working machine.
The unmanned control system of work machinery according to claim 5, wherein the execution component further includes a parking execution unit, and the electronic button panel further includes an electronic parking button;

The parking execution unit and the electronic parking button are both connected to the communication bus of the working machine;

When the vehicle controller receives the selection signal of the electronic parking button, the vehicle controller controls the parking execution unit to act.
The unmanned control system for work machinery according to claim 1, wherein the control components include: a steering wheel, a brake pedal, an accelerator pedal and a handle;

The steering wheel is used to send a steering signal to the vehicle controller, the brake pedal is used to send a braking signal to the vehicle controller, and the accelerator pedal is used to send an accelerator signal to the vehicle. Controller, the handle is used to send bucket lifting and retracting signals.
The unmanned control system for work machinery according to claim 7, wherein the handle includes a rocker switch and a key switch;

The rocker switch and the key switch are arranged on the top of the handle, and the rocker switch and the key switch are used to control gear switching of the working machine.
The unmanned control system for work machinery according to any one of claims 1 to 8, further comprising a power management module;

The power management module is connected to the communication bus of the working machine, and the power management module is used to control low-voltage electrical equipment in the working machine.
A working machine, wherein the working machine includes the unmanned control system of the working machine according to any one of claims 1 to 9.