Sensor, work machine control system, and work machine

Abstract

The application relates to the technical field of detection devices, and provides a sensor, a working machine control system and a working machine, the sensor comprising: a signal output unit, a processing unit and a communication unit; the signal output unit is connected with a steering wheel of the working machine and the processing unit respectively, the processing unit is connected with the communication unit, and the communication unit is connected with a controller of an executing mechanism of the working machine; the signal output unit comprises: a rotating structure and a signal circuit, the rotating structure rotates when the steering wheel rotates, so that the signal circuit generates and outputs a pulse signal and inputs the pulse signal to the processing unit; the processing unit determines the rotating direction and the rotating speed of the steering wheel based on the pulse signal, and sends the rotating direction and the rotating speed to the controller of the executing mechanism through the communication unit. The application is used to solve a series of defects in the prior art when the rotating direction and the rotating speed of the steering wheel are obtained, and realizes low-cost and effective obtaining of the rotating direction and the rotating speed of the steering wheel.

Description

Technical Field

[0001] This invention relates to the field of detection device technology, and in particular to a sensor, a control system for operating machinery, and operating machinery. Background Technology

[0002] In the hydraulic steering systems of some construction machinery, the rotation angle of the machinery body and the rotation angle of the steering wheel are not directly related. Instead, they are related to the rotation direction and speed of the steering wheel. For example, loaders.

[0003] In existing technologies, the steering wheel's rotation direction and speed are obtained by using multiple circuits combined with a microprocessor. However, this method involves complex circuitry and is costly. Furthermore, the signal is susceptible to interference during transmission through multiple circuits.

[0004] Therefore, how to effectively obtain the steering wheel's rotation direction and speed is an important issue that the industry urgently needs to address. Summary of the Invention

[0005] This invention provides a sensor, a control system for operating machinery, and operating machinery to solve a series of defects in the prior art when obtaining the rotation direction and speed of the steering wheel, and to achieve low-cost and effective acquisition of the rotation direction and speed of the steering wheel.

[0006] This invention provides a sensor, comprising: a signal output unit, a processing unit, and a communication unit;

[0007] The signal output unit is connected to the steering wheel of the working machinery and the processing unit, respectively. The processing unit is connected to the communication unit, and the communication unit is connected to the controller of the actuator of the working machinery.

[0008] The signal output unit includes a rotating structure and a signal circuit, wherein the rotating structure is connected to the steering wheel and the signal circuit is connected to the processing unit;

[0009] The rotating structure rotates when the steering wheel rotates, so that the signal circuit generates and outputs a pulse signal, and inputs the pulse signal to the processing unit.

[0010] The processing unit determines the rotation direction and speed of the steering wheel based on the pulse signal, and sends the rotation direction and speed to the controller of the actuator through the communication unit.

[0011] According to a sensor provided by the present invention, the sensor further includes: a level adjustment unit;

[0012] The level adjustment unit is connected to the signal output unit and the processing unit, respectively.

[0013] The signal output unit transmits the pulse signal to the level adjustment unit;

[0014] The level adjustment unit receives the pulse signal output by the signal output unit, processes the pulse signal based on the signal requirements of the processing unit to obtain a target pulse signal, and sends the target pulse signal to the processing unit.

[0015] The processing unit determines the rotation direction and the rotation speed based on the target pulse signal.

[0016] According to a sensor provided by the present invention, the processing unit converts the target pulse signal into a data frame corresponding to a preset communication protocol, and sends the data frame to the controller of the actuator through the communication unit, wherein the communication protocol is obtained based on the communication unit, and the data frame includes the rotation direction and the rotation speed.

[0017] According to a sensor provided by the present invention, the processing unit determines the number of pulses of the target pulse signal within a preset time period, obtains the rotation speed based on the number of pulses, and obtains the rotation direction based on the order of the transition edges of the target pulse signal.

[0018] According to a sensor provided by the present invention, the processing unit converts the steering wheel identifier, the rotation direction, and the rotation speed into data frames corresponding to the communication protocol.

[0019] According to a sensor provided by the present invention, the sensor further includes: a power supply;

[0020] The power supply is connected to the signal output unit, the processing unit, and the communication unit, respectively.

[0021] The power supply is used to power the signal output unit, the processing unit, and the communication unit.

[0022] The present invention also provides a control system for working machinery, comprising: a steering wheel, sensors, a controller for the actuator, and a communication bus;

[0023] The steering wheel is connected to the sensor, and the sensor is connected to the controller of the actuator via the communication bus;

[0024] The sensor rotates when the steering wheel rotates, generating a pulse signal; based on the pulse signal, the rotation direction and rotation speed of the steering wheel are determined; and the rotation direction and rotation speed are sent to the controller of the actuator via the communication bus.

[0025] According to the operating machinery control system provided by the present invention, the sensor transmits the rotation direction and the rotation speed to the communication bus;

[0026] The controller of the actuator determines whether to receive the rotation direction and rotation speed from the communication bus based on a pre-set signal receiving logic, and controls the actuator to operate if it determines that the rotation direction and rotation speed have been received.

[0027] According to the machine control system provided by the present invention, the baud rates of the sensor and the controller of the actuator are consistent.

[0028] The present invention also provides a working machine, including the sensor as described in any of the preceding claims, or the working machine control system as described in any of the preceding claims.

[0029] The present invention provides a sensor, a control system for operating machinery, and operating machinery. The sensor includes a signal output unit, a processing unit, and a communication unit. It is evident that the sensor of the present invention uses fewer components compared to existing technologies, thus reducing costs. The rotating structure of the signal output unit rotates when the steering wheel rotates, causing the signal circuit of the signal output unit to generate and output pulse signals, and input pulse signals to the processing unit. Based on the pulse signals, the processing unit determines the rotation direction and speed of the steering wheel, and sends the rotation direction and speed to the controller of the actuator through the communication unit. Therefore, the present invention utilizes pulse signals to carry the rotation direction and speed, and leverages the inherent characteristics of pulse signals to ensure the stability of signal transmission, achieving effective acquisition of the steering wheel's rotation direction and speed, and realizing precise control of the operating machinery. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is one of the schematic diagrams of the sensor structure provided by the present invention;

[0032] Figure 2 This is the second schematic diagram of the sensor structure provided by the present invention;

[0033] Figure 3 This is the third schematic diagram of the sensor structure provided by the present invention;

[0034] Figure 4This is the fourth schematic diagram of the sensor structure provided by the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the operating machinery control system provided by the present invention;

[0036] Figure 6 This is a flowchart illustrating the control method for operating machinery provided by the present invention.

[0037] Figure label:

[0038] 101-Signal output unit; 1011-Rotating structure; 1012-Signal circuit; 102-Processing unit; 103-Communication unit; 201-Level adjustment unit; 301-Input power supply; 302-Pull-up resistor; 303-Transistor; 501-Steering wheel; 502-Sensor; 503-Controller of actuator; 504-Communication bus. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] The following is combined Figures 1 to 4 The sensor of the present invention is described.

[0041] This invention provides a sensor, such as... Figure 1 As shown, the sensor includes: a signal output unit 101, a processing unit 102, and a communication unit 103;

[0042] The signal output unit 101 is connected to the steering wheel of the working machine and the processing unit 102 respectively. The processing unit 102 is connected to the communication unit 103, and the communication unit 103 is connected to the controller of the actuator of the working machine.

[0043] The signal output unit 101 includes a rotating structure 1011 and a signal circuit 1012. The rotating structure 1011 is connected to the steering wheel, and the signal circuit 1012 is connected to the processing unit 102.

[0044] The rotating structure 1011 rotates when the steering wheel rotates, so that the signal circuit 1012 generates and outputs a pulse signal, and inputs a pulse signal to the processing unit 102.

[0045] The processing unit 102 determines the rotation direction and speed of the steering wheel based on the pulse signal, and sends the rotation direction and speed to the controller of the actuator through the communication unit 103.

[0046] Specifically, the signal output unit 101 is a device capable of generating pulse signals, such as a rotary encoder.

[0047] The rotary encoder is a speed-displacement sensor integrating opto-mechatronics technology. When the rotary encoder shaft drives the grating disk to rotate, the light emitted by the light-emitting element is cut into intermittent light rays by the slits of the grating disk and received by the receiving element to generate an initial signal. After processing by subsequent circuits, this signal is output as a pulse signal. Its characteristics include small size, light weight, variety, full functionality, high frequency response, high resolution, low torque, low power consumption, stable performance, reliable operation, and long service life.

[0048] In the case where the signal output unit 101 of the present invention is a rotary encoder, the signal circuit 102 includes a receiving element and a subsequent circuit, etc. The rotating structure 1011 includes a rotary encoder shaft, a grating disk, and a light-emitting element, etc.

[0049] For example, rotary encoders include incremental encoders and absolute encoders.

[0050] For incremental encoders: As the encoder shaft rotates, it outputs a corresponding phase. The determination of the rotation direction and the increase / decrease of the pulse count are achieved using a rear-mounted direction-determining circuit and counter. The counting start point can be arbitrarily set, and infinite accumulation and measurement over multiple revolutions can be achieved. The Z signal, which emits one pulse per revolution, can also be used as a reference zero-position signal. When the pulse count is fixed and higher resolution is needed, the original pulse count can be multiplied using two signals with a 90-degree phase difference (A and B).

[0051] For absolute encoders: When the shaft rotates, an absolute encoder outputs a code (binary, BCD, etc.) that corresponds one-to-one with the position. The direction of rotation and the displacement position can be determined from changes in the code size, eliminating the need for a direction-determining circuit. It has an absolute zero-position code; when power is off or the encoder is turned on again, it can still accurately read the code from the power-off position and accurately locate the zero-position code. Generally, the measurement range of an absolute encoder is 0–360 degrees, but special models can also achieve multi-turn measurements.

[0052] Therefore, the rotation direction and rotation speed can also be obtained from the pulse signals output by the incremental encoder or absolute encoder mentioned above.

[0053] Specifically, the processing unit 102 can be a microcontroller;

[0054] A single-chip microcomputer (MCU) is an integrated circuit chip that uses very large-scale integrated circuit technology to integrate a central processing unit (CPU) with data processing capabilities, random access memory (RAM), read-only memory (ROM), various I / O ports and interrupt systems, timers / counters, and other functions (and may also include display driver circuits, pulse width modulation circuits, analog multiplexers, A / D converters, etc.) onto a single silicon chip to form a small but complete microcomputer system. It is widely used in the field of industrial control.

[0055] It uses a microcontroller as the processing unit, which features high integration, large storage capacity, strong external expansion capability, and powerful control functions.

[0056] 1. From internal hardware to software, there is a complete bit-based operating system called a bit processor. The object it processes is not words or bytes but bits. It can not only process certain bits of special function registers on the chip, such as transfer, set, clear, and test, but also perform bitwise logical operations. Its functions are very complete and it is easy to use.

[0057] 2. At the same time, a dual-function address range is specially opened in the on-chip RAM area, which is extremely flexible in use and undoubtedly provides great convenience to users.

[0058] 3. Multiplication and division instructions also bring convenience to programming. Many eight-bit microcontrollers do not have multiplication functionality, requiring the writing of a subroutine to perform multiplication, which is very inconvenient. Specifically, the communication unit 103 is preferably a CAN communication interface (Controller Area Network);

[0059] CAN is an ISO internationally standardized serial communication protocol, characterized by security, comfort, convenience, low power consumption, and low cost. CAN falls under the category of fieldbus and is an effective serial communication network supporting distributed or real-time control. CAN bus-based distributed control systems have significant advantages in the following aspects:

[0060] (1) The data communication between network nodes has strong real-time performance:

[0061] The CAN controller operates in multiple modes. Each node in the network can compete to send data to the bus using a lossless, bit-by-bit arbitration method based on bus access priority (depending on the message identifier). Furthermore, the CAN protocol abolishes station address encoding and instead encodes the communication data, which allows different nodes to receive the same data simultaneously. These characteristics make the data communication between nodes in a CAN bus network highly real-time and easy to form a redundant structure, improving the system's reliability and flexibility.

[0062] (2) Short development cycle:

[0063] The CAN bus connects to the physical bus through the two outputs, CANH and CANL, of the 82C250 CAN transceiver interface chip. The CANH pin can only be high or floating, and the CANL pin can only be low or floating. This prevents the phenomenon seen in RS-485 networks, where multiple nodes simultaneously sending data to the bus due to errors can cause short circuits and damage to some nodes. Furthermore, CAN nodes have an automatic output shutdown function in case of severe errors, ensuring that the operation of other nodes on the bus is not affected, thus preventing the bus from becoming "deadlocked" due to problems with a single node, as seen in some networks. Moreover, CAN's comprehensive communication protocol can be implemented by the CAN controller chip and its interface chip, greatly reducing system development difficulty and shortening the development cycle.

[0064] (3) Fieldbus technology that has become an international standard:

[0065] Compared to other fieldbuses, the CAN bus is an internationally standardized fieldbus with many advantages, including high communication speed, ease of implementation, and high cost-effectiveness. These are also important reasons why the CAN bus is widely used and has strong market competitiveness.

[0066] (4) One of the most promising fieldbuses:

[0067] CAN, or Controller Area Network, falls under the category of industrial fieldbus. Compared to general communication buses, CAN bus data communication offers outstanding reliability, real-time performance, and flexibility. Due to its superior performance and unique design, CAN bus is gaining increasing attention. CAN bus enables data communication between automotive internal control systems and various detection and actuator mechanisms.

[0068] Specifically, when the operator turns the steering wheel while driving the machinery, the rotary encoder rotates along with the steering wheel and outputs pulse signals.

[0069] In one specific embodiment, such as Figure 2 As shown, the sensor also includes a level adjustment unit 201; the level adjustment unit 201 is connected to the signal output unit 101 and the processing unit 102 respectively. The signal output unit 101 transmits a pulse signal to the level adjustment unit 201; the level adjustment unit 201 receives the pulse signal output by the signal output unit 101, processes the pulse signal based on the signal requirements of the processing unit 102 to obtain a target pulse signal, and sends the target pulse signal to the processing unit 102; the processing unit 102 determines the rotation direction and rotation speed based on the target pulse signal.

[0070] Specifically, the signal circuit 1012 is connected to the level adjustment unit 201, and the signal circuit 1012 transmits the pulse signal to the level adjustment unit 201.

[0071] The level adjustment unit 201 includes a pull-up circuit, a pull-down circuit, and a correction circuit.

[0072] Specifically, the level adjustment unit 201 will be determined in advance based on the characteristics of the signal output unit 101.

[0073] For example, when the signal output unit 101 outputs high and low level pulse signals, the level adjustment unit 201 is a correction circuit; when the signal output unit 101 outputs a low level open circuit output, the level adjustment unit 201 is a pull-up circuit to obtain high and low level pulse signals; when the signal output unit 101 outputs a high level open circuit output, the level adjustment unit 201 is a pull-down circuit to obtain high and low level pulse signals.

[0074] The correction circuit is used to correct the pulse signal output by the signal output unit 101 to meet the specifications corresponding to the signal requirements of the processing unit 102.

[0075] The following explanation will be based on the example where the signal output unit 101 can only output low-level pulse signals, and the level adjustment unit 201 is a pull-up circuit:

[0076] First, such as Figure 3 As shown, a simple explanation of the pull-up circuit is provided:

[0077] The pull-up circuit includes: an input power supply 301, a pull-up resistor 302, and a transistor 303. The base of the transistor 303 is connected to the signal output unit 101, the collector of the transistor 303 is connected to the pull-up resistor 302, the pull-up resistor 302 is connected to the input power supply 301, the collector of the transistor 303 is connected to the processing unit 102, and the emitter of the transistor 303 is grounded.

[0078] Specifically, when the signal output unit 101 outputs a low level, the transistor 303 is disconnected, which is equivalent to the processing unit 102 being connected to the input power supply 301 through the pull-up resistor 302. At this time, the output of the pull-up circuit is the voltage corresponding to the input power supply 301.

[0079] Specifically, when the signal output unit 101 outputs a high level, the transistor 303 is turned on. The transistor 303 is equivalent to a closed switch, and the output terminal of the pull-up circuit is grounded through the transistor 303.

[0080] The same principle applies to pull-down and pull-up circuits; simply replace the pull-up resistor 302 with a pull-down resistor.

[0081] The present invention processes the pulse signal output by the signal output unit 101 through the level adjustment unit 201 to obtain the standard pulse signal (target pulse signal) required by the processing unit 102, thus providing an effective data basis for the subsequent accurate and effective determination of the rotation direction and rotation speed.

[0082] In one specific embodiment, the processing unit 102 converts the target pulse signal into a data frame corresponding to a preset communication protocol, and sends the data frame to the controller of the actuator through the communication unit. The communication protocol is obtained based on the communication unit 103, and the data frame includes the rotation direction and rotation speed.

[0083] The communication unit 103 includes a CAN communication interface, and the communication protocol includes the CAN communication protocol.

[0084] Specifically, a data frame is a preset number of bytes of binary data.

[0085] For example, the default number of bytes is 8. Two bytes can be selected to represent the rotation speed, and one or four bytes can be selected to represent the rotation direction. Of course, this is just an example; users can set it according to their actual needs.

[0086] Regarding the direction of rotation: when using 1 bit to represent the direction of rotation, 1 can represent clockwise rotation and 0 can represent counterclockwise rotation; when using 4 bits to represent the direction of rotation, 0101 can represent clockwise rotation and 1010 can represent counterclockwise rotation.

[0087] In one specific embodiment, the processing unit 102 determines the number of pulses of the target pulse signal within a preset time period, obtains the rotation speed based on the number of pulses, and obtains the rotation direction based on the order of the transition edges of the target pulse signal.

[0088] Specifically, the number of pulses of the target pulse signal within a preset time period is counted, and the rotation speed is obtained using formula (1), which is:

[0089] v = n / t (1)

[0090] Where v represents the rotational speed, n is the number of pulses, and t represents the preset time period.

[0091] In one specific embodiment, the processing unit 102 converts the steering wheel's identifier, rotation direction, and rotation speed into data frames corresponding to the communication protocol.

[0092] Among them, the steering wheel marking is the only mark that can identify the steering wheel, and can also be called the unique identifier of the steering wheel.

[0093] For example, select 2 bytes from the 8 bytes to represent the unique identifier of the steering wheel.

[0094] Specifically, after the processing unit 102 obtains the rotation speed and rotation direction based on the target pulse signal, it converts the unique identifier of the steering wheel, the rotation direction and the rotation speed into a binary representation and stores them in the corresponding bytes to obtain the converted data frame.

[0095] The processing unit 102 stores the steering wheel's identifier.

[0096] In one specific embodiment, the sensor further includes: a power supply; the power supply is connected to the signal output unit 101, the processing unit 102 and the communication unit 103 respectively; the power supply is used to supply power to the signal output unit 101, the processing unit 102 and the communication unit 103.

[0097] Specifically, such as Figure 4 As shown, power supply 401 is connected to signal output unit 101, level adjustment unit 201, processing unit 102 and communication unit 103 respectively; power supply is used to supply power to signal output unit 101, level adjustment unit 201, processing unit 102 and communication unit 103.

[0098] The sensor of the present invention will now be described in detail through a specific embodiment:

[0099] Power Supply 401 provides low-voltage power to the rotary encoder, pull-up circuit, microcontroller, and CAN interface. The rotary encoder is connected to the steering wheel shaft. When the steering wheel rotates, it drives the rotary encoder to rotate as well. When the rotary encoder rotates, it outputs two pulse signals. The rotary encoder outputs pulse signals to the pull-up circuit, and the pull-up circuit outputs target pulse signals to the microcontroller. Based on its internal software, the microcontroller identifies the rotation direction of the rotary encoder (clockwise or counterclockwise) by combining the edge transition sequence of the two pulse signals output by the rotary encoder, calculates the rotation speed of the steering wheel, converts it into a data frame for the CAN bus, and outputs it to the CAN bus through the CAN interface according to the set CAN protocol.

[0100] The unique identifier of the steering wheel sensor and the baud rate of the CAN bus can be set using a microcontroller.

[0101] The sensor provided by this invention includes a signal output unit, a processing unit, and a communication unit. It is evident that the sensor of this invention uses fewer components compared to existing technologies, thus reducing costs. The rotating structure of the signal output unit rotates when the steering wheel rotates, causing the signal circuit of the signal output unit to generate and output pulse signals, which are then input to the processing unit. Based on the pulse signals, the processing unit determines the rotation direction and speed of the steering wheel and sends these parameters to the controller of the actuator via the communication unit. Therefore, this invention utilizes pulse signals to carry the rotation direction and speed, and leverages the inherent characteristics of pulse signals to ensure stable signal transmission, effectively obtaining the rotation direction and speed of the steering wheel and achieving precise control of the working machinery.

[0102] This invention also provides a control system for operating machinery, such as... Figure 5 As shown, the system includes: a steering wheel 501, a sensor 502, a controller 503 for the actuator, and a communication bus 504. The steering wheel 501 is connected to the sensor 502, and the sensor 502 is connected to the controller 503 for the actuator through the communication bus 504.

[0103] Sensor 502 rotates when steering wheel 501 rotates, generating a pulse signal; based on the pulse signal, the rotation direction and speed of steering wheel are determined; and the rotation direction and speed are sent to the controller 503 of the actuator via communication bus 504.

[0104] Among them, Figure 5 The communication bus 504 is represented by a thick line.

[0105] Specifically, the signal output unit of sensor 502 is connected to steering wheel 501, and the communication unit of sensor 502 is connected to communication bus 504.

[0106] Specifically, when the steering wheel 501 rotates, the rotating structure of the signal output unit rotates, causing the signal circuit to generate and output a pulse signal. Then, the signal circuit sends the pulse signal to the processing unit of the sensor 502. Based on the pulse signal, the processing unit determines the rotation direction and speed of the steering wheel, and sends the rotation direction and speed to the communication bus 504 through the communication unit, and then sends them to the controller 503 of the actuator through the communication bus 504.

[0107] Specifically, sensor 502 will send a data frame carrying the rotation direction and rotation speed to communication bus 504.

[0108] Specifically, sensor 502 sends a data frame carrying the steering wheel's unique identifier, rotation direction, and rotation speed to communication bus 504.

[0109] The sensor 502 is the same sensor provided in the above embodiment, and can be referred to the above description. Repeated parts will not be repeated.

[0110] In one specific embodiment, sensor 502 sends the rotation direction and rotation speed to communication bus 504; the controller 503 of the actuator determines whether to receive the rotation direction and rotation speed from communication bus 504 based on pre-set signal receiving logic, and controls the actuator to operate if it determines that the rotation direction and rotation speed have been received.

[0111] Specifically, a communication bus 504 includes multiple components, such as detection components and control components. Detection components include, for example, a sensor 502 corresponding to the steering wheel, a detection component corresponding to the pedals, and a detection component corresponding to the control handle; control components include, for example, a controller 503 corresponding to an actuator. Each actuator can correspond to one controller 503 or multiple controllers 503, and one communication bus 504 can correspond to multiple actuators.

[0112] Specifically, the present invention requires pre-setting signal receiving logic, which is the correspondence between the unique identifier of the detection component and the control component, that is, different detection components correspond to different control components.

[0113] Among them, the unique identifier of the tested components includes the unique identifier of the steering wheel.

[0114] Specifically, after sensor 502 sends the data frame to communication bus 504, controller 503 determines whether the data is needed by using the unique identifier of the steering wheel in the data frame and the signal receiving logic. If the data is needed, controller 503 receives the data frame and controls the corresponding actuator to operate based on the rotation direction and rotation speed in the data frame. If the data is not needed, controller 503 does not perform any operation.

[0115] Specifically, when sending a data frame, sensor 502 sends information carrying a unique identifier of the detection component to communication bus 504, and each controller 503 uses this information to determine whether to receive subsequent data frames.

[0116] In one specific embodiment, the baud rates of sensor 502 and controller 503 of actuator are the same.

[0117] Specifically, the detection and control units in the communication bus 504 operate simultaneously, meaning data transmission and reception occur concurrently. For example, if the detection unit transmits 10,000 data points per second, but the control unit can only receive 9,000 data points per second, the control unit will not be able to receive the data transmitted by the detection unit correctly. Therefore, the detection and control units need to have the same baud rate, meaning their data processing capabilities for each bit of data are identical. The specific baud rate value can be set by the user according to actual needs.

[0118] The present invention will be specifically described below through a specific embodiment:

[0119] The present invention provides a sensor, including a rotary encoder as a signal output unit 101, a microcontroller as a processing unit 102, a communication unit 103, and a level adjustment unit 201;

[0120] in,

[0121] The rotary encoder includes a rotating structure 1011 consisting of a rotary encoder shaft, a grating disk, and a light-emitting element, and a circuit board including a transmitting tube and a receiving silicon photonics module as a signal circuit 1012; wherein the rotating structure 1011 rotates with the rotation of the steering wheel, and the signal circuit 1012 converts the rotation of the rotating structure into a pulse signal and transmits the pulse signal to the level adjustment unit 201.

[0122] The level adjustment unit 201 includes a pull-up circuit, a pull-down circuit, and a correction circuit;

[0123] Specifically, the level adjustment unit 201 is pre-determined based on the characteristics of the rotary encoder. For example, when the rotary encoder outputs high and low level pulse signals, the level adjustment unit 201 acts as a correction circuit; when the rotary encoder outputs a low-level open-circuit output, the level adjustment unit 201 acts as a pull-up circuit to obtain high and low level pulse signals; when the rotary encoder outputs a high-level open-circuit output, the level adjustment unit 201 acts as a pull-down circuit to obtain high and low level pulse signals. The level adjustment unit 201 receives the pulse signals generated by the rotary encoder and processes them based on the microcontroller's signal requirements to obtain the target pulse signal.

[0124] The microcontroller is a commercial microcontroller commonly used in the engineering machinery or vehicle industry. The microcontroller can convert the target pulse signal into a data frame corresponding to the preset communication protocol, and send the data frame to the controller of the actuator through the communication unit. The communication protocol is based on the communication unit, and the data frame includes the rotation direction and rotation speed.

[0125] The microcontroller determines the number of pulses of the target pulse signal within a preset time period, obtains the rotation speed based on the number of pulses, and obtains the rotation direction based on the order of the rising edges of the target pulse signal.

[0126] The microcontroller uses its internal software to identify the rotation direction (clockwise or counterclockwise) of the rotary encoder by analyzing the timing of the pulse transitions of the two pulses output by the rotary encoder. It then calculates the rotation speed of the steering wheel, converts it into a data frame for the CAN bus, and outputs it to the CAN bus via the CAN communication interface according to the set CAN protocol.

[0127] The rotary encoder, which serves as the signal output unit 101, the microcontroller, which serves as the processing unit 102, the communication unit 103, and the level adjustment unit 201 are all powered by a power supply.

[0128] The work machinery control system of the present invention includes: a steering wheel, sensors, a controller for the actuator, and a communication bus. When the user operates the steering wheel, the sensors can quickly and effectively obtain the steering speed and direction of the steering wheel, enabling the controller to precisely control the actuator. Embodiments of the present invention also provide a work machinery, including: the sensors described in any of the preceding embodiments, or the work machinery control system described in any of the preceding embodiments.

[0129] This invention also provides a method for controlling a work machinery. This method is applied to a controller in a work machinery control system. A detailed description of this method can be found in the sensor and work machinery control system described above; repeated details will not be repeated. Figure 6 As shown, the method includes:

[0130] Step 601: When it is determined that the steering wheel is rotating, receive the rotation direction and rotation speed sent by the sensor;

[0131] Step 602: Control the operation of the actuator based on the rotation direction and rotation speed.

[0132] Specifically, the system receives data frames sent by the sensor, parses the data frames, and obtains the rotation direction and rotation speed.

[0133] Specifically, a parsing strategy is pre-stored, which involves finding the location of the steering wheel's unique identifier, parsing it to obtain the steering wheel's unique identifier, determining whether to receive the data frame, and if so, finding the bit containing the steering direction, parsing it to obtain the steering direction, and finding the byte corresponding to the steering speed, parsing it to obtain the steering speed.

[0134] The machine control method of the present invention can quickly and effectively obtain the steering speed and direction of the steering wheel when the user operates the steering wheel, and realize the precise control of the controller and the actuator.

[0135] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer is able to execute the work machinery control method provided in the above embodiments, the method including: when it is determined that the steering wheel is rotating, receiving the rotation direction and rotation speed sent by a sensor; and controlling the operation of the actuator based on the rotation direction and rotation speed.

[0136] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the working machinery control method provided in the above embodiments. The method includes: receiving the rotation direction and rotation speed sent by a sensor when it is determined that the steering wheel is rotating; and controlling the operation of the actuator based on the rotation direction and rotation speed.

[0137] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and 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 of the embodiments of the present invention.

Claims

1. A sensor, characterized in that, include: Signal output unit, processing unit, and communication unit; The signal output unit is connected to the steering wheel of the working machinery and the processing unit, respectively. The processing unit is connected to the communication unit, and the communication unit is connected to the controller of the actuator of the working machinery. The signal output unit includes a rotating structure and a signal circuit, wherein the rotating structure is connected to the steering wheel and the signal circuit is connected to the processing unit; The rotating structure rotates when the steering wheel rotates, so that the signal circuit generates and outputs a pulse signal, and inputs the pulse signal to the processing unit. The processing unit determines the rotation direction and speed of the steering wheel based on the pulse signal, and sends the rotation direction and speed to the controller of the actuator through the communication unit; The sensor also includes: a level adjustment unit; The level adjustment unit is connected to the signal output unit and the processing unit, respectively. The signal output unit transmits the pulse signal to the level adjustment unit; The level adjustment unit receives the pulse signal output by the signal output unit, processes the pulse signal based on the signal requirements of the processing unit to obtain a target pulse signal, and sends the target pulse signal to the processing unit. The processing unit determines the rotation direction and the rotation speed based on the target pulse signal.

2. The sensor according to claim 1, characterized in that, The processing unit converts the target pulse signal into a data frame corresponding to a preset communication protocol, and sends the data frame to the controller of the actuator through the communication unit. The communication protocol is obtained based on the communication unit, and the data frame includes the rotation direction and the rotation speed.

3. The sensor according to claim 2, characterized in that, The processing unit determines the number of pulses of the target pulse signal within a preset time period, obtains the rotation speed based on the number of pulses, and obtains the rotation direction based on the order of the transition edges of the target pulse signal.

4. The sensor according to claim 2, characterized in that, The processing unit converts the steering wheel identifier, the rotation direction, and the rotation speed into data frames corresponding to the communication protocol.

5. The sensor according to any one of claims 1-4, characterized in that, The sensor also includes: a power supply; The power supply is connected to the signal output unit, the processing unit, and the communication unit, respectively. The power supply is used to power the signal output unit, the processing unit, and the communication unit.

6. A control system for a work machinery, characterized in that, include: Steering wheel, sensor based on any one of claims 1-5, controller of actuator, and communication bus; The steering wheel is connected to the sensor, and the sensor is connected to the controller of the actuator via the communication bus; The sensor rotates when the steering wheel is turned, generating a pulse signal; Based on the pulse signal, the rotation direction and speed of the steering wheel are determined; and the rotation direction and speed are sent to the controller of the actuator via the communication bus.

7. The operating machinery control system according to claim 6, characterized in that, The sensor transmits the rotation direction and the rotation speed to the communication bus; The controller of the actuator determines whether to receive the rotation direction and rotation speed from the communication bus based on a pre-set signal receiving logic, and controls the actuator to operate if it determines that the rotation direction and rotation speed have been received.

8. The operating machinery control system according to claim 6, characterized in that, The baud rates of the sensor and the controller of the actuator are the same.

9. A type of operating machinery, characterized in that, Includes the sensor as described in any one of claims 1-5, or the operating machinery control system as described in any one of claims 6-8.

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