Device for the drive-by-wire conversion of a pilot hydraulic system of an engineering vehicle

Abstract

The embodiment of the application provides a kind of engineering vehicle pilot hydraulic system drive-by-wire reconstruction device, comprising: oil circuit block, proportional electromagnetic reversing valve, attitude tilt angle instrument, receiving module and domain controller;The oil circuit block is provided with oil inlet oil circuit and oil return oil circuit, the oil inlet oil circuit and the oil return oil circuit are communicated with hydraulic oil source respectively;The working oil port connected with the boom mechanism of engineering vehicle is opened on the oil circuit block, the proportional electromagnetic reversing valve is used to control the working oil port oil outlet or oil return, to control the movement of the boom mechanism;The attitude tilt angle instrument is arranged on the boom mechanism;The domain controller is used to control the proportional electromagnetic reversing valve and collect the information of engineering vehicle;The receiving module is used to receive external control instruction, and transmit it to the domain controller.The engineering vehicle pilot hydraulic system drive-by-wire reconstruction device can realize the drive-by-wire reconstruction of engineering vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned engineering machinery, and particularly relates to a device for transforming a pilot hydraulic system of an engineering vehicle into a drive-by-wire system. BACKGROUND

[0002] Metallurgy refers to a process and technology of mining, selecting and sintering metal ore and smelting and processing the same to form a metal material. Due to the particularity of the industry, the working scene is mostly that an operator drives an engineering vehicle to operate on an internal working surface, and part of the operation content is relatively dangerous, such as slag removal under a furnace, coal yard stacking, coking asphalt treatment, ship bottom cleaning, etc., and the operation environment often has factors threatening personal safety such as high dust, heat radiation, toxic and harmful gas, strong acid and strong corrosion, limited vision, etc.

[0003] In order to avoid these factors threatening personal safety and reduce the probability of personal injury and improve work efficiency, it is necessary to transform a conventional engineering vehicle into a drive-by-wire system to realize non-line-of-sight remote control. SUMMARY

[0004] The embodiment of the present application provides a device for transforming a pilot hydraulic system of an engineering vehicle into a drive-by-wire system, which is used to solve the problem that manual driving of an engineering vehicle in an internal working surface has many safety hazards.

[0005] In the embodiment of the present application, the device for transforming a pilot hydraulic system of an engineering vehicle into a drive-by-wire system comprises an oil passage block, a proportional electromagnetic reversing valve, an attitude inclination instrument, a receiving module and a domain controller.

[0006] An oil inlet passage and an oil return passage are arranged in the oil passage block, and the oil inlet passage and the oil return passage are respectively communicated with a hydraulic oil source; a working oil port is further formed on the oil passage block, and the working oil port is connected with a luffing mechanism on the engineering vehicle and controls movement of the luffing mechanism through oil outlet or oil return;

[0007] The proportional electromagnetic reversing valve is arranged on the oil passage block, and is used to switch the working oil port between an oil outlet state and an oil return state and control oil outlet flow and oil return flow; in the oil outlet state, the working oil port is communicated with the oil inlet passage, and in the oil return state, the working oil port is communicated with the oil return passage;

[0008] The attitude inclination instrument is arranged on the luffing mechanism and is used to feed back an attitude of the luffing mechanism to the domain controller;

[0009] The receiving module is used to receive a control instruction sent by an external remote control handle and transmit the same to the domain controller;

[0010] The domain controller is configured to control the proportional electromagnetic reversing valve and collect information of the engineering vehicle to realize the non-line-of-sight remote control of the boom mechanism.

[0011] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the engineering vehicle pilot hydraulic system drive-by-wire retrofit device further comprises a pilot oil source valve, the oil inlet oil path is communicated with the hydraulic oil source through the pilot oil source valve, and the pilot oil source valve is configured to supply the oil inlet oil path with hydraulic oil of a predetermined pressure and cut off the supply of hydraulic oil.

[0012] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the engineering vehicle pilot hydraulic system drive-by-wire retrofit device further comprises an oil return filter, the oil return oil path is communicated with the hydraulic oil source through the oil return filter, and the oil return filter is configured to filter contaminants in the hydraulic oil.

[0013] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the oil inlet oil path and the oil return oil path are arranged in parallel with each other, and the oil inlet oil path is arranged below the oil return oil path.

[0014] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the proportional electromagnetic reversing valve and the working oil port are each arranged in a plurality of forms, and each proportional electromagnetic reversing valve controls one working oil port.

[0015] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the proportional electromagnetic reversing valve is arranged in four forms, i.e., a first proportional electromagnetic reversing valve, a second proportional electromagnetic reversing valve, a third proportional electromagnetic reversing valve, and a fourth proportional electromagnetic reversing valve, and the working oil port is also arranged in four forms, the first proportional electromagnetic reversing valve is configured to control the lifting of the boom mechanism, the second proportional electromagnetic reversing valve is configured to control the lowering of the boom mechanism, the third proportional electromagnetic reversing valve is configured to control the material receiving of the boom mechanism, and the fourth proportional electromagnetic reversing valve is configured to control the material unloading of the boom mechanism.

[0016] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire retrofit device, the engineering vehicle pilot hydraulic system drive-by-wire retrofit device further comprises an electrically controlled operating handle and a switching button, the domain controller is electrically connected with the electrically controlled operating handle and the switching button, respectively, the switching button is configured to switch the operation of the boom mechanism between a non-line-of-sight remote control state and a manual driving control state, and the electrically controlled operating handle is configured to be operated by a driver in the manual driving state.

[0017] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire reconstruction device, the domain controller adopts a dual-core architecture design, including two MPC5606B chips, and the external interface forms include CAN, RS485, RS232, ADC digital-analog conversion and IO.

[0018] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire reconstruction device, the electric control operation handle includes a double-axis Hall sensor, the communication interface adopts an RS485 form, and the communication protocol adopts Modbus-RTU.

[0019] As a further optional solution of the engineering vehicle pilot hydraulic system drive-by-wire reconstruction device, the communication interface of the attitude inclinometer adopts an RS485 form, and the communication protocol adopts Modbus-ASCII.

[0020] The embodiment of the present application has the following beneficial effects:

[0021] The engineering vehicle pilot hydraulic system drive-by-wire reconstruction device receives control instructions through a receiving module, controls proportional electromagnetic reversing valves through a domain controller, and then controls the in-out oil volume of a working oil port, thereby controlling a boom mechanism of the engineering vehicle, realizing the drive-by-wire reconstruction of the engineering vehicle, enabling an operator to be removed from a dangerous operation site for remote operation, improving safety while ensuring engineering efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0023] Among them:

[0024] Figure 1 FIG. 1 is a partial structure schematic diagram of an engineering vehicle pilot hydraulic system drive-by-wire reconstruction device in an embodiment of the present application;

[0025] Figure 2 FIG. 2 is a structure schematic diagram of an oil way block in an embodiment of the present application;

[0026] Figure 3 FIG. 3 is a top surface schematic diagram of the oil way block in an embodiment of the present application;

[0027] Figure 4 FIG. 4 is a cross-sectional view of A-A in FIG. 3; Figure 3

[0028] Figure 5 FIG. 5 is a cross-sectional view of B-B in FIG. 3;​Figure 3 Cross-sectional view at B-B;

[0029] Figure 6 Structure diagram of domain controller in an embodiment of the present application;

[0030] Figure 7 Structure diagram of electric control handle in an embodiment of the present application;

[0031] Figure 8 Device principle block diagram of the line control transformation device of the engineering vehicle pilot hydraulic system in an embodiment of the present application;

[0032] Explanation of main component symbols:

[0033] 10 - oil passage block, 11 - oil inlet passage, 111 - oil inlet, 12 - oil return passage, 121 - oil return, 13 - electromagnetic valve mounting blind hole, 14 - working oil port, 15 - mounting hole;

[0034] 20 - proportional electromagnetic directional valve, 21 - first proportional electromagnetic directional valve, 22 - second proportional electromagnetic directional valve, 23 - third proportional electromagnetic directional valve, 24 - fourth proportional electromagnetic directional valve;

[0035] 30 - domain controller;

[0036] 40 - electric control handle;

[0037] 50 - pilot oil source valve;

[0038] 60 - oil return filter. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0040] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The use herein of the terms "and / or" includes a set of one or more associated listed items.

[0042] The embodiment of the application provides a device for transforming a pilot hydraulic system of an engineering vehicle into a drive-by-wire system, which is used to solve the problem of many safety hazards existing in manual driving of the engineering vehicle when operating in an internal working area.

[0043] In the embodiment of the application, reference is made to Figures 1 to 7 The device for transforming the pilot hydraulic system of the engineering vehicle into the drive-by-wire system comprises an oil passage block 10, a proportional electromagnetic reversing valve 20, an attitude inclinometer, a receiving module and a domain controller 30. The oil passage block 10 is provided with an oil inlet passage 11 and an oil return passage 12, and the oil inlet passage 11 and the oil return passage 12 are respectively communicated with a hydraulic oil source. The oil passage block 10 is further provided with a working oil port 14, which is connected with a boom mechanism of the engineering vehicle and controls movement of the boom mechanism by discharging or returning oil. The proportional electromagnetic reversing valve 20 is arranged on the oil passage block 10 and is used to switch the working oil port 14 between a discharging state and a returning state and control discharging flow and returning flow. In the discharging state, the working oil port 14 is communicated with the oil inlet passage 11, and in the returning state, the working oil port 14 is communicated with the oil return passage 12. The attitude inclinometer is arranged on the boom mechanism and is used to feed attitude information of the boom mechanism to the domain controller 30. The receiving module is used to receive a control instruction sent by an external remote control handle and transmit the control instruction to the domain controller 30. The domain controller 30 is used to control the proportional electromagnetic reversing valve 20 and collect information of the engineering vehicle to realize non-line-of-sight remote control of the boom mechanism.

[0044] The working process of the device for transforming the pilot hydraulic system of the engineering vehicle into the drive-by-wire system is as follows: a remote operator sends a control instruction to the receiving module through a remote control handle. After receiving the control instruction, the receiving module transmits a displacement signal of the control instruction to the domain controller 30. The domain controller 30 controls the proportional electromagnetic reversing valve 20 according to information of the engineering vehicle, such as position information, travel data and attitude information of the boom mechanism, so as to change discharging flow and returning flow at the working oil port 14, thereby achieving the effect of controlling movement of the boom mechanism. When the working oil port 14 discharges oil to the boom mechanism, hydraulic oil sequentially passes through the oil inlet passage 11 and the proportional electromagnetic reversing valve 20 from the hydraulic oil source to the working oil port 14. When the working oil port 14 returns oil, the hydraulic oil sequentially passes through the proportional electromagnetic reversing valve 20 and the oil return passage 12 to return to the hydraulic oil source.

[0045] The device for the steer-by-wire reconstruction of the pilot hydraulic system of the engineering vehicle receives the control instructions by the receiving module, controls the proportional electromagnetic reversing valve 20 by the domain controller 30, and then controls the oil output and return of the working oil port 14, so as to control the boom mechanism of the engineering vehicle, realize the steer-by-wire reconstruction of the engineering vehicle, and enable the operator to leave the dangerous operation site and perform remote operation, thereby improving the safety and ensuring the engineering efficiency.

[0046] In the prior art, the movement of the boom mechanism of the conventional engineering vehicle is realized by the pilot control valve, and the steer-by-wire reconstruction of the conventional engineering vehicle is realized by replacing the pilot control valve by the device for the steer-by-wire reconstruction of the pilot hydraulic system of the engineering vehicle provided by the application. The hydraulic pressure of the pilot control valve is usually less than 3.5 Mpa, and the hydraulic pressure after the reconstruction is theoretically the same as the original pressure, but in the actual operation test, it is found that the oil circuit after the reconstruction has the problems of slow oil circuit pressure building, unbalanced oil pressure, and unstable oil pressure.

[0047] To solve the above problems, in an embodiment, the device for the steer-by-wire reconstruction of the pilot hydraulic system of the engineering vehicle further comprises a pilot oil source valve 50, the inlet oil circuit 11 is communicated with the hydraulic oil source through the pilot oil source valve 50, and the pilot oil source valve 50 is used to provide the oil circuit with hydraulic oil of a predetermined pressure and is also used to cut off the supply of the hydraulic oil. Cutting off the supply of the hydraulic oil can play the role of a safety valve.

[0048] In the actual operation test, it is also found that the pipeline pollution problem caused by the oil circuit reconstruction process or existing in the original vehicle oil circuit will cause the deterioration and dirtiness of the hydraulic oil, the reduction of the lubrication coefficient, and then the problem of blocking the proportional electromagnetic reversing valve 20.

[0049] To solve the above problems, in an embodiment, the device for the steer-by-wire reconstruction of the pilot hydraulic system of the engineering vehicle further comprises an oil return filter 60, the oil return circuit 12 is communicated with the hydraulic oil source through the oil return filter 60, and the oil return filter 60 is used to filter the pollutants in the hydraulic oil.

[0050] By combining the above two embodiments, the robustness of the oil circuit block 10 can be greatly improved, and the failure rate can be reduced.

[0051] In an embodiment, the proportional electromagnetic reversing valve 20 and the working oil port 14 are both provided as a plurality of valves and ports.

[0052] In a conventional engineering vehicle, the boom mechanism usually comprises a boom and a rotary bucket connected at the end of the boom, the boom is used to drive the rotary bucket to rise, fall or float, and the rotary bucket is used to collect and unload materials. At this time, the pilot control valve is a superimposed two-piece valve, which is composed of a boom operating link and a rotary bucket operating link, the boom operating link is controlled by a boom operating handle, and the rotary bucket operating link is controlled by a rotary bucket operating handle. The boom operating link contains two sets of metering spool groups and one set of sequential spool group, which are used to realize the lifting, falling and floating of the boom respectively; the rotary operating link contains two sets of metering spool groups, which are used to realize the material collection and unloading of the rotary bucket respectively. In each metering spool, the displacement of the spool valve core is proportional to the displacement of the operating angle of the operating handle. The greater the operating angle of the operating handle, the faster the action speed of the working device.

[0053] Corresponding to the above conventional design, in a specific embodiment, four proportional electromagnetic reversing valves 20 are provided, which are respectively a first proportional electromagnetic reversing valve 21, a second proportional electromagnetic reversing valve 22, a third proportional electromagnetic reversing valve 23 and a fourth proportional electromagnetic reversing valve 24, and four working oil ports 14 are also provided correspondingly, the first proportional electromagnetic reversing valve 21 is used to control the lifting of the boom mechanism, the second proportional electromagnetic reversing valve 22 is used to control the falling of the boom mechanism, the third proportional electromagnetic reversing valve 23 is used to control the material collection of the boom mechanism, and the fourth proportional electromagnetic reversing valve 24 is used to control the material unloading of the boom mechanism. It can be imagined that the skilled in the art can also increase or decrease the number of proportional electromagnetic reversing valves 20 and working oil ports 14 according to the actual situation of engineering, so that the boom mechanism can perform more rich movements.

[0054] The specific design scheme of the oil path block 10 is further described below.

[0055] In an embodiment, please refer to Figures 2 to 5 The oil inlet path 11 is formed by opening a blind hole from the left side to the inside of the oil path block 10, the oil return path 12 is formed by opening a blind hole from the right side to the inside of the oil path block 10, the oil inlet path 11 is outwardly opened to form an oil inlet port 111, and the oil return path 12 is outwardly opened to form an oil return port 121, the oil inlet port 111 and the oil return port 121 are both used to connect with a hydraulic oil source, the oil inlet path 11 and the oil return path 12 are arranged in parallel with each other, and the oil inlet path 11 is located below the oil return path 12. The top surface of the oil path block 10 is further provided with electromagnetic valve mounting blind holes 13 from top to bottom, the electromagnetic valve mounting blind holes 13 are respectively communicated with the oil inlet path 11 and the oil return path 12, the proportional electromagnetic reversing valves 20 are inserted into the electromagnetic valve mounting blind holes 13, and the oil inlet path 11 and the oil return path 12 are communicated through the proportional electromagnetic reversing valves 20. Threaded holes are provided on the outside of the electromagnetic valve mounting blind holes 13 of the oil path block 10, which are used to fix the proportional electromagnetic reversing valves 20. An installation hole 15 is provided on the top of the oil path block 10, which is used to fix the oil path block 10 on the engineering vehicle.

[0056] In an embodiment, the oil inlet passage 11 and the oil return passage 12 adopt a pipe thread G3 / 8 opening design, the oil inlet 111 adopts a pipe thread G1 / 4 opening design, and the oil return port 121 and the working oil port 14 adopt a pipe thread G3 / 8 opening design.

[0057] To realize the switching between remote control and manual control, in an embodiment, the line control reconstruction device of the engineering vehicle pilot hydraulic system further comprises an electric control operation handle 40 and a switching button, the domain controller 30 is electrically connected with the electric control operation handle 40 and the switching button respectively, the switching button can switch the operation of the boom mechanism between the non-line-of-sight remote control state and the manual driving control state, and the electric control operation handle 40 is used for providing the driver with operation in the manual driving state.

[0058] In a specific embodiment, the domain controller 30 adopts a dual-core architecture design and comprises two MPC5606B chips, and the external interface forms include CAN, RS485, RS232, ADC digital-to-analog conversion and IO.

[0059] In this embodiment, the domain controller 30 is used for collecting attitude inclinometer information, vehicle state information, IO state information and remote control handle control information, wherein the vehicle state includes an ignition state, a turn signal state, a high / low beam state, a parking state, a gear state, a windshield wiper state, a horn state, a cooling fan state and a gearbox power state, and the IO state information includes a hardware limit state of the switching button.

[0060] In a more specific embodiment, the electric control operation handle 40 comprises a dual-axis Hall sensor, the communication interface adopts an RS485 form, and the communication protocol adopts Modbus-RTU.

[0061] In a more specific embodiment, the communication interface of the attitude inclinometer adopts an RS485 form, and the communication protocol adopts Modbus-ASCII.

[0062] In a more specific embodiment, the domain controller 30 controls the proportional electromagnetic reversing valve 20 through PWM.

[0063] In a preferred embodiment combining the above several embodiments, the principle block diagram of the line control reconstruction device of the engineering vehicle pilot hydraulic system is as shown in Figure 8 At this time, the control principle of the line control reconstruction device is as follows:

[0064] When the takeover button is in the released state, the engineering vehicle pilot hydraulic system drive-by-wire device is in the non-line-of-sight remote driving control state; the control command issued by the remote control handle of the remote operator simulates the left / right / forward / backward movement mode of the handle, the receiving module will transmit the control displacement stroke signal to the domain controller 30 through CAN communication, the domain controller 30 selects the PWM channel and adjusts the duty cycle ratio according to the position and stroke data of the controlled object (engineering vehicle), and controls the proportional electromagnetic reversing valve 20 in proportion, so as to control the oil output and return of the hydraulic oil of the working oil port 14, so as to realize the purpose of adjusting the action and movement speed of the boom mechanism.

[0065] When the takeover button is in the pressed state, the engineering vehicle pilot hydraulic system drive-by-wire device is in the manual driving control state; when the electric control handle 40 moves left / right / forward / backward, the displacement stroke signal of the control will be communicated with the domain controller 30 through RS485 communication, and the domain controller 30 selects the PWM channel and adjusts the duty cycle ratio according to the position and stroke data of the controlled object, and controls the proportional electromagnetic reversing valve 20 in proportion, so as to control the oil output and return of the hydraulic oil of the working oil port 14, so as to realize the purpose of adjusting the action and movement speed of the boom mechanism.

[0066] When the electric control handle 40 is in the neutral position or the remote control handle issues 0 data control command, the hydraulic oil pressure in the oil way block 10 is in a static state.

[0067] The technical features of the above-mentioned embodiments can be combined arbitrarily, and in order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0068] The above-mentioned embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as the limitation of the patent application scope. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A device for retrofitting the pilot hydraulic system of an engineering vehicle into a wire-controlled system, characterized in that, include: Hydraulic manifold, proportional solenoid directional valve, attitude tilt meter, receiving module, and domain controller; The hydraulic manifold is equipped with an inlet oil passage and a return oil passage, which are respectively connected to a hydraulic oil source. The hydraulic manifold is also provided with a working oil port, which is connected to the boom mechanism on the engineering vehicle and controls the movement of the boom mechanism by oil supply or return. The proportional electromagnetic reversing valve is installed on the oil circuit block and is used to switch the working oil port between the oil outlet state and the oil return state, and to control the oil outlet flow rate and the oil return flow rate. In the oil outlet state, the working oil port is connected to the oil inlet circuit, and in the oil return state, the working oil port is connected to the oil return circuit. The attitude tilt meter is mounted on the boom mechanism and is used to feed back the attitude of the boom mechanism to the domain controller; The receiving module is used to receive control commands from an external remote control and transmit them to the domain controller. The domain controller is used to control the proportional solenoid directional valve and also to collect information about the engineering vehicle in order to realize non-line-of-sight remote control of the boom mechanism. The oil inlet route is formed by opening blind holes from the left side of the oil passage block; It also includes a pilot oil source valve, through which the oil inlet circuit is connected to the hydraulic oil source. The pilot oil source valve is used to provide hydraulic oil at a predetermined pressure to the oil inlet circuit and also to cut off the supply of hydraulic oil. The oil inlet passage and the oil return passage are arranged in parallel to each other, with the oil inlet passage located below the oil return passage.

2. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 1, characterized in that, It also includes a return oil filter, through which the return oil circuit is connected to the hydraulic oil source, and the return oil filter is used to filter contaminants in the hydraulic oil.

3. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 1, characterized in that, The proportional solenoid directional valve and the working oil port are both configured in multiple ways, with each proportional solenoid directional valve controlling one working oil port.

4. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 3, characterized in that, The system comprises four proportional solenoid directional valves: a first proportional solenoid directional valve, a second proportional solenoid directional valve, a third proportional solenoid directional valve, and a fourth proportional solenoid directional valve. Correspondingly, four working oil ports are also provided. The first proportional solenoid directional valve controls the lifting of the boom mechanism, the second proportional solenoid directional valve controls the lowering of the boom mechanism, the third proportional solenoid directional valve controls the material collection of the boom mechanism, and the fourth proportional solenoid directional valve controls the material unloading of the boom mechanism.

5. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 1, characterized in that, It also includes an electronic control handle and a switching button. The domain controller is electrically connected to the electronic control handle and the switching button respectively. The switching button can switch the operation of the boom mechanism between a non-line-of-sight remote control state and a manual driving control state. The electronically controlled operating handle is used to provide operation for the driver in manual driving mode.

6. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 5, characterized in that, The domain controller adopts a dual-core architecture design, including two MPC5606B chips, and has external interfaces such as CAN, RS485, RS232, ADC digital-to-analog conversion, and IO.

7. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 6, characterized in that, The electronically controlled operating handle includes a dual-axis Hall sensor, uses an RS485 communication interface, and adopts the Modbus-RTU communication protocol.

8. The drive-by-wire retrofit device for the pilot hydraulic system of engineering vehicles according to claim 6, characterized in that, The communication interface of the attitude tilt meter adopts RS485, and the communication protocol adopts Modbus-ASCII.

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