Remote control system of bulldozer

Abstract

The invention discloses a bulldozer remote control system which comprises a vehicle-mounted control system, a remote control cabin control system and a handheld remote control system. The vehicle-mounted system monitors the environment through positioning navigation and data analysis, and coordinates the operation and protection of the bulldozer; the remote control cabin system remotely controls walking, steering and operation of the bulldozer, and has the functions of remote automatic fire extinguishing, manual fire extinguishing and spraying. The handheld remote control system carries out remote operation through a wireless handle and a switch, the remote operation comprises spraying, air inlet cut-off, accelerator adjustment and machine start-stop switching, and quick response under the emergency condition is ensured. By means of the system, the problems that an existing remote control bulldozer is poor in performance and lacks environment recognition, safe area protection, data recording, self-learning and upgrading capacity in scenes such as a fire scene, high temperature and low visibility can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of bulldozers, and in particular to a remote control system for bulldozers. Background Art

[0002] With the rapid advancement of digital technology and unmanned driving technology, the application of remote-controlled bulldozers in dangerous environments such as construction and fire rescue is becoming more and more widespread.

[0003] However, most remote-controlled bulldozers on the market today only add remote control devices to traditional bulldozers, which means they can only meet the needs of general working conditions. When encountering special scenarios such as high temperature, high-risk fire or low visibility, these traditional remote-controlled bulldozers often cannot respond effectively. In addition, these bulldozers cannot fully identify the working environment without blind spots during the construction process, lack a synchronous simulation system to track the construction process, and have no recording function. Their control systems also lack the ability to dynamically upgrade, which makes them unable to cope with special working conditions and causes huge property losses.

[0004] Therefore, it is necessary to design a new system to solve the problems that the existing remote-controlled bulldozers perform poorly in special scenarios such as fire, high temperature and low visibility, cannot meet the needs of firefighting and rescue, lack effective environmental identification and safety zone protection functions, their operating data cannot be recorded, and the control system does not have self-learning and upgrading capabilities. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a bulldozer remote control system.

[0006] In order to solve the above technical problems, the object of the present invention is achieved through the following technical solutions: providing a bulldozer remote control system, including: a vehicle-mounted control system, a remote control cockpit control system and a handheld remote control control system; the vehicle-mounted control system is wirelessly connected to the remote control cockpit control system and the handheld remote control control system respectively;

[0007] The vehicle-mounted control system is used to achieve precise construction and monitoring through positioning and navigation, to perform environmental monitoring and analysis using data acquisition and processing technology, and to coordinate the operation and protection of the bulldozer through network communication and control functions;

[0008] The remote control cabin control system is used for comprehensive remote control of the bulldozer, including walking, steering and operation functions, and is equipped with remote automatic fire extinguishing, manual fire extinguishing and spraying functions to cope with various emergency situations;

[0009] The handheld remote control system is used to realize wireless remote operation of the bulldozer through various handles and switches in the handheld remote control control area, and perform remote spraying, air intake cut-off, throttle adjustment, and machine start and stop switches to deal with emergencies.

[0010] Its further technical solution is: the vehicle-mounted control system includes a receiver, an encoder, a networking device, a network switch, a handheld remote control receiving antenna, a laser radar industrial computer, a CAN network transfer module, a handheld remote control receiver, a motor lifting controller and a vehicle-mounted multifunctional main controller;

[0011] The receiver is used to provide positioning and real-time monitoring functions through satellite positioning, signal reception and transmission, attitude data collection and information display, and transmit data to networking equipment;

[0012] The encoder is used to obtain sound signals through audio acquisition equipment, use multiple high-definition cameras to conduct video monitoring of the construction environment, and combine the surround video signals processed by the surround host to achieve 360° all-round monitoring without blind spots;

[0013] The networking device is used to receive the data, and to exchange data and transmit network signals with the network switch through a local area network;

[0014] The network switch is used to connect various devices and transmit radar signals, forward CAN signals, and process audio and video data generated by the encoder;

[0015] The handheld remote control receiving antenna is used to receive remote control signals from a handheld remote control system to control the operation of the bulldozer;

[0016] The laser radar industrial computer is used to receive and process data from the laser radar and millimeter wave radar, generate environmental imaging signals, and transmit them to the network switch through the local area network;

[0017] The CAN network conversion module is used to convert the CAN bus signal into a network signal, or convert the network signal into a CAN bus signal;

[0018] The handheld remote control receiver is used to collect the remote control signal received by the handheld remote control receiving antenna and convert it into a CAN bus signal for transmission to the vehicle-mounted multifunctional main controller;

[0019] The motor lifting controller is used to control the lifting and lowering of the radar protection cover and close the protection cover under specific circumstances;

[0020] The vehicle-mounted multifunctional main controller is used to connect with the receiver, networking equipment, network switch, handheld remote control receiving antenna, laser radar industrial computer, CAN network transfer module, handheld remote control receiver, and motor lifting controller through the CAN bus, manage the engine status, and control the electro-hydraulic proportional valve to perform various operations of the machine according to the signal input.

[0021] Its further technical solution is: the receiver is connected with a first GNSS antenna, a second GNSS antenna, a positioning machine radio receiving antenna, a positioning machine 5G antenna, a blade inclination sensor, a chassis inclination sensor, a ripper inclination sensor, a ripper tooth inclination sensor, a CAN network transfer module and a positioning display;

[0022] The first GNSS antenna and the second GNSS antenna are used to receive satellite signals and send them to a receiver to achieve satellite positioning;

[0023] The positioning machine radio receiving antenna is used to receive radio broadcast signals and send them to the receiver;

[0024] The positioning machine 5G antenna is used to transmit 5G signals;

[0025] The receiver transmits data with the CAN network transfer module via the CAN bus, and sends the data to the networking device via the network switch.

[0026] Its further technical solution is: the encoder is connected to an audio acquisition device, several cameras and a surround view host. The encoder obtains various sound signals in the machine operation through the audio acquisition device, and realizes high-definition dynamic monitoring of the construction environment by collecting video signals from several cameras. It also receives the surround view video signals processed by the surround view host and performs surround view monitoring in combination with the video signals from several cameras.

[0027] A further technical solution is: the networking device is connected to a CPE filter, the CPE filter is connected to a CPE antenna, the networking device receives and sends network data through the networking CPE antenna, and uses the CPE filter to filter interference signals.

[0028] Its further technical solution is: the laser radar industrial control computer is connected to several millimeter wave radars and several laser radars.

[0029] A further technical solution is: the vehicle-mounted multifunctional main controller is connected to the engine ECM and the electro-hydraulic proportional valve.

[0030] Its further technical solution is: the remote control cabin control system includes a remote control console controller, a walking and steering electric control handle, a working blade electric control handle, a ripper electric control handle, an amplifier audio device, a decoder and a first display screen;

[0031] The remote control console controller is respectively connected to the walking and steering electric control handle, the working blade electric control handle, the tiller electric control handle, the power amplifier audio equipment, the decoder and the display screen;

[0032] The travel and steering electric control handle is used to control the forward, backward and steering movements of the machine under the drive of the remote control console controller, and transmits instructions using CAN bus communication;

[0033] The working blade electric control handle is used to control the lifting and tilting of the blade under the drive of the remote control console controller, and transmits instructions through CAN bus communication;

[0034] The electric control handle of the ripper is used to control the lifting and lowering of the ripper and the everting and retracting of the ripper teeth under the drive of the remote control console controller, and transmits instructions by CAN bus communication;

[0035] The power amplifier audio equipment is used to synchronously transmit sound signals under the drive of the remote control station controller;

[0036] The decoder is used to decode and restore the audio and video signals under the drive of the remote control console controller;

[0037] The first display screen is used to display real-time video, audio signals and whole machine operation data;

[0038] The remote control console controller is used to receive and process control instructions from the electric control handle, control the movement of the whole machine, the shovel blade, and the tiller, and manage the start-up, shutdown, speed adjustment, and fire extinguishing functions.

[0039] Its further technical solution is: the remote control cockpit control system includes a remote control end CAN network transfer module, a switch, a data processing server, a second display screen, a third display screen, a deceleration brake pedal, a throttle adjustment device, a start switch, an emergency stop button, a spray switch, an intake flameout switch, an emergency fire extinguishing switch, a fire extinguishing mode switch, a remote control end CPE antenna, a remote control end networking device, a hard disk burner, and a cloud server;

[0040] Among them, the switch is connected to the remote control station controller through the remote control end CAN network transfer module; the decoder is connected to the switch; the switch is connected to the remote control end networking equipment, hard disk burner and data processing server; the cloud server is connected to the data processing server; the data processing server is respectively connected to the second display screen and the third display screen; the remote control end CPE antenna is connected to the remote control end networking equipment; the deceleration brake pedal, throttle adjustment device, start switch, emergency stop button, sprinkler switch, intake flameout switch, emergency fire extinguishing switch, and fire extinguishing mode switch are respectively connected to the remote control station controller.

[0041] The further technical solution is: the handheld remote control system comprises a handheld remote control control area, a liquid crystal display screen, a remote control host and a remote control antenna; the handheld remote control control area, the liquid crystal display screen and the remote control antenna are respectively connected to the remote control host;

[0042] The handheld remote control control area includes a control component, and the control component is used to realize wireless remote control of the bulldozer;

[0043] The LCD display is embedded in the handheld remote control.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is provided with a vehicle-mounted control system, a remote control cabin control system and a handheld remote control control system; the vehicle-mounted control system is used for precise construction, environmental monitoring, and bulldozer operation and protection coordination; the remote control cabin control system provides comprehensive remote control functions, including walking, steering and operation, and is equipped with automatic fire extinguishing, manual fire extinguishing and spraying functions. The handheld remote control system allows the bulldozer to be wirelessly controlled through a handheld device, including remote spraying, air intake cut-off, throttle adjustment and manual machine start-stop switch. Each system is interconnected through network communication to ensure efficient and safe operation of the bulldozer; it can solve the problems that the existing remote control bulldozers perform poorly in special scenes such as fire, high temperature and low visibility, cannot meet the needs of fire fighting and rescue, lack effective environmental identification and safety zone protection functions, their operating data cannot be recorded, and the control system does not have the ability of self-learning and upgrading.

[0045] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0047] Figure 1 A schematic block diagram of a bulldozer remote control system provided by an embodiment of the present invention;

[0048] Figure 2 A schematic block diagram of a vehicle-mounted control system provided by an embodiment of the present invention;

[0049] Figure 3 A schematic block diagram of a remote control cabin control system provided by an embodiment of the present invention;

[0050] Figure 4 A schematic block diagram of a handheld remote control system provided by an embodiment of the present invention;

[0051] Description of the symbols in the figure:

[0052] 100. On-board control system; 1. Receiver; 2. First GNSS antenna; 3. Positioning display; 4. Second GNSS antenna; 5. Audio acquisition device; 6. Encoder; 7. Front HD camera; 8. Left HD camera; 9. Right HD camera; 10. Rear HD camera; 11. Positioning machine radio receiving antenna; 12. Positioning machine 5G antenna; 13. Surround view host; 14. Surround view front camera; 15. Surround view left camera; 16. Surround view right camera; 17. Surround view rear camera; 18. Networking equipment; 19. CPE filter; 20. CPE antenna; 21. Blade inclination sensor; 22. Chassis Tilt sensor; 23. Tilt sensor for ripper; 24. Tilt sensor for ripper teeth; 25. Network switch; 26. Laser radar industrial computer; 27. CAN transfer module; 28. Handheld remote control receiving antenna; 30. Laser radar; 31. Millimeter wave radar; 32. Handheld remote control receiver; 33. First CAN transfer module; 34. Motor lifting controller; 35. Vehicle-mounted multi-function main controller; 36. Remote control mode selection switch; 37. Engine ECM; 38. Working pilot valve; 39. Intake shut-off valve; 40. Spray pump; 41. Fire extinguishing electromagnetic water valve; 42. Fire extinguishing agent injection valve; 43. Lighting lamp; 44. Ambient temperature sensor; 45. Cabin temperature sensor; 46. On-board pressure sensor; 47. On-board sensor unit; 48. Travel safety valve; 49. Reverse proportional valve; 50. Forward proportional valve; 51. Blade left tilt proportional valve; 52. Blade right tilt proportional valve; 53. Blade up proportional valve; 54. Blade down proportional valve; 55. Left steering proportional valve; 56. Right steering proportional valve; 200. Remote control cockpit control system; 60. Travel steering electric control handle; 61. Working blade electric control handle; 62. Scarifier electric control handle; 63. Amplifier audio equipment; 64. Decoder; 65. First display screen; 66. Remote control console controller ; 67. CAN network transfer module at the remote control end; 68. Switch; 69. Data processing server; 70. Second display screen; 71. Third display screen; 72. Deceleration brake pedal; 73. Throttle adjustment device; 74. Start switch; 75. Emergency stop button; 76. Spray switch; 77. Intake flameout switch; 78. Emergency fire extinguishing switch; 79. Fire extinguishing mode switch; 80. CPE antenna at the remote control end; 81. Networking equipment at the remote control end; 82. Hard disk burner; 83. Cloud server; 300. Handheld remote control control system; 84. Handheld remote control control area; 85. LCD display; 86. Remote control host; 87. Remote control antenna. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0055] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0056] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0057] See also Figure 1 , Figure 1 This is a schematic block diagram of a bulldozer remote control system provided by an embodiment of the present invention. The system is used to control a bulldozer. By integrating vehicle-mounted sensing technology, digital twin technology, wireless data transmission technology, satellite positioning technology, data analysis technology, and industrial control technology, we have successfully built a new bulldozer remote control system. The system has the following functions:

[0058] Remote fire extinguishing sprinkler: The sprinkler can be activated remotely to extinguish the fire;

[0059] Emergency brake and flameout: Automatically brake and shut down the engine in an emergency;

[0060] Digital twin simulation: Use digital twin technology to conduct virtual simulation and monitor the operating status of the bulldozer in real time;

[0061] Dynamic upgrade of control program: support real-time update and optimization of system control program;

[0062] All-round work process monitoring: through a comprehensive monitoring system, ensure no blind spots in the operation process;

[0063] Electronic fence and anti-tilt and anti-rollover mechanisms: Set up electronic fence and anti-tilt and anti-rollover mechanisms to ensure safe operation.

[0064] The system can solve the problems that existing remote-controlled bulldozers perform poorly in special scenarios such as fires, high temperatures and low visibility, cannot meet firefighting and rescue needs, lack effective environmental identification and safety zone protection functions, their operating data cannot be recorded, and the control system does not have self-learning and upgrade capabilities.

[0065] See also Figure 1 A bulldozer remote control system includes: a vehicle-mounted control system 100, a remote control cabin control system 200, and a handheld remote control control system 300; the vehicle-mounted control system 100 is wirelessly connected to the remote control cabin control system 200 and the handheld remote control control system 300 respectively;

[0066] Among them, the vehicle-mounted control system 100 is used to achieve precise construction and monitoring through positioning and navigation, use data collection and processing technology to perform environmental monitoring and analysis, and coordinate the operation and protection of the bulldozer through network communication and control functions;

[0067] Remote control cabin control system 200, used for comprehensive remote control of the bulldozer, including travel, steering and operation functions, and equipped with remote automatic fire extinguishing, manual fire extinguishing and sprinkler functions to deal with various emergency situations;

[0068] The handheld remote control system 300 is used to realize wireless remote control of the bulldozer through various handles and switches of the handheld remote control control area 84, and perform remote spraying, air intake cut-off, throttle adjustment, and machine start and stop switches to deal with emergency situations.

[0069] In this embodiment, efficient construction and real-time monitoring are achieved through accurate positioning and navigation technology. The vehicle-mounted control system 100 combines data acquisition and processing technology to perform environmental monitoring and analysis, and uses network communication and control functions to optimize the operation and safety protection of the bulldozer.

[0070] The remote control cabin control system 200 provides comprehensive remote operation functions, capable of controlling the bulldozer's travel, steering and operation. Equipped with automatic fire extinguishing, manual fire extinguishing and sprinkler functions, the system can respond to various emergency situations, enhancing operational safety and emergency handling capabilities.

[0071] The handheld remote control system 300 uses a handheld remote control device to realize wireless remote control of the bulldozer, including remote spraying, air intake cutoff, throttle adjustment, and machine start and stop switch. This design allows the operator to flexibly respond to different operating requirements and emergency situations while being away from the machine, improving the convenience and safety of operation.

[0072] In one embodiment, see Figure 2 The above-mentioned vehicle control system 100 includes a receiver 1, an encoder 6, a networking device 18, a network switch 25, a handheld remote control receiving antenna 28, a laser radar industrial computer 26, a CAN network transfer module 27, a handheld remote control receiver 32, a motor lifting controller 34 and a vehicle-mounted multi-functional main controller 35;

[0073] Receiver 1, used to provide positioning and real-time monitoring functions through satellite positioning, signal reception and transmission, attitude data collection and information display, and transmit data to networking device 18;

[0074] The encoder 6 is used to obtain the sound signal through the audio acquisition device 5, use multiple high-definition cameras to perform video monitoring of the construction environment, and combine the surround video signal processed by the surround host 13 to achieve 360° all-round monitoring without blind spots;

[0075] The networking device 18 is used to receive data, and to exchange data and transmit network signals with the network switch 25 through the local area network;

[0076] The network switch 25 is used to connect various devices and transmit radar signals, forward CAN signals, and process audio and video data generated by the encoder 6;

[0077] A handheld remote control receiving antenna 28, for receiving a remote control signal from a handheld remote control system 300 to control the operation of the bulldozer;

[0078] The laser radar industrial computer 26 is used to receive and process the data of the laser radar 30 and the millimeter wave radar 31, generate environmental imaging signals, and transmit them to the network switch 25 through the local area network;

[0079] CAN network conversion module 27, used to convert CAN bus signals into network signals, or convert network signals into CAN bus signals;

[0080] The handheld remote control receiver 32 is used to collect the remote control signal received by the handheld remote control receiving antenna 28 and convert it into a CAN bus signal to be transmitted to the vehicle-mounted multifunctional main controller 35;

[0081] The motor lifting controller 34 is used to control the lifting and lowering of the radar protective cover and close the protective cover under specific circumstances; specifically, the motor lifting controller 34 is connected to the network switch 25 through the first CAN network transfer module.

[0082] The vehicle-mounted multifunctional main controller 35 is used to connect to the receiver 1, the networking device 18, the network switch 25, the handheld remote control receiving antenna 28, the laser radar industrial computer 26, the CAN network transfer module 27, the handheld remote control receiver 32, and the motor lifting controller 34 through the CAN bus, manage the engine status, and control the electro-hydraulic proportional valve to perform various operations of the machine according to the signal input.

[0083] Specifically, the receiver 1 is responsible for providing positioning and real-time monitoring functions through satellite positioning and signal transmission, ensuring the accurate positioning of the bulldozer and the real-time transmission of environmental data to the networking device 18; the encoder 6 performs video monitoring of the construction environment through audio acquisition and multiple high-definition cameras, and combines the surround video signal processed by the surround host 13 to achieve 360° all-round monitoring to ensure comprehensive control of the construction environment; the networking device 18 receives and manages data, interacts with the network switch 25 through the local area network, and ensures stable transmission of data and network signals; the network switch 25 connects various devices, processes radar signals and audio and video data, and ensures effective communication between various parts of the system; the handheld remote control receiving antenna 28 receives signals from the handheld remote control system to achieve remote control of the bulldozer; the laser radar industrial computer 26 The data of the laser radar 30 and the millimeter wave radar 31 are processed to generate environmental imaging signals, which are transmitted to the network switch 25 through the local area network to improve the environmental perception capability; the CAN network conversion module 27 realizes the two-way conversion of CAN bus signals and network signals to ensure the compatibility of data formats and the interoperability of the system; the handheld remote control receiver 32 converts the signal of the handheld remote control receiving antenna 28 into a CAN bus signal to ensure that the remote control command is accurately transmitted to the vehicle-mounted main controller; the motor lifting controller 34 controls the lifting and lowering of the radar protective cover, and closes the protective cover under specific circumstances to protect the equipment and improve safety; the vehicle-mounted multi-function main controller 35 is connected to other devices through the CAN bus, manages the engine status, and controls various operations of the bulldozer according to the signal input to achieve efficient operation and comprehensive management.

[0084] 360° panoramic camera and LiDAR 30 technology improve comprehensive control of the construction environment; precise positioning and data transmission ensure the timeliness and accuracy of operations; the handheld remote control system provides flexibility and convenience of operation; the coordinated work of multiple components improves the stability of the system and operational efficiency.

[0085] In one embodiment, see Figure 2 The receiver 1 is connected with a first GNSS antenna 2, a second GNSS antenna 4, a positioning machine radio receiving antenna 11, a positioning machine 5G antenna 12, a blade inclination sensor 21, a chassis inclination sensor 22, a ripper inclination sensor 23, a ripper tooth inclination sensor 24, a CAN network transfer module 27 and a positioning display 3;

[0086] The first GNSS antenna 2 and the second GNSS antenna 4 are used to receive satellite signals and send them to the receiver 1 to achieve satellite positioning;

[0087] The positioning machine radio receiving antenna 11 is used to receive radio broadcast signals and send them to the receiver 1;

[0088] The positioning machine 5G antenna 12 is used to transmit 5G signals;

[0089] The receiver 1 transmits data to the CAN network transfer module 27 via the CAN bus, and sends the data to the networking device 18 via the network switch 25 .

[0090] Specifically, the main functions of the receiver 1 include: first, collecting satellite positioning signals through the first GNSS antenna 2 and the second GNSS antenna 4, obtaining radio broadcast signals through the positioning machine radio receiving antenna 11, and using the positioning machine 5G antenna 12 to transmit mobile 5G signals to achieve precise construction positioning of the machine; secondly, through the CAN bus communication method, receiving the inclination sensor signals of the blade inclination sensor 21, the chassis inclination sensor 22, the tiller inclination sensor 23, and the tiller tooth inclination sensor 24 to obtain the real-time working posture of the whole machine; then, connecting to the positioning display 3 through the main line to display the positioning information of the whole machine; finally, data transmission is carried out through the CAN bus and the CAN network transfer module 27, and the CAN network transfer module 27 converts the data into network signals, and then transmits them to the networking device 18 through the network switch 25.

[0091] The first GNSS antenna 2 and the second GNSS antenna 4 receive satellite signals together to achieve high-precision satellite positioning. The positioning machine radio receiving antenna 11 and the 5G antenna further enhance the signal reception and transmission capabilities, ensuring that the machine can maintain accurate positioning in complex environments.

[0092] A plurality of inclination sensors (such as the blade inclination sensor 21, the chassis inclination sensor 22, the ripper inclination sensor 23 and the ripper tooth inclination sensor 24) can monitor and record the working posture of the whole machine in real time, and provide necessary data support for precise construction.

[0093] The positioning display 3 is connected via the main line to display the positioning information and working posture of the whole machine in real time, so that the operator can instantly obtain and monitor the equipment status and make necessary adjustments and optimizations.

[0094] The combination of the CAN bus and the CAN network transfer module 27 realizes efficient data transmission. The CAN network transfer module 27 converts the CAN bus signal into a network signal to ensure that the data can be smoothly transmitted to the networking device 18. The network switch 25 further optimizes the data transmission efficiency and ensures the overall smooth operation of the system.

[0095] The system enhances the reliability and stability of the system through the comprehensive application of multiple sensors and signal receiving modules, and can adapt to different working environments and conditions.

[0096] The modular design of the system (including the CAN network transfer module 27 and the network switch 25) provides high flexibility and compatibility, facilitating subsequent expansion and upgrading.

[0097] Overall, this configuration not only improves the accuracy of positioning and attitude monitoring through the collaboration of multiple signal receiving and transmission modules, but also enhances the efficiency of data processing and transmission, thereby optimizing the machine's construction performance and operating experience.

[0098] In one embodiment, see Figure 2 The above-mentioned encoder 6 is connected to an audio acquisition device 5, several cameras and a surround view host 13. The encoder 6 obtains various sound signals in the machine operation through the audio acquisition device 5, and realizes high-definition dynamic monitoring of the construction environment by collecting video signals from several cameras. It also receives the surround view video signals processed by the surround view host 13 and performs surround view monitoring in combination with the video signals from several cameras.

[0099] Specifically, the main functions of the encoder 6 include:

[0100] Collect the input data of the audio acquisition device 5 to obtain various sound signals generated when the whole machine is working; collect the high-definition camera signals of several cameras including the front high-definition camera 7, the left high-definition camera 8, the right high-definition camera 9, and the rear high-definition camera 10 to obtain high-definition dynamic video information around the construction; collect the high-definition video signal output by the surround host 13 to achieve 360° all-round monitoring around the whole machine. The high-definition video signal complements the high-definition camera signal to achieve a high-definition monitoring effect without blind spots. The surround host 13 is also connected to several surround cameras. The surround host 13 generates dynamic machine surround video information by integrating the video signals of the four surround cameras, namely the surround front camera 14, the surround left camera 15, the surround right camera 16, and the surround rear camera 17, and transmits it to the encoder 6 through the high-definition line.

[0101] Specifically, four high-definition cameras provide an all-round viewing angle to ensure all-round monitoring of the construction environment and improve safety; by integrating the video signals of each camera through the surround-view host 13, dynamic machine surround-view videos can be generated and transmitted in real time to improve construction efficiency; the complementarity of high-definition video signals and camera signals enables operators to obtain clear views and reduce blind spots; real-time monitoring and high-definition video recording can promptly detect potential problems and reduce accident risks.

[0102] In one embodiment, see Figure 2The above-mentioned networking device 18 is connected to a CPE filter 19, and the CPE filter 19 is connected to a CPE antenna 20. The networking device 18 receives and sends network data through the networking CPE antenna 20, and uses the CPE filter 19 to filter interference signals.

[0103] Specifically, the CPE receives and sends network data through the interface of the CPE antenna 20, and uses the CPE filter 19 to filter interference signals to ensure the quality and stability of data transmission.

[0104] The networking device 18 is connected to the network switch 25 via a local area network. The CPE can obtain data information from various data sources of the entire machine on the one hand, and on the other hand, transmit the external network signal received from the remote control end to the control unit of the entire machine to execute various functional commands.

[0105] In one embodiment, the network switch 25 is mainly responsible for data transmission of network devices, and its functions include:

[0106] The network switch 25 exchanges data with the networking device 18 through the local area network; transmits signals from the laser radar industrial computer 26; receives signals from the CAN network transfer module 27; obtains video and audio data from the encoder 6, and transmits it to the networking device 18 through the local area network, and then sends it to the remote control cockpit control system 200.

[0107] In one embodiment, see Figure 2 The above-mentioned laser radar industrial control computer 26 is connected to a plurality of millimeter wave radars 31 and a plurality of laser radars 30 .

[0108] The radar industrial computer processes the laser radar 30 signal from the laser radar 30 and the 4D millimeter wave radar 31 signal from the millimeter wave radar 31, generates radar imaging, environmental topography and obstacle signals through logical operations, and transmits them to the network switch 25 through the local area network.

[0109] The LiDAR IPC 26 provides accurate environmental perception capabilities, improves the system's ability to detect and analyze the surrounding environment, and helps achieve automation and intelligent decision-making.

[0110] In one embodiment, the handheld remote control receiving antenna 28 is used to receive the remote control signal sent by the handheld remote control system 300. This allows the control system to remotely control the device, improving operational flexibility and convenience.

[0111] The CAN network transfer module 27 is responsible for the mutual conversion and transmission of network signals and CAN signals. The handheld remote control receiver 32 collects the signal from the handheld remote control receiving antenna 28 and converts it into a CAN bus signal. The interoperability between different signal types is achieved to ensure the compatibility and effective communication between the various parts of the system.

[0112] The motor lifting controller 34 protects the laser radar 30 and the millimeter wave radar 31 by controlling the lifting of the radar protection cover. When the protection cover is raised, it is fully open and the radar works normally; when it is lowered, the protection cover is closed to protect the radar. The motor lifting controller 34 converts the protection cover control instruction into a CAN bus signal, transmits it to the CAN network transfer module 27, and finally sends it to the remote control cockpit control system 200 through the CPE antenna 20. The radar equipment is protected from physical damage during operation, and the service life and reliability of the equipment are improved.

[0113] In one embodiment, see Figure 2 The above-mentioned vehicle-mounted multifunctional main controller 35 is connected to the engine ECM 37 and the electro-hydraulic proportional valve. The integrated control system improves the coordination and accuracy of the operation, realizes the efficient management and control of the whole vehicle system, and improves the work efficiency and safety.

[0114] The above-mentioned vehicle-mounted multifunctional main controller 35 is also connected to a working pilot valve 38, an air intake shut-off valve 39, a sprinkler pump 40, a fire extinguishing electromagnetic water valve 41, a fire extinguishing agent injection valve 42, a lighting lamp 43, an ambient temperature sensor 44, a cabin temperature sensor 45, a vehicle-mounted pressure sensor 46, a vehicle-mounted sensor unit 47, a travel safety valve 48, a reverse proportional valve 49, a forward proportional valve 50, a shovel blade left tilt proportional valve 51, a shovel blade right tilt proportional valve 52, a shovel blade rise proportional valve 53, a shovel blade drop proportional valve 54, a left steering proportional valve 55, and a right steering proportional valve 56.

[0115] In this embodiment, the vehicle-mounted multifunctional main controller 35 is the core control component of the whole machine, and its main functions include:

[0116] It communicates with other vehicle-mounted control units through the CAN bus to manage the travel, steering and working devices of the entire machine; it exchanges data with the engine ECM37 (electronic control module) through the CAN bus to adjust the engine speed, throttle opening, power mode and torque, and at the same time obtains dynamic data of the engine, such as speed, coolant temperature, fuel consumption, intake temperature and oil pressure; it collects data from vehicle-mounted sensors, performs internal calculations and controls, and executes specific instructions; it operates the electro-hydraulic proportional valves (travel safety valve 48, reverse proportional valve 49, forward proportional valve 50, shovel blade left tilt proportional valve 51, shovel blade right tilt proportional valve 52, shovel blade rise proportional valve 53, shovel blade drop proportional valve 54, left steering proportional valve 55, right steering proportional valve 56) according to the signal input from the vehicle-mounted end and the remote control end to complete the corresponding machine actions; it controls the start and shutdown of the engine, and can perform an emergency stop of the vehicle when necessary; it executes corresponding machine actions according to the instructions of the remote control cockpit control system 200.

[0117] In one embodiment, see Figure 3The above-mentioned remote control cabin control system 200 includes a remote control console controller 66, a walking and steering electric control handle 60, a working blade electric control handle 61, a ripper electric control handle 62, an amplifier audio device 63, a decoder 64 and a first display screen 65;

[0118] The remote control console controller 66 is respectively connected to the walking and steering electric control handle 60, the working blade electric control handle 61, the tiller electric control handle 62, the power amplifier and audio equipment 63, the decoder 64 and the display screen;

[0119] The travel and steering electric control handle 60 is used to control the forward, backward and steering movements of the machine under the drive of the remote control console controller 66, and transmits instructions using CAN bus communication;

[0120] The working blade electric control handle 61 is used to control the lifting and tilting of the blade under the drive of the remote control console controller 66, and transmits instructions through CAN bus communication;

[0121] The electric control handle 62 of the ripper is used to control the lifting and lowering of the ripper and the everting and retracting of the ripper teeth under the drive of the remote control console controller 66, and transmits instructions through CAN bus communication;

[0122] Amplifier audio equipment 63, used to synchronously transmit sound signals under the drive of remote control station controller 66;

[0123] The decoder 64 is used to decode and restore the audio and video signals under the drive of the remote control station controller 66;

[0124] The first display screen 65 is used to display real-time video, audio signals and whole machine operation data;

[0125] The remote control console controller 66 is used to receive and process control instructions from the electric control handle, control the movement of the whole machine, the blade, and the tiller, and manage the start-up, shutdown, speed adjustment and fire extinguishing functions.

[0126] In one embodiment, see Figure 3 The above-mentioned remote cockpit control system 200 includes a remote control end CAN network transfer module 67, a switch 68, a data processing server 69, a second display screen 70, a third display screen 71, a deceleration brake pedal 72, a throttle adjustment device 73, a start switch 74, an emergency stop button 75, a spray switch 76, an intake flameout switch 77, an emergency fire extinguishing switch 78, a fire extinguishing mode switch 79, a remote control end CPE antenna 80, a remote control end networking device 81, a hard disk burner 82, and a cloud server 83;

[0127] Among them, the switch 68 is connected to the remote control station controller 66 through the remote control end CAN network transfer module 67; the decoder 64 is connected to the switch 68; the switch 68 is connected to the remote control end networking device 81, the hard disk burner 82 and the data processing server 69; the cloud server 83 is connected to the data processing server 69; the data processing server 69 is respectively connected to the second display screen 70 and the third display screen 71; the remote control end CPE antenna 80 is connected to the remote control end networking device 81; the deceleration brake pedal 72, the throttle adjustment device 73, the start switch 74, the emergency stop button 75, the spray switch 76, the intake flameout switch 77, the emergency fire extinguishing switch 78, and the fire extinguishing mode switch 79 are respectively connected to the remote control station controller 66.

[0128] In this embodiment, the travel and steering electric control handle 60 uses the CAN bus communication method to control the forward, reverse, gear shifting and travel and steering actions of the machine;

[0129] The electric control handle of the shovel blade controls the lifting, lowering and left and right tilting of the shovel blade through CAN bus communication;

[0130] The electric control handle 62 of the ripper uses the CAN bus communication method to control the lifting and lowering of the ripper and the turning and retraction of the ripper teeth;

[0131] The power amplifier audio device 63 is used to synchronously transmit the sound signal;

[0132] The decoder 64 decodes and restores the audio and video signals transmitted by the switch 68;

[0133] The positioning display 3 is used to display the real-time video and audio signals transmitted from the whole machine end and the vehicle operation data synchronized with the whole machine end, such as the real-time ambient temperature, engine speed, load rate, oil temperature, water temperature, travel mode, gear position, etc.;

[0134] The remote control station controller 66 has the following main functions:

[0135] The control instructions of the three electric control handles, namely the travel and steering electric control handle 60, the working blade electric control handle 61 and the tiller electric control handle 62, are received through the CAN bus communication method, and are converted into output instructions according to the internal established algorithm, and are sent out through the remote control end CAN network transfer module 67, so as to realize the control of the travel and steering, blade movement and tiller movement of the bulldozer; control the remote start, shutdown and emergency stop of the bulldozer; adjust the engine throttle opening to control the engine speed, and adjust the travel gear and speed of the whole machine according to the input instructions; control the manual / automatic fire extinguishing device to realize the remote fire extinguishing function.

[0136] The remote control end CAN network conversion module 67 is used to convert the CAN instructions output by the remote control station controller 66 into network signals for transmission;

[0137] The main functions of the switch 68 include: receiving remote data transmitted by the remote control end networking device 81; transmitting the received remote data to the hard disk burner 82 through the local area network for storage so as to query when needed; transmitting the received data to the data processing server 69, and sending the processed data back to the remote control end networking device 81; transmitting the video, audio and dynamic working data of the whole machine to the decoder 64 through the local area network; receiving commands from the remote control station controller 66 through the remote control end CAN transfer module 67.

[0138] The main functions of the data processing server 69 include: processing the scanning imaging signals of the laser radar 30, millimeter wave radar 31 and the entity scanning imaging signals of the terrain environment sent by the vehicle-mounted remote terminal; processing the whole machine posture data, the real-time action signals of each actuator and the vehicle sent by the vehicle-mounted remote terminal; performing a secondary analysis on the whole machine working data, and sending the analyzed and processed data parameters to the cloud server 83; establishing a whole machine dynamic model through three-dimensional simulation according to the radar scanning data, posture data and whole machine working data transmitted from the vehicle-mounted remote terminal, and realizing synchronous simulation during the operation of the whole machine.

[0139] The second display screen 70 , that is, the large-screen positioning display 3 of the remote control cockpit, is used to display the radar scanning imaging information after being processed by the laser radar industrial control computer 26 .

[0140] The third display screen 71, that is, the large-screen positioning display 3 of the remote control cockpit, is used to display the three-dimensional dynamic simulation video information of the whole machine after being processed by the data processing server 69, so as to realize the dynamic display of the digital twin of the whole machine.

[0141] The deceleration brake pedal 72 is used to control the braking and deceleration of the entire machine.

[0142] The throttle adjustment device 73 is used to control the throttle opening and target speed of the engine.

[0143] The start switch 74 is used to start and stop the engine.

[0144] The emergency stop button 75 is used for emergency braking and stopping of the bulldozer. When this button is pressed, the travel and working devices of the machine (including the blade and the ripper) will stop working.

[0145] When the remote spray switch 76 is actuated, the whole machine starts spraying.

[0146] When the intake flameout switch 77 is actuated, the vehicle-mounted main controller forcibly cuts off the engine intake by controlling the intake cut-off valve 39. At this time, the engine can be immediately shut down regardless of whether it is in a normal communication state.

[0147] When the emergency fire extinguishing switch 78 is actuated, the vehicle-mounted fire extinguishing device will be activated immediately and the fire will be extinguished quickly.

[0148] Fire extinguishing mode switch 79, through which the automatic fire extinguishing mode and the manual fire extinguishing mode can be set.

[0149] The hard disk recorder 82 is used to store vehicle-mounted video, audio and operating data information.

[0150] The functions of the cloud server 83 include: receiving operating data from the remote vehicle-mounted terminal for R&D personnel to perform data analysis; R&D personnel update the control algorithm based on the data analysis results, and store the updated algorithm in the server's designated storage area, which is called by the remote vehicle-mounted controller from time to time to upgrade the control program and achieve dynamic and continuous optimization.

[0151] In this embodiment, the remote cockpit control system 200 provides precise operation, real-time monitoring and data analysis through comprehensive remote control and real-time data transmission. The benefits include: improving operating efficiency and safety, enabling remote operation and emergency response, continuously optimizing control algorithms, supporting three-dimensional dynamic simulation to improve operating strategies, and facilitating data storage and subsequent analysis. These features together improve the overall performance and reliability of the bulldozer.

[0152] In one embodiment, see Figure 3 The above-mentioned handheld remote control system 300 includes a handheld remote control control area 84, a liquid crystal display screen 85, a remote control host 86 and a remote control antenna 87; the handheld remote control control area 84, the liquid crystal display screen 85 and the remote control antenna 87 are respectively connected to the remote control host 86;

[0153] The handheld remote control control area 84 includes a control component, which is used to realize wireless remote control of the bulldozer;

[0154] The LCD display 85 is embedded in the handheld remote control.

[0155] In this embodiment, the handheld remote control system 300 allows the machine to be wirelessly controlled through the handheld remote control. Its main functions include: remote operation of the entire machine through the joystick and switch on the handheld remote control control area 84. These control components include: travel control handle (controls the steering and travel of the bulldozer), blade control handle (controls the lifting and tilting of the blade), ripper control handle (controls the action of the ripper), spray switch 76 (controls the vehicle-mounted spray pump 40), intake cut-off switch (controls engine intake), engine start-stop switch (starts or shuts down the engine), throttle adjustment knob (controls throttle opening and speed), gear switch (controls travel gear), travel direction switch (controls forward or backward). The handheld remote control is also equipped with a liquid crystal display 85 to display basic operating parameters (such as water temperature, oil temperature, gear, etc.). The remote control host 86 processes vehicle-mounted data and issues control instructions, while the handheld remote control antenna 87 is used to receive and send remote control data.

[0156] The above-mentioned bulldozer remote control system has remote automatic fire extinguishing, manual fire extinguishing and spraying functions, which can effectively prevent the bulldozer from causing fire in firefighting or high-temperature environments; it integrates the on-board control system 100, remote control system, digital twin system and satellite positioning system to realize real-time dynamic simulation operations, and is equipped with dynamic electronic fences, anti-rollover / tilt warning and other functions, providing over-limit warning and forced shutdown protection; the unique remote engine intake cut-off device can emergency stop the machine operation when the engine shutdown function fails to ensure equipment safety; combined with a variety of imaging technologies (such as laser radar 30, millimeter wave radar 31, high-definition cameras, etc.), it realizes all-round and no-dead-angle monitoring; through the digital twin system synchronous simulation and dynamic optimization control strategy, it supports real-time upgrading of the control program; equipped with a handheld remote control, it is convenient for construction personnel to wirelessly control the machine at close range; the unique laser radar 30 protective cover design protects the laser radar 30 from damage in harsh environments such as high temperature.

[0157] In one embodiment, the bulldozer remote control system provides two remote control modes during remote control: cabin fixed remote control and handheld mobile remote control. In order to ensure reliability in special scenarios such as emergency rescue, these two modes do not rely on external networks or public networks;

[0158] Among them, in the cockpit remote control mode, the control system is implemented through a professional ad hoc network, which is equipped with an ad hoc network device 18 (CPE) on the whole machine and the remote control end. The cockpit remote control mode defaults to the default mode when the system is started. It can be achieved through the remote control mode selection switch 36. If the cockpit remote control is selected, the main controller will immediately use the cockpit control communication mode, and the handheld remote control will be invalid. By operating the cockpit remote control, the user can remotely start the machine and control the movement of the machine (forward, backward, speed gear, steering), the blade (lift, lower, tilt), and the tiller (lift, lower, turn outward, retract). Engine speed and brake control are also performed through the cockpit remote control.

[0159] In the handheld mobile remote control mode, it is mainly when the machine's movements are relatively simple, the remote control distance is not high, and on-site command is required, you can switch to the handheld remote control mode. The handheld remote control operation is to control the machine's movement, blade, ripper, engine throttle, etc. through the handheld remote control. The handheld remote control sends control commands through electrical signals, which are received and converted into CAN bus data on the whole machine end, and the control signal is sent through the vehicle-mounted main controller.

[0160] Specifically, the cockpit remote control operation details include:

[0161] The operator can remotely start the machine by operating the start switch 74, and after starting, the operator can use the travel steering electric control handle 60 to control the forward, reverse, speed gear switching, left and right steering of the machine;

[0162] Use the working blade electric control handle 61 to control the lifting, lowering, left tilt and right tilt of the blade;

[0163] The lifting and lowering of the ripper and the turning and retraction of the ripper teeth are controlled by the electric control handle 62 of the ripper;

[0164] The engine speed is adjusted by using the throttle adjustment device 73, and the deceleration brake pedal 72 realizes the deceleration and braking control of the engine;

[0165] Take the operation of the working blade electric control handle 61 as an example: when the operator adjusts the blade handle, the working blade electric control handle 61 sends the command to the remote control console controller 66 through bus communication. The remote control console controller 66 converts the command into a CAN message according to the algorithm and sends it to the remote control end CAN network transfer module 67. The remote control end CAN network transfer module 67 converts the CAN message data into a network format, transmits it to the switch 68 through the local area network, and then sends it to the vehicle control system 100 through the remote control end networking device 81. After passing through the CPE antenna 20, the data is transmitted to the networking device 18, and the networking device 18 transmits it to the network switch 25 through the network, and then passes it to the CAN network transfer module 27, and finally converted into a CAN message and sent to the vehicle-mounted multi-function main controller 35. After processing the control instruction, the vehicle-mounted multi-function main controller 35 controls the movement of the blade through the proportional solenoid valve blade up proportional valve 53 and the blade down proportional valve 54.

[0166] Details of the handheld remote control operation include:

[0167] When the operator operates through the handheld remote control, the command is first sent to the remote control host 86, and the remote control host 86 converts the electrical signal into execution data and sends it through the remote control antenna 87.

[0168] The data is transmitted to the handheld remote control receiver 32 through the handheld remote control receiving antenna 28, and then converted into CAN bus data format and transmitted to the vehicle-mounted multifunctional main controller 35. After receiving the control signal, the vehicle-mounted multifunctional main controller 35 immediately outputs a control command to the blade lifting proportional valve 53 to complete the lifting action of the blade.

[0169] The control principles and data transmission methods of other components in the cockpit and handheld remote control are similar to the above description and will not be repeated here.

[0170] In one embodiment, when the bulldozer remote control system performs remote manual fire extinguishing, automatic fire extinguishing, and remote spraying, the specific process is as follows:

[0171] When the machine is operating, first select the manual or automatic fire extinguishing mode through the fire extinguishing mode switch 79. After selecting the manual mode, the user can perform the fire extinguishing operation according to the machine environment temperature, cabin temperature and fire situation displayed on the first display screen 65. After operating the emergency fire extinguishing switch 78, the remote control end CAN transfer module 67 transmits the execution command to the switch 68 through the CAN bus, converts it into a network signal, and sends it to the vehicle control system 100 through the switch 68, the remote control end networking device 81, and the CPE antenna 20 in sequence. The command data is transmitted to the CPE filter 19 through the CPE antenna 20, and then sent to the networking device 18. The networking device 18 converts the signal into a local area network signal, and converts it into a CAN bus signal through the network switch 25 and the CAN transfer module 27 and transmits it to the vehicle-mounted multifunctional main controller 35. After receiving the command, the vehicle-mounted multifunctional main controller 35 immediately starts the fire extinguishing electromagnetic water valve 41, so that the fire extinguishing agent in different parts of the cabin is sprayed out to extinguish the flame. In the automatic fire extinguishing mode, the vehicle-mounted multifunctional main controller 35 determines whether the warning high temperature value is exceeded according to the signals of the ambient temperature sensor 44 and the cabin temperature sensor 45. If exceeded, the vehicle-mounted multifunctional main controller 35 will output a control signal to drive the fire extinguishing agent injection valve 42 to inject the fire extinguishing agent, and at the same time drive the fire extinguishing electromagnetic water valve 41 and the sprinkler pump 40 to open the water channel of the fire water tank, and the electric water pump will spray water to achieve the effect of cooling the whole machine and extinguishing the fire. In addition, in the manual mode, the user can also operate the manual switch of the sprinkler switch 76 through the dynamic temperature prompt of the first display screen 65 to perform manual sprinkler operation.

[0172] In one embodiment, when the bulldozer remote control system performs remote emergency shutdown and emergency brake shutdown, that is, when encountering a dangerous situation, if conventional control cannot remotely shut down the engine, the following emergency functions can be used:

[0173] Emergency shutdown function: If the engine ECU communication fails and the engine cannot be shut down, an emergency shutdown command can be issued through the intake shutdown switch 77 of the remote control cockpit control system 200. After receiving the command, the remote control console controller 66 transmits the command to the vehicle-mounted multi-function main controller 35 via the CAN bus. The vehicle-mounted multi-function main controller 35 processes and outputs a control signal to trigger the intake shut-off valve 39, so that the engine is forced to shut down.

[0174] Emergency brake stop function: When the machine needs to be stopped urgently while driving, the emergency stop command can be issued by operating the emergency stop button 75 in the remote control cockpit. After the remote control console controller 66 detects the command, it is transmitted to the vehicle-mounted multi-function main controller 35, and the vehicle-mounted multi-function main controller 35 outputs a control signal to cut off the power to the relevant solenoid valves (working pilot valve 38, travel safety valve 48, reverse proportional valve 49, forward proportional valve 50, blade left tilt proportional valve 51, blade right tilt proportional valve 52, blade rise proportional valve 53, blade drop proportional valve 54, left steering proportional valve 55, right steering proportional valve 56), and at the same time reduce the engine speed to low idle speed to make the machine completely stationary.

[0175] In one embodiment, when the bulldozer remote control system performs the digital twin system function to realize the dynamic upgrade function of the machine working process control program, the digital twin technology is specifically used to simulate the dynamic working process of the bulldozer. Through the collection of on-board dynamic real data and the combination of the whole machine operation posture, the true restoration of the details of the mutual coordination of each system in the whole machine operation process is realized, and based on this, the optimization and upgrade of the whole machine end control program is completed, thereby improving the working efficiency of the machine. The specific implementation method is as follows:

[0176] Machine working sequence:

[0177] The receiver 1 achieves accurate positioning of the entire device by receiving antenna signals from the first GNSS antenna 2 and the second GNSS antenna 4, the positioning machine radio receiving antenna 11, and the positioning machine 5G antenna 12.

[0178] The receiver 1 receives the blade inclination sensor 21 to obtain the blade posture information, the chassis inclination sensor 22 to obtain the whole machine chassis posture, the ripper inclination sensor 23 to obtain the ripper posture, and the ripper tooth inclination sensor 24 to obtain the ripper tooth posture.

[0179] The receiver 1 transmits the above-collected positioning and attitude information to the CAN network transfer module 27 via CAN communication, and then converts it into a network signal and transmits it to the network switch 25, and finally transmits it to the networking device 18.

[0180] Dynamic environmental data collection:

[0181] The on-board multifunctional main controller 35 collects signals from the ambient temperature sensor 44, the cabin temperature sensor 45, the on-board pressure sensor 46, and the on-board sensor unit 47 to obtain dynamic environmental data when the machine is working, including ambient temperature, cabin temperature, working pressure, working oil temperature, power oil temperature, control pressure, water tank level, and fuel level.

[0182] The vehicle-mounted multifunctional main controller 35 exchanges data with the engine ECM 37 through CAN communication to obtain important parameters such as engine speed, throttle opening, torque, load rate, power curve, oil pressure and coolant temperature.

[0183] At the same time, the vehicle-mounted multifunctional main controller 35 obtains the working status of the travel safety valve 48, the reverse proportional valve 49, the forward proportional valve 50, the blade left tilt proportional valve 51, the blade right tilt proportional valve 52, the blade rise proportional valve 53, the blade lowering proportional valve 54, the left steering proportional valve 55, the right steering proportional valve 56, the working pilot valve 38, the fire extinguishing solenoid water valve 41, and the fire extinguishing agent injection valve 42 through real-time detection of each control port, and then obtains the current control parameter values ​​of the machine's travel steering, blade, and tiller.

[0184] The vehicle-mounted multifunctional main controller 35 processes all collected data in a unified manner according to the internal control logic, packages and sends data packets, and transmits them to the networking device 18 through the CAN network transfer module 27 and the network switch 25.

[0185] Data transmission and display:

[0186] The networking device 18 sends the data from the vehicle-mounted multi-function main controller 35 and the receiver 1 to the remote control cabin control system 200 via the CPE antenna 20 in a network data format.

[0187] After being received by the remote-end CPE antenna 80 , the data is transmitted to the remote-end networking device 81 , the switch 68 , and finally reaches the data processing server 69 .

[0188] The data processing server 69 matches the collected whole machine working data, positioning data, and posture data with the pre-stored whole machine simulation three-dimensional model, and displays the whole machine's synchronous working posture, real-time working data, and positioning information in real time through the third display screen 71.

[0189] Optimization and upgrade:

[0190] The staff can view various operating parameters of the whole machine in real time through the third display screen 71 and conduct dynamic comparative analysis with theoretical values.

[0191] By summarizing and organizing the differences in work trends and parameters that affect work efficiency, these data are transmitted to the cloud server 83 through the Internet channel of the data processing server 69.

[0192] The R&D personnel analyze the returned data through the cloud server 83 , optimize the control program, and upload the optimized program through the cloud server 83 .

[0193] On-site staff access a specific web address through the data processing server 69 to obtain the upgraded and optimized program, and transmit it back to the on-board multi-function main controller 35 through the network to achieve dynamic optimization and upgrading of the control program.

[0194] In one embodiment, when the bulldozer remote control system realizes the blind spot monitoring function of the working process by combining high-definition cameras, surround video monitoring and laser radar 30 to simulate the digital twin of the surrounding environment, the encoder 6 obtains the on-site synchronous audio information by collecting the audio acquisition device 5, and collects several cameras to obtain high-definition image information of the front, left, right and rear of the machine. The synthesizer of the 360-degree surround host 13 uses several surround cameras for dynamic synthesis to generate a 360° dynamic image around the whole machine. The high-definition image is transmitted to the network switch 25 of the local area network through the encoder 6, and then through the networking device 18 and the CPE filter 19, and transmitted to the remote control cockpit control system 200 through the antenna. After the remote control end CPE antenna 80 receives the data, it passes through the remote control end networking device 81 and the switch 68, and finally the decoder 64 decodes the audio and video data and transmits it to the first display screen for dynamic display, realizing dynamic video monitoring of the whole machine. At night, the lighting lamp 43 provides auxiliary lighting, but the effect is still affected by visibility. Therefore, a high-precision multi-line laser radar 30 is installed on the top of the whole machine for all-round scanning to form point cloud imaging, and a 4D millimeter-wave radar 31 is configured to compensate for the distortion problem of the laser radar 30 in a smoky environment. The point cloud imaging data of the laser radar 30 and the millimeter-wave radar 31 are transmitted to the laser radar industrial computer 26 through the network for processing, and the dynamic imaging information is generated and transmitted to the network switch 25, and then transmitted to the remote control cockpit control system 200 through the local area network. The data is transmitted to the data processing server 69 through the remote control end CPE antenna 80, the remote control end networking device 81, and the switch 68, and after processing, it is sent to the second display screen 70 for real-time video display of radar point cloud imaging. In addition, video monitoring information can be dynamically stored through the hard disk burner 82 to facilitate historical data query.

[0195] In one embodiment, when the bulldozer remote control system realizes the electronic fence and anti-tilt and anti-rollover functions of the machine through the dynamic coordination of the digital twin system and radar scanning imaging, such as realizing the function of the digital twin system and the dynamic upgrade function of the machine working process control program, the whole machine position information and posture data generated by the digital twin system will be transmitted to the data processing server 69 in real time. At the same time, according to the process of realizing the blind spot monitoring function of the working process by combining the high-definition camera, the surround camera monitoring and the laser radar 30 to simulate the surrounding environment digital twin, the point cloud imaging information formed by the laser radar 30 and the 4D millimeter wave radar 31 scanning will also be transmitted to the data processing server 69 after being calculated and processed by the laser radar industrial computer 26. In this way, the real-time positioning information, posture information and environmental terrain information generated by the machine during the working process can be dynamically obtained through the data processing server 69. The data processing server 69 will perform secondary analysis and filtering on the imaging information scanned by the radar, and identify feasible construction routes in combination with the video information, and plan the dynamic machine working trajectory based on this information to form a dynamic electronic fence. When the machine exceeds this electronic fence during the actual construction process, the system will immediately issue a warning reminder.

[0196] In addition, the data processing server 69 will also dynamically analyze the collected machine posture information and the digital twin model of the whole machine to evaluate the tilt angle and tipping angle of the machine and compare them with the set warning value. If the warning value is exceeded, the data processing server 69 will immediately send an emergency stop command to the vehicle-mounted terminal. After receiving the stop command, the vehicle-mounted multifunctional main controller 35 will immediately activate the emergency braking function and perform the stop brake according to the specific process of the emergency braking stop function, thereby ensuring the safety of the machine construction.

[0197] In one embodiment, when the bulldozer remote control system controls the laser radar 30 protective cover, the industrial-grade multi-line laser radar 30 used is relatively expensive. In order to adapt to the harsh construction environment, this system is specially equipped with a laser radar 30 protective cover. The control method is briefly described as follows:

[0198] When the whole machine is working, the motor lifting controller 34 will issue a lifting command. At this time, the protective cover motors of the laser radar 30 and the millimeter-wave radar 31 will operate to drive the protective cover to rise, so that the radar can work normally. At the same time, the motor lifting controller 34 communicates with the vehicle-mounted multi-function main controller 35 through the CAN bus and the local area network to obtain the ambient temperature and cabin temperature values ​​collected by the ambient temperature sensor 44 and the cabin temperature sensor 45. The system compares these temperature values ​​with the internally set warning values. When the warning values ​​are exceeded, the motor lifting controller 34 will immediately issue a descending command. In this case, the protective cover motors of the laser radar 30 and the millimeter-wave radar 31 will drive the protective cover to descend to the lowest position, thereby completely wrapping the radar and stopping it from working, achieving effective protection.

[0199] In addition, this control system also supports the control of the radar protection cover through video monitoring and remote control terminal. The control method is the same as described above and will not be repeated here.

[0200] The bulldozer remote control system mentioned above is provided with a vehicle-mounted control system 100, a remote control cabin control system 200 and a handheld remote control control system 300; the vehicle-mounted control system 100 is used for precise construction, environmental monitoring and bulldozer operation and protection coordination; the remote control cabin control system 200 provides comprehensive remote control functions, including walking, steering and operation, and is equipped with automatic fire extinguishing, manual fire extinguishing and spraying functions. The handheld remote control system 300 allows the bulldozer to be wirelessly controlled through a handheld device, including remote spraying, air intake cut-off, throttle adjustment and machine start-stop switch. Each system is interconnected through network communication to ensure efficient and safe operation of the bulldozer; it can solve the problems that the existing remote control bulldozers perform poorly in special scenes such as fire, high temperature and low visibility, cannot meet the needs of fire fighting and rescue, lack effective environmental identification and safety zone protection functions, their operating data cannot be recorded, and the control system does not have self-learning and upgrade capabilities.

[0201] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A bulldozer remote control system, characterized in that: include: On-board control systems, remote cockpit control systems, and handheld remote control systems; The vehicle-mounted control system is wirelessly connected to the remote cockpit control system and the handheld remote control control system respectively; The vehicle-mounted control system is used to achieve precise construction and monitoring through positioning and navigation, to perform environmental monitoring and analysis using data acquisition and processing technology, and to coordinate the operation and protection of the bulldozer through network communication and control functions; The remote control cabin control system is used for comprehensive remote control of the bulldozer, including walking, steering and operation functions, and is equipped with remote automatic fire extinguishing, manual fire extinguishing and spraying functions to cope with various emergency situations; The handheld remote control system is used to realize wireless remote operation of the bulldozer through various handles and switches in the handheld remote control control area, and perform remote spraying, air intake cut-off, throttle adjustment, and machine start and stop switches to deal with emergencies.

2. A bulldozer remote control system according to claim 1, characterized in that: The vehicle-mounted control system includes a receiver, an encoder, a networking device, a network switch, a handheld remote control receiving antenna, a laser radar industrial computer, a CAN network transfer module, a handheld remote control receiver, a motor lifting controller and a vehicle-mounted multifunctional main controller; The receiver is used to provide positioning and real-time monitoring functions through satellite positioning, signal reception and transmission, attitude data collection and information display, and transmit data to networking equipment; The encoder is used to obtain sound signals through audio acquisition equipment, use multiple high-definition cameras for monitoring, and combine the surround video signals processed by the surround host to achieve 360° all-round monitoring without blind spots; The networking device is used to receive the data, and to exchange data and transmit network signals with the network switch through a local area network; The network switch is used to connect various devices and transmit radar signals, forward CAN signals, and process audio and video data generated by the encoder; The handheld remote control receiving antenna is used to receive remote control signals from a handheld remote control system to control the operation of the bulldozer; The laser radar industrial computer is used to receive and process data from the laser radar and millimeter wave radar, generate environmental imaging signals, and transmit them to the network switch through the local area network; The CAN network conversion module is used to convert the CAN bus signal into a network signal, or convert the network signal into a CAN bus signal; The handheld remote control receiver is used to collect the remote control signal received by the handheld remote control receiving antenna and convert it into a CAN bus signal for transmission to the vehicle-mounted multifunctional main controller; The motor lifting controller is used to control the lifting and lowering of the radar protection cover and close the protection cover under specific circumstances; The vehicle-mounted multifunctional main controller is used to connect with the receiver, networking equipment, network switch, handheld remote control receiving antenna, laser radar industrial computer, CAN network transfer module, handheld remote control receiver, and motor lifting controller through the CAN bus, manage the engine status, and control the electro-hydraulic proportional valve to perform various operations of the machine according to the signal input.

3. A bulldozer remote control system according to claim 2, characterized in that: The receiver is connected to a first GNSS antenna, a second GNSS antenna, a positioning machine radio receiving antenna, a positioning machine 5G antenna, a blade inclination sensor, a chassis inclination sensor, a ripper inclination sensor, a ripper tooth inclination sensor, a CAN network transfer module and a positioning display; The first GNSS antenna and the second GNSS antenna are used to receive satellite signals and send them to a receiver to achieve satellite positioning; The positioning machine radio receiving antenna is used to receive radio broadcast signals and send them to the receiver; The positioning machine 5G antenna is used to transmit 5G signals; The receiver transmits data with the CAN network transfer module via the CAN bus, and sends the data to the networking device via the network switch.

4. A bulldozer remote control system according to claim 2, characterized in that: The encoder is connected to an audio acquisition device, several cameras and a surround view host. The encoder obtains various sound signals in the machine operation through the audio acquisition device, and realizes high-definition dynamic monitoring of the construction environment by collecting video signals from several cameras. It also receives the surround view video signals processed by the surround view host and performs surround view monitoring in combination with the video signals from several cameras.

5. A bulldozer remote control system according to claim 2, characterized in that: The networking device is connected to a CPE filter, the CPE filter is connected to a CPE antenna, the networking device receives and sends network data through the networking CPE antenna, and uses the CPE filter to filter interference signals.

6. A bulldozer remote control system according to claim 2, characterized in that: The laser radar industrial control computer is connected to a plurality of millimeter wave radars and a plurality of laser radars.

7. A bulldozer remote control system according to claim 2, characterized in that: The vehicle-mounted multifunctional main controller is connected to the engine ECM and the electro-hydraulic proportional valve.

8. A bulldozer remote control system according to claim 1, characterized in that: The remote control cabin control system includes a remote control console controller, a walking and steering electric control handle, a working blade electric control handle, a ripper electric control handle, an amplifier and audio equipment, a decoder and a first display screen; The remote control console controller is respectively connected to the walking and steering electric control handle, the working blade electric control handle, the tiller electric control handle, the power amplifier audio equipment, the decoder and the display screen; The travel and steering electric control handle is used to control the forward, backward and steering movements of the machine under the drive of the remote control console controller, and transmits instructions using CAN bus communication; The working blade electric control handle is used to control the lifting and tilting of the blade under the drive of the remote control console controller, and transmits instructions through CAN bus communication; The electric control handle of the ripper is used to control the lifting and lowering of the ripper and the everting and retracting of the ripper teeth under the drive of the remote control console controller, and transmits instructions by CAN bus communication; The power amplifier audio equipment is used to synchronously transmit sound signals under the drive of the remote control station controller; The decoder is used to decode and restore the audio and video signals under the drive of the remote control console controller; The first display screen is used to display real-time video, audio signals and whole machine operation data; The remote control console controller is used to receive and process control instructions from the electric control handle, control the movement of the whole machine, the shovel blade, and the tiller, and manage the start-up, shutdown, speed adjustment, and fire extinguishing functions.

9. A bulldozer remote control system according to claim 8, characterized in that: The remote control cockpit control system includes a remote control end CAN network transfer module, a switch, a data processing server, a second display screen, a third display screen, a deceleration brake pedal, a throttle adjustment device, a start switch, an emergency stop button, a spray switch, an intake flameout switch, an emergency fire extinguishing switch, a fire extinguishing mode switch, a remote control end CPE antenna, a remote control end networking device, a hard disk burner, and a cloud server; Among them, the switch is connected to the remote control station controller through the remote control end CAN network transfer module; the decoder is connected to the switch; the switch is connected to the remote control end networking equipment, hard disk burner and data processing server; the cloud server is connected to the data processing server; the data processing server is respectively connected to the second display screen and the third display screen; the remote control end CPE antenna is connected to the remote control end networking equipment; the deceleration brake pedal, throttle adjustment device, start switch, emergency stop button, sprinkler switch, intake flameout switch, emergency fire extinguishing switch, and fire extinguishing mode switch are respectively connected to the remote control station controller.

10. A bulldozer remote control system according to claim 1, characterized in that: The handheld remote control system comprises a handheld remote control control area, a liquid crystal display screen, a remote control host and a remote control antenna; the handheld remote control control area, the liquid crystal display screen and the remote control antenna are respectively connected to the remote control host; The handheld remote control control area includes a control component, and the control component is used to realize wireless remote control of the bulldozer; The LCD display is embedded in the handheld remote control.

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