Bulldozer remote control system based on intelligent identification
By introducing intelligent identification modules and high-precision sensors into the bulldozer remote control system, combined with 5G communication technology, the problems of insufficient real-time and limited environmental perception capabilities in the existing systems are solved, and more efficient and accurate remote operation and fault prevention are achieved.
Patent Information
- Application Number
- CN202411660270.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-20
- Publication Date
- 2025-02-28
AI Technical Summary
The existing bulldozer remote control system has insufficient real-time performance, limited environmental perception capabilities, poor operating experience, and lack of efficient communication means and accurate control mechanisms, resulting in problems such as delay and misoperation.
A remote control system based on intelligent recognition is adopted, including an image acquisition device, multi-type sensor, an intelligent identification module with integrated deep learning algorithms, a wireless communication module and an actuator with redundant design. The system dynamically recognizes working conditions through multi-modal image information and high-precision state parameters, independently generates optimized control instructions, and realizes real-time control through 5G or newer communication technology.
It significantly improves the accuracy of environmental perception and operation accuracy, enhances the user's immersive operation experience, ensures real-time transmission of high-definition video streams and control signals, prevents equipment failures and reduces maintenance costs.
Smart Images
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Abstract
Description
Technical Field
[0001] The invention relates to the technical field of engineering machinery remote control, and in particular to a bulldozer remote control system based on intelligent identification. Background Art
[0002] Traditional bulldozer operations usually rely on the experience and skills of on-site operators. This approach has certain limitations, such as low operating efficiency, high labor intensity, and complex operating environment. With the development of science and technology, remote control technology has gradually been applied to the field of construction machinery, especially heavy equipment such as bulldozers. Although the existing remote control system has improved operating efficiency and safety to a certain extent, it still faces problems such as insufficient real-time performance, limited environmental perception capabilities, and poor operating experience.
[0003] Existing bulldozer remote control systems mainly rely on traditional sensor data and simple image acquisition equipment, which are difficult to cope with complex and changing working environments. In addition, due to the lack of efficient communication means and precise control mechanisms, traditional systems often have problems such as delays and misoperation in actual applications. Furthermore, most traditional control systems do not take into account the long-term maintenance needs of equipment, making it difficult to predict and prevent potential failures in advance. Summary of the invention
[0004] The purpose of the present invention is to provide a bulldozer remote control system based on intelligent identification to solve the problems raised in the above background technology.
[0005] To achieve the above object, the present invention provides the following technical solutions:
[0006] A bulldozer remote control system based on intelligent identification, comprising:
[0007] An image acquisition device is installed at a key position of the bulldozer to obtain multimodal image information in the working environment of the bulldozer in real time;
[0008] Multiple types of sensors, used to detect and collect state parameters of the bulldozer, the state parameters at least including high-precision GPS positioning information, three-dimensional acceleration information, and six-degree-of-freedom posture information of the operating arm;
[0009] An intelligent recognition module integrating a deep learning algorithm, which dynamically identifies the working conditions of the bulldozer based on image information and state parameters, and autonomously generates optimized control instructions;
[0010] A wireless communication module, wherein the wireless communication module adopts 5G or newer communication technology, and is used to receive high-definition video streams and control signals from a remote operation station in real time, and transmit the control signals to the intelligent recognition module;
[0011] The actuator with redundant design includes a high-precision servo motor and a multi-stage hydraulic drive system, which is used to adjust the position and movement trajectory of the operating arm of the bulldozer according to the control command.
[0012] Preferably, the actuator adjusts the position and motion trajectory of the bulldozer operating arm according to the control instruction u(t), so that the operation trajectory of the bulldozer can be carried out according to a predetermined path planning, and the path planning satisfies the following mathematical model:
[0013] θ”(t)=K u u(t)+K d ·θ ’ (t)+K p ·(θ d -θ(t)),
[0014] θ”(t+Δt)=θ ’ (t)+θ ‘’ (t)·Δt,
[0015] θ(t+Δt)=θ(t)+θ ‘ (t)·Δt,
[0016] Where θ(t) represents the angle of the operating arm at time t;
[0017] θ ’ (t) represents the angular velocity of the manipulator at time t;
[0018] θ”(t) represents the angular acceleration of the manipulator at time t;
[0019] u(t) represents the control command issued at time t;
[0020] θ d Indicates the target angle of the manipulator;
[0021] K u , K d and K p They represent the control gain coefficient, damping coefficient and proportional gain coefficient respectively;
[0022] Δt is the time step.
[0023] Preferably, the wireless communication module supports 5G networks and Wi-Fi 6E high-speed wireless communication technology, and has adaptive switching capabilities to ensure the speed and stability of data transmission.
[0024] Preferably, it also includes a user interface with a tactile feedback function, which is used to display the working status of the bulldozer in real time and allow the operator to manually input control commands through a virtual reality (VR) or augmented reality (AR) device while feeling the tactile feedback of the operating arm.
[0025] Preferably, the image acquisition device includes but is not limited to a high-definition camera, a 3D laser radar and a thermal imaging sensor, which is used to provide multi-angle and multi-mode image information, thereby improving the accuracy of environmental perception.
[0026] Preferably, the actuator comprises a hydraulic drive system and a motor drive system, and the actuator is also integrated with a robot arm end effector to achieve more complex operating tasks.
[0027] Preferably, the sensor is also used to detect key parameters of the bulldozer, such as fuel level, engine temperature, oil pressure, and coolant status, and predict maintenance needs through an AI prediction model to monitor the overall operating status of the bulldozer and prevent failures.
[0028] Preferably, the remote operation station comprises a mobile device or a dedicated workstation and is equipped with a dedicated software application to implement remote monitoring, control and advanced data analysis functions.
[0029] Preferably, the remote control system also includes an AI-integrated fault diagnosis module, which is used to analyze the system status in real time, and automatically adjust the control strategy and send early warning information to the operator when an abnormality occurs.
[0030] Preferably, the remote control system also includes a data storage unit with distributed storage function, which is used to record the image information, status parameters and historical records of control instructions during the operation process, and use blockchain technology to ensure the security and non-tamperability of the data to facilitate subsequent analysis and maintenance.
[0031] The present invention has at least the following beneficial effects:
[0032] (1) This solution uses a variety of image acquisition devices such as high-definition cameras, 3D laser radars, and thermal imaging sensors. The system can obtain detailed information about the bulldozer's surroundings from multiple angles and modes, significantly improving the accuracy and comprehensiveness of environmental perception. By using high-precision GPS positioning information, three-dimensional acceleration information, and six-degree-of-freedom posture information of the operating arm collected by multiple types of sensors, combined with deep learning algorithms, it can dynamically identify working conditions and autonomously generate optimized control instructions, making the bulldozer's operation more precise and efficient. At the same time, the user interface with tactile feedback function supports manual input of control commands through virtual reality (VR) or augmented reality (AR) devices, making remote operation more intuitive and convenient, and enhancing the user's immersive operation experience.
[0033] (2) This solution uses 5G or newer communication technologies and supports Wi-Fi 6E high-speed wireless communication technology and adaptive switching capabilities, ensuring real-time and reliable transmission of high-definition video streams and control signals, and enhancing the communication quality of the system;
[0034] (3) This solution prevents equipment failures by detecting key parameters such as fuel level and engine temperature, and using AI prediction models to predict maintenance needs, thereby extending equipment life and reducing maintenance costs;
[0035] (4) This solution uses blockchain technology to record data during the operation, ensuring the security and immutability of the data, and facilitating subsequent data analysis and troubleshooting. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only 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 creative work.
[0037] Figure 1 This is a system structure block diagram of the present invention. DETAILED DESCRIPTION
[0038] 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 only 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.
[0039] See also Figure 1 The present invention provides a technical solution: a bulldozer remote control system based on intelligent identification, comprising:
[0040] An image acquisition device is installed at a key position of the bulldozer to obtain multimodal image information in the working environment of the bulldozer in real time;
[0041] Multiple types of sensors, used to detect and collect state parameters of the bulldozer, the state parameters at least including high-precision GPS positioning information, three-dimensional acceleration information, and six-degree-of-freedom posture information of the operating arm;
[0042] An intelligent recognition module integrating a deep learning algorithm, which dynamically identifies the working conditions of the bulldozer based on image information and state parameters, and autonomously generates optimized control instructions;
[0043] A wireless communication module, wherein the wireless communication module adopts 5G or newer communication technology, and is used to receive high-definition video streams and control signals from a remote operation station in real time, and transmit the control signals to the intelligent recognition module;
[0044] The actuator with redundant design includes a high-precision servo motor and a multi-stage hydraulic drive system, which is used to adjust the position and movement trajectory of the operating arm of the bulldozer according to the control command.
[0045] In some embodiments, the actuator adjusts the position and motion trajectory of the bulldozer operating arm according to the control instruction u(t), so that the operation trajectory of the bulldozer can be carried out according to a predetermined path planning, and the path planning satisfies the following mathematical model:
[0046] θ”(t)=K u u(t)+K d ·θ ’ (t)+K p ·(θ d -θ(t)),
[0047] θ”(t+Δt)=θ ’ (t)+θ ‘’ (t)·Δt,
[0048] θ(t+Δt)=θ(t)+θ ‘ (t)·Δt,
[0049] Where θ(t) represents the angle of the operating arm at time t;
[0050] θ ’ (t) represents the angular velocity of the manipulator at time t;
[0051] θ”(t) represents the angular acceleration of the manipulator at time t;
[0052] u(t) represents the control command issued at time t;
[0053] θ d Indicates the target angle of the manipulator;
[0054] K u , K d and K p They represent the control gain coefficient, damping coefficient and proportional gain coefficient respectively;
[0055] Δt is the time step.
[0056] In some embodiments, the wireless communication module supports 5G network and Wi-Fi 6E high-speed wireless communication technology, and has adaptive switching capabilities to ensure the speed and stability of data transmission. It also includes a user interface with tactile feedback function, which is used to display the working status of the bulldozer in real time, and allows the operator to manually input control commands through virtual reality (VR) or augmented reality (AR) devices while feeling the tactile feedback of the operating arm. The image acquisition device includes but is not limited to a high-definition camera, a 3D laser radar, and a thermal imaging sensor, which is used to provide multi-angle and multi-mode image information, thereby improving the accuracy of environmental perception.
[0057] In some embodiments, the actuator includes a hydraulic drive system and a motor drive system, and the actuator is also integrated with a robot arm end effector to achieve more complex working tasks.
[0058] Furthermore, the bottom of the shovel plate 81 is in the shape of a knife edge, and the thickness of the shovel plate 81 gradually decreases, so that the shovel plate 81 can remove part of the concrete from the surface of the mold 2, and the knife edge shape facilitates the removal of concrete. The sensor is also used to detect the key parameters of the bulldozer's fuel level, engine temperature, oil pressure, and coolant status, and predict maintenance needs through an AI prediction model to monitor the overall operating status of the bulldozer and prevent failures. The remote operation station includes a mobile device or a dedicated workstation, and is equipped with a dedicated software application to achieve remote monitoring, control, and advanced data analysis functions.
[0059] Furthermore, the remote control system also includes an AI-integrated fault diagnosis module, which is used to analyze the system status in real time, automatically adjust the control strategy when an abnormality occurs, and issue early warning information to the operator. The remote control system also includes a data storage unit with distributed storage function, which is used to record image information, status parameters and control instruction history during operation, and uses blockchain technology to ensure the security and immutability of data for subsequent analysis and maintenance.
[0060] It should be noted that the high-definition camera is used to capture visual information around the bulldozer; the 3D laser radar is used to build a three-dimensional model of the surrounding environment; and the thermal imaging sensor is used to detect the temperature difference between different objects. The camera is installed in key positions such as the front, rear, sides and top of the bulldozer to obtain a full range of views; the 3D laser radar is installed on the top of the bulldozer to ensure the maximum coverage; the thermal imaging sensor is installed in front of and on both sides of the bulldozer to detect obstacles and heat source distribution in the working area. The image acquisition device captures multimodal image information in real time to provide environmental perception data for the intelligent recognition module.
[0061] Multi-type sensors include high-precision GPS, three-dimensional accelerometer, six-axis attitude sensor, etc. These sensors continuously monitor the bulldozer's position, speed, attitude and other state parameters to help the system understand the current working conditions. The intelligent recognition module with integrated deep learning algorithm uses a large amount of image information and state parameters for pre-training, enabling the model to recognize different working scenarios. Dynamically identify working conditions based on real-time information and generate optimal control instructions to adapt to the current environment. The wireless communication module supports 5G or newer communication technologies and Wi-Fi 6E, and has adaptive switching capabilities. Ensure real-time transmission of high-definition video streams and control signals, while ensuring the speed and stability of data transmission.
[0062] The actuator includes a high-precision servo motor and a multi-stage hydraulic drive system. After receiving the control command, the actuator can accurately adjust the position and movement trajectory of the operating arm. The user interface has tactile feedback and supports VR / AR devices. It displays the working status in real time, allows the operator to manually input control commands, and provides tactile feedback. In addition to working conditions, the sensor extension function also includes key parameters such as fuel level and engine temperature. Maintenance needs are predicted through AI prediction models to prevent failures. The remote operation station can be a mobile device or a dedicated workstation. Equipped with dedicated software applications to achieve remote monitoring, control and advanced data analysis. Fault diagnosis module The fault diagnosis module with integrated AI analyzes the system status in real time, automatically adjusts the control strategy in case of abnormalities, and issues early warnings to the operator. The data storage unit uses blockchain technology to record image information, status parameters and historical records of control instructions to ensure data security and non-tamperability.
[0063] Working principle: The image acquisition device is composed of multiple sensors, including but not limited to high-definition cameras, 3D lidars, and thermal imaging sensors. These sensors are installed in different parts of the bulldozer, such as the front, rear, sides, and top, to capture multi-angle, multi-mode image information of the bulldozer's surroundings. The high-definition camera is used to provide clear visual information, the 3D lidar is used to create a three-dimensional model of the environment, and the thermal imaging sensor is used to detect the temperature difference between objects, thereby providing additional environmental perception data. Multi-type sensors are responsible for detecting the state parameters of the bulldozer, including but not limited to high-precision GPS positioning information, three-dimensional acceleration information, and six-degree-of-freedom posture information of the operating arm. In addition, the sensors also monitor key parameters such as the bulldozer's fuel level, engine temperature, oil pressure, and coolant status. This information is crucial to understanding the working condition of the bulldozer. Based on the information obtained from the image acquisition device and multi-type sensors, the intelligent recognition module uses an integrated deep learning algorithm to dynamically identify the working conditions of the bulldozer. This process involves parsing image information, understanding environmental conditions, and evaluating working conditions. Based on these analysis results, the intelligent recognition module generates optimized control instructions to guide the actuator on how to adjust the position and motion trajectory of the operating arm. The wireless communication module uses 5G or newer communication technology to ensure that high-definition video streams and control signals can be transmitted to the intelligent recognition module in real time and stably. At the same time, if there is a communication interruption, the wireless communication module has adaptive switching capabilities and can switch to other available communication technologies, such as Wi-Fi6E, to maintain the speed and stability of data transmission. The actuator contains a high-precision servo motor and a multi-stage hydraulic drive system, which adjusts the position and motion trajectory of the operating arm according to the control instructions u(t) generated by the intelligent recognition module. The design of the actuator takes redundancy into account to ensure that it can continue to operate normally even if one component fails. The user interface not only provides the function of displaying the working status of the bulldozer in real time, but also allows the operator to manually input control commands through virtual reality (VR) or augmented reality (AR) devices. In addition, the user interface also has a tactile feedback function that can simulate the tactile feedback of the operating arm to the operator, making remote operation more intuitive and realistic. The remote operation station can be a mobile device or a dedicated workstation equipped with a dedicated software application that allows the operator to remotely monitor the working conditions of the bulldozer, send control instructions, and perform advanced data analysis. This enables the operator to complete the operation task away from the construction site. The fault diagnosis module with integrated AI analyzes the system status in real time and automatically adjusts the control strategy when an anomaly is detected. If the system detects a potential problem, it will also send an early warning message to the operator to help take timely measures to avoid the occurrence of failures. The data storage unit not only records the image information, status parameters and control instruction history generated during the operation, but also uses blockchain technology to ensure the security and non-tamperability of the data. This helps with later data analysis and maintenance work.
[0064] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0065] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A bulldozer remote control system based on intelligent identification, characterized in that: include: An image acquisition device is installed at a key position of the bulldozer to obtain multimodal image information in the working environment of the bulldozer in real time; Multiple types of sensors, used to detect and collect state parameters of the bulldozer, the state parameters at least including high-precision GPS positioning information, three-dimensional acceleration information, and six-degree-of-freedom posture information of the operating arm; An intelligent recognition module integrating a deep learning algorithm, which dynamically identifies the working conditions of the bulldozer based on image information and state parameters, and autonomously generates optimized control instructions; A wireless communication module, wherein the wireless communication module adopts 5G or newer communication technology, and is used to receive high-definition video streams and control signals from a remote operation station in real time, and transmit the control signals to the intelligent recognition module; The actuator with redundant design includes a high-precision servo motor and a multi-stage hydraulic drive system, which is used to adjust the position and movement trajectory of the operating arm of the bulldozer according to the control command.
2. The bulldozer remote control system based on intelligent identification according to claim 1 is characterized in that: The actuator adjusts the position and motion trajectory of the bulldozer operating arm according to the control instruction u(t), so that the operation trajectory of the bulldozer can be carried out according to the predetermined path planning, and the path planning satisfies the following mathematical model: θ”(t)=K u ·u(t)+K d ·i ’ (t)+K p ·(θ d -θ(t)), θ”(t+Δt)=θ ’ (t)+θ ‘’ (t)·Δt, θ(t+Δt)=θ(t)+θ ‘ (t)·Δt, Where θ(t) represents the angle of the operating arm at time t; θ ’ (t) represents the angular velocity of the manipulator at time t; θ”(t) represents the angular acceleration of the manipulator at time t; u(t) represents the control command issued at time t; θ d Indicates the target angle of the manipulator arm; K u , K d and K p They represent the control gain coefficient, damping coefficient and proportional gain coefficient respectively; Δt is the time step.
3. The bulldozer remote control system based on intelligent identification according to claim 2 is characterized in that: The wireless communication module supports 5G network and Wi-Fi6E high-speed wireless communication technology.
4. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: It also includes a user interface with tactile feedback that displays the bulldozer's operating status in real time and allows the operator to manually input control commands through a virtual reality or augmented reality device.
5. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The image acquisition device includes but is not limited to a high-definition camera, a 3D laser radar, and a thermal imaging sensor, and is used to provide multi-angle and multi-mode image information.
6. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The actuator comprises a hydraulic drive system and a motor drive system, and the actuator is also integrated with a robot arm end effector.
7. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The sensors are also used to detect key parameters of the bulldozer’s fuel level, engine temperature, oil pressure, and coolant status, and predict maintenance needs through AI prediction models to monitor the bulldozer’s overall operating status and prevent failures.
8. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The remote operation station includes a mobile device or a dedicated workstation and is equipped with a dedicated software application.
9. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The remote control system also includes an AI-integrated fault diagnosis module, which is used to analyze the system status in real time, automatically adjust the control strategy when an abnormality occurs, and issue early warning information to the operator.
10. The bulldozer remote control system based on intelligent identification according to claim 1, characterized in that: The remote control system also includes a data storage unit with distributed storage function, which is used to record image information, state parameters and historical records of control instructions during the operation.