Intelligent control device and method for pure electric tractor

Abstract

The invention provides a pure electric tractor intelligent control device and method.The pure electric tractor intelligent control device comprises a whole vehicle control module, and the whole vehicle control module communicates with a lifter control module, an intelligent driving control module, a walking motor control module, a power distribution module and a PTO motor control module; the power distribution module is electrically connected with the walking motor control module and the PTO motor control module. The system can be used for unmanned driving and remote control driving scenes of a pure electric tractor, after the intelligent unmanned function is activated, the whole machine can conduct operation steering, braking and working device control according to a set track without manual participation, the labor cost is saved, remote operation can be conducted when remote control driving is started, and the system can be used for severe working conditions such as emergency rescue and garbage landfill.

Description

Technical Field

[0001] The present invention relates to the field of tractors, and in particular to an intelligent control device and method for a pure electric tractor. Background Art

[0002] In the scenario of intelligent driving, the perception module of the whole machine is responsible for collecting information about the surrounding environment, and the decision-making and planning module makes task decisions based on this information and plans the best driving trajectory of the vehicle. Subsequently, the control module is responsible for ensuring that the vehicle strictly follows the set trajectory. The vehicle executes the instructions issued by the control module, which include key operations such as acceleration, braking, and steering. These operations are reflected in the vehicle as precise control of the drive, braking, steering and other systems. Traditionally powered tractors are powered by engines and generally consist of multiple mechanical gears. Due to factors such as the drive form, braking structure, steering structure, lifting device, and PTO speed adjustment, traditionally powered tractors can only be locked to one gear for driving when realizing intelligent driving control, which has great limitations; PTO is generally driven by the engine through the transfer shaft, and cannot achieve mechanical decoupling to adapt to various working conditions; steering control can achieve intelligent steering by adding a power steering motor to the steering shaft of the steering wheel. If the braking mechanism is a traditional mechanical brake, intelligent driving cannot be achieved.

[0003] Therefore, there is an urgent need for an intelligent control device and method for a pure electric tractor that can solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a pure electric tractor intelligent control device and method to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a pure electric tractor intelligent control device, comprising a whole vehicle control module, wherein the whole vehicle control module establishes communication with a hoist control module, an intelligent driving control module, a travel motor control module, a power distribution module and a PTO motor control module respectively, and the power distribution module is electrically connected to the travel motor control module and the PTO motor control module respectively.

[0007] Preferably, communication is established between the vehicle control module and the lift control module, the intelligent driving control module, the travel motor control module, the power distribution module and the PTO motor control module via a CAN bus.

[0008] Preferably, the intelligent driving control module includes an intelligent driving module, and the intelligent driving module establishes communication with the positioning and position perception module.

[0009] Preferably, the travel motor control module comprises a travel motor control unit, the travel motor control unit is electrically connected to the travel motor, and the travel motor is transmission-connected to a driving reduction device.

[0010] Preferably, the power distribution module includes a high-voltage power distribution unit, and the high-voltage power distribution unit is electrically connected to the power battery.

[0011] Preferably, the PTO motor control unit is electrically connected to the PTO drive motor.

[0012] The present invention also provides a pure electric tractor intelligent control method, comprising: an intelligent driving control module obtains positioning, position sensor signals, and command signals of unmanned driving or remote driving of a remote control terminal, and determines whether to enter an unmanned driving mode or a remote control mode; the intelligent driving controller communicates with a whole vehicle control module; when the intelligent driving control module detects unmanned driving and remote control requests, the intelligent driving module sends an intelligent driving unauthorized request to the whole vehicle control module; the whole vehicle control module determines whether there is a serious fault that does not allow entry into intelligent driving, whether the whole machine is in a driving state, or whether the PTO is working, based on the actual state of the whole vehicle; if the request is allowed, the whole vehicle control module receives the control request of the intelligent driving module.

[0013] Preferably, the control request includes a high voltage power on / off control request, a vehicle speed request, a PTO speed request, a turning request, and a lift control request.

[0014] Preferably, when a high-voltage power-on or power-off request is received, the vehicle control module communicates and interacts with the high-voltage power distribution unit according to the actual operating status to control the high voltage on or off of the whole machine, and feeds back the execution status to the intelligent driving module;

[0015] When receiving the PTO speed control request, the vehicle control module communicates and interacts with the PTO motor control unit to control the speed of the PTO drive motor according to the actual operating status, and feeds back the execution status to the intelligent driving module;

[0016] When receiving a speed control request, the vehicle control module communicates and interacts with the travel motor control unit to control the speed of the travel motor according to the actual operating status, and feeds back the execution status to the intelligent driving module;

[0017] When receiving the lift control request, the vehicle control module communicates and interacts with the lift control module to control the lift cylinder according to the actual operating status, and feeds back the execution status to the intelligent driving module.

[0018] Preferably, when the vehicle control module detects a serious fault, a brake signal from the brake pedal, an emergency stop signal, or a request to exit intelligent driving, the vehicle control module will no longer respond to the unauthorized control request from the intelligent driving module, and a new judgment must be made if entry is to be made again.

[0019] Compared with the prior art, the present invention has achieved the following beneficial technical effects:

[0020] The present invention provides an intelligent control device and method for a pure electric tractor, comprising a whole vehicle control module, wherein the whole vehicle control module establishes communication with a hoist control module, an intelligent driving control module, a travel motor control module, a power distribution module and a PTO motor control module respectively, and the power distribution module is electrically connected to the travel motor control module and the PTO motor control module respectively; the device and method can be used for unmanned driving and remote control driving scenarios of a pure electric tractor, after the intelligent unmanned function is activated, the whole machine can perform steering, braking and working device control according to a set trajectory without manual intervention, thus saving labor costs, and can be operated remotely when entering remote control driving, and can be used in harsh working conditions such as emergency rescue and landfill. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of the connection relationship of an intelligent control device for a pure electric tractor provided by the present invention. DETAILED DESCRIPTION

[0023] 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.

[0024] The purpose of the present invention is to provide an intelligent control device for a pure electric tractor to solve the problems existing in the prior art.

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Embodiment 1:

[0027] This embodiment provides an intelligent control device for a pure electric tractor. Figure 1 As shown, it includes a vehicle control module 1, which establishes communication with the lift control module 2, the intelligent driving control module, the travel motor control module, the power distribution module and the PTO motor control module respectively, and the power distribution module is electrically connected to the travel motor control module and the PTO motor control module respectively.

[0028] Specifically, the vehicle control module 1 establishes communication with the lift control module 2 , the intelligent driving control module, the travel motor control module, the power distribution module and the PTO motor control module through the CAN bus.

[0029] Furthermore, the intelligent driving control module includes an intelligent driving module 3 , and the intelligent driving module 3 establishes communication with the positioning and position perception module 4 .

[0030] Furthermore, the travel motor control module includes a travel motor control unit 5 , the travel motor control unit 5 is electrically connected to the travel motor 6 , and the travel motor 6 is transmission-connected to the driving reduction device 7 .

[0031] Furthermore, the power distribution module includes a high-voltage power distribution unit 8 , and the high-voltage power distribution unit 8 is electrically connected to the power battery 9 .

[0032] Further, the PTO motor control unit 10 is electrically connected to the PTO drive motor 11 .

[0033] The present embodiment also provides a pure electric tractor intelligent control method, including: an intelligent driving control module obtains positioning, position sensor signals, and command signals of unmanned driving or remote driving of a remote control terminal, and determines whether to enter an unmanned driving mode or a remote control mode. The intelligent driving controller communicates with a vehicle control module. When the intelligent driving control module detects an unmanned driving and remote control request, the intelligent driving module sends an intelligent driving unauthorized request to the vehicle control module. The vehicle control module determines whether there is a serious fault that does not allow entry into intelligent driving, whether the whole machine is in a driving state, or whether the PTO is working based on the actual state of the vehicle. If the request is allowed, the vehicle control module receives the control request of the intelligent driving module.

[0034] Among them, control requests include high-voltage power on and off control requests, vehicle speed requests, PTO speed requests, turning requests, and lift control requests.

[0035] As an implementation method, when a high-voltage power-on or power-off request is received, the vehicle control module communicates and interacts with the high-voltage power distribution unit according to the actual operating status to control the high voltage on or off of the whole machine, and feeds back the execution status to the intelligent driving module;

[0036] As an implementation method, when a PTO speed control request is received, the vehicle control module communicates and interacts with the PTO motor control unit to control the speed of the PTO drive motor according to the actual operating status, and feeds back the execution status to the intelligent driving module;

[0037] As an implementation method, when a vehicle speed control request is received, the vehicle control module communicates and interacts with the travel motor control unit according to the actual operating state to control the speed of the travel motor, and feeds back the execution state to the intelligent driving module;

[0038] As an implementation method, when a lift control request is received, the vehicle control module communicates and interacts with the lift control module to control the lift cylinder operation according to the actual operating status, and feeds back the execution status to the intelligent driving module.

[0039] As an implementation method, when the vehicle control module detects a serious fault, a brake signal from the brake pedal, an emergency stop signal, or a request to exit intelligent driving, the vehicle control module will no longer respond to the unauthorized control request from the intelligent driving module, and a new judgment must be made if it is to be entered again.

[0040] The present invention provides an intelligent control device and method for a pure electric tractor, which can be used in unmanned driving and remote control driving scenarios of the pure electric tractor. After the intelligent unmanned function is activated, the whole machine can perform steering, braking and working device control according to the set trajectory without human participation, thus saving labor costs. When entering remote control driving, long-distance operation can be performed, which can be used in harsh working conditions such as emergency rescue and landfill.

[0041] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A pure electric tractor intelligent control device, characterized in that: It includes a vehicle control module, which establishes communication with the lift control module, the intelligent driving control module, the travel motor control module, the power distribution module and the PTO motor control module respectively, and the power distribution module is electrically connected to the travel motor control module and the PTO motor control module respectively.

2. The pure electric tractor intelligent control device according to claim 1, characterized in that: The vehicle control module establishes communication with the lift control module, the intelligent driving control module, the travel motor control module, the power distribution module and the PTO motor control module through the CAN bus.

3. The pure electric tractor intelligent control device according to claim 1, characterized in that: The intelligent driving control module includes an intelligent driving module, and the intelligent driving module establishes communication with the positioning and position perception module.

4. The pure electric tractor intelligent control device according to claim 1, characterized in that: The walking motor control module comprises a walking motor control unit, the walking motor control unit is electrically connected to the walking motor, and the walking motor is transmission-connected to a driving reduction device.

5. The pure electric tractor intelligent control device according to claim 1, characterized in that: The power distribution module includes a high-voltage power distribution unit, and the high-voltage power distribution unit is electrically connected to the power battery.

6. The pure electric tractor intelligent control device according to claim 1, characterized in that: The PTO motor control unit is electrically connected to the PTO drive motor.

7. A pure electric tractor intelligent control method, characterized in that: include: The intelligent driving control module obtains positioning, position sensor signals, and unmanned driving or remote driving command signals from the remote control terminal to determine whether to enter unmanned driving mode or remote control mode. The intelligent driving controller communicates with the vehicle control module. When the intelligent driving control module detects unmanned driving and remote control requests, the intelligent driving module sends an intelligent driving overriding request to the vehicle control module. The vehicle control module determines whether there is a serious fault that does not allow entry into intelligent driving, whether the whole machine is in driving state, or whether the PTO is working based on the actual status of the vehicle. If the request is allowed, the vehicle control module receives the control request from the intelligent driving module.

8. The pure electric tractor intelligent control method according to claim 7, characterized in that: The control requests include high voltage power on and off control requests, vehicle speed requests, PTO speed requests, turning requests, and lift control requests.

9. The pure electric tractor intelligent control method according to claim 8, characterized in that: When receiving a high-voltage power-on or power-off request, the vehicle control module communicates and interacts with the high-voltage power distribution unit to control the high voltage on or off of the whole machine according to the actual operating status, and feeds back the execution status to the intelligent driving module; When receiving the PTO speed control request, the vehicle control module communicates and interacts with the PTO motor control unit to control the speed of the PTO drive motor according to the actual operating status, and feeds back the execution status to the intelligent driving module; When receiving a speed control request, the vehicle control module communicates and interacts with the travel motor control unit to control the speed of the travel motor according to the actual operating status, and feeds back the execution status to the intelligent driving module; When receiving the lift control request, the vehicle control module communicates and interacts with the lift control module to control the lift cylinder according to the actual operating status, and feeds back the execution status to the intelligent driving module.

10. The intelligent control method for a pure electric tractor according to any one of claims 7 to 9, characterized in that: When the vehicle control module detects a serious fault, a brake signal from the brake pedal, an emergency stop signal, or a request to exit intelligent driving, the vehicle control module will no longer respond to the unauthorized control request from the intelligent driving module, and a new judgment must be made if you want to enter again.

Images