Crawler-type multifunctional platform remote control driving control method, device and system

Abstract

The invention relates to a remote control driving control method, device and system for a crawler-type multifunctional platform. The remote control driving control method for the crawler-type multifunctional platform comprises the following steps: acquiring a remote control mode starting signal; converting the driving mode into a remote control driving mode according to the remote control mode starting signal; in the remote control driving mode, acquiring a remote control driving instruction; and analyzing the remote control driving instruction, and outputting a driving control instruction for executing the remote control driving instruction. Thus, the crawler-type multifunctional platform can have a remote control function, a main controller of the crawler-type multifunctional platform can be properly modified based on an existing crawler-type multifunctional platform to be used for executing the remote control driving control method of the crawler-type multifunctional platform, and the remote control function and the control mode can be achieved by additionally installing a remote control device. Therefore, potential safety hazards of driving operation in complex terrains can be reduced, safety is improved, and safety is good.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline construction equipment control, and in particular to a remote control method, device and system for a crawler-type multifunctional platform. Background Art

[0002] Wetland pipeline construction involves the laying and installation of pipelines in a wetland environment. This environment is characterized by soft soil, high groundwater levels, and high soil moisture content, which makes pipeline construction in wetlands challenging. In traditional pipeline construction, a mechanized flow operation method is usually used, but this method is not suitable for wetland pipeline construction due to the low carrying capacity of the wetland environment. In wetland pipeline construction, conventional construction equipment and methods may be difficult to carry out effectively due to the special properties of the wetland environment, such as soft soil and high groundwater levels. Therefore, there is a need for construction equipment that can operate stably in a wetland environment to improve construction efficiency and safety.

[0003] In this context, the crawler multifunctional platform came into being. The crawler multifunctional platform is a mechanical equipment with a crawler walking device, which has the following characteristics: Good stability: The crawler walking device can provide good ground adhesion, so that the equipment can run stably on slippery soil and reduce the risk of equipment overturning. Strong off-road capability: The crawler walking device can adapt to various terrains and ground conditions, including complex environments such as wetlands and hillsides, so that the equipment can be constructed under various conditions. Strong carrying capacity: The crawler walking device has a high carrying capacity and can carry various construction equipment and materials to meet the needs of wetland pipeline construction. Versatility: The crawler multifunctional platform can be equipped with a variety of different working devices and tools, such as welding machines, excavators, etc., so as to perform various tasks during the construction process. In summary, the crawler multifunctional platform has important application value in wetland pipeline construction. Through the application of this equipment, the construction efficiency and quality can be improved, the construction cost and risk can be reduced, and an effective solution for wetland pipeline construction can be provided.

[0004] However, during pipeline construction, especially when pipeline construction is carried out in low pressure areas such as swamps and wetlands, the existing crawler multi-functional platform requires the operator to personally control the driving equipment in the cab, which is very inconvenient and has poor convenience. Moreover, when the operator is operating in the cab, the field of vision is limited, which poses a safety hazard. Summary of the invention

[0005] Based on this, it is necessary to provide a remote control driving control method, device and system for a tracked multifunctional platform that can transform the existing tracked multifunctional platform, has a remote control function and has relatively good safety.

[0006] In a first aspect, the present application provides a remote control driving method for a crawler-type multifunctional platform, comprising the following steps:

[0007] Get the remote control mode start signal;

[0008] According to the remote control mode start signal, the driving mode is converted to the remote control driving mode;

[0009] In remote control driving mode, obtain remote control driving instructions;

[0010] The remote control driving command is analyzed, and a driving control command for executing the remote control driving command is output.

[0011] In one embodiment, the remote control driving mode includes a local driving mode and a remote control driving mode. When the driving mode is the remote control driving mode, the manual operation instructions corresponding to the local driving mode are refused to be executed; when the driving mode is the local driving mode, the remote control driving instructions are refused to be executed.

[0012] In one embodiment, the remote control driving mode further includes a parking mode, and the step of converting the driving mode to the remote control driving mode according to the remote control mode start signal includes:

[0013] Get the current driving mode;

[0014] If the current driving mode is the parking mode, the driving mode is switched to the remote control driving mode according to the remote control mode start signal.

[0015] In one of the embodiments, after obtaining the current driving mode, if the current driving mode is the local driving mode, the driving mode is maintained as the local driving mode.

[0016] In one embodiment, if the current driving mode is the parking mode, the step of converting the driving mode to the remote control driving mode according to the remote control mode start signal further includes the following steps:

[0017] Acquire human detection data on tracked multi-purpose platforms;

[0018] Judging whether there is a human body on the crawler multi-functional platform based on human body detection data;

[0019] When there is a human body, the driving mode is switched to remote control driving mode.

[0020] In one embodiment, when a human body is present, the driving mode is rejected as a remote control driving mode, and the control method further comprises the following steps:

[0021] Obtaining manually authorized remote control commands on a tracked multi-purpose platform;

[0022] According to the manual authorization remote control command and the remote control mode start signal, the driving mode is changed to the remote control driving mode.

[0023] In one embodiment, the driving control instruction includes at least one of a gear signal, a speed signal, a turn signal and a start-stop signal.

[0024] In a second aspect, the present application provides a remote control driving control device for a crawler-type multifunctional platform, comprising:

[0025] A remote control start signal acquisition module is used to obtain a remote control mode start signal;

[0026] A driving mode conversion module, used to convert the driving mode to the remote control driving mode according to the remote control mode start signal;

[0027] A remote control command acquisition module is used to obtain remote control driving commands in remote control driving mode;

[0028] The analysis and control module is used to analyze the remote control driving instructions and output the driving control instructions for executing the remote control driving instructions.

[0029] In the third aspect, the present application provides a remote control driving control system for a tracked multi-functional platform, comprising a tracked multi-functional platform and a remote control component, wherein the tracked multi-functional platform has a main controller, the remote control signal processor is installed on the tracked multi-functional platform, the remote control signal processor is connected to the main controller via CAN communication, the main controller is used to execute the remote control driving control method for the tracked multi-functional platform as described in any of the above embodiments, and the remote control component is used to send the remote control mode start signal; the main controller controls the tracked multi-functional platform according to the driving control instruction.

[0030] In one embodiment, the crawler multifunctional platform includes a vehicle body and a main controller, an electric proportional multi-way valve, a wheel motor, a throttle actuator, an engine ECU, an engine, and a hydraulic pump, which are respectively arranged on the vehicle body; the main controller is connected to the electric proportional multi-way valve via PWM communication, and the electric proportional multi-way valve is connected to the wheel motor; the main controller is connected to the throttle actuator via CAN communication, and the throttle actuator, the engine ECU, the engine, and the hydraulic pump are connected in sequence;

[0031] The remote control assembly includes a remote control device and a receiving module, wherein the remote control device has a transmitter and a plurality of operating elements for remotely controlling the crawler multifunctional platform, and the receiving module includes a receiver and a remote control signal processor; the transmitter is wirelessly connected to the receiver, the receiver is connected to the remote control signal processor via CAN communication, the remote control signal processor is installed on the crawler multifunctional platform, and is connected to the main controller of the crawler multifunctional platform via CAN communication;

[0032] The control system performs remote control according to the following system driving control method:

[0033] A remote control mode start signal is sent to the multifunctional platform through the remote control device, and the main controller controls the crawler multifunctional platform to enter the remote control driving mode based on the remote control mode start signal;

[0034] The remote control driving command is sent to the remote control signal processor through the remote control device, and the main controller outputs the driving control command based on the parsed remote control driving command to control the crawler multi-functional platform to perform related driving operations.

[0035] The remote control driving control method of the tracked multifunctional platform is applied to the main controller of the tracked multifunctional platform, and the control method includes the following steps: obtaining a remote control mode start signal; converting the driving mode to the remote control driving mode according to the remote control mode start signal; obtaining a remote control driving instruction in the remote control driving mode; parsing the remote control driving instruction, and outputting a driving control instruction for executing the remote control driving instruction; in this way, the tracked multifunctional platform can have a remote control function, and based on the existing tracked multifunctional platform, its main controller can be appropriately modified to execute the remote control driving control method of the tracked multifunctional platform, and the remote control function can be realized by adding a remote control device. Moreover, the remote control driving control method, after converting the driving mode to the remote control driving mode, obtains the remote control driving instruction; parses the remote control driving instruction, and outputs the driving control instruction for executing the remote control driving instruction, and executes the relevant remote control driving instruction only in the remote control driving mode, and can also avoid the influence of misoperation in the non-remote control driving mode on the operation of the tracked multifunctional platform. In addition, the above-mentioned crawler multi-functional platform remote control driving control method has a remote control function, so the operator can realize the remote control operation function. When conducting pipeline construction in low pressure areas such as swamps and wetlands, compared with the limited field of view in the cab, the remote control method has a wider field of view, thereby reducing the safety hazards of driving operations in complex terrain, improving safety, and having better safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1A flowchart of the steps of remote control driving control of a crawler-type multifunctional platform according to an embodiment;

[0037] Figure 2 A schematic diagram of the module structure of a remote control driving control device for a crawler-type multifunctional platform according to an embodiment;

[0038] Figure 3 It is a schematic diagram of a structural module of a control system of a crawler-type multifunctional platform including a remote control component and a crawler-type multifunctional platform according to an embodiment;

[0039] Figure 4 A schematic diagram of the steps of a system driving control method of a control system of a crawler-type multifunctional platform according to an embodiment;

[0040] Figure 5 A schematic diagram of the steps of a system driving control method of a control system of a crawler-type multifunctional platform according to an embodiment;

[0041] Figure 6 FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0042] In order to facilitate the understanding of the present application, in order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application, and the preferred implementation methods of the present application are given in the accompanying drawings. However, the present application can be implemented in many different forms and is not limited to the implementation methods described herein. On the contrary, the purpose of providing these implementation methods is to make the disclosure of the present application more thoroughly and comprehensively understood. The present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited to the specific embodiments disclosed below. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the description of the present application, the meaning of "several" is at least one, such as one, two, etc., unless otherwise clearly and specifically defined. It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application. The terms used herein are only for the purpose of describing specific implementation methods and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0043] In a first aspect, the present application provides a remote control driving method for a crawler-type multifunctional platform, comprising the following steps:

[0044] s110: Get the remote control mode start signal;

[0045] In the present application, a remote control driving method of a tracked multifunctional platform is applied to a main controller of the tracked multifunctional platform.

[0046] In this embodiment, the remote control mode activation signal may be sent through a configured remote control device.

[0047] s120: According to the remote control mode start signal, the driving mode is changed to the remote control driving mode;

[0048] Specifically, the remote control driving mode includes a local driving mode and a remote control driving mode. The local driving mode is a driving mode based on the cab of a traditional crawler multifunctional platform, and the remote control driving mode is a remote control driving mode in which a main controller performs corresponding driving operations based on control of a remote control device. Specifically, when the driving mode is the remote control driving mode, the manual operation instructions corresponding to the local driving mode are refused to be executed; when the driving mode is the local driving mode, the remote control driving instructions are refused to be executed. In this way, the mutual influence of the operations in the local driving mode and the remote control driving mode can be avoided, thereby improving safety. In one embodiment, the remote control driving mode also includes a parking mode, that is, a mode in which the crawler multifunctional platform is in a parking state.

[0049] In this embodiment, according to the remote control mode start signal sent by the remote control device, the main controller of the crawler multifunctional platform decides whether to enter the remote control driving mode based on the remote control mode start signal. Specifically, the remote control driving mode can be directly entered in response to the remote control mode start signal, or it can be decided whether to enter the remote control driving mode according to the current operating state in order to improve safety. The remote control driving mode can be performed when it is not in the local driving mode, and the remote control driving mode is refused to be entered when it is in the local driving mode. In this way, the operational safety is improved and the safety hazards and operational conflicts that exist when the two driving modes are operated at the same time are reduced. In one embodiment, the remote control driving mode includes a local driving mode and a remote control driving mode. When the driving mode is the remote control driving mode, the manual operation instructions corresponding to the local driving mode are refused to be executed; when the driving mode is the local driving mode, the remote control driving instructions are refused to be executed. In this way, the operational safety can be improved and the safety hazards and operational conflicts that exist when the two driving modes are operated at the same time can be reduced.

[0050] In one embodiment, the remote control driving mode further includes a parking mode, and the step of converting the driving mode to the remote control driving mode according to the remote control mode start signal includes:

[0051] Get the current driving mode;

[0052] If the current driving mode is the parking mode, the driving mode is switched to the remote control driving mode according to the remote control mode start signal.

[0053] In one of the embodiments, after obtaining the current driving mode, if the current driving mode is the local driving mode, the driving mode is maintained as the local driving mode.

[0054] In this way, the driving mode can be switched to the remote control driving mode only in the parking mode. Otherwise, if it is in the local driving mode, the remote control driving mode will be refused to be entered and the driving mode will continue to be maintained as the local driving mode.

[0055] s130: In remote control driving mode, obtain remote control driving instructions;

[0056] In this embodiment, when the driving mode is in the remote control driving mode, the remote driving instruction is obtained to facilitate the execution of related driving operations according to the remote driving instruction.

[0057] In one embodiment, the driving control instruction includes at least one of a gear signal, a speed signal, a steering signal, and a start-stop signal. For example, the driving control instruction also includes a parking signal. In this embodiment, the gear signal is used to control the crawler-type multifunctional platform to switch the corresponding driving gear, the speed signal is used to control the corresponding speed of the crawler-type multifunctional platform, the steering signal is used to control the crawler-type multifunctional platform to perform corresponding steering operations, the start-stop signal is used to control the crawler-type multifunctional platform to start and stop, and the parking signal is used to control the crawler-type multifunctional platform to park safely. Of course, the driving control instruction is not limited to this.

[0058] s140: Analyze the remote control driving command and output a driving control command for executing the remote control driving command.

[0059] In this embodiment, the main controller parses the remote control driving instructions and outputs driving control instructions for executing the remote control driving instructions. In this way, by setting up a variety of remote control devices and parsing the remote control signals, the remote control devices can control the tracked multi-functional platform through the main controller.

[0060] The remote control driving control method of the tracked multifunctional platform is applied to the main controller of the tracked multifunctional platform, and the control method includes the following steps: obtaining a remote control mode start signal; converting the driving mode to the remote control driving mode according to the remote control mode start signal; obtaining a remote control driving instruction in the remote control driving mode; parsing the remote control driving instruction, and outputting a driving control instruction for executing the remote control driving instruction; in this way, the tracked multifunctional platform can have a remote control function, and based on the existing tracked multifunctional platform, its main controller can be appropriately modified to execute the remote control driving control method of the tracked multifunctional platform, and the remote control function can be realized by adding a remote control device. Moreover, the remote control driving control method, after converting the driving mode to the remote control driving mode, obtains the remote control driving instruction; parses the remote control driving instruction, and outputs the driving control instruction for executing the remote control driving instruction, and executes the relevant remote control driving instruction only in the remote control driving mode, and can also avoid the influence of misoperation in the non-remote control driving mode on the operation of the tracked multifunctional platform. In addition, the above-mentioned crawler multi-functional platform remote control driving control method has a remote control function, so the operator can realize the remote control operation function. When conducting pipeline construction in low pressure areas such as swamps and wetlands, compared with the limited field of view in the cab, the remote control method has a wider field of view, thereby reducing the safety hazards of driving operations in complex terrain, improving safety, and having better safety.

[0061] In order to further improve the safety of remote control driving, in one embodiment, if the current driving mode is the parking mode, the step of switching the driving mode to the remote control driving mode according to the remote control mode start signal further includes the following steps:

[0062] Acquire human detection data on tracked multi-purpose platforms;

[0063] Judging whether there is a human body on the crawler multi-functional platform based on human body detection data;

[0064] When there is a human body, the driving mode is switched to remote control driving mode.

[0065] Thus, when a human body is present on the crawler-type multifunctional platform, the remote control driving mode can be prohibited, thus further ensuring safety. In a specific embodiment, human body detection data can be obtained based on an infrared probe, a camera, etc., and then it can be identified whether there is a human body on the crawler-type multifunctional platform.

[0066] In one embodiment, the obtaining of human body detection data on the tracked multi-functional platform includes: obtaining human body detection data of a cab on the tracked multi-functional platform; in this way, when there is someone in the cab, the driving mode is refused to be converted to a remote control driving mode, thereby reducing the driving safety hazards that may be caused by remote control operation.

[0067] In one embodiment, when a human body is present, the driving mode is rejected as a remote control driving mode, and the control method further comprises the following steps:

[0068] Obtaining manually authorized remote control commands on a tracked multi-purpose platform;

[0069] According to the manual authorization remote control command and the remote control mode start signal, the driving mode is changed to the remote control driving mode.

[0070] Thus, when there is a human body on the crawler multifunctional platform, after the crawler multifunctional platform is manually authorized locally, the remote control driving mode can be entered. Specifically, the corresponding manual authorization remote control command can be issued through the authorization button.

[0071] In another embodiment, after the driving mode is converted to the remote control driving mode according to the manual authorization remote control command and the remote control mode start signal, the remote control driving control method of the crawler multifunctional platform further includes the following steps: obtaining a termination remote control driving command; according to the termination remote control driving command, converting the driving mode to a local driving mode or a parking mode. In this way, when the personnel on the crawler multifunctional platform want to terminate the remote control operation, a corresponding button can be set to issue a termination remote control driving command, and the main controller obtains the termination remote control driving command to convert the driving mode to a local driving mode, thereby further improving safety.

[0072] The remote control driving control method of the tracked multifunctional platform is applied to the main controller of the tracked multifunctional platform, and the control method includes the following steps: obtaining a remote control mode start signal; converting the driving mode to the remote control driving mode according to the remote control mode start signal; obtaining a remote control driving instruction in the remote control driving mode; parsing the remote control driving instruction, and outputting a driving control instruction for executing the remote control driving instruction; in this way, the tracked multifunctional platform can have a remote control function, and based on the existing tracked multifunctional platform, its main controller can be appropriately modified to execute the remote control driving control method of the tracked multifunctional platform, and the remote control function can be realized by adding a remote control device. Moreover, the remote control driving control method, after converting the driving mode to the remote control driving mode, obtains the remote control driving instruction; parses the remote control driving instruction, and outputs the driving control instruction for executing the remote control driving instruction, and executes the relevant remote control driving instruction only in the remote control driving mode, and can also avoid the influence of misoperation in the non-remote control driving mode on the operation of the tracked multifunctional platform. In addition, the above-mentioned crawler multi-functional platform remote control driving control method has a remote control function, so the operator can realize the remote control operation function. When conducting pipeline construction in low pressure areas such as swamps and wetlands, compared with the limited field of view in the cab, the remote control method has a wider field of view, thereby reducing the safety hazards of driving operations in complex terrain, improving safety, and having better safety.

[0073] In the second aspect, the present application provides a remote control driving control device for a crawler-type multifunctional platform, see Figure 2 , the remote control driving control device of the crawler multifunctional platform includes:

[0074] A remote control start signal acquisition module is used to obtain a remote control mode start signal;

[0075] A driving mode conversion module, used to convert the driving mode to the remote control driving mode according to the remote control mode start signal;

[0076] A remote control command acquisition module is used to obtain remote control driving commands in remote control driving mode;

[0077] The analysis and control module is used to analyze the remote control driving instructions and output the driving control instructions for executing the remote control driving instructions.

[0078] In one embodiment, the driving mode conversion module is used to refuse to execute the manual operation instructions corresponding to the local driving mode when the driving mode is a remote control driving mode; and is also used to refuse to execute the remote control driving instructions when the driving mode is a local driving mode; wherein the remote control driving mode includes a local driving mode, a remote control driving mode and a parking mode.

[0079] In one embodiment, the remote control driving control device for a crawler multifunctional platform further includes a current driving mode acquisition module for acquiring a current driving mode;

[0080] The driving mode conversion module is used to convert the driving mode to the remote control driving mode according to the remote control mode start signal when the current driving mode is the parking mode.

[0081] In one embodiment, the driving mode conversion module is further configured to continue to maintain the driving mode as the local driving mode when the current driving mode is the local driving mode.

[0082] In one embodiment, the remote control driving control device for the crawler-type multifunctional platform further includes:

[0083] A human body detection data acquisition module is used to acquire human body detection data on a crawler-type multifunctional platform;

[0084] A human body judgment module, used to judge whether there is a human body on the crawler-type multifunctional platform according to the human body detection data;

[0085] The driving mode conversion module is also used to refuse to convert the driving mode to the remote control driving mode when a human body is present.

[0086] In one embodiment, the human body detection data acquisition module is used to acquire human body detection data of a cab on a crawler-type multi-functional platform.

[0087] In one embodiment, the remote control driving control device for the crawler-type multifunctional platform further includes:

[0088] A manual authorization command acquisition module is used to acquire manual authorization remote control commands on a crawler multifunctional platform;

[0089] The driving mode conversion module is used to convert the driving mode to the remote control driving mode according to the manual authorization remote control command and the remote control mode start signal.

[0090] In one embodiment, the remote control driving control device for the crawler-type multifunctional platform further includes:

[0091] A remote control termination command acquisition module is used to acquire a remote control termination driving command;

[0092] The driving mode conversion module is used to convert the driving mode to the local driving mode according to the termination remote control driving instruction.

[0093] In the third aspect, the present application provides a remote control driving control system for a tracked multi-functional platform, characterized in that it includes a tracked multi-functional platform and a remote control component, the tracked multi-functional platform has a main controller, the remote control signal processor is installed on the tracked multi-functional platform, the remote control signal processor is connected to the main controller via CAN communication, the main controller is used to execute the remote control driving control method for a tracked multi-functional platform as described in any one of claims 1 to 8, and the remote control component is used to send the remote control mode start signal; the main controller controls the tracked multi-functional platform according to the driving control instruction.

[0094] In one embodiment, the crawler multifunctional platform includes a vehicle body and a main controller, an electric proportional multi-way valve, a wheel motor, a throttle actuator, an engine ECU, an engine, and a hydraulic pump, which are respectively arranged on the vehicle body; the main controller is connected to the electric proportional multi-way valve via PWM communication, and the electric proportional multi-way valve is connected to the wheel motor; the main controller is connected to the throttle actuator via CAN communication, and the throttle actuator, the engine ECU, the engine, and the hydraulic pump are connected in sequence;

[0095] The remote control assembly includes a remote control device and a receiving module, wherein the remote control device has a transmitter and a plurality of operating elements for remotely controlling the crawler multifunctional platform, and the receiving module includes a receiver and a remote control signal processor; the transmitter is wirelessly connected to the receiver, the receiver is connected to the remote control signal processor via CAN communication, the remote control signal processor is installed on the crawler multifunctional platform, and is connected to the main controller of the crawler multifunctional platform via CAN communication;

[0096] In order to further explain the above crawler multifunctional platform remote control driving control system. Figure 3 For further explanation. Figure 3 A schematic diagram of a structural module of a control system of a crawler-type multifunctional platform including a remote control component and a crawler-type multifunctional platform according to an embodiment.

[0097] See also Figure 3The remote control component A010 includes a remote control device A100 and a receiving module. The remote control device A100 has a transmitter A110 and a plurality of operating elements for remotely controlling the crawler multifunctional platform. For example, the plurality of operating elements include at least one of the following: a forward and backward rocker A121, a left and right steering rocker A122, a high and low speed switch A123, a throttle control knob A124, an engine start button A125, an engine shutdown button A126, a horn button A128, and a work light switch A129. The plurality of operating elements are used to facilitate the user to remotely control the crawler multifunctional platform. The receiving module includes a receiver A200 and a remote control signal processor A300. The transmitter A110 is wirelessly connected to the receiver A200. The receiver A200 is connected to the remote control signal processor A300 through CAN (Controller Area Network) communication. The remote control signal processor A300 is used to be installed on the crawler multifunctional platform and is used to be connected to the main controller A400 of the crawler multifunctional platform through CAN communication. It should be noted that how to connect based on CAN communication, please refer to the prior art, this application will not repeat it here. The remote control component of the above-mentioned crawler multifunctional platform includes a remote control device A100 and a receiving module, the remote control device A100 has a transmitter A110 and a plurality of operating elements for remotely controlling the crawler multifunctional platform, the receiving module includes a receiver A200 and a remote control signal processor A300, the transmitter A110 is wirelessly connected to the receiver A200, the receiver A200 is connected to the remote control signal processor A300 via CAN communication, the remote control signal processor A300 is used to be installed on the crawler multifunctional platform, and is used to be connected to the main controller A400 of the crawler multifunctional platform via CAN communication. In this way, the remote control signal processor A300 of the remote control component can be installed in the existing tracked multi-functional platform. Through the operating element of the remote control device, the driving control signal can be sent to the receiver A200 of the receiving module through the transmitter A110 of the remote control device. Then, after the remote control signal processor A300 is communicated with the main controller A400 of the tracked multi-functional platform, the operation signal is transmitted to the remote control signal processor A300 through the transmitter A110 and the receiver A200. The remote control signal processor A300 directly controls the main controller A400 of the tracked multi-functional platform to perform the action expected by the remote control operator, or the remote control signal processor A300 is connected to the main controller A400 of the multi-functional platform, and the two communicate through the controller area network (Controller Area Network, CAN). The remote control signal processor A300 sends the processed signal to the main controller A400, and the main controller A400 controls the corresponding machine components according to the received processed signal to realize the action expected by the remote operator, such as acceleration, deceleration, steering, shifting, parking, etc.As a result, the remote control component of the above-mentioned crawler multifunctional platform is applied to the crawler multifunctional platform, which has a remote control driving function. The operator can perform remote control operation without being in the cab. When carrying out pipeline construction in low pressure areas in swamps and wetlands, the field of vision is wider, which is convenient and fast, can reduce safety hazards, and has better safety. Moreover, the remote control component of the present application can be installed in an existing crawler multifunctional platform to realize the remote control function, and can adapt to different types of crawler chassis, with strong adaptability. As long as a remote control signal processor is installed on the crawler, the remote control driving of the crawler chassis can be realized, and the scope of application is wide.

[0098] It should be noted that in the present application, the working principle of the remote control signal processor is to receive signals from the remote control device through a receiver, process and compile these signals, and then realize data exchange or communication with the main controller based on the corresponding communication protocol, so as to achieve the purpose of controlling the driving of the crawler multifunctional platform through the main controller. In the present application, the remote control signal processor can adopt existing commercially available products, and the specific structure and principle can refer to the prior art. The present application will not further elaborate on its specific structure and principle. Optionally, the remote control signal processor A300 can be a general-purpose processor, including but not limited to a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. Of course, the controller can also be integrated into a PLC controller, a single-chip microcomputer, etc.

[0099] In one embodiment, the remote control device includes a housing A1001, a transmitter A110, and a plurality of operating elements for remotely controlling a crawler multifunctional platform, wherein the transmitter A110 is disposed in the housing A1001, and the transmitter A110 has a control panel A120, wherein a plurality of operating elements are disposed in the housing A1001, and a plurality of operating elements are disposed on the housing A100A, and a plurality of operating elements are electrically connected to the control panel A120. It can also be understood that a plurality of operating elements are disposed on the control panel A120. Specifically, the plurality of operating elements include at least one of the following: a forward and backward rocker A121, a left and right steering rocker A122, a high and low speed switch A123, a throttle control knob A124, an engine start button A125, an engine shutdown button A126, a horn button A128, and a work light switch A129. In this way, the plurality of operating elements can send corresponding control signals according to the user's operation needs. Of course, it should be noted that the setting of the relevant operating elements can refer to the specific design of the relevant buttons of similar structures in the prior art. Moreover, considering that knobs, rockers, switches, etc. are also a type of key buttons, the operating elements of this application should be considered to include knobs, rockers, switches, etc.

[0100] In one embodiment, the control panel A120 has a remote controller (not shown), the plurality of operating elements are electrically connected to the remote controller, and the transmitter A110 is electrically connected to the remote controller. Thus, each operating element can be processed by the controller and send a corresponding function control signal through the transmitter.

[0101] In one embodiment, the remote control device further includes an engine parameter display screen A127, which is disposed on the housing A1001 and is electrically connected to the remote control controller. In this way, the relevant parameters of the engine can be displayed. Preferably, the controller can also receive a signal from a receiver through a transmitter, and the receiver can obtain the relevant parameters of the engine of the crawler multifunctional platform through a remote control signal processor and a main controller. After the controller obtains the relevant parameters of the relevant engine, it displays them in real time through the engine parameter display screen A127.

[0102] In this embodiment, the transmitter A110 and the receiver A200 are connected to each other by wireless communication. The receiver A200 is connected to the remote control signal processor A300. Optionally, a plurality of operating elements are provided on the control panel A120, and the forms of the operating elements include but are not limited to virtual keys, physical keys, knobs, switches, etc. of the touch screen, which are used for the remote operator to send operating signals, and the operating signals are transmitted to the remote control signal processor A300 through the transmitter A110 and the receiver A200, and the remote control signal processor A300 directly controls the main controller A400 of the multi-function platform A010 to perform the desired action of the remote control operator, or the remote control signal processor A300 is connected to the main controller A400 of the multi-function platform A010, and the two communicate through the controller area network (Controller Area Network, CAN), and the remote control signal processor A300 sends the processing signal to the main controller A400, and the main controller A400 controls the corresponding whole machine components according to the received processing signal to realize the desired action of the remote operator, such as acceleration, deceleration, steering, shifting, parking, etc. The transmission of the remote control signal for executing the remote control function may adopt either a wireless transmission mode or a wired transmission mode, which is not specifically limited here.

[0103] In this embodiment, the control panel A120 of the transmitter A110 is provided with a forward and reverse rocker A121, a left and right steering rocker A122, a high and low speed switch A123, a throttle control knob A124, an engine start button A125, an engine shutdown button A126, an engine parameter display screen A127, a horn button A128, and a work light switch A129; pressing the high and low speed switch A123 is used for driving speed shifting operations; when the forward and reverse rocker A121 and the left and right steering rocker A122 are pushed, the multi-functional platform can be used for acceleration, deceleration, steering, parking and other operations; rotating the throttle control knob A124 can be used to control the engine speed; pressing the horn button A128 can be used to turn on the multi-functional platform horn; pressing the work light switch A129 can be used to turn on or off the multi-functional platform work light; no specific limitation is made here.

[0104] Please continue reading Figure 3 , a control system of a crawler multifunctional platform, comprising a crawler multifunctional platform and a remote control component as described in any of the above embodiments, wherein the crawler multifunctional platform has a main controller A400, and the remote control signal processor A300 is installed on the crawler multifunctional platform, and the remote control signal processor A300 is connected to the main controller A400 via CAN communication. The main controller is used to execute the remote control driving control method of the crawler multifunctional platform as described in any of the above embodiments, and the remote control component is used to send the remote control mode start signal; the main controller controls the crawler multifunctional platform according to the driving control instruction.

[0105] In one embodiment, the crawler multifunctional platform includes a vehicle body A4001 and a main controller A400, an electric proportional multi-way valve A601, a wheel motor A602, a throttle actuator A501, an engine ECU (electronic control unit, also known as a "driving computer") A502, an engine A503, and a hydraulic pump A504, which are respectively arranged on the vehicle body A4001;

[0106] The main controller A400 is connected to the electric proportional multi-way valve via PWM (Pulse Width Modulation) communication, and the electric proportional multi-way valve is connected to the wheel motor;

[0107] The main controller is connected to the throttle actuator via CAN communication, and the throttle actuator, the engine ECU, the engine, and the hydraulic pump are connected in sequence.

[0108] In this embodiment, the main controller A400 is connected to the engine ECU A502, and can control the speed of the engine A503 through CAN communication, and drive the hydraulic pump A504 to rotate to supply oil to the electric proportional multi-way valve A601; the main controller A400 sends PWM signal communication to control the switch of the electric proportional multi-way valve A601 of the multi-functional platform A010, thereby supplying oil to the wheel-side motor A602, and the wheel-side motor A602 drives the reducer and the track to move, thereby realizing the walking and stopping of the multi-functional platform.

[0109] It should be noted that, for the specific structures of the main controller A400, the electric proportional multi-way valve A601, the wheel-side motor A602, the throttle actuator A501, the engine ECU (electronic control unit, also known as the "on-board computer") A502, the engine A503, the hydraulic pump A504, etc. and the control implemented with the main controller, please refer to the crawler multi-functional platform of the prior art, and this application will not go into details here.

[0110] In one embodiment, the crawler-type multifunctional platform also includes a reducer for driving the crawler of the crawler-type multifunctional platform, and the wheel-side motor is connected to and used to drive the reducer. It should be noted that the wheel-side motor transmits the power of the motor to the crawler through the reducer to make the crawler run. The function of the reducer is to reduce the speed of the motor and increase the torque to meet the needs of crawler operation.

[0111] In one of the embodiments, the tracked multifunctional platform further includes a human-machine interface display device A700, and the human-machine interface display device is connected to the main controller. Figure 3 The human-machine interface in the figure is a human-machine interface display device.

[0112] In one embodiment, the crawler-type multifunctional platform further includes a horn and a work light, and the horn and the work light are both arranged on the vehicle body, and the horn and the work light are both electrically connected to the controller.

[0113] In one of the embodiments, a corresponding operation mode switching button is also connected to the controller in the control platform. When the remote control operation mode A802 is selected, the multi-function platform A010 is controlled to enter the remote control mode. Specifically, the switching of the corresponding operation mode can be achieved by switching the local operation / remote control operation A802 button.

[0114] In the present application, a driving control signal is sent to a remote control signal processor through a remote control device, and the remote control signal processor sends the analyzed driving control signal to the main controller of the multifunctional platform, and the main controller controls the driving of the multifunctional platform according to the driving control signal, wherein the driving control signal includes at least one of a gear signal, a speed signal, a steering signal and a start-stop signal. In this way, the remote control driving of the multifunctional platform can be realized. When operating in a swamp environment, the operator can remotely control the multifunctional platform and keep a relatively safe distance from the dangerous environment. When selecting a suitable transmitter and receiver, the remote control distance can reach 150 meters, and the operating field of vision is wide, which improves the safety of the operation and greatly ensures the personal safety of the operator and the surrounding personnel. Secondly, a remote control signal processor is set on the multifunctional platform, which can adapt to different types of crawler chassis and has strong adaptability. As long as a remote control signal processor is installed on the crawler chassis, the remote control driving of the crawler chassis can be realized, and the scope of application is wide.

[0115] In one embodiment, the control system performs remote control according to the following system driving control method:

[0116] A remote control mode start signal is sent to the multifunctional platform through the remote control device, and the main controller controls the crawler multifunctional platform to enter the remote control driving mode based on the remote control mode start signal;

[0117] The remote control driving command is sent to the remote control signal processor through the remote control device, and the main controller outputs the driving control command based on the parsed remote control driving command to control the crawler multi-functional platform to perform related driving operations.

[0118] Specifically, the remote control device may send the remote control mode activation signal by providing a remote control mode switch on the remote control device, or may send the corresponding remote control mode activation signal after a corresponding operating element of the remote control device is operated.

[0119] Specifically, the remote control controller of the remote control device sends a remote control mode start signal through a transmitter. The remote control mode start signal is wirelessly received by a receiver of the receiving module, and is sent to a main controller after being processed by a remote control signal processor. The main controller controls the crawler multifunctional platform to enter the remote control driving mode based on the remote control mode start signal.

[0120] In one embodiment, a remote control mode start button is further provided on the remote control device, the remote control mode start button is connected to the remote control controller, and the remote control mode start button is used to send a remote control mode start signal.

[0121] In one embodiment, the driving control command includes a gear signal, a speed signal, a steering signal, a start / stop signal, and a remote control mode activation signal. The gear signal is sent by the high / low speed switch A123, the speed signal is sent by the throttle control knob A124, the steering signal is sent by the forward / reverse rocker A121 and the left / right steering rocker A122, and the start / stop signal is sent by the engine start button A125.

[0122] In one embodiment, the driving control instructions include the forward signal emitted by the forward and reverse joystick A121, the left and right signals of the left and right steering joystick A122, the gear signal of the high and low speed switch A123, the speed signal of the throttle control knob A124, the start and stop signal of the engine start button A125, the shutdown signal of the engine shutdown button A126, the horn signal of the horn button A128, and the work light switch signal of the work light switch A129.

[0123] In one embodiment, a parking button is further provided on the remote control device, and the driving control instruction further includes a parking signal issued by the parking button.

[0124] In a specific embodiment, the main controller of the remote control driving control system of the tracked multi-functional platform controls the engine ECU of the multi-functional platform to adjust the engine speed and engine start and stop according to the engine throttle control signal. The engine control signal includes at least one of the above signals such as the engine acceleration signal, the engine deceleration signal and the engine start and stop signal.

[0125] In one embodiment, a gear signal for switching the travel gear is sent to a remote control signal processor via a high-speed and low-speed switching switch A123 of the remote control device. The gear signal for switching the travel gear is used to control the travel gear of the multi-functional platform to a low-speed state or a high-speed state.

[0126] In one embodiment, in the remote control driving control method of a crawler-type multifunctional platform executed by the controller, the driving mode is converted to the remote control driving mode according to the remote control mode start signal, and it is determined whether the multifunctional platform is in a parking state;

[0127] If the multi-function platform is in the parking state, the local operation signal or the remote control mode start signal can be set, and the main controller enters the corresponding driving mode (operation mode) according to the set signal; in the local driving mode, the multi-function platform can only be controlled by the forward and backward walking, left and right steering and gear button switch of the control cabinet; in the local driving mode, the engine speed and engine start and stop of the multi-function platform can only be controlled by the throttle button switch and engine start and stop button of the control cabinet. In the remote control driving mode, the multi-function platform can only be controlled by the forward and backward push rod, left and right push rod and high and low speed switch on the remote control transmitter; in the remote control driving mode, the engine speed and engine start and stop of the multi-function platform can only be controlled by the throttle control knob and engine start or stop button on the remote control transmitter.

[0128] In one embodiment, the remote control device is used to send horn signals and work light switch signals; the remote control signal processor is used to receive the horn signals and work light switch signals, and transmit the horn signals and work light switch signals to the main controller to control the horn and work light switch of the multi-functional platform.

[0129] In the present application, a travel control signal is sent to a remote control signal processor through a remote control device, and the remote control signal processor sends the analyzed travel control signal to the main controller of the multifunctional platform, and the main controller controls the travel of the multifunctional platform according to the travel control signal, wherein the travel control signal includes at least one of a gear signal, a speed signal, a steering signal, and a start-stop signal. In this way, the remote control driving of the multifunctional platform can be realized. When operating in a swamp environment, the operator can remotely control the multifunctional platform and maintain a relatively safe distance from the dangerous environment. The remote control distance can reach 150 meters, and the operating field is wide, which improves the safety of the operation and greatly ensures the personal safety of the operator and the surrounding personnel. Secondly, a remote control signal processor is set on the multifunctional platform, which can adapt to different types of crawler chassis and has strong adaptability. As long as a remote control signal processor is installed on the crawler chassis, the remote control driving of the crawler chassis can be realized, and the scope of application is wide.

[0130] In one embodiment, the operation signal is transmitted to the remote control signal processor A300 through the transmitter A110 and the receiver A200. The remote control signal processor A300 directly controls the main controller A400 of the multifunctional platform A010 to perform the desired action of the remote control operator, or the remote control signal processor A300 is connected to the main controller A400 of the multifunctional platform A010, and the two communicate through the controller area network (Controller Area Network, CAN). The remote control signal processor A300 sends the processing signal to the main controller A400, and the main controller A400 controls the corresponding machine components according to the received processing signal to achieve the desired action of the remote operator, such as acceleration, deceleration, steering, shifting, parking, etc. The transmission of the remote control signal for executing the remote control function can adopt both wireless transmission mode and wired transmission mode, which is not specifically limited here.

[0131] Furthermore, the main controller A400 is connected to the engine ECU A502, and can control the speed of the engine A503 through CAN communication, and drive the hydraulic pump A504 to rotate to supply oil to the electric proportional multi-way valve A601; the main controller A400 sends PWM signal communication to control the switch of the electric proportional multi-way valve A601 of the multi-function platform A010, thereby supplying oil to the wheel-side motor A602, and the wheel-side motor A602 drives the reducer and the track movement to realize the walking and stopping of the multi-function platform.

[0132] Specifically, when the remote control operation mode A802 (remote control driving mode) is selected, the multi-functional platform A010 is controlled to enter the remote control mode; the high and low speed switching switch A123 is pressed for driving speed shifting operations; when the forward and reverse joystick A121 and the left and right steering joysticks A122 are pushed, the multi-functional platform can be used for acceleration, deceleration, steering, parking and other operations; rotating the throttle control knob A124 can be used to control the engine speed; pressing the horn button A128 can be used to turn on the multi-functional platform horn; pressing the work light switch A129 can be used to turn on or off the multi-functional platform work light; no specific limitation is made here.

[0133] The multifunctional platform A010 provided in this embodiment adds a remote control signal processor A300 between the remote control device A100 and the main controller A400. The remote control operator generates an operation signal (remote control driving instruction) through the remote control device A100, and the transmitter A110 sends the operation signal to the receiver A200. The receiver A200 sends the operation signal to the remote control signal processor A300 through CAN. The remote control signal processor A300 performs certain logical control on the received operation signal, and communicates the processing result with the main controller A400 through CAN, so as to realize the control of the multifunctional platform A010 and the engine ECU A502. The engine A503 speed can be controlled through CAN communication, and the hydraulic pump A504 can be driven to rotate to supply oil to the electric proportional multi-way valve A601; the main controller A400 sends PWM signal communication to control the switch of the electric proportional multi-way valve A601 of the multifunctional platform A010, thereby supplying oil to the wheel-side motor A602, and the wheel-side motor A602 drives the reducer to drive the crawler movement to realize the walking and stopping of the multifunctional platform. The remote control driving function is realized, that is, for vehicles with fixed vehicle programs, the remote control function can also be realized, which has a wide range of adaptability.

[0134] The system driving control method of the remote control driving control system of the crawler-type multifunctional platform will be further described below in conjunction with specific embodiments.

[0135] In one embodiment, referring to Figure 4 , this embodiment provides a system driving control method, through which the functions that the multifunctional platform can realize include but are not limited to mode switching function, switching the multifunctional platform, entering the local operation mode or the remote control mode, and controlling the engine speed;

[0136] The multifunctional platform is in the parking state. The equipment receives the moving state selection command and turns the local / remote control mode switch on the control cabinet. When the main controller determines the remote control operation mode, the local command of the control cabinet is invalid. Press the online button of the remote control device transmitter, and the multifunctional platform is in the remote control operation mode. The remote control operator sends the engine throttle control signal through the transmitter. The receiver receives the engine throttle control signal and sends it to the main controller. The main controller performs logical processing and communicates with the engine ECU through the CAN bus. The engine ECU controls the engine speed.

[0137] The multifunctional platform is in the parking state. The equipment receives the moving state selection command, turns the local / remote control mode switch on the control cabinet, and the main controller determines the local operation mode; the remote control command is invalid; through the throttle button switch of the control cabinet, the main controller receives the analog quantity output by the throttle button switch; the main controller performs logical processing and communicates with the engine ECU through the CAN bus; the engine ECU controls the engine speed;

[0138] In one embodiment, referring to Figure 5 This embodiment provides a remote control driving control method. Through this control method, the functions that the multifunctional platform A010 can realize include but are not limited to mode switching function, switching the multifunctional platform A010 to enter the local operation mode and the remote control mode; controlling the local operation driving or the remote control driving;

[0139] The multifunctional platform is in the parking state. The equipment receives the walking state selection instruction and turns the local / remote control mode switch on the control cabinet. When the main controller determines the remote control operation mode, the local instruction of the control cabinet is invalid. Press the online button of the remote control device transmitter and the multifunctional platform is in the remote control operation mode. The remote control operator sends the walking control signal through the transmitter. The receiver receives the walking control signal and sends it to the main controller. The main controller performs logical processing and outputs a PWM signal to drive the electromagnet of the electric proportional multi-way valve. The electric proportional multi-way valve opens the corresponding oil circuit and delivers the hydraulic oil to the corresponding oil port of the corresponding wheel-side motor. The wheel-side motor drives the reducer to drive the drive wheel to drive the track to rotate, thereby realizing forward and backward walking and left and right steering.

[0140] The multifunctional platform is in the parking state. The equipment receives the travel state selection instruction and turns the local / remote control mode switch on the control cabinet. The main controller determines the local operation mode. The remote control instruction is invalid. The forward and backward travel and left and right steering button switch of the control cabinet are used. The main controller receives the analog quantity output by the button switch. The main controller performs logic processing and outputs PWM signals to drive the electromagnet of the electric proportional multi-way valve. The electric proportional multi-way valve opens the corresponding oil circuit and delivers the hydraulic oil to the corresponding oil port of the corresponding wheel-side motor. The wheel-side motor drives the reducer to drive the drive wheel to push the track to rotate, thereby realizing forward and backward travel and left and right steering.

[0141] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor D001, a communication interface D002, a memory D003 and a communication bus D004, wherein the processor D001, the communication interface D002 and the memory D003 communicate with each other through the communication bus D004. The processor D001 may call the logic instructions in the memory D003, and the remote control driving control method with the main controller as the execution body includes: obtaining the local / remote control working state of the multifunctional platform; based on the remote control operation mode, controlling the engine speed; based on the remote control operation mode, controlling the multifunctional platform to move forward and backward, turn left and right, start and stop and other driving actions; based on the local operation mode, controlling the engine speed; based on the local operation mode, controlling the engine speed; based on the local operation mode, controlling the multifunctional platform to move forward and backward, turn left and right, start and stop and other driving actions. In addition, the logic instructions in the above-mentioned memory D003 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store program codes.

[0142] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. It should be noted that "in one embodiment", "for example", "for example", etc. in this application are intended to illustrate the present application, rather than to limit the present application. The above-described embodiments only express several implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent application. It should be pointed out that for a person of ordinary skill in the art, without departing from the concept of the present application, several variations and improvements can also be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the patent in this application shall be subject to the attached claims.

Claims

1. A remote control driving method for a crawler multifunctional platform, characterized in that: The steps include: Get the remote control mode start signal; According to the remote control mode start signal, the driving mode is converted to the remote control driving mode; In remote control driving mode, obtain remote control driving instructions; The remote control driving command is analyzed, and a driving control command for executing the remote control driving command is output.

2. The control method according to claim 1, characterized in that: The remote control driving mode includes a local driving mode and a remote control driving mode. When the driving mode is the remote control driving mode, the manual operation instructions corresponding to the local driving mode are refused to be executed; when the driving mode is the local driving mode, the remote control driving instructions are refused to be executed.

3. The control method according to claim 2, characterized in that: The remote control driving mode also includes a parking mode, and the step of converting the driving mode to the remote control driving mode according to the remote control mode start signal includes: Get the current driving mode; If the current driving mode is the parking mode, the driving mode is switched to the remote control driving mode according to the remote control mode start signal.

4. The control method according to claim 3, characterized in that: After obtaining the current driving mode, if the current driving mode is the local driving mode, the driving mode continues to be maintained as the local driving mode.

5. The control method according to claim 3, characterized in that: If the current driving mode is the parking mode, the step of converting the driving mode to the remote control driving mode according to the remote control mode start signal further includes the following steps: Acquire human detection data on tracked multi-purpose platforms; Judging whether there is a human body on the crawler multi-functional platform based on human body detection data; When there is a human body, the driving mode is switched to remote control driving mode.

6. The control method according to claim 5, characterized in that: When there is a human body, the driving mode is rejected and the remote control driving mode is selected. The control method further comprises the following steps: Obtaining manually authorized remote control commands on a tracked multi-purpose platform; According to the manual authorization remote control command and the remote control mode start signal, the driving mode is changed to the remote control driving mode.

7. The control method according to claim 1, characterized in that: The driving control instruction includes at least one of a gear signal, a speed signal, a turn signal and a start-stop signal.

8. A remote control driving control device for a crawler multifunctional platform, characterized in that: include: A remote control start signal acquisition module is used to obtain a remote control mode start signal; A driving mode conversion module, used to convert the driving mode to the remote control driving mode according to the remote control mode start signal; A remote control command acquisition module is used to obtain remote control driving commands in remote control driving mode; The analysis and control module is used to analyze the remote control driving instructions and output the driving control instructions for executing the remote control driving instructions.

9. A remote control driving control system for a crawler multifunctional platform, characterized in that: The invention comprises a tracked multifunctional platform and a remote control component, wherein the tracked multifunctional platform has a main controller, the remote control signal processor is installed on the tracked multifunctional platform, the remote control signal processor is connected to the main controller via CAN communication, the main controller is used to execute the remote control driving control method for the tracked multifunctional platform as described in any one of claims 1 to 8, the remote control component is used to send the remote control mode start signal; the main controller controls the tracked multifunctional platform according to the driving control instruction.

10. The control system according to claim 9, characterized in that: The crawler-type multifunctional platform includes a vehicle body and a main controller, an electric proportional multi-way valve, a wheel-side motor, a throttle actuator, an engine ECU, an engine, and a hydraulic pump, which are respectively arranged on the vehicle body; the main controller is connected to the electric proportional multi-way valve via PWM communication, and the electric proportional multi-way valve is connected to the wheel-side motor; the main controller is connected to the throttle actuator via CAN communication, and the throttle actuator, the engine ECU, the engine, and the hydraulic pump are connected in sequence; The remote control assembly includes a remote control device and a receiving module, wherein the remote control device has a transmitter and a plurality of operating elements for remotely controlling the crawler multifunctional platform, and the receiving module includes a receiver and a remote control signal processor; the transmitter is wirelessly connected to the receiver, the receiver is connected to the remote control signal processor via CAN communication, the remote control signal processor is installed on the crawler multifunctional platform, and is connected to the main controller of the crawler multifunctional platform via CAN communication; The control system performs remote control according to the following system driving control method: A remote control mode start signal is sent to the multifunctional platform through the remote control device, and the main controller controls the crawler multifunctional platform to enter the remote control driving mode based on the remote control mode start signal; The remote control driving command is sent to the remote control signal processor through the remote control device, and the main controller outputs the driving control command based on the parsed remote control driving command to control the crawler multi-functional platform to perform related driving operations.

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