Multifunctional chassis platform driving mode control system and control method

Abstract

The invention provides a multifunctional chassis platform driving mode control system and method, and the system comprises a remote control device which is used for responding to the operation action of a driver and generating a control signal; the multifunctional chassis platform is in signal connection with the remote control device and is used for executing actions according to the control signals; the multifunctional chassis platform comprises a remote control receiving unit, a chassis walking control unit and a driving execution unit; the remote control device can also respond to the operation action to generate a control signal for switching the running mode of the multifunctional chassis platform; and the chassis walking control unit can obtain the driving mode and generate a corresponding chassis control signal for controlling and constraining the driving execution unit according to the driving mode. The system is clear in design level, chassis action control is carried out through a driving mode, the operation efficiency is high, and meanwhile the universality of a chassis platform is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, more particularly, to a multi-functional chassis platform driving mode control system and control method. BACKGROUND

[0002] There are various types of engineering machinery equipment, and different types of equipment have different working functions. In order to reduce the research and development cost and shorten the research and development cycle, a multi-functional chassis platform driving system is developed according to the driving demand and structural characteristics of the equipment, which meets the driving system demand of several different types of equipment. However, the specific driving requirements of different equipment in the working process may not be exactly the same, including straight driving and turning, stationary working at a fixed point, constant speed driving, variable speed driving, automatic driving along a fixed track, etc. To solve the above problems, the present application provides a driving control system and method suitable for a remote control multi-functional chassis platform, which is of great significance to improve the universality of the chassis platform and the efficiency of equipment operation.

[0003] In the prior art, Chinese patent application No. CN201010541514.X provides a method for controlling the driving of an engineering vehicle with double-sided wheel groups driven independently, which includes a vehicle platform and a rocker controller. The rocker controller is provided with a control rocker, which can swing to 360° direction to control the movement of the driving wheel group. The operator can realize the driving control of the engineering vehicle with double-sided wheel group independent driving chassis structure through a single rocker. However, for the equipment that needs to work and drive at the same time, the driver needs to pay attention to the operation of the working device and also needs to control the chassis driving, which is a heavy operation burden. Compared with the traditional double-sided independent driving chassis, this invention controls the chassis driving by a single hand, which frees the other hand to focus on the control of the working device, and to a certain extent, meets the working condition demand of the remote control equipment driving and working at the same time. However, in the patent CN201010541514.X, although the single-hand control of the chassis driving meets the working condition demand of the remote control equipment driving and working at the same time to a certain extent, the operator needs to control the rocker to control the movement of the equipment as long as the equipment needs to move. The intelligence degree is insufficient, and the operator needs to make different driving controls under different working conditions. For example, in the process of road marking, the equipment needs to drive along the road track; in the process of clearing weeds on the roadside slope, the equipment needs to drive at a constant speed; in the process of cleaning the drainage channel, the equipment needs to drive and work at the same time. In the above-mentioned patent technology, the driving demand under different working conditions still depends on the operator, which is not conducive to the quality and efficiency of the work.

[0004] In addition, Chinese patent application, patent number: CN103738339B, provides a mode control device for a wheeled engineering machinery running system and a control method thereof, which has a manual control mode and an automatic control mode, and simplifies the operation burden of the operator in the running aspect through the automatic control mode. However, in the CN103738339B patent, although the automatic running can simplify the operation burden of the operator in the running aspect, the automatic running has limitations and exists restrictions on the scene and the working condition, and it is difficult to meet the adaptation demand of the multi-functional chassis platform to different working equipment. SUMMARY

[0005] The purpose of the present application is to overcome the deficiencies in the prior art, and to provide a multi-functional chassis platform running mode control system and control method, which can improve the working efficiency and improve the versatility of the chassis platform.

[0006] To achieve the above-mentioned purpose / To solve the above-mentioned technical problems, the present application is realized by adopting the following technical scheme: In a first aspect, the present application provides a multi-functional chassis platform running mode control system, comprising: A remote control device for generating a control signal in response to the operation action of the driver; A multi-functional chassis platform connected with the remote control device signal, for executing actions according to the control signal; The multi-functional chassis platform comprises a remote control receiving unit, a chassis walking control unit and a running execution unit; The remote control receiving unit is used for receiving the control signal transmitted from the remote control device, and transmitting the received control signal to the chassis walking control unit; The chassis walking control unit is used for parsing the data of the control signal into the chassis control signal of the walking execution unit after receiving the control signal, and delivering it to the running execution unit; The running execution unit is used for executing its own actions according to the chassis control signal sent by the chassis walking control unit; The remote control device can also generate a control signal for switching the running mode of the multi-functional chassis platform in response to the operation action collected by the remote control device; The chassis walking control unit can obtain the running mode and generate the corresponding chassis control signal for controlling the running execution unit according to the running mode.

[0007] The above settings realize the following technical effects: The system design level of the present application is clear, and the modularization degree is high. The functions of the remote control device (transmitting end) and the chassis platform (receiving and executing end) are separated, and they are connected through a clear signal interface to realize control. Based on each mode, the chassis walking control unit controls the chassis action, the working efficiency is high, and the versatility of the chassis platform is improved.

[0008] Further, the driving execution unit includes a left driving execution unit and a right driving execution unit; The chassis walking control unit parses the received control signal into a chassis control signal including the driving wheel speed of the left driving execution unit and the right driving execution unit, and sends the driving wheel speed of the left driving execution unit and the right driving execution unit to the left driving execution unit and the right driving execution unit respectively for execution, thereby realizing the movement and steering of the chassis.

[0009] The above arrangement achieves the technical effect: chassis steering principle: the chassis adopts differential steering, when the driving wheel speed of the left and right sides is inconsistent, the chassis executes steering action, when the left side speed is higher than the right side, it steers to the right side; when the left side speed is lower than the right side, it steers to the left; when the speed of both sides is the same, it drives straight.

[0010] The differential steering scheme based on the speed difference between the left and right wheels is adopted, and is parsed and controlled by the chassis walking control unit. Accurate and smooth steering: compared with simple single rudder wheel steering, differential steering can realize smaller turning radius and even spot steering, and is more maneuverable. Control decoupling: the operator only needs to input the intention (direction, speed) through the joystick handle, and the complex wheel speed calculation is completed by the control unit, which greatly reduces the operation difficulty and realizes the intuitive control experience of "what you think is what you get". High energy efficiency: pure mechanical differential structure is complex, while electronic differential realized by motor control has simple structure, high reliability and higher energy transmission efficiency.

[0011] Further, the multifunctional chassis platform further comprises a fixed track automatic driving control unit, which is used to generate a control signal for controlling the autonomous tracking driving of the chassis according to a preset track and send the control signal to the chassis walking control unit.

[0012] Further, the remote control device comprises a control unit, a control unit and a remote control transmitting unit; The control unit is the carrier of the control instructions issued by the driver, and can generate data and transmit it to the control unit in response to the operation action of the driver on the control unit; The control unit can collect, analyze and process the data transmitted by the control unit, and convert it into a control signal of the chassis; The remote control transmitting unit is connected with the multifunctional chassis platform signal, and can send the control signal output by the control unit to the multifunctional chassis platform.

[0013] Further, the remote control device can also generate a control signal for switching the driving mode of the multifunctional chassis platform in response to the operation action of the remote control device; The chassis walking control unit can obtain the driving mode and generate corresponding chassis control signals to control the driving execution unit according to the driving mode.

[0014] Further, the driving mode of the multifunctional chassis platform includes: a static mode, a speed-adjustable straight driving mode, a speed-adjustable steering mode, a constant-speed straight driving mode, a constant-speed steering mode, and a constant-track automatic driving mode. When the multifunctional chassis platform is in the static mode, the chassis walking control unit generates chassis control signals to control the driving wheel speed of the left driving execution unit and the right driving execution unit to be 0, and sends the chassis control signals to the driving execution unit. When the multifunctional chassis platform is in the speed-adjustable straight driving mode, the remote control device generates control signals in response to the operation action, the chassis walking control unit parses the data of the control signals into chassis control signals of the walking execution unit, and generates chassis control signals to control the speed difference of the driving wheel speed of the left driving execution unit and the right driving execution unit to be 0, and sends the chassis control signals to the driving execution unit. When the multifunctional chassis platform is in the speed-adjustable steering mode, the remote control device generates control signals in response to the operation action, the chassis walking control unit parses the data of the control signals into chassis control signals of the walking execution unit, and the chassis walking control unit does not generate additional chassis control signals. When the multifunctional chassis platform is in the constant-speed straight driving mode, the chassis walking control unit generates chassis control signals to control the speed difference of the driving wheel speed of the left driving execution unit and the right driving execution unit to be 0 and to maintain the driving wheel speed of the left driving execution unit and the right driving execution unit at a set value, and sends the chassis control signals to the driving execution unit. When the multifunctional chassis platform is in the constant-speed steering mode, the chassis walking control unit generates chassis control signals to control the speed difference of the driving wheel speed of the left driving execution unit and the right driving execution unit to be a difference set value and to maintain the driving wheel speed of the left driving execution unit and the right driving execution unit at a set value, respectively, and sends the chassis control signals to the driving execution unit. When the multifunctional chassis platform is in the constant-track automatic driving mode, the chassis walking control unit performs handshake protocol confirmation with the constant-track automatic driving control unit through bus data, after the confirmation is completed, the constant-track automatic driving control unit performs tracking driving control according to a preset driving track, sends corresponding driving and steering instructions to the chassis walking control unit, and the chassis walking control unit generates chassis control signals to control the tracking driving of the walking execution unit after receiving and processing the instructions, and sends the chassis control signals to the driving execution unit.

[0015] Further, the control unit includes an emergency stop switch, a constant-track automatic driving switch, a constant-speed driving switch, and a control joystick handle. The emergency stop switch is configured to generate a control signal for the chassis to enter a static mode in response to a key-in action; The orbit automatic driving switch is configured to generate a control signal for the chassis to enter an orbit automatic driving mode in response to an opening action; The constant speed driving switch is configured to generate a control signal for the chassis to keep constant speed driving or constant speed steering in response to an opening action; The control rocker handle can be freely rotated within a certain area, and the movement area of the remote handle is projected on an XY two-dimensional plane. Each position of the control rocker handle corresponds to a set of coordinates (x, y), wherein x represents the opening degree of the rocker in the x-axis direction, and y represents the opening degree of the rocker in the y-axis direction. The opening degree in the x-axis direction is related to the steering speed, and the opening degree in the y-axis direction is related to the driving speed, and the two are independently analyzed and calculated. When the handle position is located on the y-axis (x = 0), the chassis drives straight, and the upper half of the y-axis represents forward, and the lower half of the y-axis represents backward. When the handle is located in the position of the two sides of the y-axis (x ≠ 0), the chassis steers, and the left half of the x-axis represents left turn, and the right half of the x-axis represents right turn.

[0016] The above arrangement achieves the effect that the chassis driving control unit can convert the control rocker handle position data into driving and steering control data for controlling the chassis driving; The control unit, i.e. the integrated remote control device, uses a single handle to control the chassis walking, realizes the chassis walking and steering action, which is different from the conventional remote control scheme using double handles to control the walking function. The single handle is more suitable for engineering machinery equipment which needs to control walking and operation at the same time. The operator can free the other hand and focus on the operation of the working device. Through the combination of the single handle and the switch, the operator's operation is simplified as much as possible, the work efficiency is ensured, and the safety of the work process is improved.

[0017] Further, when the chassis is in the static mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the orbit automatic driving mode in response to the following states of the control unit: The emergency stop switch is not triggered, the control rocker handle is in the initial zero position, and the orbit automatic driving switch is closed; When the chassis is in the orbit automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the static mode in response to any of the following states of the control unit: State one: the control rocker handle keeps the initial zero position, and the orbit automatic driving switch is turned off; State two: the emergency stop switch is triggered; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: The emergency stop switch is not triggered, the operation rocker handle position is on the y-axis and the duration exceeds the preset time t; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed turning mode in response to the following state of the operation unit: The emergency stop switch is not triggered, the operation rocker handle position is on the y-axis and the duration exceeds the preset time t; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: The emergency stop switch is not triggered, the operation rocker handle position is on the y-axis and the duration exceeds the preset time t; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: State one: the operation rocker handle keeps the initial zero position; State two: the emergency stop switch is triggered; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: The emergency stop switch is not triggered, the operation rocker handle position is on the y-axis and the duration exceeds the preset time t; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: State one: the operation rocker handle keeps the initial zero position; State two: the emergency stop switch is triggered; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: The operation rocker handle position is moved from the y-axis to the y-axis area; When the chassis is in the fixed track automatic driving mode, the control unit can generate a control signal for switching the multifunctional chassis platform to the adjustable speed straight driving mode in response to the following state of the operation unit: The operation rocker handle position is moved from the y-axis to the y-axis area; When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to constant speed steering mode in response to the actions of the following control units: With the joystick positioned on either side of the y-axis corresponding to the expected steering speed, the cruise control switch is activated. When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to adjustable speed steering mode in response to the actions of the following control units: The joystick is positioned on either side of the y-axis corresponding to the expected steering speed, and the cruise control switch is off. When the chassis is in adjustable speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to constant speed straight driving mode: With the joystick positioned on the y-axis corresponding to the expected straight-line speed, the cruise control switch is closed. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to adjustable speed straight driving mode: The joystick is positioned at the y-axis position corresponding to the expected straight-line speed, and the cruise control switch is off. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to adjustable speed steering mode: The joystick is positioned on either side of the y-axis corresponding to the expected steering speed, and the cruise control switch is off. When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to adjustable speed straight driving mode in response to the actions of the following control units: The joystick is positioned at the y-axis position corresponding to the expected straight-line speed, and the cruise control switch is off. When the chassis is in constant speed straight driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to stationary mode in response to any of the following control unit states: State 1: The joystick handle is held at the initial zero position, and the automatic track-keeping switch is off; State 2: Emergency stop switch triggered; When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to a stationary mode in response to any of the following control unit states: State 1: The joystick handle is held at the initial zero position, and the automatic track-keeping switch is off; State 2: Emergency stop switch triggered; In a second aspect, the present invention provides a multi-functional chassis platform driving mode control method, based on the multi-functional chassis platform driving mode control system described in the first aspect, comprising: In response to the operation of the remote control device, a control signal is generated; Based on the preset trajectory, control signals are generated to control the chassis to autonomously follow the trajectory. The control signal is parsed into a chassis control signal that includes the drive wheel speeds of the left and right driving actuators; The left and right driving actuators are controlled according to the speed of their drive wheels, thereby enabling the chassis to move and steer.

[0018] Furthermore, the method also includes: Generate control signals to switch the driving modes of the multi-functional chassis platform; The chassis control signal of the driving execution unit is generated according to the driving mode to form the corresponding control constraint.

[0019] Furthermore, the driving modes of the multi-functional chassis platform include: stationary mode, adjustable speed straight driving mode, adjustable speed steering mode, constant speed straight driving mode, constant speed steering mode, and fixed-track automatic driving mode.

[0020] When the multi-functional chassis platform is in a stationary mode, the chassis travel control unit generates a chassis control signal that controls the drive wheel speeds of both the left and right travel execution units to be 0, and sends it to the travel execution units. When the multi-functional chassis platform is in the adjustable speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0, and sends it to the driving execution unit. When the multi-functional chassis platform is in adjustable speed steering mode, the chassis travel control unit does not generate additional chassis control signals; When the multi-functional chassis platform is in constant speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0 and keeps the drive wheel speeds of the left driving execution unit and the right driving execution unit at a set value, and sends it to the driving execution unit. When the multi-functional chassis platform is in constant speed steering mode, the chassis travel control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left and right travel execution units to be a set value and maintains the speed of the drive wheels of the left and right travel execution units at the set value, and sends it to the travel execution units. When the multi-functional chassis platform is in the fixed-track automatic driving mode, the chassis travel control unit confirms the connection protocol with the fixed-track automatic driving control unit through bus data. After confirmation, the fixed-track automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit generates chassis control signals to control the driving execution unit to track the driving trajectory and sends them to the driving execution unit.

[0021] Furthermore, when the chassis is in a stationary mode, the emergency stop switch is not triggered. Release the control joystick to return it to the initial zero position and close the automatic track-keeping travel switch. After detecting that the automatic driving switch is closed, the chassis travel control unit performs a handshake protocol confirmation with the automatic driving control unit via bus data. After confirmation, the automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit controls the travel execution unit to track the driving trajectory; at this time, the chassis is in the automatic driving mode. When the chassis is in the fixed-track automatic driving mode, if either of the following situations occurs: Situation 1: The control joystick is kept at the initial zero point position and the fixed-track automatic driving switch is turned off; Situation 2: The emergency stop switch is triggered; at this time, the chassis will switch to the stationary mode. When the chassis is in the fixed-track automatic driving mode, the emergency stop switch is not triggered. When the joystick is manually operated and its position is on the y-axis for more than t, the chassis travel control unit determines that the driver has taken over and will exit the fixed-track automatic driving mode and enter the adjustable speed straight driving mode controlled by the joystick position opening. At this time, the chassis is in the adjustable speed straight driving mode. When the chassis is in the fixed-track automatic driving mode, the emergency stop switch is not triggered. However, if the joystick is manually operated and positioned to either side of the y-axis for a duration exceeding t, the emergency stop will be activated. If the chassis travel control unit determines that the driver has taken over the vehicle, it will exit the fixed-track automatic driving mode and enter the adjustable speed steering mode controlled by the position of the joystick; at this time, the chassis is in the adjustable speed steering mode. When the chassis is in stationary mode, the emergency stop switch is not triggered. When the joystick is manually operated and positioned on the y-axis, the chassis travel control unit controls the chassis straight-line speed and direction according to the joystick position signal. At this time, the chassis is in adjustable speed straight-line mode. When the chassis is in adjustable speed straight driving mode, if either of the following situations occurs: Situation 1: The control joystick is kept at the initial zero point position; Situation 2: The emergency stop switch is triggered; at this time the chassis will switch to stationary mode. When the chassis is in stationary mode, the emergency stop switch is not triggered. When the joystick is manually operated and positioned on either side of the y-axis, the chassis travel control unit controls the chassis steering speed and direction based on the joystick position signal. At this time, the chassis is in adjustable speed steering mode. When the chassis is in adjustable speed steering mode, if either of the following situations occurs: Situation 1: The joystick is kept at the initial zero point position; Situation 2: The emergency stop switch is triggered; at this time the chassis will switch to stationary mode. When the chassis is in adjustable speed straight driving mode, the manual operation of the joystick handle moves its position from the y-axis to the area on both sides of the y-axis. The chassis travel control unit controls the chassis steering speed and direction according to the position signal of the joystick handle; at this time, the chassis is in adjustable speed steering mode. When the chassis is in adjustable speed steering mode, the manual operation of the joystick handle moves its position from the two sides of the y-axis area to the y-axis. The chassis travel control unit controls the chassis straight-line speed and direction according to the position signal of the joystick handle; at this time, the chassis is in adjustable speed straight-line mode. When the chassis is in adjustable speed steering mode, the manual operator moves the joystick to the position on either side of the y-axis corresponding to the desired steering speed, and then closes the cruise control switch. After the switch is closed, the position of the joystick no longer affects the driving control. The chassis driving control unit records and saves the steering speed and direction at the moment the cruise control switch is closed, and maintains this state to perform cruise control in the future; at this time, the chassis is in cruise control mode. When the chassis is in constant speed steering mode, manually operate the joystick to the position on both sides of the y-axis corresponding to the expected steering speed, and then turn off the constant speed driving switch. The chassis travel control unit controls the chassis steering speed and direction according to the current joystick position signal; at this time, the chassis is in adjustable speed steering mode. When the chassis is in adjustable speed straight driving mode, the manual operator moves the joystick to the y-axis position corresponding to the expected straight driving speed, and then closes the cruise control switch. After the switch is closed, the position of the joystick no longer affects driving control. The chassis travel control unit records and saves the straight driving speed and direction at the moment the cruise control switch is closed, and maintains this state to perform cruise control in the future; at this time, the chassis is in cruise control mode. When the chassis is in constant speed straight driving mode, manually operate the joystick to the y-axis position corresponding to the expected straight driving speed, and then turn off the constant speed driving switch. The chassis driving control unit controls the chassis straight driving speed and direction according to the current joystick position signal; at this time, the chassis is in adjustable speed straight driving mode. When the chassis is in constant speed straight driving mode, manually operate the joystick to the position on both sides of the y-axis corresponding to the expected steering speed, and then turn off the constant speed driving switch. The chassis driving control unit controls the chassis steering speed and direction according to the current joystick position signal; at this time, the chassis is in adjustable speed steering mode. When the chassis is in constant speed steering mode, manually operate the joystick to the y-axis position corresponding to the expected straight driving speed, and then turn off the constant speed driving switch. The chassis driving control unit controls the chassis straight driving speed and direction according to the current joystick position signal; at this time, the chassis is in adjustable speed straight driving mode. When the chassis is in constant speed driving mode, if either of the following situations occurs: Situation 1: The joystick is kept at the initial zero point position and the constant speed driving switch is turned off; Situation 2: The emergency stop switch is triggered; at this time the chassis will switch to stationary mode. When the chassis is in cruise control mode, if either of the following situations occurs: Situation 1: The joystick is kept at its initial zero position and the cruise control switch is turned off; Situation 2: The emergency stop switch is triggered; at this time, the chassis will switch to stationary mode.

[0022] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: 1. The driving control system and method of the multi-functional chassis platform in this invention are applicable to the driving needs of different operating equipment, improve the versatility of the chassis platform, avoid secondary development of chassis control, and have positive significance for shortening the research and development cycle and reducing development costs.

[0023] 2. Conventional differential steering engineering machinery chassis mostly use dual joystick operation. The remote control device of this invention uses a single joystick. When some equipment needs to work while moving, it will lead to difficulty in operation and heavy operating burden. The single joystick first frees up one hand for operation control.

[0024] 3. Constant speed and constant track automatic driving can further free up the operator's time. On the one hand, it maintains a constant speed to meet the needs of certain working conditions. On the other hand, the operator no longer needs to control the chassis's movement / speed through a remote control device, thus freeing up the driver's time.

[0025] 4. The key to improving the versatility of the chassis in this invention lies in its support for multiple travel modes. Some equipment requires stationary operation, some requires operation while moving, and some requires constant speed straight travel during operation, such as watering, sweeping, and mowing. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the multi-functional chassis platform driving mode control system of the present invention; Figure 2 This is a schematic diagram of the functional components of the control unit in the remote control device of the present invention; Figure 3 This is a schematic diagram of the mode switching of the present invention.

[0027] In the picture: 1. Remote control device; 2. Multifunctional chassis platform; 101. Emergency stop switch; 102. Automatic track-keeping switch; 103. Constant speed travel switch; 104. Control joystick handle. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0029] In the description of this embodiment, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this embodiment. Example 1

[0030] like Figure 1 As shown, this embodiment provides a multi-functional chassis platform 2 driving mode control system, including: Remote control device 1 is used to generate control signals in response to the operation actions applied by the driver. Specifically, remote control device 1 is used by the driver to control the chassis movement and includes a control unit, a control unit, and a remote control transmitter unit. The control unit is the carrier for the driver to issue control commands. The driver controls the chassis by operating the joystick, handle, and switch in the control unit. The control unit collects, analyzes, and processes the data transmitted by the control unit and converts it into control signals for the chassis. The remote control transmitter unit sends the control signals output by the control unit to the remote control receiver unit of the chassis system.

[0031] The multi-functional chassis platform 2 is used to execute actions according to the control signals. Specifically, the multi-functional chassis platform 2 includes a remote control receiving unit, a chassis travel control unit, a track-fixed automatic driving control unit, and a driving execution unit. The remote control receiving unit is responsible for receiving control signals transmitted from the transmitting unit of the remote control device 1 and transmitting the received signal data to the chassis control unit. After receiving the control signals from the remote control device 1, the chassis travel control unit parses the signal data into control signals for the travel execution system, including information such as travel speed, travel direction, steering angle, and steering speed, for control by the chassis travel execution unit. The track-fixed automatic driving control unit is responsible for controlling the chassis to autonomously follow a preset trajectory in track-fixed automatic driving mode and sends control data to the chassis travel control unit. The driving execution unit is responsible for realizing the chassis travel actions and executes its own actions according to the control signals sent by the chassis control unit.

[0032] Specifically, the driving execution unit includes a left driving execution unit and a right driving execution unit; The chassis travel control unit parses the received control signal into a chassis control signal including the drive wheel speeds of the left and right travel execution units, and sends the drive wheel speeds of the left and right travel execution units to the left and right travel execution units respectively for execution, thereby realizing the movement and steering of the chassis.

[0033] Chassis steering principle: The chassis adopts differential steering. When the speeds of the left and right drive wheels are different, the chassis performs a steering action. When the speed of the left side is higher than that of the right side, it turns to the right; when the speed of the left side is lower than that of the right side, it turns to the left; when the speeds of both sides are the same, it drives straight.

[0034] Preferably, the multi-functional chassis platform 2 further includes a track-fixed automatic driving control unit, which generates a control signal for controlling the chassis to autonomously follow the track according to a preset trajectory and sends it to the chassis travel control unit.

[0035] Specifically, the driving modes of the multi-functional chassis platform 2 include: stationary mode, adjustable speed straight driving mode, adjustable speed steering mode, constant speed straight driving mode, constant speed steering mode, and fixed track automatic driving mode. Stationary mode: When the equipment is operating at a fixed point, that is, the chassis remains stationary while the upper working device operates within a certain circular area, the chassis is in stationary mode. Adjustable speed straight driving mode: When the equipment is working while traveling in a straight line, and the speed needs to be adjusted in a timely manner according to the working conditions, the chassis is in adjustable speed straight driving mode. In this mode, the chassis speed is always controlled by the driver. The driver can control the speed by controlling the direction and opening of the joystick handle in the control unit. Adjustable speed steering mode: When the equipment is working while driving, and the driving trajectory needs to be adjusted according to the needs during the operation, the chassis is in adjustable speed steering mode. In this mode, the speed and amplitude of chassis steering are controlled by the driver at all times. The driver can achieve free steering by controlling the direction and opening of the joystick handle in the control unit. Constant-speed straight-line driving mode: When the equipment is operating while traveling in a straight line, and the chassis needs to maintain a constant speed during operation, the chassis is in constant-speed straight-line driving mode. Alternatively, when the equipment is operating while traveling in a straight line, and there are no special requirements for the travel speed during operation, constant-speed straight-line driving mode can reduce the operator's workload. In this mode, the chassis travels at a constant speed, requiring no operator intervention; the chassis can maintain a constant speed automatically. Constant speed steering mode: When the equipment needs to operate within a fixed radius, the chassis is in constant speed steering mode. In this mode, the steering speed and steering radius are fixed, and no driver is required to operate it. The chassis can maintain constant speed steering on its own. Automatic driving mode: When the equipment needs to travel and work along a predetermined trajectory (any combination of straight lines and curves), in order to reduce the operation of the driver, the chassis is in the automatic driving mode. In this mode, the predetermined driving trajectory parameters are input into the automatic driving control unit, and the chassis can travel automatically along the predetermined trajectory without the need for driver operation. When the specific control unit is in execution, when the multi-functional chassis platform 2 is in a stationary mode, the chassis travel control unit generates a chassis control signal that controls the drive wheel speeds of both the left and right travel execution units to be 0, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the adjustable speed straight driving mode, the remote control device 1 generates a control signal in response to the operation action. The chassis driving control unit parses the data of the control signal into the chassis control signal of the driving execution unit, and at the same time generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in the adjustable speed steering mode, the remote control device 1 generates a control signal in response to the operation action, and the chassis travel control unit parses the data of the control signal into the chassis control signal of the travel execution unit. The chassis travel control unit does not generate additional chassis control signals. When the multi-functional chassis platform 2 is in constant speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0 and keeps the drive wheel speeds of the left driving execution unit and the right driving execution unit at a set value, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in constant speed steering mode, the chassis travel control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left and right travel execution units to be a set value and keeps the speed of the drive wheels of the left and right travel execution units at the set value, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the fixed-track automatic driving mode, the chassis travel control unit confirms the handshake protocol with the fixed-track automatic driving control unit through bus data. After confirmation, the fixed-track automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit generates chassis control signals to control the driving execution unit to track driving and sends them to the driving execution unit.

[0036] It should be noted that, in this invention, the reference speed and direction used by the constant speed and orientation function are the steering speed and direction at the instant the constant speed driving switch 103 is closed.

[0037] Preferably, the remote control device 1 can also respond to the operation of the remote control device 1 and generate a control signal to switch the driving mode of the multi-functional chassis platform 2; the chassis driving control unit can acquire the driving mode and generate a corresponding chassis control signal for the control constraint driving execution unit according to the driving mode.

[0038] To facilitate the explanation of the control method of the present invention, the control unit of the remote control device 1 will be further described. Figure 2 Specifically, the control elements included in the control unit of the remote control device 1 are: Emergency stop switch 101: When the chassis encounters an unexpected situation during driving and needs to be stopped urgently, this switch can immediately bring the vehicle to a standstill. The automatic track-keeping switch 102 is one of the prerequisites for the chassis to enter the automatic track-keeping mode. The constant speed driving switch 103 is used to send driving intentions when the driver needs to maintain the chassis at a constant speed for straight driving or constant speed steering while controlling the chassis. The joystick handle 104 can rotate freely within a certain range, such as... Figure 2 As shown, the motion area of ​​the joystick handle 104 is projected onto the XY two-dimensional plane. Each position of the joystick handle 104 corresponds to a set of coordinates (x, y), where x represents the opening of the joystick in the x-axis direction and y represents the opening of the joystick in the y-axis direction. The opening in the x-axis direction is linked to the steering speed, and the opening in the y-axis direction is linked to the driving speed, and the two are calculated independently. When the handle is located on the y-axis (x=0), the chassis is driving straight, with the upper half of the y-axis representing forward movement and the lower half representing backward movement. When the handle is located in the regions on either side of the y-axis (x≠0), the chassis is turning, with the left half of the x-axis representing left turn and the right half representing right turn. Through the chassis driving control unit, the joystick handle position data can be converted into driving and steering control data for controlling chassis driving. The chassis driving control unit can convert the position data of the control joystick 104 into driving and steering control data to control the chassis driving. The control unit of this invention, namely the integrated remote control device 1, uses a single handle to control the chassis movement, realizing chassis movement and steering. Unlike conventional remote control schemes that use two handles to control movement, the single handle is more suitable for engineering machinery that needs to control movement and operation simultaneously. Operators can free up their other hand and focus on operating the working device. By combining the single handle with a switch, the operation for the driver is simplified as much as possible, ensuring work efficiency and improving safety during operation.

[0039] Specifically, when the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to a fixed-track automatic driving mode in response to the state of the following control units: Emergency stop switch 101 is not triggered, control joystick 104 is at the initial zero position, and automatic track-keeping switch 102 is closed. When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to a stationary mode in response to any of the following control unit states: State 1: The control joystick handle 104 remains at the initial zero point position, and the automatic track-keeping switch 102 is off; State 2: Emergency stop switch 101 is triggered; When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to the adjustable-speed straight-drive mode in response to the state of the following control units: Emergency stop switch 101 is not triggered, and the control joystick 104 is in the y-axis position for more than the preset time t. When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to the adjustable speed steering mode in response to the state of the following control units: Emergency stop switch 101 is not triggered, and the joystick handle 104 is in the area on both sides of the y-axis for a duration exceeding the preset time t. When the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to an adjustable speed straight-drive mode in response to the state of the following control units: Emergency stop switch 101 is not triggered, and control joystick 104 is positioned on the y-axis. When the chassis is in adjustable speed straight driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to stationary mode in response to any of the following control unit states: State 1: The joystick handle 104 remains in its initial zero position; State 2: Emergency stop switch 101 is triggered; When the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to an adjustable speed steering mode in response to any of the following operating unit states: Emergency stop switch 101 is not triggered, and joystick 104 is positioned in the area on both sides of the y-axis. When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to stationary mode in response to any of the following control unit states: State 1: The joystick handle 104 remains in its initial zero position; State 2: Emergency stop switch 101 is triggered; When the chassis is in adjustable speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed steering mode: The position of the joystick handle 104 is moved from the y-axis to the areas on both sides of the y-axis; When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed straight driving mode in response to the state of the following control units: The position of the joystick handle 104 is moved from the area on both sides of the y-axis to the y-axis; When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to constant speed steering mode in response to the actions of the following control units: When the joystick handle 104 is positioned in the area on both sides of the y-axis corresponding to the expected steering speed, the cruise control switch 103 is closed. When the chassis is in constant speed steering mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed steering mode: When the joystick handle 104 is located in the area on both sides of the y-axis corresponding to the expected steering speed, the cruise control switch 103 is off. When the chassis is in adjustable speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to constant speed straight driving mode: When the control joystick 104 is positioned at the y-axis position corresponding to the expected straight-line speed, the cruise control switch 103 is closed. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed straight driving mode: When the control joystick 104 is located at the y-axis position corresponding to the expected straight-line speed, the cruise control switch 103 is off. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed steering mode: When the joystick handle 104 is located in the area on both sides of the y-axis corresponding to the expected steering speed, the cruise control switch 103 is off. When the chassis is in constant speed steering mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform 2 to adjustable speed straight driving mode: When the control joystick 104 is located at the y-axis position corresponding to the expected straight-line speed, the cruise control switch 103 is off. When the chassis is in constant speed straight driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to stationary mode in response to any of the following control unit states: State 1: The control joystick handle 104 remains at the initial zero point position, and the automatic track-keeping switch 102 is off; State 2: Emergency stop switch 101 is triggered; When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform 2 to stationary mode in response to any of the following control unit states: State 1: The control joystick handle 104 remains at the initial zero point position, and the automatic track-keeping switch 102 is off; State 2: Emergency stop switch 101 is triggered; The driving control system and method of the multi-functional chassis platform 2 in this invention are applicable to the driving needs of different operating equipment, improve the versatility of the chassis platform, avoid secondary development of chassis control, and have positive significance for shortening the research and development cycle and reducing development costs.

[0040] In the specific modes, the constant speed straight driving mode can ensure that the driving speed remains constant. For operations such as watering and sweeping, constant speed driving is related to the quality of the operation. At the same time, it does not require the driver to operate, reducing the driver's operating burden. Constant speed steering mode: can ensure that the steering speed and steering range remain constant, and at the same time, no driver operation is required during the steering process, reducing the driver's operating burden; Adjustable speed straight driving mode: The driver can control the vehicle speed in real time with a single remote control handle according to the actual operation and travel needs, without affecting the operation of the working device with the other hand; Adjustable speed steering mode: The driver can adjust the steering speed and steering range in real time using a single remote control handle according to the actual operation and travel needs, without affecting the operation of the working device with the other hand; Fixed-track automatic driving mode: When the driving trajectory is clear, by pre-determining the driving trajectory parameters, the fixed-track automatic driving mode can enable the chassis to drive automatically along the predetermined trajectory without the need for driver operation, thus reducing the driver's operating burden. Stationary mode: The chassis remains stationary. Example 2

[0041] This embodiment provides a driving mode control method for a multi-functional chassis platform 2, based on the driving mode control system for the multi-functional chassis platform 2 described in Embodiment 1, including: In response to the operation of the remote control device 1, a control signal is generated; Based on the preset trajectory, control signals are generated to control the chassis to autonomously follow the trajectory. The control signal is parsed into a chassis control signal that includes the drive wheel speeds of the left and right driving actuators; The left and right driving actuators are controlled according to the speed of their drive wheels, thereby enabling the chassis to move and steer.

[0042] Generate control signals to switch the driving modes of the multi-functional chassis platform 2; The chassis control signal of the driving execution unit is generated according to the driving mode to form the corresponding control constraint.

[0043] Specifically, the driving modes of the multi-functional chassis platform 2 include: stationary mode, adjustable speed straight driving mode, adjustable speed steering mode, constant speed straight driving mode, constant speed steering mode, and fixed track automatic driving mode.

[0044] Stationary mode: When the equipment is operating at a fixed point, that is, the chassis remains stationary while the upper working device operates within a certain circular area, the chassis is in stationary mode. Adjustable speed straight driving mode: When the equipment is working while traveling in a straight line, and the speed needs to be adjusted in a timely manner according to the working conditions, the chassis is in adjustable speed straight driving mode. In this mode, the chassis speed is always controlled by the driver. The driver can control the speed by controlling the direction and opening of the joystick handle in the control unit. Adjustable speed steering mode: When the equipment is working while driving, and the driving trajectory needs to be adjusted according to the needs during the operation, the chassis is in adjustable speed steering mode. In this mode, the speed and amplitude of chassis steering are controlled by the driver at all times. The driver can achieve free steering by controlling the direction and opening of the joystick handle in the control unit. Constant-speed straight-line driving mode: When the equipment is operating while traveling in a straight line, and the chassis needs to maintain a constant speed during operation, the chassis is in constant-speed straight-line driving mode. Alternatively, when the equipment is operating while traveling in a straight line, and there are no special requirements for the travel speed during operation, constant-speed straight-line driving mode can reduce the operator's workload. In this mode, the chassis travels at a constant speed, requiring no operator intervention; the chassis can maintain a constant speed automatically. Constant speed steering mode: When the equipment needs to operate within a fixed radius, the chassis is in constant speed steering mode. In this mode, the steering speed and steering radius are fixed, and no driver is required to operate it. The chassis can maintain constant speed steering on its own. Automatic driving mode: When the equipment needs to travel and work along a predetermined trajectory (any combination of straight lines and curves), in order to reduce the operation of the driver, the chassis is in the automatic driving mode. In this mode, the predetermined driving trajectory parameters are input into the automatic driving control unit, and the chassis can travel automatically along the predetermined trajectory without the need for driver operation. When the multi-functional chassis platform 2 is in a stationary mode, the chassis travel control unit generates a chassis control signal that controls the drive wheel speeds of both the left and right travel execution units to be 0, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the adjustable speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in the adjustable speed steering mode, the chassis travel control unit does not generate additional chassis control signals; When the multi-functional chassis platform 2 is in constant speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0 and keeps the drive wheel speeds of the left driving execution unit and the right driving execution unit at a set value, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in constant speed steering mode, the chassis travel control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left and right travel execution units to be a set value and keeps the speed of the drive wheels of the left and right travel execution units at the set value, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the fixed-track automatic driving mode, the chassis travel control unit confirms the handshake protocol with the fixed-track automatic driving control unit through bus data. After confirmation, the fixed-track automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit generates chassis control signals to control the driving execution unit to track driving and sends them to the driving execution unit.

[0045] When the multi-functional chassis platform 2 is in a stationary mode, the chassis travel control unit generates a chassis control signal that controls the drive wheel speeds of both the left and right travel execution units to be 0, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the adjustable speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in the adjustable speed steering mode, the chassis travel control unit does not generate additional chassis control signals; When the multi-functional chassis platform 2 is in constant speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0 and keeps the drive wheel speeds of the left driving execution unit and the right driving execution unit at a set value, and sends it to the driving execution unit. When the multi-functional chassis platform 2 is in constant speed steering mode, the chassis travel control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left and right travel execution units to be a set value and keeps the speed of the drive wheels of the left and right travel execution units at the set value, and sends it to the travel execution units. When the multi-functional chassis platform 2 is in the fixed-track automatic driving mode, the fixed-track automatic driving control unit generates an autonomous tracking driving control signal according to the pre-set predetermined driving trajectory parameters. The chassis driving control unit parses the autonomous tracking driving control signal into a corresponding chassis control signal that controls the speed of the drive wheels of the left driving execution unit and the right driving execution unit, and sends it down to the driving execution unit. In this invention, the reference speed and direction used by the constant speed and orientation function are the steering speed and direction at the instant the constant speed driving switch 103 is closed.

[0046] like Figure 3 As shown, the driving mode switching of the multi-functional chassis platform 2 includes: Mode switching 1: Switch from stationary mode to fixed-track automatic driving mode; Mode Switching 2: Switching from fixed-track automatic driving mode to stationary mode; Mode Switch 3: Switch from fixed-track automatic driving mode to adjustable-speed straight driving mode; Mode switching 4: Switch from fixed-track automatic driving mode to adjustable speed steering mode; Mode switching five: Switch from stationary mode to adjustable speed straight driving mode; Mode Switching 6: Switch from Adjustable Speed ​​Straight Driving Mode to Stationary Mode; Mode Switch 7: Switch from stationary mode to adjustable speed steering mode; Mode switching eight: Switch from adjustable speed steering mode to stationary mode; Mode Switching Nine: Switch from adjustable speed straight driving mode to adjustable speed steering mode; Mode Switching 10: Switch from adjustable speed steering mode to adjustable speed straight driving mode; Mode switching eleven: Switch from adjustable speed steering mode to constant speed steering mode; Mode switching 12: Switch from constant speed steering mode to adjustable speed steering mode; Mode switching thirteen: Switch from adjustable speed straight driving mode to constant speed straight driving mode; Mode Switching Fourteen: Switch from Constant Speed ​​Straight Driving Mode to Adjustable Speed ​​Straight Driving Mode; Mode Switching Fifteen: Switch from constant speed straight driving mode to adjustable speed steering mode; Mode Switching Sixteen: Switch from constant speed steering mode to adjustable speed straight driving mode; Mode switching seventeen: Switch from constant speed driving mode to stationary mode; Mode switching 18: Switch from constant speed steering mode to stationary mode; The mode switching method of the mode switching one includes: when the chassis is in the stationary mode, the emergency stop switch 101 is not triggered, the control joystick handle 104 is released to make it return to the initial zero point position, and the track-fixed automatic driving switch 102 is closed. After detecting that the automatic driving switch 102 is closed, the chassis travel control unit performs a handshake protocol confirmation with the automatic driving control unit via bus data. After confirmation, the automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit controls the travel execution unit to track the driving trajectory; at this time, the chassis is in the automatic driving mode. The mode switching method of Mode 2 includes the following: when the chassis is in the fixed-track automatic driving mode, if either of the following situations occurs, situation 1: the control joystick handle 104 is kept at the initial zero point position and the fixed-track automatic driving switch 102 is turned off; situation 2: the emergency stop switch 101 is triggered; at this time, the chassis will switch to the stationary mode. The mode switching method of the third mode includes the following: when the chassis is in the fixed-track automatic driving mode, the emergency stop switch 101 is not triggered. When the joystick handle 104 is manually operated and its position is on the y-axis for a duration of more than t, the chassis travel control unit determines that the driver has taken over the operation and will exit the fixed-track automatic driving mode and enter the adjustable speed straight driving mode controlled by the joystick position opening. At this time, the chassis is in the adjustable speed straight driving mode. The mode switching method for Mode 4 includes the following steps: when the chassis is in the fixed-track automatic driving mode, the emergency stop switch 101 is not triggered; when the joystick handle 104 is manually operated, its position is in the region on both sides of the y-axis for a duration exceeding t. If the chassis travel control unit determines that the driver has taken over the vehicle, it will exit the fixed-track automatic driving mode and enter the adjustable speed steering mode controlled by the position of the joystick; at this time, the chassis is in the adjustable speed steering mode. The mode switching method of mode five includes the following: when the chassis is in stationary mode, the emergency stop switch 101 is not triggered. When the joystick handle 104 is manually operated and its position is on the y-axis, the chassis travel control unit controls the chassis straight-line speed and direction according to the position signal of the joystick handle 104. At this time, the chassis is in adjustable speed straight-line mode. The mode switching method for Mode 6 includes the following: when the chassis is in the adjustable speed straight driving mode, if either of the following situations occurs, situation 1: the joystick handle 104 is kept at the initial zero point position; situation 2: the emergency stop switch 101 is triggered; at this time, the chassis will switch to the stationary mode. The mode switching method of mode seven includes the following: when the chassis is in stationary mode, the emergency stop switch 101 is not triggered. When the joystick handle 104 is manually operated and its position is in the area on both sides of the y-axis, the chassis travel control unit controls the chassis steering speed and direction according to the position signal of the joystick handle 104. At this time, the chassis is in adjustable speed steering mode. The mode switching method for mode eight includes the following: when the chassis is in the adjustable speed steering mode, if either of the following situations occurs, situation one: the joystick handle 104 is kept at the initial zero point position; situation two: the emergency stop switch 101 is triggered; at this time, the chassis will switch to the stationary mode. The mode switching method of mode nine includes manually operating the joystick handle 104 when the chassis is in the adjustable speed straight driving mode, moving its position from the y-axis to the area on both sides of the y-axis, and the chassis driving control unit controls the chassis steering speed and direction according to the position signal of the joystick handle 104; at this time, the chassis is in the adjustable speed steering mode. The mode switching method of Mode 10 includes manually operating the joystick handle 104 when the chassis is in the adjustable speed steering mode, moving its position from the two sides of the y-axis area to the y-axis, and the chassis travel control unit controlling the chassis straight driving speed and direction according to the position signal of the joystick handle 104; at this time, the chassis is in the adjustable speed straight driving mode. The mode switching method for Mode 11 includes the following steps: When the chassis is in adjustable speed steering mode, the manual operator moves the joystick 104 to the position on either side of the y-axis corresponding to the expected steering speed, and then closes the constant speed driving switch 103. After the switch is closed, the position of the joystick 104 no longer affects the driving control. The chassis travel control unit records and saves the steering speed and direction at the moment the constant speed driving switch 103 is closed, and maintains this state to perform constant speed steering; at this time, the chassis is in constant speed steering mode. The mode switching method of mode twelve includes: when the chassis is in constant speed steering mode, manually operating the joystick handle 104 to the position on both sides of the y-axis corresponding to the expected steering speed, and then disconnecting the constant speed driving switch 103. The chassis driving control unit controls the chassis steering speed and direction according to the current handle position signal; at this time, the chassis is in adjustable speed steering mode. The mode switching method for Mode 13 includes the following steps: When the chassis is in adjustable speed straight driving mode, the manual operator moves the joystick 104 to the y-axis position corresponding to the expected straight driving speed, and then closes the constant speed driving switch 103. After the switch is closed, the position of the joystick 104 no longer affects driving control. The chassis travel control unit records and saves the straight driving speed and direction at the moment the constant speed driving switch 103 is closed, and maintains this state to perform constant speed straight driving; at this time, the chassis is in constant speed straight driving mode. The mode switching method of mode fourteen includes: when the chassis is in constant speed straight driving mode, manually operating the joystick handle 104 to the y-axis position corresponding to the expected straight driving speed, and then disconnecting the constant speed driving switch 103. The chassis driving control unit controls the chassis straight driving speed and direction according to the current handle position signal; at this time, the chassis is in adjustable speed straight driving mode. The mode switching method of Mode 15 includes: when the chassis is in constant speed straight driving mode, manually operating the joystick handle 104 to the position on both sides of the y-axis corresponding to the expected steering speed, and then disconnecting the constant speed driving switch 103. The chassis driving control unit controls the chassis steering speed and direction according to the current handle position signal; at this time, the chassis is in adjustable speed steering mode. The mode switching method of mode sixteen includes: when the chassis is in constant speed steering mode, manually operating the joystick handle 104 to the y-axis position corresponding to the expected straight driving speed, and then disconnecting the constant speed driving switch 103. The chassis driving control unit controls the chassis straight driving speed and direction according to the current handle position signal; at this time, the chassis is in adjustable speed straight driving mode. The mode switching method of Mode 17 includes the following: when the chassis is in constant speed driving mode, if either of the following situations occurs, situation 1: the joystick handle 104 is kept at the initial zero point position and the constant speed driving switch 103 is turned off; situation 2: the emergency stop switch 101 is triggered; at this time, the chassis will switch to the stationary mode. The mode switching method of Mode 18 includes the following: when the chassis is in constant speed steering mode, if either of the following situations occurs, situation 1: the joystick handle 104 is kept at the initial zero point position and the constant speed driving switch 103 is turned off; situation 2: the emergency stop switch 101 is triggered; at this time, the chassis will switch to the stationary mode. The driving control system and method of the multi-functional chassis platform 2 in this invention divides the chassis driving modes into stationary mode, adjustable speed straight driving mode, adjustable speed steering mode, constant speed straight driving mode, constant speed steering mode, and fixed-track automatic driving mode. This allows the chassis platform to meet the driving needs of different equipment during operation, improving work efficiency and enhancing the versatility of the chassis platform. It also avoids secondary development of the chassis control system, which is significant for shortening the R&D cycle and reducing development costs.

[0047] Conventional differential steering engineering machinery chassis mostly use dual joystick operation. The remote control device 1 of this invention uses a single joystick. When some equipment needs to work while moving, it will lead to difficulty in operation and heavy operating burden. The single joystick first frees up one hand for operation control.

[0048] Constant speed and fixed track automatic driving can further free up the operator's time. On the one hand, it maintains a constant speed to meet the needs of certain working conditions. On the other hand, the operator no longer needs to control the chassis's movement / speed through the remote control device 1, thus freeing up the driver's time.

[0049] The key to improving the versatility of the chassis in this invention lies in the fact that the chassis supports multiple walking modes. Some equipment needs to operate at a fixed point, some equipment needs to operate while moving, and some equipment requires constant speed and straight driving when operating, such as watering, sweeping, and mowing.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0053] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0054] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A multi-functional chassis platform driving mode control system, characterized in that, include: A remote control device is used to generate control signals in response to the driver's actions; A multi-functional chassis platform is signal-connected to the remote control device and is used to perform actions according to the control signal. The multi-functional chassis platform includes a remote control receiving unit, a chassis travel control unit, and a driving execution unit; The remote control receiving unit is used to receive control signals transmitted from the remote control device and transmit the received control signals to the chassis travel control unit. The chassis travel control unit is used to parse the control signal data into chassis control signals for the travel execution unit after receiving the control signal, and then send them to the travel execution unit. The driving execution unit is used to execute its own actions according to the chassis control signals sent by the chassis driving control unit; The remote control device can also respond to the operation action and generate a control signal to switch the driving mode of the multi-functional chassis platform; The chassis driving control unit can acquire the driving mode and generate corresponding control constraint driving execution unit chassis control signals according to the driving mode.

2. The multi-functional chassis platform driving mode control system according to claim 1, characterized in that, The driving execution unit includes a left driving execution unit and a right driving execution unit; The chassis travel control unit parses the received control signal into a chassis control signal including the drive wheel speeds of the left and right travel execution units, and sends the drive wheel speeds of the left and right travel execution units to the left and right travel execution units respectively for execution, thereby realizing the movement and steering of the chassis.

3. The multi-functional chassis platform driving mode control system according to claim 1, characterized in that, The multi-functional chassis platform also includes a track-fixed automatic driving control unit, which generates control signals for autonomously tracking the chassis based on a preset trajectory and sends them to the chassis travel control unit.

4. The multi-functional chassis platform driving mode control system according to claim 1, characterized in that, The remote control device includes an operating unit, a control unit, and a remote control transmitting unit; The control unit is the carrier for the driver to issue control commands. It can respond to the driver's operation of the control unit, generate data and transmit it to the control unit. The control unit can collect, analyze, and process the data transmitted by the control unit and convert it into control signals for the chassis. The remote control transmitter unit is connected to the multi-functional chassis platform and can send the control signals output by the control unit to the multi-functional chassis platform.

5. The multi-functional chassis platform driving mode control system according to claim 4, characterized in that, The driving modes of the multi-functional chassis platform include: stationary mode, adjustable speed straight driving mode, adjustable speed steering mode, constant speed straight driving mode, constant speed steering mode, and fixed-track automatic driving mode.

6. The multi-functional chassis platform driving mode control system according to claim 5, characterized in that, When the multi-functional chassis platform is in a stationary mode, the chassis travel control unit generates a chassis control signal that controls the drive wheel speeds of both the left and right travel execution units to be 0, and sends it to the travel execution units. When the multi-functional chassis platform is in adjustable speed direct driving mode, the remote control device generates a control signal in response to the operation action. The chassis driving control unit parses the data of the control signal into a chassis control signal for the driving execution unit. At the same time, it generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0, and sends it to the driving execution unit. When the multi-functional chassis platform is in adjustable speed steering mode, the remote control device generates a control signal in response to the operation action, and the chassis travel control unit parses the data of the control signal into a chassis control signal of the travel execution unit. The chassis travel control unit does not generate additional chassis control signals. When the multi-functional chassis platform is in constant speed straight driving mode, the chassis driving control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left driving execution unit and the right driving execution unit to be 0 and keeps the drive wheel speeds of the left driving execution unit and the right driving execution unit at a set value, and sends it to the driving execution unit. When the multi-functional chassis platform is in constant speed steering mode, the chassis travel control unit generates a chassis control signal that controls the speed difference between the drive wheels of the left and right travel execution units to be a set value and maintains the speed of the drive wheels of the left and right travel execution units at the set value, and sends it to the travel execution units. When the multi-functional chassis platform is in the fixed-track automatic driving mode, the chassis travel control unit confirms the connection protocol with the fixed-track automatic driving control unit through bus data. After confirmation, the fixed-track automatic driving control unit performs tracking driving control according to the preset driving trajectory and sends corresponding driving and steering commands to the chassis travel control unit. After receiving and processing the commands, the chassis travel control unit generates chassis control signals to control the driving execution unit to track the driving trajectory and sends them to the driving execution unit.

7. The multi-functional chassis platform driving mode control system according to claim 6, characterized in that, The control unit includes an emergency stop switch, a track-based automatic driving switch, a constant speed driving switch, and a control joystick handle. The emergency stop switch is used to generate a control signal that puts the chassis into a stationary mode in response to a keyed input action; The fixed-track automatic driving switch is used to generate a control signal to put the chassis into the fixed-track automatic driving mode in response to the opening action; The constant speed driving switch is used to generate a control signal to maintain constant speed driving or constant speed steering of the chassis in response to the opening action; The control joystick can rotate freely within a certain area. The movement area of ​​the joystick is projected onto the XY two-dimensional plane. Each position of the control joystick corresponds to a set of coordinates (x, y), where x represents the opening of the joystick in the x-axis direction and y represents the opening of the joystick in the y-axis direction. The opening in the x-axis direction is linked to the steering speed, and the opening in the y-axis direction is linked to the driving speed. The two are calculated independently. When the joystick is located on the y-axis, the chassis is driving straight, with the upper half of the y-axis representing forward movement and the lower half representing backward movement. When the joystick is located in the areas on either side of the y-axis, the chassis is turning, with the left half of the x-axis representing left turn and the right half representing right turn.

8. The multi-functional chassis platform driving mode control system according to claim 7, characterized in that, When the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform to a fixed-track automatic driving mode in response to the state of the following control units: The emergency stop switch was not triggered, the control joystick was at the initial zero position, and the automatic track-keeping switch was closed. When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to a stationary mode in response to any of the following control unit states: State 1: The joystick handle is held at the initial zero position, and the automatic track-keeping switch is off; State 2: Emergency stop switch triggered; When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to the adjustable-speed straight-drive mode in response to the state of the following control units: The emergency stop switch was not triggered, and the joystick handle was positioned on the y-axis for more than the preset time t. When the chassis is in the fixed-track automatic driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to the adjustable speed steering mode in response to the state of the following control units: The emergency stop switch was not triggered, and the joystick was positioned in the area on either side of the y-axis for more than the preset time t. When the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform to an adjustable speed straight-drive mode in response to the state of the following control units: The emergency stop switch was not triggered, and the joystick handle was positioned on the y-axis. When the chassis is in adjustable speed straight driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to stationary mode in response to any of the following control unit states: State 1: The joystick / handle remains in its initial zero position; State 2: Emergency stop switch triggered; When the chassis is in a stationary mode, the control unit can generate a control signal to switch the multi-functional chassis platform to an adjustable speed steering mode in response to any of the following control unit states: The emergency stop switch was not triggered, and the joystick handle was positioned in the area on either side of the y-axis. When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to stationary mode in response to any of the following control unit states: State 1: The joystick / handle remains in its initial zero position; State 2: Emergency stop switch triggered; When the chassis is in adjustable speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to adjustable speed steering mode: The position of the joystick handle is moved from the y-axis to the area on both sides of the y-axis; When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to adjustable speed straight driving mode in response to the state of the following control units: The position of the joystick handle is moved from the area on both sides of the y-axis to the y-axis; When the chassis is in adjustable speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to constant speed steering mode in response to the actions of the following control units: With the joystick positioned on either side of the y-axis corresponding to the expected steering speed, the cruise control switch is activated. When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to adjustable speed steering mode in response to the actions of the following control units: The joystick is positioned on either side of the y-axis corresponding to the expected steering speed, and the cruise control switch is off. When the chassis is in adjustable speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to constant speed straight driving mode: With the joystick positioned on the y-axis corresponding to the expected straight-line speed, the cruise control switch is closed. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to adjustable speed straight driving mode: The joystick is positioned at the y-axis position corresponding to the expected straight-line speed, and the cruise control switch is off. When the chassis is in constant speed straight driving mode, the control unit can respond to the actions of the following control units to generate a control signal to switch the multi-functional chassis platform to adjustable speed steering mode: The joystick is positioned on either side of the y-axis corresponding to the expected steering speed, and the cruise control switch is off. When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to adjustable speed straight driving mode in response to the actions of the following control units: The joystick is positioned at the y-axis position corresponding to the expected straight-line speed, and the cruise control switch is off. When the chassis is in constant speed straight driving mode, the control unit can generate a control signal to switch the multi-functional chassis platform to stationary mode in response to any of the following control unit states: State 1: The joystick handle is held at the initial zero position, and the automatic track-keeping switch is off; State 2: Emergency stop switch triggered; When the chassis is in constant speed steering mode, the control unit can generate a control signal to switch the multi-functional chassis platform to a stationary mode in response to any of the following control unit states: State 1: The joystick handle is held at the initial zero position, and the automatic track-keeping switch is off; State 2: Emergency stop switch triggered.

9. A method for controlling the driving mode of a multi-functional chassis platform, characterized in that, The multi-functional chassis platform driving mode control system according to any one of claims 1-8 includes: In response to the operation of the remote control device, a control signal is generated; Based on the preset trajectory, control signals are generated to control the chassis to autonomously follow the trajectory. The control signal is parsed into a chassis control signal that includes the drive wheel speeds of the left and right driving actuators; The left and right driving actuators are controlled according to the speed of their drive wheels, thereby enabling the chassis to move and steer.

10. The multi-functional chassis platform driving mode control method according to claim 9, characterized in that, The method further includes: Generate control signals to switch the driving modes of the multi-functional chassis platform; The chassis control signal of the driving execution unit is generated according to the driving mode to form the corresponding control constraint.

Images