Remote control system with braking function and control method

Abstract

The invention relates to the technical field of braking systems, and particularly provides a remote control system with a braking function and a control method.The method comprises the steps that the current gear state of a gear setting switch of a remote controller is recognized, and then the X-axis operation amplitude and the Y-axis operation amplitude of a double-axis handle of the remote controller are obtained; generating a speed signal or a braking signal according to the gear state and the operation amplitude of the Y axis; generating a steering signal according to the operation amplitude of the X axis; and the speed signal, the braking signal and the steering signal are sent to a remote control receiver, so that a vehicle control unit controls running, braking and steering of equipment. By combining gear setting with Y-axis operation of the double-axis handle, different operation brakes are given to the Y-axis under different gears, and the problems that in an existing remote control system, independent brake operation is lacked, and accurate brake control cannot be achieved are solved.

Description

Technical Field

[0001] This application relates to the technical field of braking systems, and more specifically, to a remote control system and control method with braking. Background Technology

[0002] With the development of wireless remote control technology, more and more mobile devices, including toy cars, drones, and construction machinery, are adopting remote control operation. Remote control technology allows operators to control equipment from a safe location away from the device, improving operational safety and convenience. Especially in the field of heavy construction machinery such as tractors and loaders, the demand for remote control operation is increasing, but the requirements for the control accuracy and safety of remote control systems are also becoming higher.

[0003] Existing remote control systems use a dual-axis handle for control. Speed ​​control is achieved via the Y-axis: pushing forward corresponds to moving forward, pulling back corresponds to moving backward, and the magnitude of the push / pull corresponds to the speed. Steering control is achieved via the X-axis: pushing left or right corresponds to the steering angle. This control method responds to speed command changes with a relatively fast deceleration coefficient, meeting basic operational needs in applications involving lightweight equipment (such as toy cars and drones) or low-speed heavy equipment (such as excavators).

[0004] Although the speed and steering of the equipment can be controlled by the dual-axis handle, there is a problem that there is a lack of independent braking operation and precise braking control when controlling heavy and fast equipment (such as high-speed tractors and loaders). Summary of the Invention

[0005] The embodiments of this application provide a remote control system and control method with braking, which can overcome the problem that existing remote control systems lack independent braking operation and cannot achieve precise braking control.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to one aspect of the embodiments of this application, a remote control system with braking is provided, comprising: a remote controller, the remote controller including a gear setting switch and a dual-axis handle, the gear setting switch being used to set forward gear, neutral gear, and reverse gear, the dual-axis handle including an X-axis for controlling steering and a Y-axis for controlling speed and braking; a remote control receiver, configured to communicate with the remote controller, acquire remote control signals, and share device status information; and a vehicle controller, configured to communicate with the remote control receiver, and to control the device according to the gear setting status of the gear setting switch and the remote control signals from the dual-axis handle. The vehicle controller controls steering, driving, and braking. The control logic of the vehicle controller is as follows: when the gear setting switch is in neutral, the operation amplitude in all directions of the Y-axis is interpreted as a braking signal; when the gear setting switch is in forward gear, the operation amplitude of pushing forward on the Y-axis is interpreted as a forward speed signal, and the operation amplitude of pulling back on the Y-axis is interpreted as a braking signal; when the gear setting switch is in reverse gear, the operation amplitude of pulling back on the Y-axis is interpreted as a reverse speed signal, and the operation amplitude of pushing forward on the Y-axis is interpreted as a braking signal; the operation amplitude of the X-axis is interpreted as a steering signal.

[0008] In some embodiments of this application, based on the aforementioned system, the vehicle controller calculates the braking force percentage according to a preset mapping relationship based on the amplitude of the braking signal, wherein the mapping relationship is any one of the following: linear relationship or nonlinear relationship.

[0009] In some embodiments of this application, based on the aforementioned system, the step of resolving the operating amplitude in all directions of the Y-axis into a braking signal when the gear setting switch is in neutral can also be: when the gear setting switch is in neutral, resolving the operating amplitude in any direction of the Y-axis into a braking signal; when the forward push direction of the Y-axis is a braking signal, then the backward pull direction of the Y-axis has no response; when the backward pull direction of the Y-axis is a braking signal, then the forward push direction of the Y-axis has no response.

[0010] In some embodiments of this application, based on the aforementioned system, the step of resolving the Y-axis pull-back operation amplitude as a reversing speed signal and the Y-axis push-forward operation amplitude as a braking signal when the gear setting switch is in reverse gear can also be: resolving the Y-axis push-forward operation amplitude as a reversing speed signal and the Y-axis pull-back operation amplitude as a braking signal when the gear setting switch is in reverse gear.

[0011] In some embodiments of this application, based on the aforementioned system, the remote controller is connected to the remote controller receiver wirelessly or via a wired connection.

[0012] In some embodiments of this application, based on the aforementioned system, the gear setting switch is any one of a three-gear switch, a knob, three mutually exclusive buttons, or a touch screen setting interface.

[0013] In some embodiments of this application, based on the aforementioned system, the dual-axis handle can be replaced with two single-axis handles.

[0014] According to another aspect of the embodiments of this application, a control method based on the above-described remote control system with braking is provided, comprising the following steps: identifying the current gear state of the gear setting switch; obtaining the operating range of the dual-axis handle on the X and Y axes; generating a speed signal or a braking signal based on the gear state and the operating range of the Y axis; generating a steering signal based on the operating range of the X axis; and controlling the driving, braking and steering of the device based on the speed signal, the braking signal and the steering signal.

[0015] In some embodiments of this application, based on the aforementioned method, when the gear setting switch is in the forward gear and the forward pushing operation of the Y-axis is interpreted as a forward speed signal, if the Y-axis retracts from the forward pushing state but does not enter the pull-back region, the device will naturally reduce speed without applying braking force according to the load condition.

[0016] In some embodiments of this application, based on the foregoing method, the device is a tractor, loader, or other heavy and fast equipment.

[0017] Compared with the prior art, this application has the following advantages: independent braking control. By combining gear setting with the Y-axis operation of the dual-axis handle, different operating brakes are applied to the Y-axis at different gear positions, overcoming the problem that existing remote control systems lack independent braking operation and cannot achieve precise braking control. Attached Figure Description

[0018] Figure 1 This is a schematic block diagram of the structure of a remote control system with braking provided in an embodiment of the present invention; Figure 2 This is an operational logic diagram of a remote control system with braking provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating the control method of the remote control system with braking provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the braking force, illustrating the linear relationship between the braking signal and the braking force in an embodiment of the present invention. Figure 5 This is a schematic diagram of the nonlinear relationship between the braking signal and the braking force in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 10. Remote control system with brakes; 11. Remote controller; 12. Remote controller receiver; 13. Vehicle controller. Detailed Implementation

[0020] Exemplary embodiments will now be described in a more comprehensive manner with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to these examples; rather, these embodiments are provided so that this application will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0021] Furthermore, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to provide a full understanding of the embodiments of this application. However, those skilled in the art will recognize that when implementing the technical solutions of this application, not all the detailed features in the embodiments may be used, one or more specific details may be omitted, or other methods, elements, devices, steps, etc., may be employed.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] Example 1: like Figure 1 and Figure 2 As shown, this embodiment provides a remote control system 10 with braking, suitable for heavy and fast equipment, such as tractors and loaders. The remote control system includes: a remote controller 11, a remote receiver 12, and a vehicle controller 13.

[0027] Remote controller 11 is the hardware device for remote control of the equipment. It supports wireless connection and can also be used with a wired connection in emergency situations. Remote controller 11 includes at least a gear setting switch and a dual-axis handle.

[0028] The gear setting switch is used to set three gear positions: forward (F), neutral (N), and reverse (R). In practice, the gear setting switch can be a mechanical switch such as a three-position switch or a knob, or it can be three mutually exclusive buttons that are set mutually by software, or it can be set through an electronic interface such as a touch screen on the remote control 11.

[0029] The dual-axis handle includes two control dimensions: the X-axis and the Y-axis. The X-axis controls the equipment's steering; the operator pushes the handle left or right, with the lateral movement corresponding to the equipment's steering angle. The Y-axis controls the equipment's speed and braking; the operator pulls the handle forward or backward, with the longitudinal movement direction and amplitude interpreted as different remote control signals depending on the current gear position.

[0030] It should be noted that in other embodiments, the dual-axis handle can also be replaced by a combination of two separate single-axis handles, one single-axis handle for steering control and the other single-axis handle for speed and braking control.

[0031] The remote control receiver 12 is used to receive and communicate with the remote control 11, acquire remote control signals, and share device status information. In this embodiment, the remote control receiver 12 is preferably a separate hardware module. In other embodiments, the function of the remote control receiver 12 can also be integrated into the vehicle controller 13 to simplify the system structure.

[0032] The vehicle controller 13 is communicatively connected to the remote control receiver 12 and is responsible for the overall information processing and control logic implementation of the equipment. The vehicle controller 13 receives gear status information and remote control signals from the dual-axis handle from the remote control receiver 12, and generates corresponding control commands according to the preset control logic, thereby realizing precise control of the equipment's steering, driving and braking.

[0033] like Figure 2 As shown, the control logic of the vehicle controller 13 is as follows: The vehicle controller 13 first identifies the current gear position of the gear setting switch and determines whether it is in forward (F), neutral (N) or reverse (R).

[0034] The vehicle controller 13 obtains the operating range information of the X-axis and Y-axis of the dual-axis handle.

[0035] The specific parsing rules are as follows: (1) When the gear setting switch is in neutral (N), regardless of whether the Y-axis is pushed forward or pulled back, the vehicle controller 13 will interpret the forward and backward operation amplitudes of the Y-axis as braking signals. At this time, the equipment is in a stopped state, and the operator can control the magnitude of the braking force by pushing or pulling the handle, but no driving action will be generated.

[0036] The operating amplitude in any direction of the Y-axis can also be interpreted as a braking signal, specifically: When the forward push direction of the Y-axis is a braking signal, the backward pull direction of the Y-axis will not respond. When the backward pull direction of the Y-axis is a braking signal, there is no response in the forward push direction of the Y-axis.

[0037] (2) When the gear setting switch is in the forward gear (F), the vehicle controller 13 interprets the forward pushing operation of the Y-axis as a forward speed signal and the backward pulling operation of the Y-axis as a braking signal. Specifically, when the operator pushes the handle forward, the equipment starts to move forward, and the greater the forward pushing, the greater the target speed of the equipment; when the operator pulls the handle backward, the equipment enters the braking state, and the greater the backward pulling, the greater the applied braking force.

[0038] The operation is similar to driving a car: pushing the Y-axis forward is equivalent to pressing the accelerator to accelerate forward, with the forward push corresponding to the accelerator pedal depth; pulling the Y-axis backward is equivalent to releasing the accelerator and applying the brakes, with the backward pull corresponding to the braking force. It's important to note that when the gear setting switch is in forward gear, and the Y-axis forward push is interpreted as a forward speed signal, if the operator pulls the Y-axis back from the forward position but not into the backward pull zone (i.e., the handle returns to near the middle position but does not exceed the middle position before pulling backward), the device will naturally reduce its speed based on the actual load, but without applying braking force. This is similar to slightly releasing the accelerator without applying the brakes when driving a car. Only when the Y-axis is pulled back beyond a certain threshold from the middle position does braking demand occur, and the device begins to apply braking force.

[0039] (3) When the gear setting switch is in reverse (R), the control logic is the opposite of that in forward gear. The vehicle controller 13 interprets the pulling operation of the Y-axis as a reverse speed signal and the pushing operation of the Y-axis as a braking signal. That is, when the operator pulls the handle backward, the equipment moves backward, and the greater the pulling distance, the greater the speed; when the operator pushes the handle forward, the equipment brakes, and the greater the pushing distance, the greater the braking force.

[0040] Alternatively, the forward movement of the Y-axis can be interpreted as a reverse speed signal, and the backward movement of the Y-axis can be interpreted as a braking signal. This can be set according to the operator's operating habits. That is, in reverse gear (R), the forward movement of the Y-axis can be interpreted as motion, and the backward movement of the Y-axis can be interpreted as braking.

[0041] The vehicle controller 13 always interprets the X-axis operation as a steering signal. Regardless of the current gear, the operator can control the steering of the equipment by pushing the handle left or right, with the operation range corresponding to the steering angle.

[0042] The vehicle controller 13 outputs the parsed speed signal, braking signal and steering signal to the actuators of the equipment (such as drive motor, braking system, steering system, etc.), thereby realizing the comprehensive control of the equipment's driving, braking and steering.

[0043] Through the above control logic, operators can achieve complete motion control of heavy-duty high-speed equipment by setting gear switches and operating dual-axis handles, and in particular, achieve independent braking control function.

[0044] Example 2: Based on Example 1, this example further illustrates the mapping relationship between braking signal and braking force.

[0045] The vehicle controller 13 calculates the braking force percentage based on the amplitude of the braking signal according to a preset mapping relationship. This mapping relationship can be configured according to the characteristics of different devices and actual application requirements, and mainly includes two types: linear relationship and nonlinear relationship.

[0046] Linear mapping relationship: like Figure 4 As shown, in the simplest implementation, the braking signal amplitude and the percentage of braking force are linearly related. The slope of this linear relationship is 1, meaning the braking signal amplitude is directly proportional to the percentage of braking force. Specifically, when the operator pushes or pulls the handle to its maximum extent (100%), the system outputs the maximum braking force (100%); when the handle is pushed or pulled to 50%, the system outputs 50% braking force; and so on. This linear mapping relationship is simple to calculate and has a direct response, making it suitable for applications with relatively simple braking control requirements.

[0047] The specific value of the maximum braking force is determined according to the settings of different devices. For example, for tractors, the maximum braking force is set to the braking force value that can achieve a safe braking distance at a specific speed.

[0048] Nonlinear mapping relationship: In more complex application scenarios, nonlinear mapping relationships can be used to better suit the operating habits of operators and the dynamic characteristics of equipment.

[0049] like Figure 5As shown, in one implementation, the nonlinear relationship consists of two straight line segments with different slopes and a circular arc transition curve connecting these two segments. Assuming the slope of the first straight line segment is k1 and the slope of the second straight line segment is k2, the two segments are smoothly transitioned by a circular arc tangent to them. By adjusting the values ​​of k1 and k2, different braking characteristics can be achieved. When k1=k2, the nonlinear relationship degenerates into a linear relationship; When k1=0 and k2 approaches infinity (∞), the mapping curve is close to a quarter-segment of the arc. By selecting the appropriate combination of k1 and k2, it is possible to achieve control characteristics such as "slow braking force growth at low amplitudes and rapid braking force growth at high amplitudes" or the opposite, in order to meet different handling requirements.

[0050] In another implementation, the nonlinear relationship can be directly achieved using a quarter-circular arc curve or a quarter-elliptic arc curve. The circular arc curve provides a smooth and gradual braking force increase characteristic, allowing the operator to achieve precise braking control during small-amplitude operations and quickly reach forced force during large-amplitude operations. The elliptic arc curve, by adjusting the ratio of the major and minor axes, can further optimize the braking force increase curve to adapt to the braking system characteristics and operating habits of specific equipment.

[0051] In practical applications, the most suitable mapping curve can be selected or customized based on factors such as the equipment's mass, maximum speed, braking system response characteristics, road conditions, and operator habits, in order to achieve the best braking control effect.

[0052] Example 3: This embodiment provides a control method based on the aforementioned remote control system 10 with braking, such as... Figure 3 As shown, the method includes the following steps: Step S1: Identify the current gear status of the gear setting switch.

[0053] The vehicle controller 13 determines whether it is in forward (F), neutral (N), or reverse (R) gear by reading the status signal of the gear setting switch.

[0054] Step S2: Obtain the operating range of the dual-axis handle on the X and Y axes.

[0055] The vehicle controller 13 collects the position information of the dual-axis handle in real time to obtain the lateral operating range of the X-axis and the longitudinal operating range and direction of the Y-axis.

[0056] Step S3: Generate a speed signal or a braking signal based on the gear position and the operating range of the Y-axis.

[0057] The vehicle controller 13 analyzes the gear position identified in step S1 and the Y-axis operation information obtained in step S2 according to the preset control logic: If the current gear is neutral, the Y-axis operation amplitude will be interpreted as a braking signal; If the current gear is forward, the forward push of the Y-axis is interpreted as a forward speed signal, and the backward pull of the Y-axis is interpreted as a braking signal. If the current gear is reverse, the backward pull of the Y-axis is interpreted as the reverse speed signal, and the forward push of the Y-axis is interpreted as the braking signal.

[0058] In forward gear mode, when the operation amplitude of pushing the Y-axis forward is interpreted as a forward speed signal, when the Y-axis retracts from the forward state but does not enter the pull-back area, the vehicle controller 13 does not generate a braking signal, but allows the equipment to naturally reduce speed according to the load. Only when the Y-axis pulls back beyond a preset threshold (e.g., exceeding the median by 5% or 10%) will a braking signal be generated and braking force be applied.

[0059] Step S4: Generate a steering signal based on the X-axis operating range.

[0060] The vehicle controller 13 directly maps the operation range of the X-axis to the steering remote control signal, and the size of the operation range corresponds to the size of the steering angle.

[0061] Step S5: Based on the speed signal, braking signal and steering signal input, control the driving, braking and steering of the vehicle controller.

[0062] The vehicle controller 13 processes the various remote control signals obtained from the analysis to generate corresponding control commands, which drive the actuators (drive system, braking system, steering system) of the equipment to move, thereby achieving precise control of the equipment's motion state.

[0063] This control method is particularly suitable for tractors, loaders, or other heavy and fast equipment, providing operators with a control method that conforms to their operating habits and ensuring safe and effective braking at high speeds.

[0064] In this embodiment 3, through the above-described implementation method, the remote control system 10 with braking provided in this application has the following beneficial effects: Independent braking control is achieved: by combining gear settings with the Y-axis operation of the dual-axis handle, different operation meanings are given to the Y-axis in different gears. Thus, while maintaining the simple operation of the dual-axis handle, the complete functions of speed control and braking control are realized, which is especially suitable for heavy and fast equipment.

[0065] The operation is intuitive: the control logic is similar to driving a car, and operators can quickly get started without special training. In forward gear, pushing forward accelerates and pulling back brakes; in reverse gear, pulling back accelerates and pushing forward brakes, which aligns with basic common sense and operating habits.

[0066] High control precision: In addition to controlling the increase or decrease of the target speed, it can also continuously adjust the braking force. Operators can precisely control the braking intensity according to the actual situation, avoiding the crude control method of only being able to "fully brake" or "not brake".

[0067] Minimal cost increase: Compared to existing technologies, only one gear setting switch (FNR switch) needs to be added, resulting in minimal increase in hardware costs. Functional improvements can be achieved primarily through software logic optimization.

[0068] Facilitates one-handed operation: Operators can first set the gear with one hand, and then use only the other hand to operate the dual-axis handle to complete all operations of steering, acceleration, deceleration and braking, which provides the possibility of coping with multi-tasking and improves the flexibility and efficiency of operation.

[0069] Enhanced safety: The independent braking control function enables operators to brake the equipment quickly and effectively in emergencies, avoiding the safety hazards caused by relying solely on the deceleration coefficient for speed adjustment. This is especially true when the equipment is running at high speed or on a slope, significantly improving operational safety.

[0070] Example 4: Based on Example 1, this example provides an alternative speed control scheme, wherein the Y-axis controls the driving speed using an enable signal mode instead of a direct speed amplitude control mode.

[0071] In this embodiment, in addition to the gear setting unit and the dual-axis handle, the remote control 11 is also equipped with a speed setting unit. This speed setting unit can be a speed adjustment knob, a speed increase / decrease button, a speed setting interface on a touch screen, or other operating elements capable of setting a target speed value.

[0072] First, the desired maximum travel speed is preset using the speed setting unit. For example, the speed can be set to 60% by rotating the speed adjustment knob, or the target speed can be set to 15 km / h via the touchscreen. At this point, the device has not yet started moving, and the target speed is stored in the system only as a parameter.

[0073] Subsequently, the operator sets the gear (forward F or reverse R) and operates the second operating axis (Y-axis) of the dual-axis handle. In this embodiment, the operation of the Y-axis no longer directly corresponds to the speed magnitude, but serves as a trigger condition for the driving enable signal: (1) When the gear setting unit is in forward gear (F): When the operator pushes the Y-axis forward beyond a preset threshold (e.g., the forward push exceeds 20%), the system recognizes this as triggering a driving enable signal, and the equipment begins to move forward and gradually accelerates to the target speed set in advance by the speed setting unit. When the forward thrust of the Y-axis is less than the preset threshold, the driving enable is not triggered, and the equipment remains stationary or continues to brake. When the Y-axis is pulled backward, regardless of the magnitude of the pull, it is interpreted as a braking signal; the greater the pull, the greater the braking force.

[0074] (2) When the gear setting unit is in reverse (R): When the operator pulls the Y-axis backward beyond a preset threshold (e.g., the backward pull exceeds 20%), the system recognizes this as triggering a driving enable signal, and the equipment begins to move backward and gradually accelerates to the preset target speed. When the Y-axis pull-back amplitude is less than the preset threshold, the driving enable is not triggered, and the equipment remains stationary or continues to brake. When the Y-axis is pushed forward, regardless of the magnitude of the push, it is interpreted as a braking signal; the greater the magnitude of the push, the greater the braking force.

[0075] (3) The processing method of the braking signal remains unchanged and is consistent with the logic in Example 1.

[0076] Setting the preset threshold: The specific value of the preset threshold can be flexibly set according to different application scenarios and the characteristics of the controller. For example: For scenarios requiring high operational precision, the threshold can be set to a small value (such as 10%-15%) so that a slight push or pull can trigger the enable. To prevent accidental operation, the threshold can be set to a larger value (such as 25%-30%), requiring a clear push or pull action to trigger it; The threshold can also be customized and adjusted by the user through the system settings interface.

[0077] Taking tractor forward operation as an example: First, the operator sets the target speed to 50% (corresponding to a specific speed value, such as 12 km / h) using the speed adjustment knob, sets the gear setting switch to forward (F), and then pushes the Y-axis forward beyond the preset threshold (e.g., forward 30%) to trigger driving enable. At this point, the tractor begins to move forward, gradually accelerating to the set 50% speed. During travel, the operator can adjust the target speed in real time using the speed adjustment knob, and the tractor will accelerate or decelerate accordingly to the new target speed. When braking is required, the operator pulls the Y-axis backward, applying the corresponding braking force based on the degree of backward pull. To accelerate again, simply push the Y-axis forward beyond the threshold once more.

[0078] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0079] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored on a non-volatile storage medium (such as a CD). The method, which is contained in or on a ROM, USB flash drive, external hard drive, etc., includes several instructions to cause an electronic device (which may be a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0080] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0081] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A remote control system with braking, characterized in that, The application relates to a remote control system for a vehicle, comprising: a remote controller, which comprises a gear setting switch and a dual-axis handle, the gear setting switch being used for setting forward gear, neutral gear and reverse gear, and the dual-axis handle comprising an X-axis used for controlling steering and a Y-axis used for controlling speed and braking; a remote control receiver, which is connected in communication with the remote controller, acquires remote control signals and shares device state information; a vehicle controller, which is connected in communication with the remote control receiver and is used for controlling the steering, driving and braking of a device according to the gear state of the gear setting switch and the remote control signals of the dual-axis handle; wherein the control logic of the vehicle controller is as follows: when the gear setting switch is in the neutral gear, the operation amplitude of the Y-axis in all directions is analyzed into a braking signal; when the gear setting switch is in the forward gear, the operation amplitude of the Y-axis in the forward pushing direction is analyzed into a forward speed signal, and the operation amplitude of the Y-axis in the backward pulling direction is analyzed into a braking signal; when the gear setting switch is in the reverse gear, the operation amplitude of the Y-axis in the backward pulling direction is analyzed into a reverse speed signal, and the operation amplitude of the Y-axis in the forward pushing direction is analyzed into a braking signal; the operation amplitude of the X-axis is analyzed into a steering signal.

2. The remote control system with braking according to claim 1, characterized in that, The vehicle controller calculates the braking force percentage according to the amplitude of the braking signal and according to a preset mapping relationship, wherein the mapping relationship is any one of the following: linear relationship, nonlinear relationship.

3. The remote control system with braking according to claim 1, characterized in that, The step of analyzing the operation amplitude of the Y-axis in all directions into a braking signal when the gear setting switch is in the neutral gear can also be: analyzing the operation amplitude of the Y-axis in any direction into a braking signal when the gear setting switch is in the neutral gear; when the forward pushing direction of the Y-axis is the braking signal, the backward pulling direction of the Y-axis has no response; when the backward pulling direction of the Y-axis is the braking signal, the forward pushing direction of the Y-axis has no response.

4. The remote control system with braking according to claim 1, characterized in that, The step of analyzing the operation amplitude of the Y-axis in the backward pulling direction into a reverse speed signal and analyzing the operation amplitude of the Y-axis in the forward pushing direction into a braking signal when the gear setting switch is in the reverse gear can also be: analyzing the operation amplitude of the Y-axis in the forward pushing direction into a reverse speed signal and analyzing the operation amplitude of the Y-axis in the backward pulling direction into a braking signal when the gear setting switch is in the reverse gear.

5. The remote control system with braking according to claim 1, characterized in that, The remote controller is connected with the remote control receiver in a wireless mode or a wired mode.

6. The remote control system with braking of claim 1, wherein, The gear setting switch is any one of the following: a three-gear switch, a knob, three mutually exclusive buttons or a touch screen setting interface.

7. The remote control system with braking of claim 1, wherein, The dual-axis handle can be replaced by two single-axis handles.

8. A control method for a remote control system with braking according to any one of claims 1 to 7, characterized in that, The application further discloses a control method for a vehicle, comprising the following steps: identifying the current gear state of the gear setting switch; acquiring the operation amplitude of the X-axis and the Y-axis of the dual-axis handle; generating a speed signal or a braking signal according to the gear state and the operation amplitude of the Y-axis; generating a steering signal according to the operation amplitude of the X-axis; controlling the driving, braking and steering of a device based on the speed signal, the braking signal and the steering signal.

9. The control method according to claim 8, characterized by, When the gear setting switch is in the forward gear and the operation amplitude of the Y-axis in the forward pushing direction is analyzed into a forward speed signal, if the Y-axis is returned from the forward pushing state but does not enter the backward pulling area, the device naturally reduces speed according to the load condition without applying a braking force.

10. The control method according to claim 8, characterized by, The device is a tractor, loader or other heavy mass and high speed device. The device is a tractor, loader or other heavy mass and high speed device. The device is a tractor, loader or other heavy mass and high speed

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