Unmanned control system of bulldozer

Abstract

The unmanned control system comprises a pedal control assembly, an operation assembly, a steering control assembly and a gear shifting control assembly, the operation assembly is arranged on the upper side of the pedal control assembly, and the steering control assembly is arranged at the top end of the operation assembly; the pedal control assembly comprises a first rack, a first servo electric cylinder, a first connecting arm, a first swing plate, a second connecting arm and a ball connecting piece. On the basis that existing equipment is not changed, remote control equipment is additionally arranged, the modification cost is greatly reduced, switching can be conducted between manual operation and remote control, and the device can further adapt to bulldozers of different specifications.

Description

Technical Field

[0001] This invention belongs to the field of unmanned control, specifically an unmanned control system for bulldozers. Background Technology

[0002] Most existing bulldozers require personnel to directly enter the cab for operation. Modifying existing bulldozers for remote control or directly manufacturing bulldozers with remote control capabilities would be very costly and require extensive electrification modifications, which could lead to reduced reliability and anti-interference performance. Therefore, an unmanned control system for bulldozers is proposed. Summary of the Invention

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] Given the following technical problems in the existing technology: most existing bulldozers require personnel to directly enter the cab for operation. If remote control is modified or a bulldozer capable of remote control is manufactured, the cost is very high. Remote control requires destroying the original electrical framework structure and carrying out a lot of electrification modifications, which leads to a reduction in reliability and anti-interference performance.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an unmanned control system for bulldozers, including a pedal control component, a working component, a steering control component, and a gear shifting control component. The working component is arranged on the upper side of the pedal control component, and the steering control component is arranged on the top of the working component. The pedal control component includes a frame, a servo cylinder, a connecting arm, a swing plate, a connecting arm, and a ball connector. Two support frames are arranged on the front of the frame, and the swing plate is rotatably connected to the support frames. The servo cylinder is arranged on the inner side of the frame. The connecting arm is arranged at the movable end of the servo cylinder. The end of the connecting arm away from the servo cylinder is rotatably connected to the end of the swing plate away from the support frame. The top of the swing plate is connected to one end of the connecting arm through a ball connector, and the other end of the connecting arm is connected to the clamp through another ball connector.

[0006] As a preferred technical solution for the unmanned control system of bulldozers, the working components include a second frame, a second servo cylinder, a connecting block, a special-shaped beam, a long beam, and a short beam. Two second servo cylinders are installed on one side of the second frame. The movable end of one second servo cylinder is rotatably connected to the connecting block. The special-shaped beam is rotatably connected to the inner bottom wall of the second frame. The movable end of the other second servo cylinder is rotatably connected to the short beam. One end of the long beam is rotatably connected to the short beam, and the other end of the long beam is rotatably connected to the special-shaped beam. A clamp is installed on the long beam. The special-shaped beam has a "7"-shaped structure formed by the long arm and the short arm. The short arm of the special-shaped beam is hinged to the connecting block, and the connection between the long arm and the short arm is rotatably connected to the second frame.

[0007] As a preferred technical solution for the unmanned control system of bulldozers, the steering control component includes a mounting box, an arc-shaped suspension, a servo motor, a connecting column, and a turntable. The top of the mounting box is equipped with an arc-shaped suspension, and the top of the arc-shaped suspension is equipped with a servo motor. The movable end of the servo motor is equipped with a universal joint, which is connected to another universal joint through the connecting column. The universal joint at the bottom of the connecting column is equipped with a turntable, and several clamps are arranged on the circumference below the turntable.

[0008] As a preferred technical solution for the unmanned control system of bulldozers, several U-shaped hoops are arranged in a ring on the turntable, and the U-shaped hoops are connected to the turntable by connecting bolts.

[0009] As a preferred technical solution for the unmanned control system of bulldozers, the gear shifting control component consists of two parts, upper and lower. The gear shifting control component includes servo cylinder three, servo cylinder four, connecting rod one, and connecting rod two. Servo cylinder three and servo cylinder four are set on one side of the frame two. Servo cylinder three is set horizontally, and servo cylinder four is set at an angle. The movable ball end of servo cylinder three is connected to connecting rod one. The end of connecting rod one away from servo cylinder three is equipped with clamp one. The movable ball end of servo cylinder four is connected to connecting rod two. The end of connecting rod two away from servo cylinder four is equipped with clamp one.

[0010] As a preferred technical solution for the unmanned control system of bulldozers, clamp one includes clamp plate one, clamp plate two, control rod, connecting sleeve one and connecting sleeve two. Clamp plate one is hinged to clamp plate two. Both clamp plate one and clamp plate two are provided with connecting grooves. Connecting sleeve two is rotatably connected in the connecting groove of clamp plate one, and connecting sleeve one is rotatably connected in the connecting groove of clamp plate two. The control rod passes through the connecting groove of clamp plate one and reaches the connecting groove of clamp plate two. Connecting sleeve one is rotatably connected to one end of the control rod, and the middle part of connecting sleeve one is threaded to the inner side of connecting sleeve two.

[0011] As a preferred technical solution for the unmanned control system of bulldozers, the clamp two includes a U-shaped frame and clamp bolts, with the clamp bolts threadedly connected to one side of the U-shaped frame.

[0012] As a preferred technical solution for the unmanned control system of bulldozers, the roof monitoring and communication component includes a chassis, a processing box, a slide rail, a suspension frame, a gimbal camera, and a transceiver antenna. The chassis is equipped with a processing box and a slide rail. The top of the slide rail is equipped with a suspension frame and a transceiver antenna. The slide rail and the transceiver antenna are vertically arranged. The gimbal camera is installed at the end of the suspension frame away from the slide rail. The suspension frame is horizontally arranged.

[0013] As a preferred technical solution for the unmanned control system of bulldozers, the remote control communication mechanism includes a housing, a handle, a display screen, control buttons, a wireless bridge, a communication antenna, and a tripod. The housing is equipped with a display screen, and several control buttons are provided on both sides of the housing. A handle is provided on one side of the housing. The housing is electrically connected to the wireless bridge, which is electrically connected to the communication antenna. The top of the tripod is fixedly connected to the bottom of the communication antenna.

[0014] The beneficial effects of the unmanned bulldozer control system of the present invention are as follows: without damaging its original electrical and mechanical structure and without modifying the existing equipment, an independent and detachable remote control device is added, which greatly reduces the modification cost and allows for the transformation of existing old bulldozer equipment. It can also switch between manned and remote control. Since the device has a large adjustment range, it can be adapted to a variety of bulldozers of different specifications. The servo motor drives the turntable to rotate via a universal joint and connecting column. The turntable rotates the steering wheel to adjust the vehicle's direction of travel. Servo cylinder one controls the connecting arm one to move forward or backward, which causes the pedal held by the clamp on the connecting arm two to be pressed down or raised to achieve acceleration or deceleration. By coordinating the irregular beam and the short beam, the long beam swings at an angle and moves forward or backward, thereby better controlling the swing direction and distance of the working handle to carry out the work. This achieves the purpose of remote control, allowing personnel to work in a safe area away from danger zones. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a top view of the structure of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is a schematic diagram of the shift control component of the present invention; Figure 5 This is a schematic diagram of the pedal control assembly of the present invention; Figure 6 This is a top view of the pedal control assembly of the present invention; Figure 7 This is a three-dimensional structural schematic diagram of the steering control component of the present invention; Figure 8 This is a schematic diagram of the remote control communication mechanism of the present invention; Figure 9 This is a schematic diagram of the structure of the roof-mounted monitoring and communication component of the present invention; Figure 10 This is a schematic diagram of the internal structure of the clamp of the present invention; Figure 11 This is a schematic diagram of the control circuit of the present invention; Figure 12 This is a schematic diagram of the control button of the present invention; Figure 13 This is a schematic diagram of the power supply circuit of the present invention.

[0016] Reference numerals: 100, Pedal control assembly; 101, Frame 1; 102, Servo cylinder 1; 103, Connecting arm 1; 104, Swing plate 1; 105, Connecting arm 2; 106, Ball connector; 200, Working assembly; 201, Frame 2; 202, Servo cylinder 2; 203, Connecting block; 204, Irregular beam; 205, Long beam; 206, Short beam; 300, Steering control assembly; 301, Mounting box; 302, Arc suspension; 303, Servo motor; 304, Connecting column; 305, Turntable; 306, Universal joint; 307, Processing module; 308, U-shaped clamp; 400, Gear shifting control assembly; 401, Servo cylinder 3; 402, Servo... Electric cylinder four; 403, connecting rod one; 404, connecting rod two; 500, clamp one; 501, clamp plate one; 502, clamp plate two; 503, control rod; 504, connecting sleeve one; 505, connecting sleeve two; 600, clamp two; 601, U-shaped frame; 602, clamp bolt; 700, remote control communication mechanism; 701, box one; 702, handle; 703, display screen; 704, control button; 705, wireless bridge; 706, communication antenna; 707, tripod; 800, roof monitoring and communication assembly; 801, base frame; 802, processing box; 803, slide rail; 804, suspension frame; 805, pan-tilt camera; 806, transceiver antenna. Detailed Implementation

[0017] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0019] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0020] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0021] like Figures 1-13 As shown, this invention proposes an unmanned bulldozer control system, including a pedal control assembly 100, a working assembly 200, a steering control assembly 300, and a gear shifting control assembly 400. The working assembly 200 is disposed on the upper side of the pedal control assembly 100, and the steering control assembly 300 is disposed on the top of the working assembly 200. The pedal control assembly 100 includes a frame 101, a servo electric cylinder 102, a connecting arm 103, a swing plate 104, a connecting arm 2 105, and a ball connector 106. The front of the frame 101 is provided with... There are two receiving frames, and a swing plate 104 is rotatably connected to the receiving frames. A servo cylinder 102 is provided on the inner side of the frame 101. A connecting arm 103 is provided at the movable end of the servo cylinder 102. The end of the connecting arm 103 away from the servo cylinder 102 is rotatably connected to the end of the swing plate 104 away from the receiving frame. The top of the swing plate 104 is connected to one end of the connecting arm 105 through a ball connector 106. The other end of the connecting arm 105 is connected to the fixture 600 through another ball connector 106.

[0022] The working component 200 includes a frame 201, a servo cylinder 202, a connecting block 203, a shaped beam 204, a long beam 205, and a short beam 206. Two servo cylinders 202 are provided on one side of the frame 201. The movable end of one servo cylinder 202 is rotatably connected to the connecting block 203. The shaped beam 204 is rotatably connected to the inner bottom wall of the frame 201. The movable end of the other servo cylinder 202 is rotatably connected to the short beam 206. One end of the long beam 205 is rotatably connected to the short beam 206, and the other end of the long beam 205 is rotatably connected to the shaped beam 204. A clamp 500 is provided on the long beam 205. The shaped beam 204 has a "7"-shaped structure formed by a long arm and a short arm. The short arm of the shaped beam 204 is hinged to the connecting block 203.

[0023] The steering control assembly 300 includes a mounting box 301, an arc-shaped suspension 302, a servo motor 303, a connecting column 304, and a turntable 305. The arc-shaped suspension 302 is located at the top of the mounting box 301, and the servo motor 303 is located at the top of the arc-shaped suspension 302. A universal joint 306 is located at the movable end of the servo motor 303. Another universal joint 306 is connected to the universal joint 306 via the connecting column 304. A turntable 305 is located at the universal joint 306 at the bottom of the connecting column 304. Several clamps 600 are arranged on the circumference below the turntable 305.

[0024] Several U-shaped hoops 308 are arranged in a ring on the turntable 305, and the U-shaped hoops 308 are connected to the turntable 305 by connecting bolts.

[0025] The shift control assembly 400 consists of two parts, upper and lower. The shift control assembly 400 includes a servo cylinder three 401, a servo cylinder four 402, a connecting rod one 403, and a connecting rod two 404. The servo cylinder three 401 and the servo cylinder four 402 are arranged on one side of the frame two 201. The servo cylinder three 401 is arranged horizontally, and the servo cylinder four 402 is arranged at an angle. The movable ball end of the servo cylinder three 401 is connected to the connecting rod one 403. The end of the connecting rod one 403 away from the servo cylinder three 401 is provided with a clamp one 500. The movable ball end of the servo cylinder four 402 is connected to the connecting rod two 404. The end of the connecting rod two 404 away from the servo cylinder four 402 is provided with a clamp one 500.

[0026] The clamp 500 includes a clamp 501, a clamp 502, a control rod 503, a connecting sleeve 504, and a connecting sleeve 505. The clamp 501 is hinged to the clamp 502. Both the clamp 501 and the clamp 502 have connecting grooves. The connecting sleeve 505 is rotatably connected in the connecting groove of the clamp 501, and the connecting sleeve 504 is rotatably connected in the connecting groove of the clamp 502. The control rod 503 passes through the connecting groove of the clamp 501 and reaches the connecting groove of the clamp 502. The connecting sleeve 504 is rotatably connected to one end of the control rod 503, and the middle part of the connecting sleeve 504 is threaded to the inner side of the connecting sleeve 505.

[0027] The second fixture 600 includes a U-shaped frame 601 and a fixture bolt 602, with the fixture bolt 602 threadedly connected to one side of the U-shaped frame 601.

[0028] The roof-mounted monitoring and communication component 800 includes a base frame 801, a processing box 802, a slide rail 803, a suspension bracket 804, a pan-tilt camera 805, and a transceiver antenna 806. The base frame 801 is equipped with a processing box 802 and a slide rail 803. The top of the slide rail 803 is equipped with a suspension bracket 804 and a transceiver antenna 806. The slide rail 803 and the transceiver antenna 806 are vertically arranged. The end of the suspension bracket 804 away from the slide rail 803 is equipped with a pan-tilt camera 805. The suspension bracket 804 is horizontally arranged.

[0029] The remote control communication mechanism 700 includes a housing 701, a handle 702, a display screen 703, control buttons 704, a wireless bridge 705, a communication antenna 706, and a tripod 707. The display screen 703 is installed on the housing 701. Several control buttons 704 are installed on both sides of the housing 701. The handle 702 is installed on one side of the housing 701. The wireless bridge 705 is electrically connected to the housing 701. The wireless bridge 705 is electrically connected to the communication antenna 706. The top of the tripod 707 is fixedly connected to the bottom of the communication antenna 706.

[0030] The processing box 802 contains a wireless bridge and a switch. The mounting box 301 contains two processing modules 307.

[0031] Two clamps 500 on the shift control assembly 400 clamp and lock the shift lever of a bulldozer. Clamp 500 on the working assembly 200 clamps and locks the bulldozer's working handle. The clamping principle is as follows: turning the control lever 503 drives the connecting sleeve 504 to swing the clamping plate 502 towards the clamping plate 501, thereby clamping the object located between the two clamping plates. Servo cylinder 3 401 controls clamp 500 on connecting rod 403 to swing the shift lever back and forth to adjust the gear position (forward, reverse, or neutral). Servo cylinder 402 controls clamp 500 on connecting rod 404 to swing the shift lever back and forth to adjust or release the parking position.

[0032] One servo cylinder 202 controls the irregular beam 204 to rotate around the fulcrum, and another servo cylinder 202 controls the short beam 206 to move along the axis of the movable rod of the servo cylinder 202. The two servo cylinders 202 cooperate with each other to coordinate the irregular beam 204 and the short beam 206 to make the long beam 205 swing angle and forward and backward distance, thereby better controlling the swing direction and distance of the working handle for operation.

[0033] The turntable 305 is attached to the steering wheel, and a U-shaped clamp 308 is fitted onto the steering wheel to lock the position between the U-shaped clamp 308 and the turntable 305. The clamp bolt 602 on the steering control assembly 300 is then tightened to engage with the U-shaped bracket 601 to clamp the steering wheel, thereby locking the turntable 305 relative to the steering wheel and enabling them to move in tandem. The servo motor 303 rotates the turntable 305 via the universal joint 306 and connecting column 304, and the turntable 305 rotates the steering wheel to adjust the vehicle's direction of travel.

[0034] One of the two clamps 600 of the pedal control assembly 100 is locked to the brake pedal, and the other clamp is locked to the accelerator pedal. The locking method involves rotating the clamp bolt 602, causing the clamp bolt 602 to move relative to the U-shaped frame 601 to clamp the object between them. The U-shaped frame 601 and the clamp bolt 602 cooperate to clamp the brake pedal or accelerator pedal. The servo cylinder 102 controls the connecting arm 103 to move forward or backward, causing the brake pedal or accelerator pedal held by the clamp 600 on the connecting arm 105 to be pressed down or raised.

[0035] The control circuit is housed within housing 701. This circuit includes an MCU, a serial port for communication with the host computer, and a connection circuit for control buttons 704. Control buttons 704 include microswitches, joysticks, a three-position switch, and a two-position switch. The MCU model is GD32F103C8T6, the microswitch model is SS-5GL13, the joystick model is ALPS RKJXV122400R, and the three-position and two-position switches are model numbers 1-1437132-3 and XB4BA31, respectively. The microswitches, three-position switch, and two-position switch are connected to the corresponding microswitch X4 circuit, three-position switch X1 circuit, and two-position switch X4 circuit, respectively. The blade lifting / left / right joystick circuit and the joystick vehicle steering throttle brake joystick circuit are electrically connected to the two joysticks. The blade lifting / left / right joystick circuit controls the operating components.

[0036] The processing module 307 is model GD32F103C8T6 / GD32F303. It is electrically connected to servo cylinders 1, 2, and 3, and the servo motor, controlling their operation. The processing module 307 is also electrically connected to the processing box, which in turn is electrically connected to the transceiver antenna 806 and the PTZ camera 805. The wireless bridge is model Moxa AWK-3131A, the display screen is model Elo Touch15" IP65, the transceiver / communication antenna is model PCTEL MXP5700 multi-frequency omnidirectional antenna, and the PTZ camera is model Hikvision DS-2DE4225IW-D3ZE.

[0037] The specific implementation method is as follows: the base frame 801 is fixed on the roof of the vehicle, so that the roof monitoring and communication component 800 is stably installed on the top of the bulldozer. The pan-tilt camera 805 captures images and transmits the image data through the processing box 802 and the transceiver antenna 806. The image data is received by the communication antenna 706, processed by the wireless bridge 705, and displayed on the display screen 703. The remote control communication mechanism 700 controls the servo electric cylinders one, two, and three or servo motors in the pedal control component 100, operation component 200, steering control component 300, and shift control component 400 of the processing module 307 to achieve walking, steering, and operation.

[0038] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0039] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An unmanned control system for bulldozers, characterized in that: It includes a pedal control assembly, a working assembly, a steering control assembly, and a gear shift control assembly. The working assembly is located on the upper side of the pedal control assembly, and the steering control assembly is located on the top of the working assembly. The pedal control assembly includes a frame, a servo cylinder, a connecting arm, a swing plate, a connecting arm, and a ball joint. Two support frames are located on the front of the frame, and the swing plate is rotatably connected to the support frames. The servo cylinder is located on the inner side of the frame. The movable end of the servo cylinder is connected to the connecting arm. The end of the connecting arm away from the servo cylinder is rotatably connected to the end of the swing plate away from the support frame. The top of the swing plate is connected to one end of the connecting arm through a ball joint, and the other end of the connecting arm is connected to the clamp through another ball joint.

2. The unmanned bulldozer control system according to claim 1, characterized in that: The working components include a frame two, a servo electric cylinder two, a connecting block, an irregular beam, a long beam, and a short beam. Two servo electric cylinders two are arranged on one side of the frame two. The movable end of one of the servo electric cylinders two is rotatably connected to the connecting block. The irregular beam is rotatably connected to the inner bottom wall of the frame two. The movable end of the other servo electric cylinder two is rotatably connected to the short beam. One end of the long beam is rotatably connected to the short beam, and the other end of the long beam is rotatably connected to the irregular beam. A clamp one is arranged on the long beam.

3. The unmanned bulldozer control system according to claim 1, characterized in that: The steering control assembly includes a mounting box, an arc-shaped suspension, a servo motor, a connecting column, and a turntable. The arc-shaped suspension is located at the top of the mounting box, and the servo motor is located at the top of the arc-shaped suspension. A universal joint is located at the movable end of the servo motor. The universal joint is connected to another universal joint through the connecting column. A turntable is located at the universal joint at the bottom of the connecting column, and several clamps are located on the circumference below the turntable.

4. The unmanned bulldozer control system according to claim 3, characterized in that: Several U-shaped hoops are arranged in a ring on the turntable, and the U-shaped hoops are connected to the turntable by connecting bolts.

5. The unmanned bulldozer control system according to claim 2, characterized in that: The shift control assembly consists of two parts, upper and lower. The shift control assembly includes servo cylinder three, servo cylinder four, connecting rod one, and connecting rod two. Servo cylinder three and servo cylinder four are arranged on one side of frame two. Servo cylinder three is arranged horizontally, and servo cylinder four is arranged at an angle. The movable ball end of servo cylinder three is connected to connecting rod one. The end of connecting rod one away from servo cylinder three is equipped with clamp one. The movable ball end of servo cylinder four is connected to connecting rod two. The end of connecting rod two away from servo cylinder four is equipped with clamp one.

6. The unmanned bulldozer control system according to any one of claims 2 or 5, characterized in that: The fixture includes a first clamping plate, a second clamping plate, a control rod, a first connecting sleeve, and a second connecting sleeve. The first clamping plate is hinged to the second clamping plate. Both the first and second clamping plates have connecting grooves. The second connecting sleeve is rotatably connected in the connecting groove of the first clamping plate, and the first connecting sleeve is rotatably connected in the connecting groove of the second clamping plate. The control rod passes through the connecting groove of the first clamping plate and reaches the connecting groove of the second clamping plate. The first connecting sleeve is rotatably connected to one end of the control rod, and the middle part of the first connecting sleeve is threaded to the inner side of the second connecting sleeve.

7. The unmanned bulldozer control system according to any one of claims 1 or 3, characterized in that: The second fixture includes a U-shaped frame and a fixture bolt, with the fixture bolt threaded onto one side of the U-shaped frame.

8. The unmanned bulldozer control system according to claim 1, characterized in that: The roof-mounted monitoring and communication component includes a base frame, a processing box, a slide rail, a suspension bracket, a PTZ camera, and a transceiver antenna. The base frame has a processing box and a slide rail. The top of the slide rail has a suspension bracket and a transceiver antenna. The slide rail and the transceiver antenna are vertically arranged. The PTZ camera is located at the end of the suspension bracket away from the slide rail. The suspension bracket is horizontally arranged.

9. The unmanned bulldozer control system according to claim 8, characterized in that: The remote control communication mechanism includes a housing, a handle, a display screen, control buttons, a wireless bridge, a communication antenna, and a tripod. The housing is equipped with a display screen, and several control buttons are located on both sides of the housing. A handle is located on one side of the housing. The housing is electrically connected to a wireless bridge, which is electrically connected to the communication antenna. The top of the tripod is fixedly connected to the bottom of the communication antenna.

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