An unmanned non-highway wide-body dump truck remote control system and method

Abstract

The application discloses an unmanned non-highway wide-body self-unloading vehicle remote control system and method, and the system comprises a remote controller, a remote control receiver installed on the unmanned non-highway wide-body self-unloading vehicle, a vehicle controller connected with the remote control receiver, and a plurality of vehicle execution mechanisms connected with the vehicle controller, wherein the remote control receiver is used for receiving the vehicle control instructions of the radio frequency signals sent by the remote controller, converting the vehicle control instructions into CAN signals, and sending the CAN signals to the vehicle controller; the vehicle controller is used for receiving the vehicle control instructions of the CAN signals and sending control signals to each vehicle execution mechanism; and each vehicle execution mechanism is used for performing vehicle control operations in response to the control signals. In an emergency, the operator can quickly and accurately control the acceleration, braking, steering and other operations of the vehicle through the remote controller, can replace manual takeover for vehicle control, and can maximize the safety of the vehicle and the mine area.

Description

Technical Field

[0001] This invention relates to the field of unmanned off-highway wide-body dump truck technology, and more specifically, to a remote control system and method for unmanned off-highway wide-body dump trucks. Background Technology

[0002] In modern mining operations, unmanned off-highway wide-body dump trucks are being used more and more widely, aiming to improve production efficiency, reduce labor costs, and ensure personnel safety.

[0003] However, in the actual operation of unmanned off-highway wide-body dump trucks, despite their autonomous operation capabilities, some special situations still require manual intervention. For example, during software integration testing, precise vehicle control is needed to ensure system accuracy and stability; when the unmanned off-highway wide-body dump truck exceeds its dispatch range, it cannot be controlled through the existing automatic dispatch system and requires manual intervention; in emergency situations, such as sudden vehicle malfunctions or abnormal conditions in the mining area threatening vehicle safety, a reliable manual control method is needed to respond promptly, prevent accidents, or minimize losses. Unmanned off-highway wide-body dump trucks without a driver's cab cannot quickly and effectively solve these problems.

[0004] Therefore, there is an urgent need for a remote control system and method for unmanned off-highway wide-body dump trucks. Summary of the Invention

[0005] The purpose of this invention is to provide a remote control system and method for unmanned off-highway wide-body dump trucks, so as to solve the problems in the prior art, be flexible and controllable, and ensure the safe and stable operation of unmanned off-highway wide-body dump trucks.

[0006] This invention provides a remote control system for an unmanned off-highway wide-body dump truck, comprising: a remote controller and a remote controller receiver installed on the unmanned off-highway wide-body dump truck. The remote controller receiver is connected to a vehicle controller, and the vehicle controller is connected to multiple vehicle actuators. The remote controller is used to transmit vehicle control commands in the form of radio frequency signals. The remote controller receiver is used to receive the vehicle control commands in the form of radio frequency signals transmitted by the remote controller, convert the vehicle control commands in the form of radio frequency signals into CAN signals, and send the converted vehicle control commands in the form of CAN signals to the vehicle controller. The vehicle controller is used to receive the converted vehicle control commands in the form of CAN signals transmitted by the remote controller receiver, and, based on the converted vehicle control commands in the form of CAN signals, send control signals to each of the vehicle actuators. Each of the vehicle actuators is used to perform vehicle control operations in response to the control signals.

[0007] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle controller integrates a gateway function and has four network segments: ACAN, EVCAN, BCAN, and CCAN.

[0008] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle actuator includes an intelligent electrical box. The intelligent electrical box spans the EVCAN and BCAN network segments of the vehicle controller, and is used to distribute power to various components of the vehicle and is responsible for the power management and monitoring of the entire vehicle.

[0009] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the remote control receiver communicates with the EVCAN network segment of the vehicle controller.

[0010] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle actuators include an intelligent driving controller, an inertial navigation system, and an intelligent terminal that communicate with the ACAN network segment of the vehicle controller, and the intelligent terminal is connected to a cloud control platform.

[0011] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle actuators include a high-voltage battery management system, a transmission controller, a motor controller, a five-in-one controller, a gear shift lever, and a thermal management system that communicate with the EVCAN network segment of the vehicle controller.

[0012] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle actuators include instruments, air conditioning, tire pressure monitoring modules, weighing controllers, and low-voltage lithium battery management systems that communicate with the BVCAN network segment of the vehicle controller.

[0013] In the remote control system for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle actuators include a brake controller, an electronic parking controller, and a steering controller that communicate with the CCAN network segment of the vehicle controller.

[0014] The present invention also provides a remote control method for an unmanned off-highway wide-body dump truck using the above-described system, comprising the following steps:

[0015] Vehicle control commands are sent via radio frequency signals from a remote control.

[0016] The system receives vehicle control commands via radio frequency signals from the remote controller, converts these commands into CAN signals, and sends the converted CAN signals to the vehicle controller.

[0017] The vehicle controller receives vehicle control commands, converted into CAN signals, sent by the remote control receiver, and sends control signals to each of the vehicle actuators according to the vehicle control commands converted into CAN signals.

[0018] In response to the control signal, each of the vehicle actuators performs vehicle control operations.

[0019] In the remote control method for unmanned off-highway wide-body dump trucks described above, preferably, the vehicle control operations include at least one of the following: power on / off, braking, driving, gear shifting, and steering.

[0020] If the vehicle control operation is to power on or off the entire vehicle, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including:

[0021] Power-on wake-up: By triggering the power-on button on the remote control, the remote receiver receives the power-on radio frequency signal, parses it into a CAN signal, and sends a power-on wake-up request CAN signal to the smart electrical box. The smart electrical box outputs a high-side signal through one channel to wake up the vehicle controller via hard wire. Then, the vehicle controller outputs a low-side hard wire signal through a hard wire pin to the C4-5 pin of the smart electrical box. The smart electrical box outputs high-side signals through several channels to wake up the high-voltage battery management system, transmission controller, motor controller, five-in-one controller, shift lever, and thermal management system via hard wire, and performs an ON position self-test.

[0022] Power-on start: By triggering the start button on the remote control, the remote control receiver receives the start radio frequency signal, parses it into a CAN signal, and sends a CAN signal requesting the power-on start position to the vehicle controller. The vehicle controller determines whether the vehicle status meets the start conditions. If it does, the vehicle starts.

[0023] Power-down process: By triggering the power-down button on the remote control, the remote receiver receives the power-down RF signal, parses it into a CAN signal, and sends a power-down request CAN signal to the smart electrical box. The smart electrical box disconnects the power-on hardwire signal output to the vehicle controller, and the power-on hardwire pin stops outputting. The vehicle controller begins the power-down process, first applying high voltage. After the high voltage power-down is complete, the vehicle controller sends a high voltage power-down status signal back to the smart electrical box. Simultaneously, the vehicle controller disconnects the hardwire signal C4-5 pin to the smart electrical box. When the smart electrical box no longer receives this hardwire signal, it begins to disconnect the power supply channels to the high-voltage battery management system, transmission controller, motor controller, five-in-one controller, gear shift lever, and thermal management system. The high-voltage battery management system, transmission controller, motor controller, five-in-one controller, gear shift lever, and thermal management system then begin the low-voltage power-down process, successively entering sleep mode until the power-down is complete.

[0024] If the vehicle control operation is braking, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including:

[0025] By triggering the brake button on the remote control, the remote control receiver receives and analyzes the brake radio frequency signal, and then sends a CAN signal of braking deceleration to the vehicle controller. The vehicle controller then controls the brake controller to perform vehicle braking through a specific message.

[0026] Once the vehicle speed drops to 0, the remote control sends a parking command, which is then forwarded by the remote receiver to the vehicle controller. The vehicle controller then controls the electronic parking brake to engage the parking brake.

[0027] If the vehicle control operation is driving, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including:

[0028] By triggering the drive button on the remote control, the remote receiver receives and analyzes the drive radio frequency signal, then sends a CAN signal indicating the accelerator pedal opening to the vehicle controller. The vehicle controller, based on the accelerator pedal opening, outputs the required torque value to the motor controller, enabling the motor controller to drive the vehicle forward.

[0029] If the vehicle control operation is gear shifting, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including:

[0030] By triggering the gear selector button on the remote control, the remote receiver receives and analyzes the corresponding gear's radio frequency signal, then sends a gear selector CAN signal to the vehicle controller. The vehicle controller then sends the gear selector CAN signal to the transmission controller, enabling the transmission controller to complete the gear shifting action.

[0031] If the vehicle control operation is steering, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including:

[0032] By triggering the turn button on the remote control, the remote control receiver receives the corresponding turn radio frequency signal, analyzes it, and sends a turn angle CAN signal to the vehicle controller. The vehicle controller then sends the turn angle CAN signal to the steering controller to realize the steering function.

[0033] This invention provides a remote control system and method for unmanned off-highway wide-body dump trucks. In emergency situations, operators can quickly and accurately control the vehicle's acceleration, braking, and steering via remote control, replacing manual intervention to maximize the safety of the vehicle and the mining area. It provides a reliable means of manual intervention for unmanned off-highway wide-body dump trucks, solving the problem of achieving precise and flexible control during software integration, ensuring the accuracy and efficiency of software integration. It offers high flexibility: in special scenarios such as software integration, exceeding the dispatch range, and emergency situations, operators can control the unmanned off-highway wide-body dump truck at any time and flexibly according to the actual situation, enabling effective remote control operation of the vehicle. This allows the vehicle to drive according to the operator's wishes, preventing loss of control or dangerous situations, meeting control needs in different scenarios, and compensating for the shortcomings of automated systems in dealing with complex and changing situations. This technology enhances the ability of unmanned off-highway wide-body dump trucks to handle complex situations, making their control more humanized and intelligent. It enables flexible manual control in special circumstances, offering advantages in control flexibility. Safety and reliability are also key advantages: In emergencies, manual remote control, relying on the operator's experience and judgment, allows for rapid response and more realistic decisions. This avoids the limitations of automated systems due to algorithmic limitations and sensor data accuracy, which can lead to ineffective emergency response, such as decision-making errors or delays. This effectively ensures the safety of vehicles and mining areas, reducing the risk of accidents and providing advantages in emergency handling. Furthermore, it ensures operational continuity: When an unmanned off-highway wide-body dump truck exceeds its dispatch range, manual remote control allows the vehicle to continue its mission or return to a safe area, ensuring the continuity of mining operations, reducing production losses caused by vehicle loss of control or stoppage, and expanding the controllable range of the unmanned off-highway wide-body dump truck, thus offering advantages in applicability. Attached Figure Description

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings, wherein:

[0035] Figure 1 Network architecture topology diagram of an embodiment of the remote control system for unmanned off-highway wide-body dump trucks provided by the present invention;

[0036] Figure 2 A flowchart illustrating an embodiment of the remote control method for unmanned off-highway wide-body dump trucks provided by the present invention.

[0037] Explanation of reference numerals in the attached diagram: 1-Remote control receiver, 2-Vehicle controller, 21-ACAN, 22-EVCAN, 23-BCAN, 24-CCAN, 3-Intelligent driving controller, 4-Inertial navigation, 5-Intelligent terminal, 6-Cloud control platform, 7-High-voltage battery management system, 8-Transmission controller, 9-Motor controller, 10-Five-in-one controller, 11-Gear shift lever, 12-Thermal management system, 13-Intelligent electrical box, 14-Instrument panel, 15-Air conditioning, 16-Tire pressure monitoring module, 17-Weighing controller, 18-Low-voltage lithium battery management system, 19-Brake controller, 20-Electronic parking controller, 25-Steering controller. Detailed Implementation

[0038] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The descriptions of the exemplary embodiments are merely illustrative and are in no way intended to limit the present disclosure or its application or use. The present disclosure may be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that the present disclosure will be thorough and complete, and will fully express the scope of the disclosure to those skilled in the art. It should be noted that, unless specifically stated otherwise, the relative arrangement of components and steps, the composition of materials, numerical expressions, and values ​​set forth in these embodiments should be interpreted as exemplary only and not as limiting.

[0039] The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Terms such as “including” or “contains” mean that the element preceding the term encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well. Terms such as “above” and “below” are used only to indicate relative positional relationships; when the absolute position of the described object changes, this relative positional relationship may also change accordingly.

[0040] In this disclosure, when a specific component is described as being located between a first component and a second component, an intermediary component may or may not be present between the specific component and the first or second component. When a specific component is described as connecting to other components, the specific component may be directly connected to the other components without having an intermediary component, or it may not be directly connected to the other components but may have an intermediary component.

[0041] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0042] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0043] Currently, the control of unmanned off-highway wide-body dump trucks mainly relies on automated autonomous driving systems. These systems typically use various onboard sensors (such as lidar, millimeter-wave radar, and cameras) to perceive the surrounding environment and combine this with a satellite positioning system (GNSS) to achieve precise vehicle positioning. Through pre-set algorithms and programs, the collected environmental and positioning information is analyzed and processed to enable autonomous driving decisions, including acceleration, braking, and steering. Furthermore, in the event of a vehicle malfunction, a remote diagnostic module within the remote control cabin is needed to respond to a remote takeover command initiated by the remote driver, allowing for remote monitoring and dispatching of the unmanned off-highway wide-body dump truck.

[0044] The above-mentioned technical solutions have the following drawbacks: Lack of flexibility: During software integration, automated unmanned driving systems struggle to meet the demands for precise and flexible vehicle control. They cannot adjust control strategies in real time according to actual conditions, unlike manual control, and remote control suffers from signal delays. Limited scheduling range: When unmanned off-highway wide-body dump trucks exceed the preset scheduling range, the automated system cannot effectively control them because it relies on pre-set maps and scheduling rules, lacking real-time responsiveness. Inadequate emergency response: Although some unmanned off-highway wide-body dump truck systems possess certain safety measures such as emergency braking, in complex emergency situations, such as sudden geological disasters in mining areas or impending collisions between vehicles, the automated system may not be able to quickly make the most appropriate decisions. Human experience and flexible operation are often more advantageous in these situations.

[0045] like Figure 1 As shown, the remote control system for an unmanned off-highway wide-body dump truck provided in this embodiment includes: a remote controller and a remote controller receiver 1 installed on the unmanned off-highway wide-body dump truck. The remote controller receiver 1 is connected to a vehicle controller (VCU) 2, and the vehicle controller 2 is connected to multiple vehicle actuators. The remote controller is used to send vehicle control commands in the form of radio frequency signals. The remote controller receiver 1 is used to receive the vehicle control commands in the form of radio frequency signals sent by the remote controller, convert the vehicle control commands in the form of radio frequency signals into CAN signals, and send the converted vehicle control commands in the form of CAN signals to the vehicle controller 2. The vehicle controller 2 is used to receive the converted vehicle control commands in the form of CAN signals sent by the remote controller receiver 1, and send control signals to each of the vehicle actuators according to the converted vehicle control commands in the form of CAN signals. Each of the vehicle actuators is used to perform vehicle control operations in response to the control signals.

[0046] The remote control receiver 1 has CAN communication transceiver capabilities. Installed in the vehicle's network segment, it interacts with the vehicle controller 2 and also has the ability to receive radio frequency (RF) signals. The remote control transmitter transmits RF signals, which are received by the remote control receiver 1, converted into CAN signals, and sent to the vehicle controller 2. The vehicle controller 2 then controls other controllers in the vehicle to perform basic functions including braking, steering, driving, and parking. Specifically, the remote control is a handheld device used by the operator to issue various control commands (such as acceleration, braking, and steering commands). Furthermore, the remote control operates in a specific radio frequency band and can stably transmit signals to the vehicle within a 500-meter range.

[0047] Furthermore, the vehicle controller 2 integrates gateway functionality, with four network segments: ACAN (Intelligent Driving CAN) 21, EVCAN (Powertrain CAN) 22, BCAN (Body CAN) 23, and CCAN (Chassis CAN) 24. The vehicle controller 2 is the core control unit of the vehicle, used to receive control commands from the remote control receiver 1 and control various actuators (such as motors, braking systems, steering systems, etc.) of the vehicle according to the vehicle's current state and preset control logic. The remote control receiver 1 and the vehicle controller 2 interact via CAN communication to ensure the stability and reliability of data transmission.

[0048] Furthermore, the vehicle actuator includes a smart electrical box 13, which spans the EVCAN 22 and BCAN 23 network segments of the vehicle controller 2. It is used to distribute power to various components of the vehicle and is responsible for the power management and monitoring of the entire vehicle.

[0049] Specifically, the remote control receiver 1 is used to receive signals from the remote control and communicate with the EVCAN 22 network segment of the vehicle controller 2. In this invention, the remote control receiver 1 has high sensitivity and anti-interference capabilities, and can accurately receive the weak signals from the remote control and convert them into electrical signals.

[0050] Furthermore, the vehicle actuator includes a driving controller (MDC) 3, an inertial navigation system (INS) 4, and a smart terminal (Tbox) 5 that communicate with the ACAN 21 network segment of the vehicle controller 2. The smart terminal 5 is connected to a cloud control platform 6.

[0051] Furthermore, the vehicle actuators include a high-voltage battery management system (BMS) 7, a transmission controller (TCU) 8, a motor controller (MCU) 9, a 5-in-1 controller 10, a shift lever (SLC) 11, and a thermal management system (TMS) 12, all of which communicate with the EVCAN 22 network segment of the vehicle controller 2. The 5-in-1 controller 10 is used to implement functions such as high-voltage power distribution, steering, braking, motor control, and DC-DC converter.

[0052] Furthermore, the vehicle actuators include an instrument cluster (ICM) 14, an air conditioning (AC) 15, a tire pressure monitoring module (TPMS) 16, a weighing controller (LCU) 17, and a low-voltage lithium battery management system (IBS) 18 that communicate with the BVCAN 23 network segment of the vehicle controller 2.

[0053] Furthermore, the vehicle actuators include a brake controller (EBS) 19, an electronic parking brake controller (EPB) 20, and a steering controller (EHPS) 25 that communicate with the CCAN 24 network segment of the vehicle controller 2.

[0054] like Figure 2 As shown, the remote control method for unmanned off-highway wide-body dump trucks provided in this embodiment includes the following steps in actual execution:

[0055] Step S1: Send vehicle control commands via radio frequency signals through the remote control.

[0056] Specifically, operators send commands such as acceleration, braking, and steering to the vehicle via buttons or joysticks on the remote control, based on actual needs. The remote control encodes these commands into radio frequency signals and transmits them into the surrounding space.

[0057] Step S2: Receive the vehicle control command of the radio frequency signal emitted by the remote controller through the remote controller receiver 1, convert the vehicle control command of the radio frequency signal into a CAN signal, and send the converted vehicle control command of the CAN signal to the vehicle controller 2.

[0058] Specifically, the signal reception process is as follows: After receiving the radio frequency signal transmitted by the remote controller, the remote control receiver 1 on the unmanned off-highway wide-body dump truck demodulates and decodes it to obtain the corresponding control command signal. The command transmission process is as follows: The remote control receiver 1 sends the control command signal to the vehicle controller 2 via CAN communication. CAN communication has the characteristics of high speed, reliability, and strong anti-interference ability, which can ensure that the command signal is accurately transmitted to the vehicle controller 2.

[0059] Step S3: Receive vehicle control commands converted into CAN signals from the remote control receiver 1 via the vehicle controller 2, and send control signals to each of the vehicle actuators according to the vehicle control commands converted into CAN signals.

[0060] Specifically, after receiving the control command signal, the vehicle controller 2 sends control signals to each actuator of the vehicle according to the current operating status of the vehicle (such as vehicle speed, position, attitude, etc.) and the preset control logic.

[0061] Step S4: In response to the control signal, each of the vehicle actuators performs vehicle control operations.

[0062] The vehicle control operations include at least one of the following: powering on / off, braking, driving, shifting gears, and steering, to achieve vehicle acceleration, braking, steering, and other operations.

[0063] Specifically, in one embodiment of the remote control method for unmanned off-highway wide-body dump trucks of the present invention, if the vehicle control operation is to power on or off the entire vehicle, then step S4 may specifically include:

[0064] Step S41, Power-on wake-up: By triggering the power-on button on the remote control, the remote receiver 1 receives the power-on radio frequency signal, parses it into a CAN signal, and sends a power-on wake-up request CAN signal to the smart electrical box 13. The smart electrical box 13 outputs a high-side signal through one channel to wake up the vehicle controller 2 via hard wire. Then, the vehicle controller 2 outputs a low-side hard wire signal through the hard wire pin to the C4-5 pin of the smart electrical box 13. The smart electrical box 13 outputs high-side signals through several channels to wake up the high-voltage battery management system 7, the transmission controller 8, the motor controller 9, the five-in-one controller 10, the gear shift lever 11, and the thermal management system 12 via hard wire, and performs an ON position self-test.

[0065] Therefore, after the vehicle controller 2 is woken up, the vehicle controller 2 controls the smart electrical box 13 to wake up the controllers related to high voltage power.

[0066] Step S42, Power-on start: By triggering the start button on the remote control, the remote control receiver 1 receives the start radio frequency signal, parses it into a CAN signal, and sends a CAN signal requesting the power-on start position to the vehicle controller 2. The vehicle controller 2 determines whether the vehicle status meets the start conditions. If it does, the vehicle is started.

[0067] Step S43, Power-down process: By triggering the power-down button on the remote control, the remote receiver receives the power-down radio frequency signal, parses it into a CAN signal, and sends a power-down request CAN signal to the smart electrical box 13. The smart electrical box 13 disconnects the power-on hard wire signal output to the vehicle controller 2, and the power-on hard wire pin stops outputting. The vehicle controller 2 begins to execute the power-down process, first disconnecting the high-voltage power. After the high-voltage power-down is completed, the vehicle controller 2 sends a high-voltage power-down status signal back to the smart electrical box 13. At the same time, the vehicle controller 2 disconnects the hard wire signal C4-5 pin to the smart electrical box 13. After the smart electrical box 13 no longer receives this hard wire signal, it begins to disconnect the power supply channels to the high-voltage battery management system 7, transmission controller 8, motor controller 9, five-in-one controller 10, shift lever 11, and thermal management system 12. The high-voltage battery management system 7, transmission controller 8, motor controller 9, five-in-one controller 10, shift lever 11, and thermal management system 12 begin to execute the low-voltage power-down process and successively enter the sleep state until the power-down is completed.

[0068] Furthermore, in other embodiments of the present invention, the smart electrical box 13 can be woken up by receiving the ON hard-wire signal of the key switch and the A+ hard-wire signal of the charging gun, and wake up other controllers of the vehicle after waking up itself; it can also be woken up by the power-on CAN signal sent by the remote control receiver 1 or the intelligent driving controller 3.

[0069] In one embodiment of the remote control method for unmanned off-highway wide-body dump trucks of the present invention, if the vehicle control operation is braking, then step S4 may specifically include:

[0070] Step S41-A: By triggering the brake button on the remote control, the remote control receiver 1 receives and analyzes the brake radio frequency signal, and sends a CAN signal of braking deceleration to the vehicle controller 2. The vehicle controller 2 then controls the brake controller 19 to perform vehicle braking through a specific message.

[0071] Step S42-A: After the vehicle speed drops to 0, the remote controller sends a parking command, which is forwarded by the remote controller receiver 1 to the vehicle controller 2. The vehicle controller 2 then controls the electronic parking controller 20 to park the vehicle.

[0072] In one embodiment of the remote control method for unmanned off-highway wide-body dump trucks of the present invention, if the vehicle control operation is driving, then step S4 may specifically include:

[0073] By triggering the drive button on the remote control, the remote control receiver 1 receives and analyzes the drive radio frequency signal, and then sends a CAN signal of the accelerator pedal opening to the vehicle controller 2. The vehicle controller 2 then outputs the torque value required by the vehicle to the motor controller 9 based on the accelerator pedal opening, so that the motor controller 9 drives the vehicle forward.

[0074] In one embodiment of the remote control method for unmanned off-highway wide-body dump trucks of the present invention, if the vehicle control operation is gear shifting, then step S4 may specifically include:

[0075] By triggering the gear selector buttons (R, N, D) on the remote control, the remote receiver 1 receives and analyzes the corresponding gear's radio frequency signal, then sends a gear CAN signal (simulated gear shift lever signal) to the vehicle controller 2. The vehicle controller 2 then sends the gear CAN signal to the transmission controller 8, enabling the transmission controller 8 to complete the gear shift. The transmission controller 8 performs a series of operations, including torque clearing and speed adjustment, to complete the gear shift.

[0076] In one embodiment of the remote control method for unmanned off-highway wide-body dump trucks of the present invention, if the vehicle control operation is steering, then step S4 may specifically include:

[0077] By triggering the turn button on the remote control, the remote control receiver 1 receives the corresponding turn radio frequency signal, analyzes it, and sends a turn angle CAN signal to the vehicle controller 2. The vehicle controller 2 then sends the turn angle CAN signal to the steering controller 25 to realize the steering function.

[0078] The remote control system and method for unmanned off-highway wide-body dump trucks provided in this invention allow operators to quickly and accurately control the vehicle's acceleration, braking, and steering via remote control in emergency situations. This replaces manual intervention for vehicle control, maximizing the safety of the vehicle and the mining area. It provides a reliable means of manual intervention for unmanned off-highway wide-body dump trucks, solving the problem of achieving precise and flexible control during software integration and ensuring the accuracy and efficiency of software integration. High flexibility is also key: in special scenarios such as software integration, exceeding the scheduling range, and emergencies, operators can control the unmanned off-highway wide-body dump truck flexibly and at any time according to the actual situation. This enables effective remote control operation, allowing the vehicle to drive according to the operator's wishes, preventing loss of control or dangerous situations, meeting control needs in different scenarios, and compensating for the shortcomings of automated systems in dealing with complex and changing situations. This technology enhances the ability of unmanned off-highway wide-body dump trucks to handle complex situations, making their control more humanized and intelligent. It enables flexible manual control in special circumstances, offering advantages in control flexibility. Safety and reliability are also key advantages: In emergencies, manual remote control, relying on the operator's experience and judgment, allows for rapid response and more realistic decisions. This avoids the limitations of automated systems due to algorithmic constraints and inaccurate sensor data, preventing ineffective emergency response, such as decision-making errors or delays. This effectively ensures the safety of vehicles and mining areas, reducing the risk of accidents and providing advantages in emergency response. Furthermore, it ensures operational continuity: When an unmanned off-highway wide-body dump truck exceeds its dispatch range, manual remote control allows the vehicle to continue its mission or return to a safe area, ensuring the continuity of mining operations, reducing production losses due to vehicle loss of control or stoppage, and expanding the controllable range of the unmanned off-highway wide-body dump truck, thus offering advantages in applicability.

[0079] The embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0080] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A remote control system for an unmanned off-highway wide-body dump truck, characterized in that, include: The system includes a remote controller and a remote control receiver mounted on an unmanned off-highway wide-body dump truck. The remote control receiver is connected to a vehicle controller, which in turn is connected to multiple vehicle actuators. The remote controller transmits vehicle control commands in radio frequency (RF) signals. The remote control receiver receives these RF signals, converts them into CAN signals, and sends them to the vehicle controller. The vehicle controller receives the CAN-signaled vehicle control commands from the remote control receiver and, based on these commands, sends control signals to each of the vehicle actuators. Each vehicle actuator responds to the control signals and performs vehicle control operations.

2. The remote control system for unmanned off-highway wide-body dump trucks according to claim 1, characterized in that, The vehicle controller integrates gateway functions and has four network segments: ACAN, EVCAN, BCAN, and CCAN.

3. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The vehicle actuator includes a smart electrical box, which spans the EVCAN and BCAN network segments of the vehicle controller. It is used to distribute power to various components of the vehicle and is responsible for the power management and monitoring of the entire vehicle.

4. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The remote control receiver communicates with the EVCAN network segment of the vehicle controller.

5. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The vehicle actuators include an intelligent driving controller, an inertial navigation system, and an intelligent terminal that communicate with the ACAN network segment of the vehicle controller. The intelligent terminal is connected to a cloud control platform.

6. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The vehicle actuators include a high-voltage battery management system, a transmission controller, a motor controller, a five-in-one controller, a gear shift lever, and a thermal management system that communicate with the EVCAN network segment of the vehicle controller.

7. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The vehicle actuators include instruments, air conditioning, tire pressure monitoring module, weighing controller, and low-voltage lithium battery management system that communicate with the BVCAN network segment of the vehicle controller.

8. The remote control system for unmanned off-highway wide-body dump trucks according to claim 2, characterized in that, The vehicle actuators include a brake controller, an electronic parking brake controller, and a steering controller that communicate with the CCAN network segment of the vehicle controller.

9. A remote control method for an unmanned off-highway wide-body dump truck using the system described in any one of claims 1-8, characterized in that, include: Vehicle control commands are sent via radio frequency signals from a remote control. The system receives vehicle control commands via radio frequency signals from the remote controller, converts these commands into CAN signals, and sends the converted CAN signals to the vehicle controller. The vehicle controller receives vehicle control commands, converted into CAN signals, sent by the remote control receiver, and sends control signals to each of the vehicle actuators according to the vehicle control commands converted into CAN signals. In response to the control signal, each of the vehicle actuators performs vehicle control operations.

10. The remote control method for an unmanned off-highway wide-body dump truck according to claim 9, characterized in that, The vehicle control operations include at least one of the following: power on / off, braking, driving, gear shifting, and steering. If the vehicle control operation is to power on or off the entire vehicle, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including: Power-on wake-up: By triggering the power-on button on the remote control, the remote receiver receives the power-on radio frequency signal, parses it into a CAN signal, and sends a power-on wake-up request CAN signal to the smart electrical box. The smart electrical box outputs a high-side signal through one channel to wake up the vehicle controller via hard wire. Then, the vehicle controller outputs a low-side hard wire signal through a hard wire pin to the C4-5 pin of the smart electrical box. The smart electrical box outputs high-side signals through several channels to wake up the high-voltage battery management system, transmission controller, motor controller, five-in-one controller, shift lever, and thermal management system via hard wire, and performs an ON position self-test. Power-on start: By triggering the start button on the remote control, the remote control receiver receives the start radio frequency signal, parses it into a CAN signal, and sends a CAN signal requesting the power-on start position to the vehicle controller. The vehicle controller determines whether the vehicle status meets the start conditions. If it does, the vehicle starts. Power-down process: By triggering the power-down button on the remote control, the remote receiver receives the power-down RF signal, parses it into a CAN signal, and sends a power-down request CAN signal to the smart electrical box. The smart electrical box disconnects the power-on hardwire signal output to the vehicle controller, and the power-on hardwire pin stops outputting. The vehicle controller begins the power-down process, first applying high voltage. After the high voltage power-down is complete, the vehicle controller sends a high voltage power-down status signal back to the smart electrical box. Simultaneously, the vehicle controller disconnects the hardwire signal C4-5 pin to the smart electrical box. When the smart electrical box no longer receives this hardwire signal, it begins to disconnect the power supply channels to the high-voltage battery management system, transmission controller, motor controller, five-in-one controller, gear shift lever, and thermal management system. The high-voltage battery management system, transmission controller, motor controller, five-in-one controller, gear shift lever, and thermal management system then begin the low-voltage power-down process, successively entering sleep mode until the power-down is complete. If the vehicle control operation is braking, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including: By triggering the brake button on the remote control, the remote control receiver receives and analyzes the brake radio frequency signal, and then sends a CAN signal of braking deceleration to the vehicle controller. The vehicle controller then controls the brake controller to perform vehicle braking through a specific message. Once the vehicle speed drops to 0, the remote control sends a parking command, which is then forwarded by the remote receiver to the vehicle controller. The vehicle controller then controls the electronic parking brake to engage the parking brake. If the vehicle control operation is driving, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including: By triggering the drive button on the remote control, the remote receiver receives and analyzes the drive radio frequency signal, then sends a CAN signal indicating the accelerator pedal opening to the vehicle controller. The vehicle controller, based on the accelerator pedal opening, outputs the required torque value to the motor controller, enabling the motor controller to drive the vehicle forward. If the vehicle control operation is gear shifting, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including: By triggering the gear selector button on the remote control, the remote receiver receives and analyzes the corresponding gear's radio frequency signal, then sends a gear selector CAN signal to the vehicle controller. The vehicle controller then sends the gear selector CAN signal to the transmission controller, enabling the transmission controller to complete the gear shifting action. If the vehicle control operation is steering, then in response to the control signal, each of the vehicle actuators performs the vehicle control operation, including: By triggering the turn button on the remote control, the remote control receiver receives and analyzes the corresponding turn radio frequency signal, and then sends a turn angle CAN signal to the vehicle controller. The vehicle controller then sends the turn angle CAN signal to the steering controller to realize the steering function.

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