Unmanned engineering machinery control system

Abstract

The utility model relates to an unmanned engineering machinery control system, and belongs to the technical field of remote control. According to the technical scheme, the unmanned engineering machinery control system comprises a vehicle terminal system and an edge terminal system, and the vehicle terminal system is in signal connection with the edge terminal system; the vehicle terminal subsystem comprises a vehicle terminal control module used for controlling a plurality of sensing units of the unmanned engineering machinery to work, and the sensing units are used for detecting the external environment; the VCU is used for controlling a plurality of execution units of the unmanned engineering machinery to work, and the VCU is in signal connection with the vehicle end control module; the edge terminal subsystem comprises a server and a simulation cockpit. According to the scheme, the control system adopts a mode that field unmanned driving is matched with remote control, an edge end can intervene and take over operation when an emergency occurs, field unmanned operation is achieved, remote labor force is liberated, and meanwhile the emergency response capacity is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of remote control, in particular to an unmanned construction machinery control system. Background Art

[0002] With the rapid development of the field of driverless technology, the application scenarios are constantly increasing. Due to the relatively closed operation environment, relatively fixed operation mode, relatively harsh working environment, and large manpower gap in mines and earthworks, the application prospect of driverless technology in mines and earthworks scenarios is broad. However, in actual engineering applications, the driverless operation of construction machinery still faces some technical problems: in order to provide support in the actual application of mines and earthworks scenarios, a complete system must have a reliable fault tolerance and fault handling mechanism.

[0003] However, the current driverless systems are divided into two types: on the one hand, the driverless system is only deployed at the vehicle end to realize the automatic driving function at the vehicle end; on the other hand, it is a vehicle under remote control, and the remote control system is only deployed at the edge end to realize the remote control of the vehicle.

[0004] The driverless system only at the vehicle end limits the ability of human intervention, which may lead to the further deterioration of problems in case of failures or emergencies. If a failure or emergency occurs in the driverless system at the vehicle end, no one can directly intervene for supervision, resulting in unpredictable risks. In addition, the system only deployed at the vehicle end lacks the ability to monitor the on-site environment in real time. The driverless system mainly relies on on-vehicle sensors and computing units to perceive and understand the surrounding environment for operation. In mining or earthwork construction operations, the on-site environment may change, such as rock collapses and geological condition changes. If these changes cannot be monitored and perceived in real time, the system may not be able to make timely decisions and adjustments, increasing the accident risk and the decline of operation efficiency. In contrast, the remote control deployment method can control the vehicle through a remote control device to realize the remote control of the vehicle. However, the remote control deployment method is not a completely unmanned operation because it still requires the participation and control of an operator. This means that the operator needs to continuously participate in the operation process and cannot achieve true automation and liberation of productivity. Summary of the Invention

[0005] Aiming at the deficiencies of the current driverless technology for construction machinery, that is, the deployment at the vehicle end cannot handle emergencies and the remote control still requires full-time personnel control, the utility model provides an unmanned construction machinery control system with vehicle-end and remote collaborative control.

[0006] To solve the above problems, the technical solution adopted by the utility model is that an unmanned construction machinery control system includes a vehicle-end subsystem and an edge-end subsystem, and the vehicle-end subsystem and the edge-end subsystem are signal-connected;

[0007] The vehicle terminal system includes:

[0008] A vehicle terminal control module for controlling the operation of multiple sensing units of the unmanned construction machinery, and the sensing units are used to detect the external environment;

[0009] A VCU for controlling the operation of multiple execution units of the unmanned construction machinery, and the VCU is signal-connected to the vehicle terminal control module;

[0010] The edge terminal system includes a server and a simulated cockpit.

[0011] The control system of this solution adopts a mode of on-site driverless cooperation with remote control, which can be intervened by the edge side in case of emergencies, take over the operation, realize on-site unmanned operation, liberate remote labor force, and greatly improve the ability to respond to emergencies at the same time.

[0012] Preferably, the sensing units include a radar unit, an RTK and IMU unit, and a machine vision unit.

[0013] Preferably, the radar unit includes one or more of millimeter-wave radar, ultrasonic radar, and lidar; the machine vision unit uses a depth camera.

[0014] Preferably, the execution units include the transmission and steering system, the power transmission system, the braking system, the working system, and the sound and light system of the unmanned construction machinery.

[0015] Preferably, the vehicle terminal system further includes a monitoring camera.

[0016] Preferably, it further includes a communication system, and the communication system includes a gateway module at the vehicle end and a switch at the edge end, and the gateway module and the switch are signal-connected through a 5G private network.

[0017] Preferably, the vehicle terminal system further includes a power supply module, the power supply module is connected with a remote power-on controller, and the remote power-on controller is signal-connected to the edge terminal system.

[0018] Preferably, the vehicle terminal control module includes a control sub-module and a calculation sub-module.

[0019] Preferably, the server is connected with a display and an edge-end sound and light alarm system.

[0020] As can be seen from the above technical solutions, the advantages of the present utility model are as follows: The unmanned construction machinery control system of the present utility model adopts a combination of autonomous driving and remote intervention. On the one hand, it realizes unmanned construction in mining and earthwork conditions. On the other hand, it can perform remote emergency takeover operations in case of failures and emergencies. The construction machinery adopts multi-sensor fusion technology, which can work unmanned without direct human operation, and at the same time collect high-precision information. In case of emergencies, it can be immediately taken over by the edge terminal, greatly improving safety. At the same time, the personnel at the edge terminal do not need to remotely control all the time, liberating the labor force; through the data recording and analysis functions, it can record and analyze the data during the work process in real time. These data can be used for subsequent analysis and evaluation to improve the work process and decision-making process and improve the construction work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the present utility model, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a schematic structural diagram of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to make the objectives, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the drawings in the specific embodiments of the present utility model. Obviously, the embodiments described below are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this patent.

[0024] As Figure 1 shown, the present utility model provides an unmanned construction machinery control system, including a vehicle terminal subsystem and an edge terminal subsystem. The vehicle terminal subsystem is deployed on the unmanned construction machinery, and the edge subsystem is deployed at the remote end. For example, a dedicated emergency takeover center can be established. The vehicle terminal subsystem and the edge terminal subsystem are signal-connected through a communication system. Specifically:

[0025] The vehicle terminal system includes the VCU of construction machinery and the vehicle terminal control module. The VCU controls various execution units (vehicle hardware) of the vehicle, including the transmission steering system, power transmission system, braking system, working system, and sound and light system. Each execution unit is connected to the VCU through the CAN line. The vehicle terminal control module is used to control the sensing units on the construction machinery (the sensing units are sensing components for detecting the external environment), including multiple radar units, RTK and IMU units (RTK is carrier phase differential technology, which is a differential method for real-time processing of carrier phase observations of two measurement stations. It sends the carrier phase collected by the reference station to the user receiver for differential solution of coordinates. This is a new and commonly used satellite positioning technology; IMU is an inertial measurement unit), and machine vision units. In this embodiment, the vehicle terminal control module includes a control sub-module and a calculation sub-module. The radar units include millimeter-wave radar, ultrasonic radar, and lidar. The machine vision unit uses a depth camera. The millimeter-wave radar and RTK and IMU units are connected to the control sub-module through the CAN line. The ultrasonic radar is connected to the control sub-module through the RS485 bus. The lidar and depth camera are connected to the calculation sub-module through the Ethernet.

[0026] The edge terminal system includes a server and a simulated cockpit. The server is connected to a display and an edge terminal sound and light alarm system.

[0027] The communication system includes a gateway module at the vehicle terminal and a switch at the edge terminal. The gateway module and the switch are connected by a 5G private network signal. The control sub-module and the calculation sub-module are connected to the gateway through the Ethernet. The VCU is connected to the gateway through the CAN line. The server and the simulated cockpit are connected to the switch through the Ethernet.

[0028] Furthermore, the vehicle terminal system further includes a monitoring camera, which is connected to the gateway through the Ethernet; and a power supply module. The power supply module is connected to a remote power-on controller, and the remote power-on controller is signal-connected to the edge terminal system.

[0029] It can be seen from the above embodiments that the beneficial effects of the present utility model are as follows. The unmanned construction machinery control system of the present utility model adopts a combination of autonomous driving and remote intervention. On the one hand, it realizes unmanned construction in mining and earthwork conditions. On the other hand, it can perform remote emergency takeover operations in case of failures and emergencies. The construction machinery adopts multi-sensor fusion technology, which can work unmanned without direct human operation, and at the same time collect high-precision information. In case of emergencies, it can be immediately taken over by the edge terminal, greatly improving safety. At the same time, the personnel at the edge terminal do not need to remotely control all the time, liberating the labor force. Through the data recording and analysis functions, the data during the work process can be recorded and analyzed in real time. These data can be used for subsequent analysis and evaluation to improve the work process and decision-making process and improve the construction work efficiency.

[0030] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned engineering machinery control system, characterized in that: It includes a vehicle terminal system and an edge terminal system, and the vehicle terminal system and the edge terminal system are signal connected; The vehicle terminal system includes: The vehicle-side control module is used to control the operation of multiple sensing units of the unmanned engineering machinery, and the sensing units are used to detect the external environment; VCU, used to control the operation of multiple execution units of unmanned engineering machinery, VCU is connected to the vehicle-side control module signal; The edge terminal system includes the server and the simulation cockpit.

2. The unmanned engineering machinery control system according to claim 1, characterized in that: The perception unit includes a radar unit, an RTK and IMU unit, and a machine vision unit.

3. The unmanned engineering machinery control system according to claim 2, characterized in that: The radar unit includes one or more of millimeter wave radar, ultrasonic radar, and lidar; the machine vision unit uses a depth camera.

4. The unmanned engineering machinery control system according to claim 1, characterized in that: The execution unit includes the speed change steering system, power transmission system, braking system, working system and sound and light system of the unmanned engineering machinery.

5. The unmanned engineering machinery control system according to claim 1, characterized in that: The vehicle subsystem also includes surveillance cameras.

6. The unmanned engineering machinery control system according to claim 1, characterized in that: It also includes a communication system, which includes a gateway module located at the vehicle end and a switch located at the edge end. The gateway module and the switch are connected through a 5G private network signal.

7. The unmanned engineering machinery control system according to claim 1, characterized in that: The vehicle terminal system also includes a power module, the power module is connected to a remote power-on controller, and the remote power-on controller is connected to the edge terminal system signal.

8. The unmanned engineering machinery control system according to claim 1, characterized in that: The vehicle-side control module includes a control submodule and a calculation submodule.

9. The unmanned engineering machinery control system according to claim 1, characterized in that: The server is connected to a display and an edge-end sound and light alarm system.

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