Remote control system for loader

Abstract

The utility model discloses a remote control system for a loading machine, which belongs to the field of heavy vehicles and comprises a remote control end and a controlled end, the remote control end is positioned outside a loading machine body, a vehicle end steering wheel of the loading machine is connected with a vehicle end steering control unit, and the controlled end is electrically connected with the vehicle end steering control unit; the loading machine comprises a steering execution unit used for executing the steering action of the loading machine, and the steering execution unit is electrically connected with the vehicle end steering control unit. According to the steering wheel system, a steering column, a reversing joint and other long mechanical structures are omitted, the steering wheel system is directly installed on the steering control unit, the mechanical structure is simplified, the size and weight are reduced, installation and maintenance are convenient, meanwhile, more space is provided, the driving comfort of a driver is improved, and the driving safety is improved. And the steering control unit is electrically connected with the steering execution system of the loader, so that the problem that the steering wheel is out of control due to circuit failure is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of heavy vehicles, and more specifically, relates to a remote control system for loaders. Background Technology

[0002] With the development of modern industry and the increasing demand for safe operating environments, traditional loader operation modes are facing more and more challenges. Traditional loaders typically require the operator to sit directly in the cab, which greatly limits the safety and efficiency of operations in certain complex or hazardous working environments (such as mining operations and sites handling toxic and hazardous substances). In such situations, operators not only face potential safety threats, but also risk health problems due to prolonged operation under harsh working conditions.

[0003] To address these issues, remote control technology has been gradually introduced into the field of construction machinery. For example, Chinese patent CN115977195A discloses a remote-controlled loader hydraulic system and a remote-controlled loader in the field of remote-controlled loader technology. The remote-controlled loader hydraulic system includes a gear pump, a steering control valve, a steering gear, and a steering cylinder. The oil outlet of the gear pump is connected to the P port of the steering control valve, and the P1 port of the steering control valve is connected to the P port of the steering gear. The R and L ports of the steering control valve are respectively connected to the steering cylinder. The R and L ports of the steering gear are respectively connected to the steering cylinder. The steering control valve is equipped with a steering lever and a steering button. The steering button is used to switch the working mode of the remote-controlled loader to manual mode or electric control mode, and the steering lever is used to control the remote-controlled loader to steer in electric control mode.

[0004] However, the traditional steering mechanisms in these existing technologies are mechanical-hydraulic. The steering wheel uses a mechanical structure to transmit stress to the local steering system, requiring a long mechanical steering column structure. This length and size make replacement, maintenance, and disassembly difficult, and also encroache on driver's space, reducing driver comfort. Furthermore, the steering wheel is often controlled by a conventional electronic steering wheel. If the circuit of the electronic steering wheel fails, the motor may rapidly and continuously output power, causing the vehicle to continuously respond to steering commands from the remote control, leading to loss of steering control and resulting in personal injury and property damage.

[0005] In view of the above, this application is hereby submitted. Utility Model Content

[0006] The technical problem this invention aims to solve is to overcome the shortcomings of existing technologies and provide a remote control system for loaders. This invention is achieved through the following technical solution:

[0007] A remote control system for a loader includes a remote control terminal and a controlled terminal. The remote control terminal is located outside the loader vehicle body, and a vehicle-end steering control unit is connected to the steering wheel at the vehicle end of the loader. The controlled terminal is electrically connected to the vehicle-end steering control unit.

[0008] The loader includes a steering actuator for performing steering actions, and the steering actuator and the vehicle-end steering control unit are electrically connected.

[0009] The loader is equipped with a selector switch to switch the control status of the loader between remote control and local control.

[0010] Preferably, the remote control terminal controls the loader equipped with the controlled terminal through wired and / or wireless communication.

[0011] Preferably, the vehicle-end steering control unit includes a gearbox, which is connected to the vehicle-end steering wheel and the steering controller respectively. An incremental encoder is also provided between the gearbox and the steering controller, which is used to collect the rotational angular velocity of the vehicle-end steering wheel.

[0012] Preferably, the gearbox is further provided with a hysteresis damper.

[0013] Preferably, the steering actuator includes a steering hydraulic structure and a proportional reversing solenoid valve for controlling the steering hydraulic structure. The vehicle-end steering control unit controls the steering hydraulic structure to drive the loader to steer by controlling the action of the proportional reversing solenoid valve.

[0014] Preferably, the steering hydraulic structure further includes a steering cylinder, on which a vehicle body angle measuring unit for measuring the steering angle of the loader is mounted.

[0015] Preferably, the remote control terminal is installed in a remote control cabin, the remote control cabin is equipped with a remote control steering wheel, and a remote control steering control unit is connected to the remote control steering wheel;

[0016] The remote steering control unit includes a gearbox, which is connected to the remote steering wheel and the steering controller. An incremental encoder is also provided between the gearbox and the steering controller. The incremental encoder is used to collect the rotational angular velocity of the remote steering wheel. A hysteresis damper is also provided on the gearbox.

[0017] Preferably, the remote control steering wheel is installed in the remote control cabin via a quick-release structure.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] 1. The vehicle-end steering wheel system of this utility model eliminates the relatively long mechanical structures such as the steering column and reversing knuckle, and is directly installed on the vehicle-end steering control unit, which simplifies the mechanical structure, reduces the size and weight, facilitates installation and maintenance, provides more space, improves the driver's driving comfort, and avoids the problem of loss of steering wheel control caused by circuit failure by the vehicle-end steering wheel being electrically connected to the steering execution system of the loader.

[0020] 2. This utility model provides a more realistic and safer steering experience by setting a hysteresis damper to replace the motor to simulate the resistance during the steering process.

[0021] 3. This utility model controls the action of the steering hydraulic structure by using a proportional reversing solenoid valve, which can achieve fine adjustment of the steering angle of the loader, improve the accuracy and smoothness of steering operation, not only simplify the original complex mechanical structure, but also reduce the difficulty and cost of maintenance. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the loader steering system of this utility model;

[0023] Figure 2 This is a schematic diagram of the remote control cabin steering system of this utility model. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] like Figure 1 and Figure 2 As shown, this embodiment provides a remote control system for a loader, including a remote control terminal and a controlled terminal. The remote control terminal is located outside the loader vehicle body, and a vehicle-end steering control unit is connected to the steering wheel at the vehicle end of the loader. The controlled terminal is electrically connected to the vehicle-end steering control unit.

[0026] The loader includes a steering actuator for performing steering actions, and the steering actuator and the vehicle-end steering control unit are electrically connected.

[0027] The loader is equipped with a selector switch to switch the control status of the loader between remote control and local control.

[0028] The vehicle-mounted steering system eliminates the need for long mechanical structures such as the steering column and reversing knuckle, mounting them directly on the vehicle-mounted steering control unit. This simplifies the mechanical structure, reduces size and weight, facilitates installation and maintenance, and provides more space, improving driver comfort. Furthermore, the vehicle-mounted steering control unit is electrically connected to the loader's steering execution system, preventing steering wheel malfunctions caused by circuit failures. A selector switch allows for one-button switching between local and remote control, adapting to complex working conditions.

[0029] The remote control terminal controls the loader equipped with the controlled terminal through wired and / or wireless communication. Wired communication can use cables or optical fibers to transmit data, while wireless communication can use 4G / 5G communication modules, satellite communication, etc., utilizing existing communication facilities. It can also use short-range wireless communication methods such as radio frequency modules, and can be flexibly selected according to the conditions of the construction site.

[0030] The vehicle-side steering control unit includes a gearbox connected to both the vehicle-side steering wheel and the steering controller. Specifically, the gearbox is a T-shaped gearbox. The steering controller collects steering wheel rotation data. An incremental encoder is also installed between the gearbox and the steering controller. This incremental encoder collects the steering wheel's rotational angular velocity (the incremental encoder can be replaced with an absolute encoder, directly outputting the absolute steering wheel angle signal; the appropriate encoder is selected based on the specific vehicle model). When the steering wheel rotates, the left output shaft of the T-shaped gearbox drives the incremental encoder, converting the angular velocity signal into digital signals such as CAN bus signals, which are then transmitted to the steering controller.

[0031] Preferably, the gearbox is further equipped with a hysteresis damper (specifically, a hysteresis (braking) damper in this application, emphasizing braking effect to simulate the steering wheel rotation at the vehicle end). Specifically, the output shaft on the right side of the gearbox is connected to the hysteresis damper. The controller dynamically adjusts the damper current based on the vehicle body angle and the steering wheel angular velocity at the vehicle end. For example, when the vehicle body angle approaches the ±90% limit, the output current increases linearly, significantly increasing the damping force and prompting the driver to stop steering. More specifically, passive damping: when the coil is not energized, there is a basic frictional force between the permanent magnet and the friction plate, simulating the vehicle's stationary steering resistance.

[0032] Dynamic adjustment: The controller outputs an adjustable current to the coil based on the steering angular velocity and vehicle turning angle. As the current increases, the magnetic field strengthens, and the resistance between the friction plates increases linearly. For example, when the vehicle turning angle reaches +95% and the steering wheel continues to turn to the right, the current increases to its maximum value, the damping force rises sharply, and the driver is forced to stop operating (hysteresis dampers can be selected from various adjustable or non-adjustable models, such as fixed magnetic or electromagnetic dampers, depending on cost, which will not be elaborated on here).

[0033] The steering actuator includes a steering hydraulic structure and a proportional directional solenoid valve for controlling the steering hydraulic structure. The vehicle-end steering control unit controls the steering hydraulic structure to steer the loader by controlling the action of the proportional directional solenoid valve. Specifically, this design can retain the original vehicle steering cylinders and pipelines, replacing the mechanical hydraulic steering gear with a proportional directional solenoid valve. The vehicle-end controller controls the directional switching and opening of the solenoid valve based on the received steering wheel angular velocity signal, driving the cylinder to move. The greater the steering wheel angular velocity, the higher the solenoid valve opening, and the faster the cylinder movement speed, achieving steering sensitivity matching. This reduces the difficulty of modification and has good adaptability.

[0034] The steering hydraulic structure also includes a steering cylinder, on which a vehicle body angle measuring unit for measuring the loader's steering angle is mounted. A cylinder displacement sensor detects the piston rod displacement in real time, converts it into vehicle body angle data through geometric relationships, and feeds it back to a remote cab or a local cab on the vehicle.

[0035] The remote control terminal is installed in the remote control cabin, which is equipped with a remote control steering wheel, and a remote control steering control unit is connected to the remote control steering wheel.

[0036] The remote steering control unit includes a gearbox, which is connected to the remote steering wheel and the steering controller. An incremental encoder is also provided between the gearbox and the steering controller. The incremental encoder is used to collect the rotational angular velocity of the steering wheel at the vehicle end (the incremental encoder can be replaced by an absolute encoder, which directly outputs the absolute rotation angle signal of the remote steering wheel. The corresponding encoder is selected according to the specific vehicle model requirements). A hysteresis damper is also provided on the gearbox.

[0037] The remote-controlled steering wheel is installed in the remote control cabin via a quick-release mechanism. For different loader models, only the steering wheel flange size needs to be changed; no other parts need to be adjusted.

[0038] This allows both the remote control cabin and the vehicle-mounted cockpit to achieve the following advantages:

[0039] 1) The steering wheel at the vehicle end is shorter and smaller, making it easier to install and remove: The steering wheel system eliminates the relatively long mechanical structures such as the steering column and reversing knuckle. Instead, it uses an incremental encoder to collect the rotational angular velocity of the steering wheel at the vehicle end and outputs the control proportional reversing solenoid valve through the vehicle controller via a communication cable, thus making it smaller in size.

[0040] 2) The size and specifications of the remote control steering wheel are consistent with the original vehicle: The steering wheel is expanded to the corresponding size for different specifications and models of loaders, which can reduce the impact of steering feel on the steering feel due to the difference in steering wheel size, so that the driver has a more realistic operating experience during remote driving.

[0041] 3) The remote control steering wheel in the remote cockpit has no steering angle limit and is consistent with the original vehicle-side steering wheel: it is consistent with the steering wheel of the actual loader vehicle without steering angle limit.

[0042] 4) The mechanical damping structure is simpler, safer, and more reliable: By using a mechanical damper to realistically simulate the steering resistance of a vehicle during actual driving, the steering resistance during driving can be simulated, allowing the driver to experience a realistic steering feel during long-distance driving, thereby improving the driver's operating accuracy. Compared with existing game-like steering wheel motor simulation resistance solutions, its structure is simpler and more reliable.

[0043] 5) The original steering structure of the loader vehicle end is retained, and remote steering control is supported. The structural modification is simple.

[0044] 6) The steering wheel adopts a quick-release modular design, which can be directly applied to remote cockpit steering and vehicle-side steering systems;

[0045] Furthermore, in the remote control cabin, the steering controller is connected to the 5G wireless transceiver via an Ethernet (ETH) interface. The steering controller sends remote steering wheel angular velocity data to the 5G wireless transceiver, which in turn sends the remote steering wheel angular velocity data to the vehicle-side 5G wireless transceiver. Simultaneously, the 5G wireless transceiver receives vehicle body angle and local or remote driving mode data and sends this data to the steering controller via the CAN bus.

[0046] The steering controller in the remote control cabin or vehicle cockpit processes digital signals such as the input steering wheel angular velocity, vehicle body turning angle, and steering wheel rotation angular velocity through an internal program, and outputs a current signal to control the hysteresis damper. The damper is connected to the right output shaft of the T-type gearbox to impede the rotation of the steering wheel and simulate the damping of the real steering process.

[0047] When the steering controller in the remote control cabin determines that it is currently in local driving mode, regardless of how the vehicle body angle and steering wheel rotation speed change, the steering controller outputs 0 current, and thus the hysteresis damper outputs 0 reverse damping, indicating to the user that the steering operation in the current remote control cabin is invalid.

[0048] When the steering controller in the remote control cabin determines that it is currently in remote driving mode: taking clockwise as the positive direction, when the vehicle body angle is between -90% and +90%, the steering controller outputs a constant small current signal. This constant small current signal passes through a damper to output a constant small damping force opposite to the direction of steering wheel rotation. When the vehicle body angle is between +90% and +100%, and the steering wheel angular velocity is positive (continuing to turn the steering wheel all the way to the right), the controller output current increases linearly, and the corresponding damper outputs a counterforce that continues to increase, to prompt the user to continue turning the steering wheel as the vehicle approaches the right turn limit. When the vehicle body angle is between +90% and +100%, and the steering wheel angular velocity is negative (turning the steering wheel to the left), the controller outputs a constant small current signal. This constant small current signal passes through a damper to output a constant small damping force opposite to the direction of steering wheel rotation.

[0049] When the steering controller in the remote control cabin determines that it is currently in remote driving mode: taking clockwise as the positive direction, when the vehicle body angle is between -90% and -100%, the steering wheel angular velocity is negative (continuing to turn the steering wheel all the way to the left), the controller output current increases linearly, and the corresponding damper outputs a counterforce that continues to increase, to prompt the user to continue rotating the steering wheel as the vehicle approaches the left steering limit; when the vehicle body angle is between +90% and +100%, the steering wheel angular velocity is positive (turning the steering wheel to the right), the controller output current is a constant small current, and the constant small current signal passes through the damper to output a constant small damping force opposite to the direction of steering wheel rotation;

[0050] The steering controller of the remote control cabin is connected to the remote control cabin controller via a CAN bus interface. The steering controller transmits information such as steering wheel angular velocity, vehicle body turning angle, and local remote driving mode to the remote control cabin controller.

[0051] The remote control cockpit controller is connected to the monitoring screen via video ports such as HDMI to display information such as vehicle turning angle, steering wheel angular velocity, and local remote driving mode in real time, and to indicate remote vehicle status information to the driver.

[0052] Furthermore, a local remote selection switch is added to the vehicle-side cockpit. This digital switch signal is sent to the vehicle-side controller. The vehicle-side controller determines whether the vehicle-side steering wheel angular velocity signal or the remote-controlled steering wheel angular velocity signal is valid based on the state of the switch. In local mode, the corresponding vehicle-side steering wheel angular velocity signal is valid, and in remote mode, the corresponding remote-controlled steering wheel angular velocity signal is valid.

[0053] When the steering controller in the vehicle's cockpit determines that the remote driving mode is valid, regardless of changes in the vehicle's body angle and steering wheel rotation speed, the steering controller output current in the remote control cockpit is 0, and thus the hysteresis damper outputs reverse damping of 0, indicating to the user that the steering operation in the remote cockpit is invalid.

[0054] When the steering controller in the vehicle's cockpit determines that the local driving mode is active: taking clockwise as the positive direction, when the vehicle's turning angle is between -90% and +90%, the steering controller outputs a constant small current signal. This constant small current signal passes through a damper to output a constant small damping force opposite to the direction of steering wheel rotation. When the vehicle's turning angle is between +90% and +100%, and the steering wheel angular velocity is positive (continuing to turn the steering wheel all the way to the right), the controller's output current increases linearly, and the corresponding damper outputs an increasing counterforce to indicate to the user that the vehicle is approaching the right turn limit. When the vehicle's turning angle is between +90% and +100%, and the steering wheel angular velocity is negative (turning the steering wheel to the left), the controller outputs a constant small current signal. This constant small current signal passes through a damper to output a constant small damping force opposite to the direction of steering wheel rotation.

[0055] When the steering controller in the vehicle's cockpit determines that the local driving mode is active: taking clockwise as the positive direction, when the vehicle body angle is between -90% and -100%, the steering wheel angular velocity is negative (continuing to turn the steering wheel all the way to the left), the controller output current increases linearly, and the corresponding damper outputs a counterforce that continues to increase, to prompt the user to continue rotating the steering wheel as the vehicle approaches the left steering limit; when the vehicle body angle is between +90% and +100%, the steering wheel angular velocity is positive (turning the steering wheel to the right), the controller output current is a constant small current, and the constant small current signal passes through the damper to output a constant small damping force opposite to the direction of steering wheel rotation.

[0056] The vehicle-side controller controls the proportional directional solenoid valve according to the effective steering wheel angular velocity. The vehicle-side controller controls the proportional directional solenoid valve to perform directional switching according to the direction of the effective steering wheel angular velocity, and controls the opening degree of the proportional directional solenoid valve according to the magnitude of the effective steering wheel angular velocity.

[0057] A cylinder displacement sensor is installed on the steering cylinder to detect the steering cylinder displacement data. The cylinder displacement sensor transmits the cylinder displacement to the loader vehicle controller via the CAN bus interface.

[0058] The vehicle-side controller processes the cylinder displacement data and converts it into vehicle steering angle data, which is then output via a 5G wireless transceiver.

[0059] This application achieves high safety, strong compatibility, and excellent operating experience for the remote control driving and steering system of loaders through innovations such as modular design, passive damping mechanism, and low-cost hydraulic modification. It provides a standardized solution for the intelligentization of construction machinery and can be extended to excavators, bulldozers, and other equipment to realize the intelligent transformation of more equipment.

Claims

1. A remote control system for a loader, characterized by: The remote control end is located outside the vehicle body of the loader, and the controlled end is electrically connected with the vehicle end steering control unit. The loader includes a steering execution unit for executing the steering action of the loader, and the steering execution unit and the vehicle end steering control unit are electrically connected. A selection switch is installed on the loader to switch the control state of the loader between remote control and local control.

2. A remote control system for a loader as claimed in claim 1, characterized in that: The remote control end controls the action of the loader carrying the controlled end through wired communication and / or wireless communication.

3. A remote control system for a loader as claimed in claim 1, characterized in that: The vehicle end steering control unit includes a gear box connected with the vehicle end steering wheel and the steering controller, and an incremental encoder is arranged between the gear box and the steering controller to collect the rotation angular velocity of the vehicle end steering wheel.

4. A remote control system for a loader as claimed in claim 3, characterized in that: A hysteresis damper is further arranged on the gear box.

5. A remote control system for a loader as claimed in claim 1, characterized in that: The steering execution unit includes a steering hydraulic structure and a proportional reversing electromagnetic valve for controlling the steering hydraulic structure, and the vehicle end steering control unit controls the steering hydraulic structure to drive the steering of the loader by controlling the action of the proportional reversing electromagnetic valve.

6. A remote control system for a loader as claimed in claim 5, characterized in that: The steering hydraulic structure further includes a steering oil cylinder on which a vehicle body angle measuring unit is installed to measure the steering angle of the loader.

7. A remote control system for a loader as claimed in claim 1, characterized in that: The remote control end is installed in a remote control cabin, and a remote control steering wheel is arranged in the remote control cabin. The remote control steering wheel is connected with a remote control steering control unit.

8. A remote control system for a loader as claimed in claim 7, characterized in that: The remote control steering wheel is installed in the remote control cabin through a quick release structure.

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