Engineering machinery autonomous control system and method based on 5G network
阅读说明：本技术 基于5g网络的工程机械自主控制系统及方法 (Engineering machinery autonomous control system and method based on 5G network ) 是由 杨超 徐标 高娇 耿乙森 于 2020-06-10 设计创作，主要内容包括：本发明公开了基于5G网络的工程机械自主控制系统及方法,系统包括远程控制端及设备控制端,能够实现人工远程遥控模式、自主行驶+自主作业复合模式、自主行驶模式、自主作业模式,并且能够在不同模式间切换。在人工远程遥控模式下,操作人员在可以查看实时图像,实现对现场设备的人工远程操作；自主工作模式下,通过作业管理系统生成自主模式下的工作任务文件,连同模式选择信号一起经过5G网络传输给设备控制端的自主控制系统,自主控制系统在各模块的联合作用下实现自主工作。设备控制权的接管包括主动接管及选择接管。本发明不受距离、作业场地等限制,使操作人员远离复杂和危险的施工作业现场,有效确保作业人员的人身安全。(The invention discloses an engineering machinery autonomous control system and method based on a 5G network, wherein the system comprises a remote control end and an equipment control end, can realize a manual remote control mode, an autonomous driving and autonomous operation composite mode, an autonomous driving mode and an autonomous operation mode, and can switch among different modes. In the manual remote control mode, an operator can check the real-time image to realize manual remote operation on the field equipment; and under the autonomous working mode, a working task file under the autonomous mode is generated by the operation management system and is transmitted to an autonomous control system of the equipment control end together with the mode selection signal through the 5G network, and the autonomous control system realizes autonomous working under the combined action of the modules. The device control authority is taken over by active taking over and selective taking over. The invention is not limited by distance, operation field and the like, so that the operator is far away from a complex and dangerous construction operation field, and the personal safety of the operator is effectively ensured.)
1. Engineering machine tool autonomous control system based on 5G network, its characterized in that: including remote control end and equipment control end, wherein the remote control end includes:
an operation table: comprises an operating seat, a steering device, a control handle, an accelerator/brake pedal, a functional switch and a mode selection switch;
an audio and video display system: the device comprises a display device and a host used for processing audio and video signals;
an operation management system: loading, editing and transmitting a work task in an autonomous work mode;
the remote control system comprises: the system comprises a programmable controller, a signal conversion device and a signal processing device, wherein the programmable controller is used for acquiring an input signal of an operation console and outputting the input signal to the signal conversion device;
the signal conversion device I: converting the received remote control system signal into an Ethernet signal and sending the Ethernet signal to a network switch;
a network switch I: receiving signals of the operation management system and the signal conversion device, carrying out signal communication with the 5G communication module, and outputting audio and video signals to an audio and video display system;
5G communication module I: connecting a 5G network;
the equipment control end comprises:
vehicle-mounted monitoring system: collecting audio and video information around equipment;
a network switch: receiving a signal of the vehicle-mounted monitoring system, communicating with the 5G communication module and the signal conversion device II, and transmitting the task file to the equipment control system;
a second signal conversion device: communicating with the equipment control system and the network switch;
the vehicle-mounted control system comprises: the device comprises a main controller and a bottom layer controller, wherein the main controller is connected with a second signal conversion device, and the bottom layer controller is used for sending a control instruction to an equipment end execution device according to a signal of the main controller and feeding back state information of the equipment end execution device to the main controller;
and 5G communication module II: connecting a 5G network;
the equipment end executing device: the driving equipment steering device, the control handle accelerator/brake pedal and the function switch act.
2. The engineering machinery autonomous control system based on 5G network of claim 1, characterized in that: the main controller includes:
a task input module: reading a work task file and transmitting the work task file to a planning module;
a positioning module: acquiring the position and course information of the equipment and transmitting the information to a planning module;
a perception module: the system comprises a sensor arranged on equipment, wherein the sensor transmits acquired equipment information and surrounding obstacle information to a planning module; the sensor comprises a laser radar, a millimeter wave radar, a length sensor and an angle sensor;
a planning module: a task strategy is formulated according to input data of the task input module, the positioning module and the sensing module, and a corresponding control signal is generated and transmitted to the bottom controller; and receiving the state information of the equipment end execution device fed back by the bottom layer controller.
3. The engineering machinery autonomous control method based on the 5G network is characterized by comprising the following steps: the method comprises the following steps:
after the device control end of the target device is connected with the remote control end through a 5G network, transmitting the field audio and video signals and the state data to the remote control end;
remotely controlling the control right of the end pipe device, selecting a control mode of the device and controlling the device;
the state data comprises a steering device, a control handle, an accelerator/brake pedal, function switch data, position steering, steering data and peripheral obstacle data of the equipment;
the control mode comprises a manual remote control mode, an autonomous driving and autonomous operation combined mode, an autonomous driving mode and an autonomous operation mode.
4. The autonomous control method of engineering machinery based on 5G network of claim 3, wherein the control step of the manual remote control mode is as follows:
when the equipment control end receives a signal of a manual remote control mode, matching a steering device, a control handle, an accelerator/brake pedal and a function switch of the remote control end with the steering device, the control handle, the accelerator/brake pedal and the function switch of the equipment control end;
operating the operation console according to the field audio and video signals and the state data of the equipment, and transmitting control signals generated by the operation console to the vehicle-mounted control system through the 5G network;
the vehicle-mounted control system transmits the control signal to the equipment end execution device;
the equipment end executing device controls a steering device, a control handle, an accelerator/brake pedal and a function switch of the equipment.
5. The construction machinery autonomous control method based on 5G network according to claim 3, wherein the control step of the autonomous driving + autonomous working compound mode is:
when the operation management system receives the mode signal, the operation management system generates a work task file in an autonomous driving and autonomous operation mode, and transmits the work task file and the mode selection signal to a main controller of an equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the walking and the operation of the equipment through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
6. The construction machinery autonomous control method based on 5G network according to claim 5, characterized in that: in the process of controlling the walking and the operation of the equipment by the equipment end executing device, the operation planning of the operation surface is made by combining the distribution condition of the operation surface materials collected by the sensing module, the matching relation among the control oil cylinders is calculated in real time according to each operation action, and the step control signals of each executing device are calculated.
7. The construction machinery autonomous control method based on the 5G network according to claim 3, characterized in that: the control steps of the autonomous driving mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file of an autonomous driving mode and transmits the work task file and the mode selection signal to a main controller of an equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the equipment to walk through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
8. The construction machinery autonomous control method based on the 5G network according to claim 7, wherein: and in the autonomous running process of the equipment, the main controller monitors whether the equipment can run normally in real time, and if the equipment cannot run normally, the main controller suspends the work, sends a prompt signal to the remote control end and transfers the control right of the equipment to the remote control end.
9. The construction machinery autonomous control method based on the 5G network according to claim 3, characterized in that: the control steps of the autonomous working mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file in an autonomous job mode and transmits the work task file and the mode selection signal to a main controller of the equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the walking of the equipment through the bottom layer controller and the equipment end execution device in sequence according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
10. The construction machinery autonomous control method based on the 5G network according to claim 9, wherein: and in the process of the equipment operation mode, the main controller monitors whether the equipment can normally operate in real time, if the equipment cannot normally operate, the main controller suspends the operation, sends a prompt signal to the remote control end and transfers the control right of the equipment to the remote control end.
Technical Field
The invention relates to the technical field of engineering machinery remote control, autonomous driving and autonomous operation, in particular to an engineering machinery autonomous control system and method based on a 5G network.
Background
The engineering machinery is widely applied to important strategic engineering and infrastructure construction, is a strategic industry for supporting the national economic development of China, and plays an extremely important role. The engineering machinery working environment in some special industries is extremely bad, such as: toxic gas and waste gas occasions, garbage cleaning, emergency rescue and relief work, tunnel excavation, explosion-proof operation, radioactive occasion operation and the like. These harsh working environments cause great difficulty and inconvenience to workers, some working environments may also generate toxic gas, cause explosion or collapse danger, and any work can not be carried out at the expense of health and life of the workers, so how to realize remote control and even autonomous control of the engineering machine becomes a key point of modern engineering machine research.
With the rapid development of the 5G technology, the 5G network has the advantages of high transmission rate, low time delay, high reliability and the like, so that the ultra-long distance control of the engineering machinery is realized. However, the existing remote control of the construction machine still has many problems. Because the field environment of the equipment is observed at the remote operation end through the display, the stereoscopic impression is not strong, the operation experience is not real, and the long-time operation is difficult. And because of the limitation of the equipment to acquire the environment image, an operator can not flexibly operate mechanical equipment or effectively avoid obstacles, the working efficiency of the operator is influenced, and the safety is reduced.
The patent CN110747930A adopts two working modes, including a manual control mode, which is the same as the operation and control method of the traditional excavator, and a manual control module is used to operate the excavator control system to perform construction operation; a remote control mode is also included; the remote control mode comprises a construction site part and a remote control room part, and the two parts are used for transmitting signals through two 5G network transmission modules.
The patent CN110747930A adopts a manual control and remote control dual-mode, can realize that the operability is deficient when the remote control is manually made up, but needs 'double control', can not make the on-site operator far away from the environment where the equipment is located, and has little application value.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an engineering machinery autonomous control system and method based on a 5G network, and solves the technical problems that the engineering machinery autonomous control mode is single and the practicability is not strong in the prior art.
In order to achieve the above purpose, the invention adopts the following technical scheme:
engineering machinery autonomous control system based on 5G network: including remote control end and equipment control end, wherein the remote control end includes:
an operation table: comprises an operating seat, a steering device, a control handle, an accelerator/brake pedal, a functional switch and a mode selection switch;
an audio and video display system: the device comprises a display device and a host used for processing audio and video signals;
an operation management system: loading, editing and transmitting a work task in an autonomous work mode;
the remote control system comprises: the system comprises a programmable controller, a signal conversion device and a signal processing device, wherein the programmable controller is used for acquiring an input signal of an operation console and outputting the input signal to the signal conversion device;
the signal conversion device I: converting the received remote control system signal into an Ethernet signal and sending the Ethernet signal to a network switch;
a network switch I: receiving signals of the operation management system and the signal conversion device, carrying out signal communication with the 5G communication module, and outputting audio and video signals to an audio and video display system;
5G communication module I: connecting a 5G network;
the equipment control end comprises:
vehicle-mounted monitoring system: collecting audio and video information around equipment;
a network switch: receiving a signal of the vehicle-mounted monitoring system, communicating with the 5G communication module and the signal conversion device II, and transmitting the task file to the equipment control system;
a second signal conversion device: communicating with the equipment control system and the network switch;
the vehicle-mounted control system comprises: the device comprises a main controller and a bottom layer controller, wherein the main controller is connected with a second signal conversion device, and the bottom layer controller is used for sending a control instruction to an equipment end execution device according to a signal of the main controller and feeding back state information of the equipment end execution device to the main controller;
and 5G communication module II: connecting a 5G network;
the equipment end executing device: the driving equipment steering device, the control handle accelerator/brake pedal and the function switch act.
As a preferred embodiment of the present invention, the construction machine autonomous control system based on the 5G network: the main controller includes:
a task input module: reading a work task file and transmitting the work task file to a planning module;
a positioning module: acquiring the position and course information of the equipment and transmitting the information to a planning module;
a perception module: the system comprises a sensor arranged on equipment, wherein the sensor transmits acquired equipment information and surrounding obstacle information to a planning module; the sensor comprises a laser radar, a millimeter wave radar, a length sensor and an angle sensor;
a planning module: a task strategy is formulated according to input data of the task input module, the positioning module and the sensing module, and a corresponding control signal is generated and transmitted to the bottom controller; and receiving the state information of the equipment end execution device fed back by the bottom layer controller.
The engineering machinery autonomous control method based on the 5G network comprises the following steps: the method comprises the following steps:
after the device control end of the target device is connected with the remote control end through a 5G network, transmitting the field audio and video signals and the state data to the remote control end;
remotely controlling the control right of the end pipe device, selecting a control mode of the device and controlling the device;
the state data comprises a steering device, a control handle, an accelerator/brake pedal, function switch data, position steering, steering data and peripheral obstacle data of the equipment;
the control mode comprises a manual remote control mode, an autonomous driving and autonomous operation combined mode, an autonomous driving mode and an autonomous operation mode.
As a preferred embodiment of the present invention, in the above engineering machinery autonomous control method based on a 5G network, the control steps of the manual remote control mode are:
when the equipment control end receives a signal of a manual remote control mode, matching a steering device, a control handle, an accelerator/brake pedal and a function switch of the remote control end with the steering device, the control handle, the accelerator/brake pedal and the function switch of the equipment control end;
operating the operation console according to the field audio and video signals and the state data of the equipment, and transmitting control signals generated by the operation console to the vehicle-mounted control system through the 5G network;
the vehicle-mounted control system transmits the control signal to the equipment end execution device;
the equipment end executing device controls a steering device, a control handle, an accelerator/brake pedal and a function switch of the equipment.
As a preferred embodiment of the present invention, in the above-mentioned construction machinery autonomous control method based on a 5G network, the control step of the autonomous driving + autonomous operation compound mode is:
when the operation management system receives the mode signal, the operation management system generates a work task file in an autonomous driving and autonomous operation mode, and transmits the work task file and the mode selection signal to a main controller of an equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the walking and the operation of the equipment through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
As a preferred embodiment of the present invention, the construction machine autonomous control method based on the 5G network includes: in the process of controlling the walking and the operation of the equipment by the equipment end executing device, the operation planning of the operation surface is made by combining the distribution condition of the operation surface materials collected by the sensing module, the matching relation among the control oil cylinders is calculated in real time according to each operation action, and the step control signals of each executing device are calculated.
As a preferred embodiment of the present invention, the construction machine autonomous control method based on the 5G network includes: the control steps of the autonomous driving mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file of an autonomous driving mode and transmits the work task file and the mode selection signal to a main controller of an equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the equipment to walk through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
As a preferred embodiment of the present invention, the construction machine autonomous control method based on the 5G network includes: and in the autonomous running process of the equipment, the main controller monitors whether the equipment can run normally in real time, and if the equipment cannot run normally, the main controller suspends the work, sends a prompt signal to the remote control end and transfers the control right of the equipment to the remote control end.
As a preferred embodiment of the present invention, the construction machine autonomous control method based on the 5G network includes: the control steps of the autonomous working mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file in an autonomous job mode and transmits the work task file and the mode selection signal to a main controller of the equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the walking of the equipment through the bottom layer controller and the equipment end execution device in sequence according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation and pose state information fed back by the bottom layer controller in real time and dynamically updates control signals in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
As a preferred embodiment of the present invention, the construction machine autonomous control method based on the 5G network includes: and in the process of the equipment operation mode, the main controller monitors whether the equipment can normally operate in real time, if the equipment cannot normally operate, the main controller suspends the operation, sends a prompt signal to the remote control end and transfers the control right of the equipment to the remote control end.
The invention achieves the following beneficial effects:
the invention utilizes the advantages of high transmission rate, low time delay, high reliability and the like of the 5G network to realize the ultra-long distance control of the engineering machinery, so that the transmission rate is faster, the time delay is lower and the reliability is higher. The invention can enable an operator to observe the working environment and state of the equipment in an environment far away from the site, and provides a manual remote control mode, an autonomous driving and autonomous operation compound mode, an autonomous driving mode and an autonomous operation mode, thereby improving the diversity of remote operation and enabling users to have more flexible and abundant choices.
The operator at the remote control end of the invention has two modes of taking over the control right of the equipment, can actively take over the control right of the equipment and can also take over the control right of the equipment according to the prompt. When the operator judges that the equipment cannot continue the autonomous operation mode (autonomous driving or autonomous operation), the control right of taking over the equipment can be actively selected through a mode switch positioned on the operation platform; when the equipment in the automatic working mode detects a complex condition that the automatic working cannot be continued, the equipment can pause working and send an instruction to prompt an operator at the remote control end to take over the control right of the equipment.
The invention is not limited by distance, operation field and the like, so that an operator can be far away from a remote control end of a complex and dangerous construction operation field to carry out manual remote control or the equipment can operate autonomously, and the personal safety of the operator is effectively ensured.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a schematic diagram of the remote control system of the present invention;
FIG. 3 is a schematic diagram of the control end system of the device of the present invention;
FIG. 4 is a flow chart of the present invention;
FIG. 5 is a schematic diagram of the layout of sensors at the control end of the apparatus (for example, a wheeled excavator) according to the present invention;
fig. 6 is a schematic diagram of the layout of sensors at the control end of the equipment (for example, a walking excavator) according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 3: this embodiment discloses engineering machine tool autonomous control system based on 5G network, including remote control end and equipment control end, wherein the remote control end includes:
an operation table: comprises an operating seat, a steering device, a control handle, an accelerator/brake pedal, a functional switch and a mode selection switch.
An audio and video display system: the display device comprises 5 displays, the host preferably adopts a high-performance host, and the audio and video display system is used for displaying sound and images transmitted back on site and allowing an operator to observe the working environment and the self state of the device on site in real time.
The job management system is software installed on a high-performance host, can load, edit and transmit a work task file in an autonomous working mode, and transmits the file to a main controller of a device control end through a 5G network to execute a work task in the autonomous working mode.
The remote control system comprises: the programmable controller special for engineering machinery is arranged on an operation table and used for acquiring input signals of the operation table, such as control signals of a control handle, a switch and the like, outputting the input signals to a signal conversion device and outputting the input signals in a CAN bus signal mode.
The signal conversion device I: and converting the received remote control system signal (CAN bus signal) into an Ethernet signal and sending the Ethernet signal to the network switch.
A network switch I: and receiving signals of the operation management system and the signal conversion device, carrying out signal communication with the 5G communication module, and outputting audio and video signals to an audio and video display system.
5G communication module I: and connecting the whole remote control terminal with the 5G network.
The equipment control end comprises:
vehicle-mounted monitoring system: the device is arranged around a device body and used for collecting audio and video information around the device;
a network switch: receiving a signal of the vehicle-mounted monitoring system, communicating with the 5G communication module and the signal conversion device II, and transmitting the task file to the equipment control system;
a second signal conversion device: the CAN bus signal conversion device is used for converting a network signal transmitted through a wireless network into a controller CAN bus signal and is connected to the switch;
the vehicle-mounted control system comprises: the device comprises a main controller and a bottom layer controller, wherein the main controller is connected with a second signal conversion device, and the bottom layer controller is used for sending a control instruction to an equipment end execution device according to a signal of the main controller and feeding back state information of the equipment end execution device to the main controller;
preferably, the main controller includes: task input module, positioning module, sensing module, planning module and remote control system
A task input module: reading a work task file and transmitting the work task file to a planning module;
a positioning module: acquiring the position and the course information of the equipment (acquired by a differential GPS installed on the equipment) and transmitting the position and the course information to a planning module;
a perception module: the system comprises a sensor arranged on equipment, wherein the sensor transmits acquired equipment information and surrounding obstacle information to a planning module; the sensor comprises a laser radar, a millimeter wave radar, a length sensor and an angle sensor; the laser radar is used for detecting operation environment information in real time, the millimeter wave radar is used for detecting surrounding obstacle information in real time, and the length sensor and the angle sensor are used for detecting the operation posture of the working device in real time.
A planning module: a task strategy is formulated according to input data of the task input module, the positioning module and the sensing module, and a corresponding control signal is generated and transmitted to the bottom controller; and receiving the state information of the equipment end execution device fed back by the bottom layer controller.
And 5G communication module II: connecting the control end of the whole equipment with a 5G network;
the equipment end executing device: the driving equipment comprises a steering device, a control handle accelerator/brake pedal and a function switch (such as an emergency stop switch and a light control switch).
As shown in fig. 4 to 6: the embodiment also discloses an engineering machinery autonomous control method based on the 5G network, which is operated according to the following steps:
firstly, the equipment is powered on (a remote control end and an equipment control end), and after the equipment control end of target (controlled) equipment is connected with the remote control end through a 5G network, a field audio/video signal and state data are transmitted to the remote control end, wherein the state data specifically comprise a steering device, a control handle, an accelerator/brake pedal, function switch data, position steering, steering data and surrounding obstacle data of the equipment.
Then, selecting a control mode of the equipment according to the requirement, and controlling the equipment; the control mode specifically comprises a manual remote control mode, an autonomous driving and autonomous operation combined mode, an autonomous driving mode and an autonomous operation mode.
The control steps of the manual remote control mode are as follows:
when the equipment control end receives a signal of a manual remote control mode, a steering device, a control handle, an accelerator/brake pedal and a function switch of the remote control end are matched (synchronized) with the steering device, the control handle, the accelerator/brake pedal and the function switch of the equipment control end.
Then, operating an operation console (a handle, a pedal and the like) according to the field audio and video signals and the state data of the equipment, and transmitting a control signal generated by the operation console to a vehicle-mounted control system through a 5G network;
the vehicle-mounted control system transmits the control signal to the main controller, and the main controller judges that the vehicle-mounted control system is in a manual remote control mode and transmits the control signal to the bottom controller; the bottom controller executes the control signal transmitted by the main controller, controls the execution device and realizes remote control running, operation and other actions of the equipment.
The control steps of the compound mode of the autonomous driving and the autonomous operation are as follows:
when the operation management system receives a mode signal (autonomous driving and autonomous operation compound mode), the operation management system generates a work task file in the autonomous driving and autonomous operation mode, and transmits the work task file and the mode selection signal to a main controller of an equipment control end;
a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module;
the main controller controls the walking and the operation of the equipment through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation information fed back by the bottom layer controller in real time and dynamically updates a control signal in real time; and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
In the process of the autonomous driving and autonomous operation compound mode, the equipment end execution device performs walking and operation control on the equipment, and also performs operation planning on an operation surface by combining the distribution condition of the operation surface materials acquired by the sensing module, calculates the matching relation between the control oil cylinders (taking an excavator as an example, and the main driving devices of most engineering machinery are hydraulically controlled) in real time according to the operation (digging) action of each time, and calculates the step-by-step control signals of each execution device.
The control steps of the autonomous driving mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file of an autonomous driving mode and transmits the work task file and the mode selection signal to a main controller of an equipment control end; a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; the sensing module transmits the acquired equipment information and surrounding obstacle information to the planning module; the main controller controls the equipment to walk through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; and the main controller receives the equipment operation information fed back by the bottom layer controller in real time and dynamically updates the control signal in real time. And when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
In the autonomous driving process of the equipment, the main controller monitors whether the equipment can normally drive in real time, if the equipment cannot normally drive, for example, the equipment monitors that a path to be passed in a work task has a river which cannot pass through, the equipment suspends working and sends a prompt signal to the remote control end, the prompt signal can be displayed on an audio and video display system, or a sound alarm prompt and a popup information text box (displaying task suspension) are sent, and the prompt signal is sent to transfer the control right of the equipment to the remote control end.
The control steps of the autonomous working mode are as follows:
when the job management system receives the mode signal, the job management system generates a work task file in an autonomous job mode and transmits the work task file and the mode selection signal to a main controller of the equipment control end; a task input module of the main controller reads the work task file and transmits the work task file to a planning module; the positioning module acquires the position and course information of the equipment in real time and transmits the information to the planning module; and the sensing module transmits the acquired equipment information and the surrounding obstacle information to the planning module.
Then, the main controller controls the equipment to walk through the bottom controller and the equipment end executing device in turn according to the work task file in combination with the position, the course information, the equipment information and the surrounding obstacle information of the equipment; the main controller receives equipment operation information fed back by the bottom layer controller in real time and dynamically updates a control signal in real time;
and when the work task is finished, stopping working, and sending a work task execution finishing signal to the remote control end through the main controller.
In the process of the equipment operation mode, the main controller monitors whether the equipment can normally operate in real time, if the equipment cannot normally operate, if the situation that huge stones are mixed in the bulk material pile is detected, excavation cannot be continued, the operation is suspended, a prompt signal is sent to the remote control end, and the control right of the equipment is transferred to the remote control end.
Compared with the prior art, the invention utilizes the advantages of high transmission rate, low time delay, high reliability and the like of the 5G network to realize the ultra-long distance control of the engineering machinery, so that the transmission rate is faster, the time delay is lower and the reliability is higher. The invention can enable an operator to observe the working environment and state of the equipment in an environment far away from the site, and provides a manual remote control mode, an autonomous driving and autonomous operation compound mode, an autonomous driving mode and an autonomous operation mode, thereby improving the diversity of remote operation and enabling users to have more flexible and abundant choices.
The operator at the remote control end of the invention has two modes of taking over the control right of the equipment, can actively take over the control right of the equipment and can also take over the control right of the equipment according to the prompt. When the operator judges that the equipment cannot continue the autonomous operation mode (autonomous driving or autonomous operation), the control right of taking over the equipment can be actively selected through a mode switch positioned on the operation platform; when the equipment in the automatic working mode detects a complex condition that the automatic working cannot be continued, the equipment can pause working and send an instruction to prompt an operator at the remote control end to take over the control right of the equipment.
The invention is not limited by distance, operation field and the like, so that an operator can be far away from a remote control end of a complex and dangerous construction operation field to carry out manual remote control or the equipment can operate autonomously, and the personal safety of the operator is effectively ensured.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.