Control system and control method of unmanned engineering machinery

Patent metadata

Field	Value
Publication number	US-11356510-B2
Application number	US-201916726549-A
Country	US
Kind code	B2
Filing date	Dec 24, 2019
Priority date	Dec 26, 2018
Publication date	Jun 7, 2022
Grant date	Jun 7, 2022

Abstract

Embodiments of the present disclosure disclose a control system and a control method of an unmanned engineering machinery. The system includes at least a slave computer, a master computer and an execution device. The slave computer is configured to receive a current sensing value fed back by a sensing device in the unmanned engineering machinery, and to send the current sensing value to the master computer. The master computer is configured to generate a control instruction according to the current sensing value and a predetermined target sensing value of the sensing device, and to send the control instruction to the execution device through the slave computer.

First claim

What is claimed is:

1. A control system of an unmanned engineering machinery, comprising: a slave computer, a master computer and an execution device;
wherein, the slave computer is configured to receive a current sensing value fed back by a sensing device in the unmanned engineering machinery, and to send the current sensing value to the master computer, wherein the sensing device comprises: at least one first sensing device in a working device of the unmanned engineering machinery and at least one second sensing device in a slewing device of the unmanned engineering machinery;
the master computer is configured to generate a control instruction according to the current sensing value and a predetermined target sensing value of the sensing device, and to send the control instruction to the execution device through the slave computer; and
the execution device is configured to perform a control operation corresponding to the control instruction on the unmanned engineering machinery.

2. The system according to claim 1 , wherein the slave computer comprises: a sense receiving module and a sense sending module;
wherein, the sense receiving module is configured to receive the current sensing value, and to send the current sensing value to the sense sending module; and
the sense sending module is configured to receive the current sensing value sent from the sense receiving module, and to send the current sensing value to the master computer.

3. The system according to claim 2 , wherein the master computer comprises: a control receiving module and a control sending module;
wherein, the control receiving module is configured to receive the current sensing value sent from the sense sending module, to generate the control instruction according to the current sensing value and the predetermined target sensing value of the sensing device, and to send the control instruction to the control sending module; and
the control sending module is configured to receive the control instruction sent from the control receiving module, and to send the control instruction to the execution device.

4. The system according to claim 2 , wherein
the sense receiving module is configured to receive a first current sensing value fed back by the at least one first sensing device and a second current sensing value fed back by the at least one second sensing device, and to send the first current sensing value and the second current sensing value to the sense sending module; and
the sense sending module is configured to receive the first current sensing value and the second current sensing value sent from the sense receiving module, and to send the first current sensing value and the second current sensing value to the master computer.

5. The system according to claim 4 , wherein
the control receiving module is configured to receive the first current sensing value and the second current sensing value sent from the sense sending module, to generate at least one first control instruction according to the first current sensing value and a predetermined first target sensing value of the at least one first sensing device, to generate at least one second control instruction according to the second current sensing value and a predetermined second target sensing value of the at least one second sensing device, and to send the at least one first control instruction and the at least one second control instruction to the control sending module; and
the control sending module is configured to receive the at least one first control instruction and the at least one second control instruction sent from the control receiving module, and to send the at least one first control instruction and the at least one second control instruction to the execution device through the slave computer.

6. The system according to claim 5 , wherein the execution device comprises: a first execution device and a second execution device;
the first execution device is configured to receive the at least one first control instruction sent from the control sending module through the slave computer, to perform a control operation corresponding to the at least one first control instruction on the working device of the unmanned engineering machinery, in which the first control instruction comprises: a first opening control instruction and a first closing control instruction; and
the second execution device is configured to receive the at least one second control instruction sent from the control sending module through the slave computer, to perform a control operation corresponding to the at least one second control instruction on the slewing device of the unmanned engineering machinery, in which the second control instruction comprises: a second opening control instruction and a second closing control instruction.

7. The system according to claim 6 , wherein, the first execution device is configured to open an electromagnetic valve in the working device of the unmanned engineering machinery when an output value of the at least one first control instruction is a first output value, and to close the electromagnetic valve in the working device of the unmanned engineering machinery when the output value of the at least one first control instruction is a second output value; or
the first execution device is configured to close the electromagnetic valve in the working device of the unmanned engineering machinery when the output value of the at least one first control instruction is the first output value, and to open the electromagnetic valve in the working device of the unmanned engineering machinery when the output value of the at least one first control instruction is the second output value.

8. The system according to claim 6 , wherein,
the second execution device is configured to open an electromagnetic valve in the slewing device of the unmanned engineering machinery when an output value of the at least one second control instruction is a first output value, and to close the electromagnetic valve in the slewing device of the unmanned engineering machinery when the output value of the at least one second control instruction is a second output value; or
the first execution device is configured to close the electromagnetic valve in the slewing device of the unmanned engineering machinery when the output value of the at least one second control instruction is the first output value, and to open the electromagnetic valve in the slewing device of the unmanned engineering machinery when the output value of the at least one second control instruction is the second output value.

9. The system according to claim 1 , wherein the at least one first sensing device comprises a first draw-wire displacement sensor, a second draw-wire displacement sensor and a third draw-wire displacement sensor, the at least one second sensing device comprises a rotating potentiometer; the first draw-wire displacement sensor is arranged at a first joint of the working device of the unmanned engineering machinery, the second draw-wire displacement sensor is arranged at a second joint of the working device of the unmanned engineering machinery, the third draw-wire displacement sensor is arranged at a third joint of the working device of the unmanned engineering machinery, and the rotating potentiometer is arranged at a specific joint of the slewing device of the unmanned engineering machinery.

10. A control method of an unmanned engineering machinery, comprising:
receiving, by a slave computer of the unmanned engineering machinery, a first current sensing value fed back by at least one first sensing device in a working device of the unmanned engineering machinery and a second current sensing value fed back by at least one second

Assignees

• Beijing Baidu Netcom Sci & Tech Co Ltd

Inventors

• Cheng Xinjing
• Yang Ruigang
• Xu Hao
• Lu Feixiang
• Yang Yajue

Classifications

• G05B19/04 Primary

  Program control other than numerical control, i.e. in sequence controllers or logic controllers (G05B19/418 takes precedence) · CPC title

• G05B19/0421

  Multiprocessor system · CPC title

• G05B2219/31393

  Object oriented engineering data management · CPC title

• H04L67/12 Primary

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• G05B19/0428 Primary

  Safety, monitoring (G05B19/0423 takes precedence) · CPC title