The autonomous control and communication are the key technologies for unmanned earthwork machinery, and vehicle control terminals with compatibility are essential. This research develops a smart terminal-box (T-box) compatible with various types of unmanned earthwork machinery (including bulldozers, graders, and rollers). The data encoding and decoding model for the T-box communication is formulated to meet the instructions transmission requirements. Combined with our proposed control method implemented in the Internet of Vehicles (IoV) platform, we can achieve high-precision trajectory control. Heterogeneous mechanical data can be interacted in real time in our proposed system. Multiple experiments were implemented, and results show that our proposed T-box can realize low-latency with average value of 27.03 ms. In unstructured construction sites, we can achieve trajectory control with average error of less than 0.1 m. Our research is of great significance for realizing autonomous control of unmanned earthmoving machines.

自主控制与通信是无人土方机械的关键技术，兼容的车载控制终端必不可少。本研究开发了一种与各类无人土方机械（包括推土机、平地机、压路机）兼容的智能接线盒（T-box）。为满足指令传输要求，制定了T-box通信的数据编解码模型。结合我们提出的在车联网（IoV）平台上实现的控制方法，我们可以实现高精度的轨迹控制。异构机械数据可以在我们提出的系统中实时交互。进行了多次实验，结果表明我们提出的 T-box 可以实现平均 27.03 ms 的低延迟。在非结构化的建筑工地，我们可以实现平均误差小于0.1 m的轨迹控制。我们的研究对于实现无人土方机械的自主控制具有重要意义。