CN108183847A - The engineer machinery operation tele-control system and method for a kind of low time delay - Google Patents
The engineer machinery operation tele-control system and method for a kind of low time delay Download PDFInfo
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- CN108183847A CN108183847A CN201810045556.0A CN201810045556A CN108183847A CN 108183847 A CN108183847 A CN 108183847A CN 201810045556 A CN201810045556 A CN 201810045556A CN 108183847 A CN108183847 A CN 108183847A
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- 238000000034 method Methods 0.000 title claims description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 claims description 27
- 238000012544 monitoring process Methods 0.000 claims description 24
- 230000007613 environmental effect Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 238000012552 review Methods 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 239000000126 substance Substances 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 8
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 231100001261 hazardous Toxicity 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/3822—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving specially adapted for use in vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/104—Peer-to-peer [P2P] networks
- H04L67/1074—Peer-to-peer [P2P] networks for supporting data block transmission mechanisms
- H04L67/1078—Resource delivery mechanisms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Computer Security & Cryptography (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The engineer machinery operation tele-control system of a kind of low time delay, including being mounted on the indoor control device of remote driving, remote controller I, data radio station I and mounted on the indoor data radio station II of remote driving, remote controller II, Vehicle Controller.Control device is used to send out control signal；Remote controller I is encoded after controlling signal for reception and protocol conversion；Data radio station I, data radio station II are used for transmission control data and status data after the coding of remote controller I；Vehicle Controller is used to that executing agency to be controlled to perform action；Remote controller II is used to receive the signal of data radio station II and decode and be converted into fieldbus signal to send to Vehicle Controller.Control device includes handle, switch, throttle, braking, steering wheel.The present invention is solved in processing dangerous material, chemicals, radiant matter and geological disaster rescue danger, harsh operating environment, by remote control engineering machinery, reduces the harm to the health and safety of driver.
Description
Technical field
The present invention relates to internet communication technical fields, and in particular to a kind of engineer machinery operation remote control of low time delay
System and method.
Background technology
As the rapid development of sociaty and economy, people are higher and higher for the attention degree of working environment.Severe work
Environment often brought to the operation of worker it is greatly difficult and inconvenient, some operating environments be also possible to generate toxic, explosion or
The danger that person is caved in, any work development all cannot with sacrifice operating personnel health and be claimed as cost.With nuclear industry,
The rapid development in the fields such as ocean operation, space development, engineering machinery robotization is future direction, and wireless remote control technology
Occupy critically important status wherein.
In the prior art, the over the horizon engineering machinery remote control technology based on 4G real-time performances.Its principle is to utilize 4G nets
Network communicates, and establishing data between controlled car body and remote control device communicates, and remote control manipulator is performed by remote control device
Operational order be sent to controlled car body and perform corresponding actions, and controlled car body surrounding enviroment image and job parameter are sent to
On remote control device so that remote control manipulator can obtain car body dynamic.
It is communicated using the controlled car body of 4G real-time performances with remote control, therefore have dependence for the infrastructure of telecommunication,
There is no the region that 4G signals cover not use directly, need to carry communication base station；4G network communication reliabilities are poor, postpone compared with
It is high；4G communication generation expenses, it is higher to be used for a long time cost.
Invention content
Insufficient according to prior art, the present invention provides engineer machinery operation tele-control system and the side of a kind of low time delay
Method.
The present invention is realized by following technical scheme：
A kind of engineer machinery operation tele-control system of low time delay, including：
Control device, which is mounted in remote driving room, for sending out control signal；
Remote controller I, the remote controller I be mounted on remote driving room in, for receive control signal after carry out coding and
Protocol conversion；
Data radio station I, data radio station II, data radio station I are mounted in remote driving room, and data radio station II is installed mechanically,
The two is used for transmission control data and status data after the coding of remote controller I；
Executing agency；
Vehicle Controller, the Vehicle Controller are installed mechanically, for executing agency to be controlled to perform action；And
Remote controller II, which installs mechanically, for receiving the signal of data radio station II and decoding simultaneously
Fieldbus signal is converted into send to Vehicle Controller.
Preferably, the control device includes handle, switch, throttle, braking, steering wheel.
Preferably, on-stream monitoring system is further included, which includes job parameter monitoring, operation image prison
Survey, the transmission of monitoring data and display device.
Preferably, job parameter monitoring signals are generated by executing agency, and it is total that remote controller II monitors Vehicle Controller
Line network data is extracted the job parameter of needs and is encoded, and remote controller I is issued through data radio station II, data radio station I
Decoding, is shown by status lamp and display.
Preferably, operation image monitoring data by multichannel camera acquisition car body periphery mechanically environmental information,
It is conducted electricity after platform II encodes, is sent to the indoor figure of the remote driving platform I that conducts electricity, the indoor figure of remote driving conducts electricity platform I most by figure
Incoming display is shown eventually.
Preferably, multichannel camera review uses split screen display available.
Preferably, operation image monitoring data are further included by the position appearance of inclination detecting device acquisition car body mechanically
State is conducted electricity after platform II encodes by figure, is sent to the indoor figure of the remote driving platform I that conducts electricity, and the indoor figure of remote driving conducts electricity platform I
Finally incoming display is shown.
A kind of engineer machinery operation long-range control method of low time delay, this method are：Control signal passes through hand by driver
Handle, switch, throttle, braking, steering wheel triggering, are encoded and protocol conversion by remote controller I, are sent out to data radio station
It send, remote driving room end data radio station I sends control data to mechanical end data radio station II, by the remote controller at mechanical end
II decodes and is converted into fieldbus signal to Vehicle Controller transmission, and Vehicle Controller control executing agency performs action.
Preferably, job parameter monitoring signals are generated by executing agency, and it is total that remote controller II monitors Vehicle Controller
Line network data is extracted the job parameter of needs and is encoded, and remote controller I is issued through data radio station II, data radio station I
Decoding, is shown by status lamp and display；By mechanically setting multichannel video camera and inclination detecting device that can obtain
Car body periphery environmental information and car body position and attitude, by figure conduct electricity platform II encode after, it is indoor to remote driving
The figure platform I that conducts electricity is sent, and the indoor figure of remote driving conducts electricity, and finally incoming display is shown platform I.
Advantageous effect of the present invention：
（1）It solves in danger, harsh operating environments such as processing dangerous material, chemicals, radiant matter and geological disaster rescues
In, by remote control engineering machinery, reduce the harm to the health and safety of driver.
（2）Support point-to-point communication, the network environment no requirement (NR) to working scene, thus can be used for no network coverage or
The area that the network facilities is destroyed.
（3）Without communication cost, therefore it is suitble to be used for a long time.
（4）Remote control distance is remote, and diffracting power is strong, has onboard image collection ability, therefore have bad weather, complexity
Work capacity under landform, hazardous environment, strong applicability.
（5）Operating Ratio is low, therefore the influence to operating efficiency is smaller, the efficiency for operation of getting on the bus close to driver, together
When reduce danger.
（6）Image transmitting and data information transfer separation, respectively using autonomous channel, taken into account the different efficiency of the two and
Reliability requirement.
Description of the drawings
Fig. 1 is the operation-control system schematic diagram of the present invention；
Fig. 2 is the on-stream monitoring systematic schematic diagram of the present invention.
Specific embodiment
Below in conjunction with attached drawing, by specific embodiment, the present invention is further illustrated.
As shown in Figure 1 and Figure 2, the engineer machinery operation tele-control system of a kind of low time delay, including operation-control system,
Operation-control system realizes remote controlled travelling, the remote operation of equipment；The operation-control system includes being mounted in remote driving room
Control device, remote controller I, data radio station I and mounted on the indoor data radio station II of remote driving, remote controller
IIth, Vehicle Controller.
Control device is used to send out control signal；Remote controller I is encoded after controlling signal for reception and agreement
Conversion；Data radio station I, data radio station II are used for transmission control data and status data after the coding of remote controller I；It is vehicle-mounted
Controller is used to that executing agency to be controlled to perform action；Remote controller II is used to receive the signal of data radio station II and decodes and turn
Fieldbus signal is turned to send to Vehicle Controller.Control device includes handle, switch, throttle, braking, steering wheel.
Further embodiment：
On-stream monitoring system is further included, which includes job parameter monitoring, operation image monitoring, monitoring data
Transmission and display device.
Job parameter monitoring signals are generated by executing agency, and remote controller II monitors Vehicle Controller bus network number
According to, it extracts the job parameter of needs and is encoded, issue remote controller I through data radio station II, data radio station I and decode, it is logical
It crosses status lamp and display is shown.
Operation image monitoring data are conducted electricity by the environmental information on multichannel camera acquisition car body periphery mechanically by figure
It after platform II encodes, is sent to the indoor figure of the remote driving platform I that conducts electricity, the indoor figure of remote driving conducts electricity the finally incoming display of platform I
Device is shown.Multichannel camera review uses split screen display available.
Operation image monitoring data are further included by the position and attitude of inclination detecting device acquisition car body mechanically, pass through figure
It after the platform II that conducts electricity coding, is sent to the indoor figure of the remote driving platform I that conducts electricity, the indoor figure of the remote driving platform I that conducts electricity is finally incoming
Display is shown.
A kind of engineer machinery operation long-range control method of low time delay, control signal pass through handle, switch, oil by driver
Door, braking, steering wheel triggering, are encoded and protocol conversion by remote controller I, are sent to data radio station, remote driving
Room end data radio station I sends control data to mechanical end data radio station II, decodes and turns by the remote controller II at mechanical end
It turns to fieldbus signal to send to Vehicle Controller, Vehicle Controller control executing agency performs action.
Job parameter monitoring signals are generated by executing agency, and remote controller II monitors Vehicle Controller bus network number
According to, it extracts the job parameter of needs and is encoded, issue remote controller I through data radio station II, data radio station I and decode, it is logical
It crosses status lamp and display is shown；
By multichannel video camera is mechanically set and inclination detecting device can obtain car body periphery environmental information and
The position and attitude of car body is conducted electricity after platform II encodes by figure, is sent to the indoor figure of the remote driving platform I that conducts electricity, remote driving room
Interior figure conducts electricity, and finally incoming display is shown platform I.
The present invention is solved in danger, harsh works such as processing dangerous material, chemicals, radiant matter and geological disaster rescues
In industry environment, by remote control engineering machinery, the harm to the health and safety of driver is reduced；
It supports point-to-point communication, the network environment no requirement (NR) to working scene, therefore can be used for no network coverage or network is set
Apply the area destroyed；Without communication cost, therefore it is suitble to be used for a long time；Remote control distance is remote, and diffracting power is strong, has vehicle-mounted image
Acquisition capacity, therefore have the work capacity under bad weather, complicated landform, hazardous environment, strong applicability；Operating Ratio
It is low, therefore the influence to operating efficiency is smaller, the efficiency for operation of getting on the bus close to driver, while reduces danger；Image
Transmission is detached with data information transfer, respectively using autonomous channel, has taken into account the different efficiency and reliability requirement of the two.
The above is only the designing scheme of the present invention, not makees limitation in any form to the present invention, although this hair
It is bright disclosed above with preferred embodiment, however the present invention is not limited to, any person skilled in the art, not
It is detached from the range of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, as long as being the content without departing from technical solution of the present invention, technical spirit according to the present invention is to above real
Any simple modification, equivalent change and modification that example is made is applied, in the range of still falling within technical solution of the present invention.
Claims (9)
1. a kind of engineer machinery operation tele-control system of low time delay, which is characterized in that including：
Control device, which is mounted in remote driving room, for sending out control signal；
Remote controller I, the remote controller I be mounted on remote driving room in, for receive control signal after carry out coding and
Protocol conversion；
Data radio station I, data radio station II, data radio station I are mounted in remote driving room, and data radio station II is installed mechanically,
The two is used for transmission control data and status data after the coding of remote controller I；
Executing agency；
Vehicle Controller, the Vehicle Controller are installed mechanically, for executing agency to be controlled to perform action；And
Remote controller II, which installs mechanically, for receiving the signal of data radio station II and decoding simultaneously
Fieldbus signal is converted into send to Vehicle Controller.
2. a kind of engineer machinery operation tele-control system of low time delay according to claim 1, it is characterised in that：It is described
Control device includes handle, switch, throttle, braking, steering wheel.
3. a kind of engineer machinery operation tele-control system of low time delay according to claim 1, it is characterised in that：Also wrap
On-stream monitoring system is included, which includes job parameter monitoring, the transmission of operation image monitoring, monitoring data with showing
Showing device.
4. a kind of engineer machinery operation tele-control system of low time delay according to claim 3, it is characterised in that：Operation
Parameter monitoring signal is generated by executing agency, and remote controller II monitors Vehicle Controller bus network data, extracts needs
Job parameter is simultaneously encoded, and is issued remote controller I through data radio station II, data radio station I and is decoded, passes through status lamp and display
Device is shown.
5. a kind of engineer machinery operation tele-control system of low time delay according to claim 3, it is characterised in that：
Operation image monitoring data are conducted electricity platform II by the environmental information on multichannel camera acquisition car body periphery mechanically by figure
It after coding, is sent to the indoor figure of the remote driving platform I that conducts electricity, the indoor figure of remote driving conducts electricity, and finally incoming display is shown platform I
Show.
6. a kind of engineer machinery operation tele-control system of low time delay according to claim 5, it is characterised in that：Multichannel
Camera review uses split screen display available.
7. a kind of engineer machinery operation tele-control system of low time delay according to claim 5, it is characterised in that：Operation
Image monitoring data are further included by the position and attitude of inclination detecting device acquisition car body mechanically, are encoded by the figure platform II that conducts electricity
Afterwards, it is sent to the indoor figure of the remote driving platform I that conducts electricity, the indoor figure of remote driving conducts electricity, and finally incoming display is shown platform I.
8. a kind of engineer machinery operation long-range control method based on any one of claim 1 to 7 low time delay, feature exist
In this method is：
Signal is controlled to be triggered by driver by handle, switch, throttle, braking, steering wheel, is compiled by remote controller I
Code and protocol conversion are sent to data radio station, and remote driving room end data radio station I sends control number to mechanical end data radio station II
According to, decoded by the remote controller II at mechanical end and be converted into fieldbus signal to Vehicle Controller send, vehicle-mounted control
Device control executing agency performs action.
9. a kind of engineer machinery operation long-range control method of low time delay according to claim 8, it is characterised in that：
Job parameter monitoring signals are generated by executing agency, and remote controller II monitors Vehicle Controller bus network data, carries
It takes the job parameter of needs and is encoded, issue remote controller I through data radio station II, data radio station I and decode, pass through state
Lamp and display are shown；
By multichannel video camera is mechanically set and inclination detecting device can obtain car body periphery environmental information and
The position and attitude of car body is conducted electricity after platform II encodes by figure, is sent to the indoor figure of the remote driving platform I that conducts electricity, remote driving room
Interior figure conducts electricity, and finally incoming display is shown platform I.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810045556.0A CN108183847A (en) | 2018-01-17 | 2018-01-17 | The engineer machinery operation tele-control system and method for a kind of low time delay |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810045556.0A CN108183847A (en) | 2018-01-17 | 2018-01-17 | The engineer machinery operation tele-control system and method for a kind of low time delay |
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|---|---|
| CN108183847A true CN108183847A (en) | 2018-06-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810045556.0A Pending CN108183847A (en) | 2018-01-17 | 2018-01-17 | The engineer machinery operation tele-control system and method for a kind of low time delay |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110418215A (en) * | 2019-08-23 | 2019-11-05 | 山东临工工程机械有限公司 | A kind of excavator tele-control system and excavator |
| CN111556462A (en) * | 2020-05-11 | 2020-08-18 | 三一重机有限公司 | Remote control system, remote control method and engineering machinery |
| CN111918064A (en) * | 2020-08-11 | 2020-11-10 | 北京科技大学 | A Wireless Communication and Remote Control System in Hazardous Environment |
| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN114281074A (en) * | 2021-11-22 | 2022-04-05 | 徐工集团工程机械股份有限公司 | Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle |
| CN114449021A (en) * | 2020-11-03 | 2022-05-06 | 大众汽车股份公司 | Vehicle, apparatus for vehicle, computer program and method of processing information communicated in a teleoperated driving session |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110418215A (en) * | 2019-08-23 | 2019-11-05 | 山东临工工程机械有限公司 | A kind of excavator tele-control system and excavator |
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| CN112462775A (en) * | 2020-11-30 | 2021-03-09 | 徐工集团工程机械有限公司 | Emergency rescue vehicle remote control system, remote control method and emergency rescue vehicle |
| CN114281074A (en) * | 2021-11-22 | 2022-04-05 | 徐工集团工程机械股份有限公司 | Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle |
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