CN115134393B - Multi-remote control end operation platform of underground equipment - Google Patents
Multi-remote control end operation platform of underground equipment Download PDFInfo
- Publication number
- CN115134393B CN115134393B CN202210772706.4A CN202210772706A CN115134393B CN 115134393 B CN115134393 B CN 115134393B CN 202210772706 A CN202210772706 A CN 202210772706A CN 115134393 B CN115134393 B CN 115134393B
- Authority
- CN
- China
- Prior art keywords
- remote control
- underground equipment
- control end
- remote
- heartbeat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 14
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
-
- 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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cardiology (AREA)
- Computing Systems (AREA)
- Medical Informatics (AREA)
- Selective Calling Equipment (AREA)
Abstract
The multi-remote control end operation platform of the underground equipment realizes the switching of the controlled state of the underground equipment by receiving and transmitting a plurality of heartbeat packets among the beyond-line-of-sight remote operation platform, the line-of-sight operation remote controller and the underground equipment control cabinet; the PLC programmable controller of the underground equipment and the PLC programmable controller of the beyond-line-of-sight remote operation realize mutual communication through a network protocol; the PLC programmable controller of the underground equipment is connected with the sight distance remote control receiver of the sight distance operation remote controller through a CAN bus; the sight distance remote control receiver is communicated with a sight distance remote control transmitter of the sight distance operation remote controller through radio frequency; the PLC programmable controller of the underground equipment receives control signals from the beyond-line-of-sight remote operation table and the line-of-sight operation remote controller, and transmits the control signals to the underground equipment executor through wires. The invention supports the switching of the beyond-the-horizon control mode and the beyond-the-horizon remote control mode at the operation end, and the equipment can be cooperatively controlled by a beyond-the-horizon operator and the beyond-the-horizon operator, thereby ensuring the working efficiency and the working safety.
Description
Technical Field
The invention relates to the technical field of automatic control of underground equipment, in particular to a multi-remote-control-end operation platform for underground equipment.
Background
The existing beyond-the-horizon remote control system only supports beyond-the-horizon control mode and local control mode. When the control of the underground equipment is in the beyond-the-horizon control mode, an operator can control the underground equipment at a remote operation table; when the control of the downhole device is in the local control mode, an operator may sit on the operator's seat of the downhole device to control the device, i.e., the conventional control mode.
The switching between the beyond-the-horizon control mode and the local control mode is controlled by a control mode selection knob on the underground equipment body, and an operator needs to walk near the equipment body and rotate the knob to switch the control mode. If the downhole equipment is in an environmentally dangerous condition, this threatens the personal safety of the operator; and the beyond-the-horizon remote control system can work only by depending on a network which runs stably, and cannot automatically control underground equipment when the network where the underground equipment is located is unstable or has no network and the working environment is dangerous.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a multi-remote control end operation platform of underground equipment so as to realize the rapid switching of a beyond-the-horizon control mode and a line-of-sight remote control mode at a remote control end.
In order to achieve the purpose, the controlled state of the underground equipment is switched among the beyond-line-of-sight remote operation table, the line-of-sight operation remote controller and the underground equipment control cabinet by receiving and transmitting a plurality of heartbeat packets; the PLC programmable controller of the underground equipment and the PLC programmable controller of the beyond-line-of-sight remote operation realize mutual communication through a network protocol ModbusTCP; the PLC programmable controller of the underground equipment is connected with the sight distance remote control receiver of the sight distance operation remote controller through a CAN bus; the sight distance remote control receiver of the sight distance operation remote controller is communicated with the sight distance remote control transmitter of the sight distance operation remote controller through radio frequency; the PLC programmable controller of the underground equipment receives control signals from the beyond-line-of-sight remote operation table and the line-of-sight operation remote controller, and transmits the control signals to the underground equipment executor through wires.
And the beyond-the-horizon remote operation table is provided with a first login button and a first login button for controlling the underground equipment by an operator.
And the sight distance remote control transmitter is provided with a second login button and a second login button for controlling the underground equipment by an operator.
One unit of the heartbeat packet is a Boolean variable with a period of two milliseconds, wherein the former millisecond is 0, the latter millisecond is 1, and the heartbeat packet which is continuously transmitted is a long-chain repeated 010101 …; the heartbeat packet receiving end judges the contact state with the heartbeat packet sending end by detecting the heartbeat packet, and is provided with a timer for detecting the connection state; the multi-remote control end operation platform uses multiple paths of heartbeat packages, each path of heartbeat package represents a connection, and the heartbeat package receiving end judges the states of the heartbeat package receiving end and the opposite side through the connection states; the types of the heartbeat packages comprise a connection heartbeat package, an idle state heartbeat package, a control heartbeat package and a logged heartbeat package.
Compared with the prior art, the invention has the following advantages:
1. the multi-remote control end operation platform supports switching between the beyond-visual-range control mode and the visual-range remote control mode at the operation end, equipment can be cooperatively controlled by a visual-range operator and a beyond-visual-range operator, and the working efficiency and the working safety are ensured.
2. When the network where the downhole equipment is located is unstable and the working environment is dangerous, an operator can stand in a relatively safe position near the downhole equipment and control the equipment to operate through a line-of-sight remote control transmitter of a line-of-sight operation remote controller.
3. The switching between the beyond-visual-range control mode and the visual-range control mode can be realized at the beyond-visual-range remote operation table end or the visual-range remote control transmitter end, and the operator does not need to walk to the side of the underground equipment body to switch the control modes, so that the life safety of the operator can be effectively ensured.
4. When the device is operating in a non-network or network-unstable situation, the line-of-sight remote operator may continue to control the downhole device at a relatively safe location near the device.
Drawings
FIG. 1 is a schematic diagram of the hardware connection structure of the present invention.
Fig. 2 is a schematic diagram of a login button and a logout button on the beyond-vision remote operation table panel of fig. 1.
Fig. 3 is a schematic diagram of a login button and a logout button of the line-of-sight remote control transmitter of fig. 1.
Fig. 4 is a schematic diagram of the principle of the heartbeat packet of the present invention.
Fig. 5 is a schematic diagram of a state machine of the present invention.
Fig. 6 is a state-machine state-implementation schematic diagram of the present invention.
Fig. 7 is a schematic diagram of a state two implementation of the state machine of the present invention.
Fig. 8 is a state three implementation schematic diagram of the state machine of the present invention.
Fig. 9 is a state four implementation schematic diagram of the state machine of the present invention.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9, the controlled state of the downhole equipment is switched by receiving and transmitting a plurality of heartbeat packets among the beyond-line-of-sight remote operation table 1, the line-of-sight operation remote controller and the downhole equipment control cabinet 2; the PLC 4 of the underground equipment and the PLC 9 of the beyond-line-of-sight remote operation realize mutual communication through a network protocol ModbusTCP; the PLC (programmable logic controller) 4 of the underground equipment is connected with the sight distance remote control receiver 5 of the sight distance operation remote controller through a CAN (controller area network) bus; the sight distance remote control receiver 5 of the sight distance operation remote controller is communicated with the sight distance remote control transmitter 3 of the sight distance operation remote controller through radio frequency; the PLC programmable controller 4 of the underground equipment receives control signals from the beyond-line-of-sight remote operation table 1 and the line-of-sight operation remote controller, and transmits the control signals to an actuator of the underground equipment, such as a relay 6 and an electromagnetic valve 7, through wires, and a DC 24V power supply supplies power to the PLC programmable controller 4 of the underground equipment. The multi-remote-control-end operation platform supports underground equipment to be simultaneously connected with the beyond-visual-distance remote operation platform 1 and the visual-distance remote control transmitter 3, and also supports the mutual switching of the beyond-visual-distance control mode and the visual-distance remote control mode at the operation end, and the underground equipment can be cooperatively controlled by a visual-distance operator and a beyond-visual-distance operator; when the network where the underground equipment is located is unstable or the working environment is dangerous, an operator does not need to walk to the side of the machine body of the underground equipment to switch control modes, and can stand at a relatively safe position near the underground equipment and control the equipment to run through a visual range remote control transmitter of a visual range operation remote controller.
A login button I10 and a login button I11 are arranged on the beyond-visual-distance remote operation table 1; the vision distance remote control transmitter 3 is provided with a login button II 10 and a login button II 11 which are used for controlling underground equipment by an operator.
The multi-remote-control-end operation platform judges the contact state and the state of the switching operation platform based on a plurality of heartbeat packages. One unit of heartbeat packet is a boolean variable with a period of two milliseconds, the former millisecond is 0, the latter millisecond is 1, and the heartbeat packet is continuously transmitted, namely, a long series of repeated 010101 …. The heartbeat packet receiving end judges the contact state with the heartbeat packet transmitting end by detecting the heartbeat packet, the heartbeat packet receiving end is provided with a timer for detecting the connection state, for example, the time duration is set to be 500ms, when the timer counts to be 500ms, the time-out is displayed, the contact is disconnected, however, when the received heartbeat Bao Buer variable is changed from 0 to 1, the upper edge changes to enable the timer to count from 0ms again. Thus, when the receiving end receives a continuous heartbeat packet 010101 …, the timer is repeatedly re-clocked from 0ms for less than 500ms, indicating that it has not timed out, i.e., that the connection is being maintained. When the receiving end cannot receive a new heartbeat packet, the timer is re-timed without upper edge change, and after the timer reaches 500ms, a timeout is displayed, namely the connection is disconnected. The multi-remote control end operation platform uses multiple paths of heartbeat packages, each path of heartbeat package represents a connection, and the heartbeat package receiving end judges the states of the heartbeat package receiving end and the opposite side through the connection states; the types of the heartbeat packages comprise a connection heartbeat package, an idle state heartbeat package, a control heartbeat package and a logged heartbeat package.
The multi-remote control terminal operation platform of the invention uses a state machine to manage the contact states of a plurality of remote control terminals and equipment, as shown in fig. 5, is a schematic diagram of the state machine of the invention, and comprises a beyond-the-horizon remote operation platform, a line-of-sight operation remote controller and various states and state combination logic of the equipment. A state machine is software composed of a plurality of states and state combination logic, can perform state transition according to a preset state according to a control signal, and is control logic for coordinating related signal actions and completing specific operations. State machine software of the multi-remote control end operation platform runs on hardware of the downhole equipment PLC programmable controller 4, the beyond-line-of-sight remote operation PLC programmable controller 9 and the line-of-sight remote control transmitter 3. The three pieces of hardware cooperatively run state machine software to realize various state functions of the multi-remote control end operation platform. The following is a description of the states in the state machine of the multi-remote control operation platform. Wherein: the beyond-the-horizon remote operation table 1 is a first remote control end, and the beyond-the-horizon remote operation controller is a second remote control end.
State one: the connection between the first remote control end and the second remote control end and the underground equipment is disconnected, as shown in fig. 6, which is a schematic diagram of the state one implementation of the state machine of the present invention, that is, the connection between the beyond-line-of-sight remote operation table 1 and the line-of-sight operation remote controller and the underground equipment is disconnected. When the first remote control end and the second remote control end do not receive the heartbeat packet connected with the PLC 4 of the underground equipment, each remote control end displays that the underground equipment is not connected. Because the downhole device is not logged in by any remote control, the downhole device is in a default rest state.
State two: the connection between the first remote control end and the second remote control end and the underground equipment is established, as shown in fig. 7, which is a schematic diagram of the second state implementation of the state machine of the invention, namely, the connection between the beyond-the-horizon remote operating platform 1, the line-of-sight operating remote controller and the underground equipment is established. When the first remote control end and the second remote control end receive the connection heartbeat packet from the PLC (programmable logic controller) 4 of the underground equipment, each remote control end displays the connected underground equipment. Because the downhole device is not logged in by any remote control, the downhole device is in a default rest state. Because the downhole equipment is not logged in by any remote control end, the downhole equipment sends out an idle state heartbeat packet to the remote control end at the moment. And the first remote control end and the second remote control end receive the idle state heartbeat packet and display that the underground equipment is idle.
State three: as shown in fig. 8, the first remote control end is logged in, which is a schematic diagram of a state three implementation of the state machine of the present invention, that is, the beyond-the-horizon remote console 1 is logged in. Only when the multi-remote control operation platform is in state two: the connection is established, and the remote control end one or the remote control end two can send a control heartbeat packet to the downhole equipment PLC programmable controller 4. When an operator at the first remote control end logs in the underground equipment, the operator presses the first login button 10, the remote control end initially sends a control heartbeat packet to the PLC 4 of the underground equipment, and after the underground equipment receives the control heartbeat packet, the state of the control heartbeat packet enters the first remote control end and is logged in, and the control heartbeat packet sent by the second remote control end is not accepted. Meanwhile, the underground equipment stops sending all idle state heartbeat packages, and finally sends the logged heartbeat packages to the remote control terminal. And after the remote control terminal receives the logged heartbeat packet, displaying the logged underground equipment. And the second remote control end judges and displays that the underground equipment is occupied because the second remote control end does not receive the idle state heartbeat packet and the logged heartbeat packet. When the operator at the first remote control end logs out of the underground equipment, the operator presses the log-out button one, the first remote control end stops sending the control heartbeat packet to the PLC 4 of the underground equipment, and then the multi-remote control end operation platform returns to the second state: the connection is established. In the second state, the first remote control end or the second remote control end can log in the underground equipment.
State four: the second remote control end is logged in, as shown in fig. 9, which is a schematic diagram of a state four implementation of the state machine of the present invention, that is, the remote control is logged in by the line-of-sight operation. Only when the multi-remote control operation platform is in state two: the connection is established, and the remote control end one or the remote control end two can send a control heartbeat packet to the downhole equipment PLC programmable controller 4. When the operator at the second remote control end logs in the underground equipment, the operator presses the second login button 12, and the second remote control end starts to send a control heartbeat packet to the PLC programmable controller 4 of the underground equipment. When the underground equipment receives the control heartbeat packet, the state of the underground equipment enters the second remote control end to be logged in, and the control heartbeat packet sent by the first remote control end is not accepted. Meanwhile, the underground equipment stops sending all idle state heartbeat packages, and finally sends logged heartbeat packages to the remote control terminal II. And after the second remote control end receives the logged heartbeat packet, displaying the logged underground equipment. And the remote control terminal judges and displays that the underground equipment is occupied because the remote control terminal does not receive the idle state heartbeat packet and the logged heartbeat packet. When the operator of the second remote control end logs out of the underground equipment, the operator presses the log-out button II 13, and the second remote control end stops sending the control heartbeat packet to the PLC programmable controller 4 of the underground equipment. Then the multi-remote control terminal operation platform returns to the state two: the connection is established. In the second state, the first remote control end or the second remote control end can log in the underground equipment.
On the multi-remote control end operation platform, only a heartbeat control packet is required to be sent to the remote control end when logging in the underground equipment, and the remote control end selection is not required to be performed manually in the dangerous environment where the underground equipment body is located, so that the personal safety of an operator is ensured. Meanwhile, the platform supports the switching of the beyond-the-horizon control mode and the horizon remote control mode at the operation end, so that underground equipment can be cooperatively controlled by beyond-the-horizon operators and the horizon operators, and the working efficiency is effectively ensured.
Claims (1)
1. The utility model provides an equipment in pit multi-remote control end operation platform which characterized in that: the remote control console (1) with beyond visual range, the remote control with visual range operation and the underground equipment control cabinet (2) realize the switching of the controlled state of the underground equipment by receiving and transmitting a plurality of heartbeat packets; the underground equipment PLC programmable controller (4) and the beyond visual range remote operation PLC programmable controller (9) realize mutual communication through a network protocol ModbusTCP; the underground equipment PLC programmable controller (4) is connected with a sight distance remote control receiver (5) of the sight distance operation remote controller through a CAN bus; a sight distance remote control receiver (5) of the sight distance operation remote controller is communicated with a sight distance remote control transmitter (3) of the sight distance operation remote controller through radio frequency; the PLC (programmable logic controller) of the underground equipment receives control signals from the beyond-line-of-sight remote operation table (1) and the line-of-sight operation remote controller, and transmits the control signals to the underground equipment executor through wires; the relay (6) and the electromagnetic valve (7) are powered by a direct-current 24V power supply for the PLC (programmable logic controller) of the underground equipment;
A login button I (10) and a login button I (11) for controlling the underground equipment by an operator are arranged on the beyond-visual-distance remote operation table (1);
A login button II (12) and a login button II (13) for controlling the underground equipment by an operator are arranged on the sight distance remote control transmitter (3);
One unit of the heartbeat packet is a Boolean variable with a period of two milliseconds, wherein the former millisecond is 0, the latter millisecond is 1, and the heartbeat packet which is continuously transmitted is a long-chain repeated 010101 …; the heartbeat packet receiving end judges the contact state with the heartbeat packet transmitting end by detecting the heartbeat packet, the heartbeat packet receiving end is provided with a timer for detecting the connection state, the time-out is displayed, the contact is disconnected, the time-out is not performed, and the contact is kept; the multi-remote control end operation platform uses multiple paths of heartbeat packages, each path of heartbeat package represents a connection, and the heartbeat package receiving end judges the states of the heartbeat package receiving end and the opposite side through the connection states; the types of the heartbeat packages comprise a connection heartbeat package, an idle state heartbeat package, a control heartbeat package and a logged heartbeat package;
The multi-remote control end operation platform uses a state machine to manage the contact states of a plurality of remote control ends and equipment, wherein the beyond-the-horizon remote operation platform 1 is a first remote control end, and the horizon operation remote controller is a second remote control end;
state one: the connection between the remote control end I and the remote control end II and the underground equipment is disconnected;
State two: the connection between the remote control end I and the remote control end II and the underground equipment is established, and when the remote control end I and the remote control end II receive a connection heartbeat packet from the PLC (programmable logic controller) of the underground equipment, each remote control end displays the connected underground equipment; when the underground equipment is not logged in by any remote control end, the underground equipment is in a default stop state, and the underground equipment sends an idle state heartbeat packet to the remote control end; the first remote control end and the second remote control end receive the idle state heartbeat packet and display that the underground equipment is idle;
State three: the first remote control end logs in, and only when the multi-remote control end operation platform is in a second state: the connection is established, and the remote control end I or the remote control end II can send a control heartbeat packet to the PLC (4) of the underground equipment; when an operator of the first remote control end logs in the underground equipment, the operator presses a first login button (10), the remote control end initially transmits a control heartbeat packet to the PLC (4) of the underground equipment, and after the underground equipment receives the control heartbeat packet, the state of the control heartbeat packet enters the first remote control end and is logged in, and the control heartbeat packet transmitted by the second remote control end is not accepted; meanwhile, the underground equipment stops sending all idle state heartbeat packages, and finally sends the logged heartbeat packages to the remote control terminal; displaying the logged-in downhole equipment after the remote control terminal receives the logged-in heartbeat packet; when an operator at the first remote control end logs out of the underground equipment, the operator presses the first log-out button, the first remote control end stops sending a control heartbeat packet to the PLC (4) of the underground equipment, and then the multi-remote control end operation platform returns to the second state: the connection is established.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210772706.4A CN115134393B (en) | 2022-07-02 | 2022-07-02 | Multi-remote control end operation platform of underground equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210772706.4A CN115134393B (en) | 2022-07-02 | 2022-07-02 | Multi-remote control end operation platform of underground equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115134393A CN115134393A (en) | 2022-09-30 |
| CN115134393B true CN115134393B (en) | 2024-05-24 |
Family
ID=83381816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210772706.4A Active CN115134393B (en) | 2022-07-02 | 2022-07-02 | Multi-remote control end operation platform of underground equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115134393B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003077590A1 (en) * | 2002-02-21 | 2003-09-18 | Hyun-Oh Shin | A remote control equipment and a control method thereof |
| JP2005031876A (en) * | 2003-07-10 | 2005-02-03 | Digital Electronics Corp | Display device for control |
| CN105715271A (en) * | 2016-05-03 | 2016-06-29 | 中国矿业大学(北京) | Beyond-visual-range remote control system for cantilever type heading machine |
| KR20200034013A (en) * | 2018-09-11 | 2020-03-31 | 주식회사 티허브 | Integrated Remote Controller System based Internet-Of-Things |
| CN113099501A (en) * | 2017-01-17 | 2021-07-09 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, remote controller, control method of remote controller and remote control system |
| CN113093651A (en) * | 2021-02-22 | 2021-07-09 | 中国汽车工业工程有限公司 | Equipment remote control system |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6634408B2 (en) * | 2001-07-10 | 2003-10-21 | Wesley M. Mays | Automatic barrier operator system |
| KR20060124594A (en) * | 2005-05-31 | 2006-12-05 | 소니 가부시끼 가이샤 | Remote control unit, instrument operation system and remote control method |
| US20190107895A1 (en) * | 2017-10-11 | 2019-04-11 | Daniel James STEINMAN | Wireless dial universal remote control device |
-
2022
- 2022-07-02 CN CN202210772706.4A patent/CN115134393B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003077590A1 (en) * | 2002-02-21 | 2003-09-18 | Hyun-Oh Shin | A remote control equipment and a control method thereof |
| JP2005031876A (en) * | 2003-07-10 | 2005-02-03 | Digital Electronics Corp | Display device for control |
| CN105715271A (en) * | 2016-05-03 | 2016-06-29 | 中国矿业大学(北京) | Beyond-visual-range remote control system for cantilever type heading machine |
| CN113099501A (en) * | 2017-01-17 | 2021-07-09 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, remote controller, control method of remote controller and remote control system |
| KR20200034013A (en) * | 2018-09-11 | 2020-03-31 | 주식회사 티허브 | Integrated Remote Controller System based Internet-Of-Things |
| CN113093651A (en) * | 2021-02-22 | 2021-07-09 | 中国汽车工业工程有限公司 | Equipment remote control system |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115134393A (en) | 2022-09-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10614647B2 (en) | Remote transmission of barrier status and change of status over a network | |
| WO2016101408A1 (en) | Server serial port switching apparatus and method, and server | |
| CN102786002A (en) | Tower crane intelligent control system and tower crane | |
| CN101860491B (en) | Aggregation type link bidirectional forwarding detection method and device thereof | |
| CN108466889B (en) | Elevator alarm rescue intelligent terminal system and method | |
| CN115134393B (en) | Multi-remote control end operation platform of underground equipment | |
| CN102324790A (en) | Intelligent management terminal of circuit breaker | |
| CN211149265U (en) | Automatic synchronous control system | |
| CN103926888A (en) | Wireless smart camera system supporting multiple short-range communication protocols and working mode of wireless smart camera system | |
| CN208778315U (en) | The control device of Double Speed Fan | |
| CN210626962U (en) | Remote monitoring system for running state of electric equipment | |
| CN209651743U (en) | Wireless remote controller and system | |
| CN102063072A (en) | Control system and method for center pivot type sprayer | |
| WO2002030055A1 (en) | Display and control unit, variety management apparatus, relay communication apparatus, communication device, and broadcast system | |
| CN114448745B (en) | Isolation emergency handshake system and communication method for coal mining machine | |
| CN211908764U (en) | Electronic double-circuit switch and system thereof | |
| CN201429887Y (en) | Fire alarm controller | |
| CN109731264B (en) | Fire-fighting water spraying machine, water supply machine, water spraying equipment, system and control method | |
| KR20090095326A (en) | System and Method for Automatically Switching Communication Mode in Mobile Vehicle controller | |
| CN107666595A (en) | A kind of monitor cluster control system and its control method | |
| CN220367540U (en) | Pressure control type vacuum unit control cabinet | |
| KR200249799Y1 (en) | Digital wire- radio transmit-receive control device for hard equipment control | |
| CN210669007U (en) | Intelligent warehouse | |
| CN221378502U (en) | Remote power-on and power-off control device and unmanned vehicle | |
| CN213072196U (en) | Internet of things differentiation standby power equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231123 Address after: 441104 No.45 diamond Avenue, Xiangyang City, Hubei Province Applicant after: XIANGYANG ZHONGLIANG ENGINEERING MACHINERY Co.,Ltd. Address before: 518101 201a-d5, building 1, yujingwan, n16 District, Haiyu community, Xin'an street, Bao'an District, Shenzhen, Guangdong Province Applicant before: Shenzhen shanneng Internet of things Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |