CN115454041A - A multi-channel intelligent remote operation control method and system - Google Patents

Abstract

The invention discloses a multi-channel intelligent remote operation control method and system. The multi-channel intelligent remote operation control system is a control system for multiple machines by a remote control station. Through the authority management of the remote control station, the construction of single or multiple equipment is controlled respectively, including the authority manager, automatic frequency modulation system, and multi-channel security control method. Remote control console setting authority manager: set multi-level authority according to the number of n vehicles: single control authority of n vehicles + simultaneous use authority of multiple vehicles + authority off of all vehicles. Automatic frequency tuning system: The communication equipment automatically tunes to the specified frequency P according to the authority of the remote control console, and communicates with the corresponding vehicle, effectively reducing the cost of remote control. It improves the intelligence level of construction machinery, especially excavators, and promotes the further development of intelligent manufacturing.

Description

A multi-channel intelligent remote operation control method and system

technical field

The invention relates to a multi-channel intelligent remote operation control method and system, belonging to the technical field of engineering machinery.

Background technique

Excavators are one of the models with the most abundant application scenarios in engineering construction. Drivers are faced with complex and changeable working conditions. The safety of personnel is a top priority. In the construction environment of hazardous areas, in order to ensure the safety of personnel, the development of remote control excavators continues. However, in the construction machinery industry, remote control technology has basically matured, and now it is facing the problem of high cost in specific sites such as similar construction conditions. The present invention is a multi-channel intelligent remote control system, which can effectively reduce the cost of remote control.

At present, in the construction machinery industry, the remote control technology has basically matured. In certain sites where the construction conditions are similar and multiple machines do not need to work at the same time, multiple remote terminals corresponding to multiple machines have high costs and wasteful phenomena and problems.

Contents of the invention

The invention provides a multi-channel intelligent remote operation control method and system, which solves the problems disclosed in the background technology.

In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

A multi-channel intelligent teleoperation control method, characterized in that:

The remote console establishes communication with several vehicles through the communication equipment, and the communication equipment automatically adjusts the frequency to the designated frequency according to the authority of the remote console, and communicates with the vehicle corresponding to the designated frequency;

The remote control console sends an authorization signal to the corresponding vehicle of the specified frequency, and the corresponding vehicle receives the authorization signal and feeds back the verification code to the remote console;

The remote control console and the corresponding vehicle calculate the result of the verification code at the same time, the remote control console sends the calculation result to the corresponding vehicle for verification, and the corresponding vehicle feeds back the verification result to the remote control console;

After the remote control console receives the correct verification result, it is allowed to send instructions to the corresponding vehicle, otherwise the authority will be closed and stop sending frequencies to the corresponding vehicle;

After the corresponding vehicle receives the command from the remote control console, it will open the vehicle's remote control authority and block the local authority, and assign it to the execution unit for remote control.

Further, the method of automatic frequency tuning is to allocate frequencies according to the following frequency allocation table:

The control frequency modulation priority of multiple vehicles is from high to low, among which P1 is the highest level, and Pn is the lowest level.

Further, it also includes that when multiple vehicles are controlled at the same time, the distance between the vehicles is not lower than the D value to allow the vehicle to verify the verification code calculation result of the remote console, otherwise the remote console authority is closed, and the vehicle cancels the frequency transmission .

Further, when multiple vehicles are controlled at the same time, the vehicle with the smaller vehicle number is sequentially selected as the remote control main control terminal, and the remaining vehicles execute the automatic construction instruction. The automatic construction instruction is: control the current according to the preset path of different working conditions Output and action of the actuator.

Further, when all the permissions of the remote control console are fully closed, the remote control console cancels sending the permission signal, and all vehicles close the remote control permission and close the action safety valve.

Correspondingly, a multi-channel intelligent teleoperation control system includes:

Remote console: the remote console is equipped with an authority manager, communication equipment and an automatic frequency modulation system; the remote console establishes communication with several vehicles through the communication equipment, and the communication equipment is adjusted to the Specify the frequency to communicate with the vehicle corresponding to the specified frequency;

Verification code module: used for the remote control console to send authorization signals to the corresponding vehicles of the specified frequency, and the corresponding vehicles receive the authorization signals and feed back the verification codes to the remote console; the remote console and the corresponding vehicles calculate the results according to the verification codes at the same time, The remote console sends the calculation result to the corresponding vehicle for verification, and the corresponding vehicle feeds back the verification result to the remote console;

After the remote control console receives the correct verification result, it is allowed to send instructions to the corresponding vehicle, otherwise the authority will be closed and stop sending frequencies to the corresponding vehicle;

Command module: It is used to open the remote control authority of the vehicle and block the local authority after the vehicle receives the command from the remote control console, and assign it to the execution unit for remote control.

Further, the automatic frequency regulation system allocates frequencies according to the following frequency allocation table:

The control frequency modulation priority of multiple vehicles is from high to low, among which P1 is the highest level, and Pn is the lowest level.

Further, it also includes a distance monitoring device, which is used to monitor the distance between the vehicles when multiple vehicles are controlled at the same time, and the distance between the vehicles is not lower than the D value to allow the vehicle to verify the check code calculation of the remote control console As a result, otherwise the remote control console authority is closed, and the vehicle cancels the frequency transmission.

Further, it also includes an automatic construction instruction module. When multiple vehicles are controlled at the same time, the vehicle with a small vehicle number is sequentially selected as the remote control main control terminal, and the remaining vehicles execute the automatic construction instruction. The automatic construction instruction is: according to different working conditions The preset path controls the current output and the action of the actuator.

Further, it also includes a closing module. When all the permissions of the remote console are fully closed, the remote console cancels sending the permission signal, and the closing module closes all the remote control permissions of the vehicle and closes the action safety valve.

The beneficial effect achieved by the present invention is to effectively reduce the cost of remote control. It improves the intelligence level of construction machinery, especially excavators, and promotes the further development of intelligent manufacturing.

Description of drawings

Fig. 1 is a schematic diagram of the system architecture of the present invention;

Fig. 2 is a schematic flow chart of the system of the present invention;

Fig. 3 is a schematic diagram of a plurality of remote control control procedures in the present invention;

Fig. 4 is a schematic diagram of the automated construction method system in the present invention.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

As shown in Figure 1, the present invention provides a multi-channel intelligent remote operation control method and system;

The multi-channel intelligent remote operation control system is a control system for multiple machines by a remote control station. Through the authority management of the remote control station, the construction of single or multiple equipment is controlled respectively (as shown in Figure 1), including authority managers, automatic frequency modulation systems, and multi-channel security control methods. The specific steps (as shown in Figure 2) are as follows:

1. Remote control console setting authority manager: set multi-level authority according to the number of n vehicles, including: single control authority of n vehicles, simultaneous use authority of multiple vehicles and all vehicle authority off.

2. Automatic frequency modulation system: The communication equipment automatically tunes to the designated frequency P according to the authority of the remote control console, and communicates with the corresponding vehicle, which conforms to the frequency allocation table in Table 1.

Table 1 Frequency Allocation Table

3. Multi-channel security control method:

(1) The corresponding vehicle receives the authorization signal, and feeds back the "received" check code to the remote control console. S01

(2) After the remote console receives the vehicle verification code, the vehicle and the platform calculate the result at the same time, and the platform sends the result to the vehicle for verification. S02

(3) The vehicle verifies the results of the platform and feeds back to the platform. S03

(4) Only when the platform receives the correct verification result can the operation command be issued, otherwise all permissions will be closed and the sending frequency will be stopped. S04

(5) After the corresponding vehicle receives the command from the console, it opens the remote control authority of the vehicle and shields the local authority, and assigns it to the execution unit for remote control. S05

(6) When multiple vehicles are controlled at the same time, before step (3), it is necessary to ensure that the distance between the vehicles is not lower than the D value, and then step (3) is allowed, otherwise all permissions are turned off, and the frequency transmission is cancelled.

①The vehicle is equipped with distance monitoring equipment. The on-board controller judges the alarm state according to the monitored distance value. When it is lower than the threshold D, the alarm information will be fed back to the platform for highlighting, and at the same time, the data of the remote control authority will be shielded on the vehicle, and the action safety valve will be closed (left in Figure 2).

② During the construction process, it is also executed to cancel the remote control authority when it is lower than the threshold D, and close the action safety valve.

③ In order to consider that the driver cannot observe the state of multiple vehicles at the same time when multiple vehicles are working at the same time, the present invention provides an automatic construction method for multiple vehicles. The vehicle with a small vehicle number is the remote master control terminal, and the rest of the vehicles execute the automatic construction strategy ( Accompanying drawing 3), if control 1/2/3 vehicle, then vehicle 1 executes the remote control command, and vehicle 2/3 vehicles execute the automatic construction command.

④Automatic construction method, that is, after receiving the automation mode command, the controller controls the current output and the action of the actuator according to the preset path under different working conditions (see Figure 4).

⑤ Main console cycle control strategy. The driver of the remote control platform judges whether the remote control task of vehicle 1 is completed, and sends a stop command to vehicle 1 after completion. At the same time, the control system automatically executes the remote control command to vehicle 2, and the non-remote control main control vehicles execute automatic construction, and the cycle is sequential, 1→2 → 3 Arrow 1..., until all vehicle tasks end, perform step (7) to close all permissions (accompanying drawing 3).

(7) When all permissions are fully off, the remote control station cancels sending data, all vehicles execute the remote control permission "off" state, no remote control operation is allowed, and the action safety valve is closed.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

A computer-readable storage medium storing one or more programs, the one or more programs including instructions, the instructions, when executed by a computing device, cause the computing device to execute a multi-channel intelligent remote operation control method .

A computing device comprising one or more processors, one or more memories, and one or more programs, wherein the one or more programs are stored in the one or more memories and configured to be executed by the one or more Executed by multiple processors, the one or more programs include instructions for executing a multi-channel intelligent remote operation control method.

Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

The above are only embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the pending application of the present invention. within the scope of the claims.

Claims (10)

1. A multi-channel intelligent teleoperation control method is characterized in that:

the remote control platform establishes communication with a plurality of vehicles through communication equipment, and the communication equipment automatically modulates the frequency to a specified frequency according to the authority of the remote control platform and communicates with the vehicle corresponding to the specified frequency;

the remote control platform sends an authority signal to a corresponding vehicle with specified frequency, and the corresponding vehicle receives the authority signal and feeds back a check code to the remote control platform;

the remote control platform and the corresponding vehicle calculate the result simultaneously according to the check code, the remote control platform sends the calculation result to the corresponding vehicle for verification, and the corresponding vehicle feeds the verification result back to the remote control platform;

the remote console allows to send a command to the corresponding vehicle after receiving the correct verification result, otherwise, the remote console closes the authority and stops sending the frequency to the corresponding vehicle;

after the corresponding vehicle receives the instruction of the remote control platform, the vehicle-mounted remote control authority is opened, the local authority is shielded, and the vehicle-mounted remote control authority is distributed to the execution unit for remote control.

2. The multi-channel intelligent teleoperation control method according to claim 1, characterized in that:

the automatic frequency modulation method is to distribute the frequency according to the following frequency distribution table:

the priority of the control frequency modulation of the plurality of vehicles is from high to low, wherein P1 is the highest level, and Pn is the lowest level.

3. The multi-channel intelligent teleoperation control method according to claim 1, characterized in that:

when a plurality of vehicles are controlled simultaneously, the distance between the vehicles is not less than the value D, the vehicles are allowed to verify the check code calculation result of the remote console, otherwise, the authority of the remote console is closed, and the vehicles cancel frequency transmission.

4. The multi-channel intelligent teleoperation control method according to claim 3, characterized in that:

when a plurality of vehicles are controlled simultaneously, the vehicles with small vehicle numbers are sequentially selected as remote control main control ends, and other vehicles execute automatic construction instructions, wherein the automatic construction instructions are as follows: and controlling the current output and the action of the actuating mechanism according to paths preset under different working conditions.

5. The multi-channel intelligent teleoperation control method according to claim 1, characterized in that:

when all the authorities of the remote control platform are in the totally closed state, the remote control platform cancels the sending of the authority signals, and all the vehicles close the remote control authority and close the action safety valves.

6. A multi-channel intelligent teleoperation control system, comprising:

remote control platform: the remote control platform is provided with a permission manager, communication equipment and an automatic frequency modulation system; the remote control platform establishes communication with a plurality of vehicles through communication equipment, and the communication equipment is adjusted to specified frequency through an automatic frequency modulation system according to the authority opened by the authority manager and is communicated with the vehicles corresponding to the specified frequency;

a check code module: the system is used for the remote control platform to send the authority signal to the corresponding vehicle with the specified frequency, and the corresponding vehicle receives the authority signal and feeds back the check code to the remote control platform; the remote control platform and the corresponding vehicle calculate the result simultaneously according to the check code, the remote control platform sends the calculation result to the corresponding vehicle for verification, and the corresponding vehicle feeds the verification result back to the remote control platform;

the remote console allows to send a command to the corresponding vehicle after receiving the correct verification result, otherwise, the remote console closes the authority and stops sending the frequency to the corresponding vehicle;

an instruction module: and after the corresponding vehicle receives the instruction of the remote control platform, opening the vehicle-mounted remote control authority and shielding the local authority, and distributing the vehicle-mounted remote control authority to the execution unit for remote control.

7. The multi-channel intelligent teleoperation control system of claim 6, wherein:

the automatic frequency modulation system distributes frequencies according to the following frequency distribution table:

the priority of the control frequency modulation of the plurality of vehicles is from high to low, wherein P1 is the highest level, and Pn is the lowest level.

8. The multi-channel intelligent teleoperation control system of claim 6, wherein:

the system also comprises distance monitoring equipment for monitoring the distance between vehicles when the vehicles are controlled simultaneously, the distance between the vehicles is not less than the value D, the vehicles are allowed to verify the check code calculation result of the remote control station, otherwise, the permission of the remote control station is closed, and the vehicles cancel frequency transmission.

9. The multi-channel intelligent teleoperation control system of claim 6, wherein:

still include automatic construction instruction module, when being in many vehicle simultaneous control, select the little vehicle of vehicle serial number in proper order and be the remote control main control end, other vehicles carry out automatic construction instruction, automatic construction instruction is: and controlling the current output and the action of the actuating mechanism according to paths preset under different working conditions.

10. The multi-channel intelligent teleoperation control method according to claim 6, characterized in that: the vehicle remote control system further comprises a closing module, when all the authorities of the remote control platform are in a full-closed state, the remote control platform cancels the transmission of the authority signals, and closes all the vehicle remote control authorities and closes the action safety valves through the closing module.

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