CN111827386A - Safety control method, device and system for remote control bulldozer - Google Patents
Safety control method, device and system for remote control bulldozer Download PDFInfo
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- CN111827386A CN111827386A CN202010679807.8A CN202010679807A CN111827386A CN 111827386 A CN111827386 A CN 111827386A CN 202010679807 A CN202010679807 A CN 202010679807A CN 111827386 A CN111827386 A CN 111827386A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- Operation Control Of Excavators (AREA)
Abstract
The embodiment of the invention provides a safety control method, a device and a system for a remote control bulldozer, wherein the method comprises the following steps: sequentially receiving at least two control signals; calculating the receiving delay time of the control signal according to the control signal at least twice; and selecting and outputting a vehicle speed limiting command of a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting command is positively correlated with the length of the receiving delay time. The remote control image-pushing and safety control method provided by the embodiment of the invention can improve the safety selectivity and reliability of a remote control bulldozer system, can also improve the intelligent level of the bulldozer, reduces the risk of out-of-control of the bulldozer, and reduces the possibility of safety accidents.
Description
Technical Field
The embodiment of the invention relates to the technical field of remote control, in particular to a method, a device and a system for remotely controlling a bulldozer.
Background
With the development of remote control technology becoming mature, the remote control technology is more and more applied to industrial production, and especially in dangerous construction such as mining and rock breaking, the remote control technology is more and more favored. The bulldozer is remotely controlled to work in a severe environment through communication media such as radio or 5G signals, but the working environment is often easily interfered or abnormal by a network communication system, so that the bulldozer is out of control during driving or working, or safety accidents are caused
When network communication is unusual or disturbs in traditional remote control or unmanned equipment, indicate through the warning light, simultaneously, generally can set up the scram switch of easily touch-control in equipment periphery, when taking place network communication trouble or disturb and lead to equipment out of control, generally arrive the periphery of equipment out of control through operating personnel the very first time, trigger emergency switch to guarantee equipment stops or flame-out, the safety of guarantee equipment and operation.
The mode that the operator arrives at the peripheral control equipment of the out-of-control equipment at the first time increases the requirement on the operator, and simultaneously brings uncertainty of operation, namely, the operator cannot timely judge that the field equipment is in the out-of-control state, and meanwhile, the control equipment cannot be stopped or flamed out in time when the network communication connection is poor, so that the time of emergency stop is easily delayed, the situation is difficult to control in time, and accidents are caused.
Disclosure of Invention
The embodiment of the invention provides a safety control method, a safety control device and a safety control system for a remote control bulldozer, and aims to improve the safety of bulldozer operation and reduce the risk of out-of-control of the bulldozer.
To achieve the purpose, in a first aspect, an embodiment of the present invention provides a method for remotely controlling a bulldozer, the method including:
sequentially receiving at least two control signals;
calculating the receiving delay time of the control signal according to the at least two times of control signals;
and selecting and outputting a vehicle speed limiting instruction with a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting instruction is positively correlated with the length of the receiving delay time.
Optionally, the calculating, according to the at least two control signals, a receiving delay time of the control signal includes:
calculating a transmission time interval between the control signal currently received and the control signal received last time;
and calculating the difference value of the transmission time interval and a standard transmission time interval to generate the receiving delay time.
Optionally, the selecting and outputting the vehicle speed limit command of the corresponding grade according to the receiving delay time comprises:
when the receiving delay time is smaller than a first delay threshold value, generating a speed limit control signal;
generating a brake control signal when the reception delay time is greater than or equal to the first delay threshold and less than a second delay threshold;
and when the receiving delay time is greater than or equal to the second delay threshold and lasts for a first time period, generating a flameout control signal.
Optionally, the calculating the receiving delay time of the control signal according to the at least two times of control signals further includes:
calculating a transmission time interval between each time the control signal is received and the control signal received last time;
accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain an accumulated transmission time interval;
calculating a difference between the accumulated transmission time interval and a standard accumulated transmission time interval to generate the receive delay time.
Optionally, the selecting and outputting the vehicle speed limit command of the corresponding grade according to the receiving delay time further comprises:
when the receiving delay time is smaller than a first accumulated delay threshold value, generating a speed limit control signal;
generating a brake control signal when the receiving delay time is greater than or equal to the first accumulated delay threshold and less than a second accumulated delay threshold;
and when the receiving delay time is greater than or equal to the second accumulated delay threshold and lasts for a second time period, generating a flameout control signal.
Optionally, after the receiving delay time is greater than or equal to the second accumulated delay threshold and lasts for a second time period and a flameout control signal is generated, the method further includes:
receiving a restart control signal, and resetting the accumulated transmission time interval;
recalculating the transmission time interval between each time the control signal was received and the last received control signal;
accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain an accumulated transmission time interval again;
calculating a difference between the accumulated transmission time interval and a standard accumulated transmission time interval to generate the receive delay time.
In a second aspect, an embodiment of the present invention further provides a safety control device for a remote control bulldozer, the safety control device including:
the receiving module is used for receiving the control signals at least twice in sequence;
the delay calculation module is used for calculating the receiving delay time of the control signal according to the at least two control signals;
and the execution control module is used for selecting and outputting a vehicle speed limiting instruction with a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting instruction is positively correlated with the length of the receiving delay time.
In a third aspect, an embodiment of the present invention further provides a system for remotely controlling safety of a bulldozer, the system comprising a vehicle-mounted terminal and a remote control terminal, the vehicle-mounted terminal comprising the safety control device of the remotely controlled bulldozer according to claim 7
The remote control end comprises a remote control end command generating module and a remote control end receiving and sending module;
the remote control end command generating module is electrically connected with the remote control end receiving and sending module; the remote control end command generating module is used for receiving an operation signal of a user, generating a corresponding first control command and transmitting the first control command to the remote control end receiving and sending module; the remote control end transceiver module is used for sending the first control command to the vehicle-mounted end;
the vehicle-mounted end also comprises a control equipment body and a vehicle-mounted end receiving and sending module;
the vehicle-mounted receiving and transmitting module and the remote control bulldozer safety control device are integrated on the control equipment body; the vehicle-mounted terminal receiving and sending module is electrically connected with the safety control device of the bulldozer; the vehicle-mounted end transceiver module is used for receiving the first control command sent by the remote control end and transmitting the first control command to the safety control device of the bulldozer; the safety control device for controlling the bulldozer is used for judging the information interaction delay condition according to the received first control command and generating a limit control command according to the information interaction delay condition.
Optionally, the vehicle-mounted end further comprises a camera and a sound pickup;
the camera is integrated with the equipment body, is electrically connected with the vehicle-mounted terminal receiving and sending module, and is used for shooting image information of the surrounding environment of the equipment and transmitting the image information to the vehicle-mounted terminal receiving and sending module; the vehicle-mounted terminal transceiving module is also used for sending the image information to the remote control terminal transceiving module;
the sound pickup is electrically connected with the vehicle-mounted terminal receiving and transmitting module and is used for collecting sound information around the equipment and transmitting the sound information to the vehicle-mounted terminal receiving and transmitting module; the vehicle-mounted terminal transceiving module is also used for sending the sound information to the remote control terminal transceiving module.
Optionally, the remote control terminal further comprises a display and a loudspeaker;
the display is electrically connected with the remote control terminal receiving and sending module and is used for displaying the image information received by the remote control terminal receiving and sending module;
the loudspeaker is electrically connected with the remote control end transceiving module and is used for amplifying and playing the sound information received by the remote control end transceiving module.
The embodiment of the invention provides a safety control method for remotely controlling a bulldozer, which is used for sequentially receiving control signals at least twice, calculating the receiving delay time of the control signals according to the receiving time of the control signals at least on two sides, and selectively and hierarchically controlling the bulldozer according to the calculated receiving delay time, so that the bulldozer can automatically execute corresponding control commands at different delay times, the problem of operation failure caused by unstable signal transmission during the operation of remotely controlling the bulldozer is solved, the safety of remote control operation of the bulldozer is improved, the risk of out-of-control remote control operation of the bulldozer is reduced, and the possibility of safety accidents is reduced. Meanwhile, according to different levels of delay, corresponding control commands can be automatically and correspondingly executed, the intellectualization and the reliability of the remote control operation of the bulldozer are improved, the dependence on operators is reduced, the skill requirements of the operators are reduced, the control mode is simple and convenient, and the manufacturing cost is low.
Drawings
Fig. 1 is a schematic flow chart of a method for remotely controlling a bulldozer according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of another method for remotely controlling the bulldozer according to the embodiment of the present invention.
Fig. 3 is a schematic flow chart of another method for controlling the safety of a remote control bulldozer according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a safety control device of a remote control bulldozer according to an embodiment of the present invention.
Fig. 5 is a schematic view of a safety control receiving system of a remote control bulldozer according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the embodiments of the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts.
Fig. 1 is a schematic flow chart of a method for remotely controlling a bulldozer according to an embodiment of the present invention, and as shown in fig. 1, a method for remotely controlling a bulldozer includes:
s101, at least two control signals are received in sequence.
The control signal refers to an execution command for controlling the bulldozer to work, and illustratively, the control signal may include walking, braking, and turning off, and the bulldozer may sequentially execute forward movement, stopping, and turning off according to the control command. By receiving the control signals at least on two sides, the time for receiving the control signals each time can be conveniently and subsequently judged, and therefore the delay time for receiving the control signals is simply and conveniently calculated.
And S102, calculating the receiving delay time of the control signal according to the control signal at least twice.
It will be appreciated that, by controlling the bulldozer by remote control, the signal transmission depends on the network conditions of communication, and generally, the network reception of two adjacent signal transmissions has a fixed time difference, which is slightly longer than the fixed time difference when the network environment is unstable. By receiving the control signals at least twice, the time of the control instructions received twice can be obtained in time, so that the time difference of receiving two adjacent control signals can be calculated, and the receiving delay time can be obtained. The calculation mode is simple and convenient, manual operation is not needed, the statistical error rate is reduced, and the working efficiency is improved.
S103, selecting and outputting a vehicle speed limiting command of a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting command is positively correlated with the length of the receiving delay time.
According to the time of receiving delay, the environmental condition of current network signal transmission can be judged, and the degree of delay is graded through analysis of the receiving delay, so that a vehicle speed limiting instruction corresponding to each grade is selectively output, the bulldozer can be intelligently and automatically controlled according to the condition of network transmission, the safety of remote control operation of the bulldozer is improved, the out-of-control condition of remote control operation of the bulldozer caused by severe network communication environment is avoided, the out-of-control risk of the remote control bulldozer is reduced, and the possibility of safety accidents is reduced.
On the basis of the foregoing embodiment, each step is further refined, fig. 2 is a schematic flow chart of another remote control bulldozer safety control method provided in the embodiment of the present invention, and as shown in fig. 2, a remote control bulldozer safety control method includes:
s101, at least two control signals are received in sequence.
And S1021, calculating the transmission time interval between the currently received control signal and the control signal received last time.
The control signal received last time is the control signal adjacent to the control signal received at present, and the time for receiving the control signal twice can be accurately obtained by calculating the transmission time interval between the control signal received at present and the control signal received last time, so that the receiving delay time is conveniently calculated, and the calculation complexity is reduced.
S1022, calculating a difference between the transmission time interval and the standard transmission time interval, and generating a reception delay time.
The standard transmission time interval is a time interval for receiving two adjacent control signals under the conditions of excellent network environment and no interference, the delay condition of the current received signal relative to the standard transmission time interval can be obtained by calculating the difference value between the transmission time interval and the standard transmission time interval, the calculation is simple and effective, the calculation complexity is reduced, and the calculation efficiency is improved. Illustratively, the standard transmission time interval of two adjacent control signals is 20ms, the transmission time interval is 23ms, and the reception delay time is 3 ms.
And S1031, selecting and outputting the vehicle speed limiting command of the corresponding grade according to the receiving delay time.
And when the receiving delay time is less than the first delay threshold value, generating a speed limit control signal.
When the receiving delay time is greater than or equal to a first delay threshold and less than a second delay threshold, a brake control signal is generated.
And when the receiving delay time is greater than or equal to the second delay threshold and lasts for the first time period, generating a flameout control signal.
The method comprises the steps that the receiving time delay is divided into different levels, control commands of corresponding degrees can be correspondingly generated in the different levels, the receiving time delay can be divided into three intervals by setting a first delay threshold, a second delay threshold and a first time period, the first delay threshold is 5ms, the second delay time is 10ms, the first time period is 5s, when the receiving time delay is calculated to be less than 5ms, a speed-limiting control signal is automatically generated, and the traveling speed of the bulldozer is controlled not to exceed 5 km/h; when the receiving delay time is calculated to be more than 5ms and less than 10ms, a delay brake control signal is automatically generated to control the brake of the bulldozer and limit the action capability of the bulldozer, so that the damage to personnel and property caused by the out-of-control bulldozer is reduced; and when the calculated receiving delay time is more than 10ms and the delay lasts for 5s, automatically generating a flameout control signal to control the bulldozer to flameout. By the control mode, the delay condition of the network communication signal can be automatically judged, and the corresponding control command can be automatically and correspondingly generated according to the delay condition, so that the condition that the bulldozer is out of control due to overhigh network delay is avoided, and the safety of remote control is improved. In addition, it can be understood that when the calculated receiving delay time is smaller than the first delay threshold, the speed limit control signal is automatically generated, and after the bulldozer is subjected to speed limit, the calculated transmission time interval is restored to the standard transmission time interval, that is, the delay is 0, the speed limit on the bulldozer is cancelled. Based on the same principle, after the bulldozer is limited, the communication transmission environment returns to normal, and the delay disappears, so that the limit control instruction for the bulldozer is cancelled.
Fig. 3 is a schematic flow chart of another remote control bulldozer safety control method according to the embodiment of the present invention, and as shown in fig. 3, a remote control bulldozer safety control method includes:
s101, at least two control signals are received in sequence.
S1023, a transmission time interval between each received control signal and the last received control signal is calculated.
The transmission time interval between the control signal received each time and the adjacent control signal received last time is calculated, and the time delay accumulation of the time interval of receiving the control signal each time can be obtained by calculating the time interval of receiving the control signal each time, so that the total time of signal transmission delay in a certain time period can be conveniently counted.
S1024, accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain an accumulated transmission time interval.
By accumulating the transmission time intervals of the control signals received each time, the total time of transmitting the signals in a certain time period can be quickly obtained, and calculation is convenient.
S1025, calculating the difference value between the accumulated transmission time interval and the standard accumulated transmission time interval to generate the receiving delay time.
The standard accumulated statement time interval refers to the integration of the time intervals of adjacent signal transmissions under the condition of good network signal communication in a certain time period. By performing a difference between the accumulated transmission time interval and the standard accumulated transmission time interval, the total time of the control signal transmission delay within a certain time period can be accurately obtained. Illustratively, within 1min, the standard cumulative tti is 100ms, and within the same time period, the calculated cumulative tti is 110ms, and the accept delay time is 10 ms.
S1032, selecting and outputting the vehicle speed limiting instruction of the corresponding grade according to the receiving delay time,
when the receiving delay time is smaller than the first accumulation delay threshold value, a speed limit control signal is generated.
When the receiving delay time is greater than or equal to the first accumulation delay threshold and less than the second accumulation delay threshold, a brake control signal is generated.
And when the receiving delay time is greater than or equal to the second accumulated delay threshold and lasts for a second time period, generating a flameout control signal.
The receiving time delay is divided into different levels, control commands of corresponding degrees can be correspondingly generated in the different levels, the receiving time delay can be divided into three intervals by setting a first accumulation delay threshold, a second accumulation delay threshold and a second time period, illustratively, the first accumulation delay threshold is 20ms, the second accumulation delay threshold is 50ms, the first time period is 1min, when the receiving delay time is calculated to be less than 20ms, a speed-limiting control signal is automatically generated, and the traveling speed of the bulldozer is controlled not to exceed 5 km/h; when the receiving delay time is calculated to be more than 20ms and less than 50ms, a delay brake control signal is automatically generated to control the brake of the bulldozer and limit the action capability of the bulldozer, so that the damage to personnel and property caused by the out-of-control bulldozer is reduced; and when the receiving delay time is calculated to be more than 50ms and the delay lasts for 1min, automatically generating a flameout control signal to control the bulldozer to flameout. By the control mode, the delay condition of the network communication signal can be automatically judged, and the corresponding control command can be automatically and correspondingly generated according to the delay condition, so that the condition that the bulldozer is out of control due to overhigh network delay is avoided, and the safety of remote control is improved. It is understood that, after the limitation of the bulldozer is performed, if the recovery is delayed, the limitation of the bulldozer is cancelled, and the details are not described herein.
Further, after the receiving delay time is greater than or equal to the second accumulated delay threshold and lasts for the second time period and the flameout control signal is generated, the method further includes:
and receiving a restart control signal, and clearing the accumulated transmission time interval.
It will be appreciated that when the stall control signal is generated and the bulldozer stalls in response to the delayed stall signal, for safety reasons, manual operation is required to restart the bulldozer equipment, and the bulldozer will restart in response to the restart control signal while clearing the count of accumulated transmission time intervals. By resetting the accumulated transmission time interval in the restarting process, the delay calculation is not influenced by the previous calculation when the delay calculation is carried out next time, and the calculation accuracy is improved.
The transmission time interval between each received control signal and the last received control signal is recalculated.
After the bulldozer enters a working state, the transmission time interval between the control signal received each time and the control signal received last time is recalculated, and the delay condition of the control signal transmission of the bulldozer is calculated and monitored again, so that the condition of overhigh network information transmission delay is prevented from happening again.
And accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain the accumulated transmission time interval again.
And accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received every adjacent time to obtain a new accumulated transmission time interval, so that the transmission delay is conveniently calculated again.
The difference between the accumulated transmission time interval and the standard accumulated transmission time interval is calculated to generate the receive delay time.
The accumulated transmission time interval and the standard accumulated transmission time interval are subjected to difference value to obtain receiving delay time, the steps are repeated, corresponding control is performed again according to the receiving delay time, the working state of the bulldozer is monitored in real time, the situation that the bulldozer is out of control when the transmission environment is delayed relatively is prevented, and the safety and the stability of the remote control bulldozer are guaranteed.
Fig. 4 is a schematic structural view of a safety control device for a remote-controlled bulldozer according to an embodiment of the present invention, and as shown in fig. 4, the safety control device for a remote-controlled bulldozer includes:
the receiving module 1 is configured to sequentially receive at least two control signals.
And the delay calculating module 2 is used for calculating the receiving delay time of the control signal according to the control signal at least twice.
And the execution control module 3 is used for selecting and outputting a vehicle speed limiting instruction with a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting instruction is positively correlated with the length of the receiving delay time.
The beneficial effects of the safety control device of the remote control bulldozer are the same as those of the safety control method of the remote control bulldozer, and are not repeated herein.
FIG. 5 is a schematic view of a safety control receiving system for a remote-controlled bulldozer according to an embodiment of the present invention, and as shown in FIG. 5, the safety control system for a remote-controlled bulldozer comprises a vehicle-mounted terminal 10 and a remote-controlled terminal 20, the vehicle-mounted terminal comprising the safety control device 11 for a remote-controlled bulldozer as described above
The remote control terminal 20 includes a remote control terminal command generating module 21 and a remote control terminal transmitting/receiving module 22.
The remote control end command generating module 21 is electrically connected with the remote control end receiving and sending module 22; the remote control end command generating module 21 is configured to receive an operation signal of a user, generate a corresponding first control command, and transmit the first control command to the remote control end transceiving module 22; the remote control terminal transceiver module 22 is configured to send a first control command to the vehicle-mounted terminal 10.
The vehicle-mounted terminal further comprises a control device body (not shown in the figure) and a vehicle-mounted terminal transceiving module 12.
The vehicle-mounted receiving and transmitting module 12 and the remote control bulldozer safety control device 11 are integrated on the control equipment body; the vehicle-mounted end transceiver module 12 is electrically connected with the safety control device 11 for controlling the bulldozer; the vehicle-mounted terminal transceiver module 12 is used for receiving a first control command sent by the remote control terminal 20 and transmitting the first control command to the bulldozer safety control device 11; the safety control device 11 is used for judging the information interaction delay situation according to the received first control command and generating a limit control command according to the information interaction delay situation.
The remote control bulldozer is a bulldozer which does not need to be operated by an operator on site, and the action of the bulldozer is remotely controlled mainly through a remote controller or a 5G remote control network. The first control command comprises operation instructions such as walking, braking, flameout and the like. It CAN be understood that the vehicle-mounted end and the remote control end carry out information interaction by utilizing the CAN bus through radio or 5G communication signals. According to the safety control receiving system for the remote control bulldozer, the control instruction is sent to the vehicle-mounted end 10 through the remote control end 20, the vehicle-mounted end 10 works according to the control instruction sent by the remote control end 20, the vehicle-mounted end 10 is simply and conveniently operated through the remote control end 20 to work, operation is not required to be carried out by an operator, and convenience in operation is improved. The vehicle-mounted end 10 receives the control command sent by the remote control end 10 through the vehicle-mounted single transceiver module 12, and transmits the control command to the safety control device 11 of the bulldozer, the safety control device 11 of the bulldozer calculates the receiving delay time of the control signal according to the receiving time of the control signal at least on two sides, and selectively and hierarchically controls the bulldozer according to the calculated receiving delay time, so that the bulldozer can automatically execute the corresponding control command under different delay times, the safety of the remote control operation of the bulldozer is improved, the risk of out-of-control remote control operation of the bulldozer is reduced, and the possibility of safety accidents is reduced. Meanwhile, according to different levels of delay, corresponding control commands can be automatically and correspondingly executed, the intelligence and the reliability of the remote control operation of the bulldozer are improved, the dependence on operators is reduced, and the skill requirements of the operators are reduced. Furthermore, the vehicle-mounted end also comprises a delay accumulator, and after information communication is delayed and recovered, the delay accumulated data in the delay accumulator is cleared, so that the next calculation is facilitated.
Further, the remote control end receives an execution control command input by an operator through the remote control end command generating module 21, and transmits the execution control command to the remote control end transceiver module 22, the remote control end transceiver module 22 transmits the command to the vehicle-mounted end transceiver module 12, and the vehicle-mounted end transceiver module 12 transmits the command to the bulldozer safety control device 11, meanwhile, the bulldozer safety control device 11 executes the control command according to the control command and generates an execution feedback signal, and the vehicle-mounted end transceiver module 12 transmits the generated execution feedback signal to the remote control end transceiver module 22. Illustratively, the operator sends a walking control command, the remote control terminal transceiver module 22 transmits the control command to the vehicle-mounted terminal transceiver module 12, and the safety control device 11 of the bulldozer executes a walking command according to the control command and simultaneously transmits a feedback signal of closing the walking solenoid valve to the remote control terminal transceiver module 22.
With continued reference to fig. 5, optionally, the vehicle-mounted end further includes a camera 13 and a sound pickup 14; the camera 13 is integrated with the equipment body, the camera 13 is electrically connected with the vehicle-mounted terminal receiving and sending module 12, and the camera 13 is used for shooting image information of the surrounding environment of the equipment and transmitting the image information to the vehicle-mounted terminal receiving and sending module 12; the vehicle-mounted terminal transceiver module 12 is also used for transmitting image information to the remote control terminal 20 transceiver module.
The sound pickup 14 is connected with the equipment body, the sound pickup 14 is electrically connected with the vehicle-mounted terminal transceiving module 12, and the sound pickup 14 is used for collecting sound information around the equipment and transmitting the sound information to the vehicle-mounted terminal transceiving module 12; the vehicle-mounted terminal transceiver module 12 is also used for transmitting voice information to the remote control terminal transceiver module 22.
The vehicle-mounted end 10 is further provided with a camera 13 and a sound pick-up 14, and the image information of the bulldozer operation can be transmitted to the remote control end 20 through the camera 13, so that an operator can acquire an operation image in real time, and the operator can conveniently send a control instruction according to the actual operation condition. Based on the same principle, the vehicle-mounted terminal 10 can be further provided with a sound pickup 14, sound information around the bulldozer operation can be transmitted to the remote control terminal 20 through the sound pickup 14, so that an operator can refer to the sound information of the bulldozer operation, accurate and effective control judgment can be made, the accuracy of making a control command is improved, and the working efficiency is improved. It is understood that the vehicle-mounted terminal transceiver module 12 may include an image encoding unit, and encode and compress information such as images and sounds, and generate encoded images and transmit the encoded images to the remote control terminal 20 according to a prescribed streaming media protocol. Exemplarily, the camera 13 may be installed around the vehicle body and on the upper portion of the shovel blade, and is used for collecting, sensing and analyzing image information around the vehicle body and material information inside the shovel blade, and capable of synchronously outputting 2D and 3D information of various targets in a visual perception scene, and the output information has no synchronization error and matching error, and is free from calibration in the later stage. The pickup 14 is mounted on the top of the cab and includes 4 microphones. The high-fidelity 360-degree sound field picking and storing platform can be provided, the playback of the intelligent cockpit can be remotely controlled through a communication network, and the real sound field can be restored in real time.
Optionally, the remote control terminal 20 further comprises a display 23 and a loudspeaker 24; the display 23 is electrically connected to the remote control terminal transceiver module 22, and the display 23 is used for displaying the image information received by the remote control terminal transceiver module 22.
The microphone 24 is electrically connected to the remote control transceiver module 22, and the microphone 24 is used for amplifying and playing the sound information received by the remote control transceiver module 22.
Based on the same principle, the remote control end 20 is correspondingly provided with a display 23 for receiving image information and a loudspeaker 24 for receiving sound information, the image information of the environment around the bulldozer is displayed through the display 23, and the sound information of the environment around the bulldozer is displayed through the loudspeaker 24, so that an operator can make accurate judgment according to the information, the bulldozer can be controlled conveniently, the work task can be completed effectively, and the work efficiency can be improved. It can be understood that the remote control end 20 can determine the delay condition of the communication signal transmission through the remote control end transceiver module 22 based on the difference between the receiving times of the image information and the sound information, and the calculation method is the same as the calculation method of the difference between the receiving times of the control signal provided by the present invention, and is not described herein again. It will be appreciated that the remote control transceiver module 22 includes an image decoding unit that receives the encoded compressed image, determines the same encoded image as the received encoded image, and decodes and displays it according to the protocol. Meanwhile, an operator can also autonomously judge whether signal receiving is delayed or not through a display or a loudspeaker, and for example, when an image or sound is obviously jammed, the operator can determine that network delay is large, so that corresponding execution operation is performed. Illustratively, the display 23 is mainly composed of a display screen, and may be provided with a plurality of display screens corresponding to the camera devices one by one for display, or may be provided with a large display screen for integrated or split display, and is disposed in front of the remote control seat to display video images of the periphery of the bulldozer and the inside of the blade in front of the driver.
Furthermore, for system safety, ultrasonic distance measuring sensors and microwave radar sensors can be arranged on the left side, the right side and the rear side of the remote control bulldozer, the distance between the bulldozer and surrounding objects can be monitored in real time, and if the bulldozer enters a dangerous distance range, the bulldozer can automatically prohibit acceleration processing or automatically reduce the speed or stop the bulldozer when the engine is out of fuel according to preset different level thresholds. Similarly, the inclination angle sensor CAN be used for acquiring the data of the vehicle body, the CAN data is sent to the display 13 and the remote control bulldozer safety control device 11 through the CAN network, the acquired current vehicle body data is sent, information is sent and displayed on the display 13, an alarm is given when the current vehicle body data exceeds a certain range, and the controller acquires the current vehicle body data and prohibits acceleration or deceleration or stops the vehicle according to the gear state of the vehicle body. Therefore, the system safety of the remote control bulldozer is ensured in all directions.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A safety control method for a remote control bulldozer is characterized by comprising the following steps:
sequentially receiving at least two control signals;
calculating the receiving delay time of the control signal according to the at least two times of control signals;
and selecting and outputting a vehicle speed limiting instruction with a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting instruction is positively correlated with the length of the receiving delay time.
2. The method of claim 1, wherein said calculating a delay time for receiving said control signal based on said at least two control signals comprises:
calculating a transmission time interval between the control signal currently received and the control signal received last time;
and calculating the difference value of the transmission time interval and a standard transmission time interval to generate the receiving delay time.
3. The method of claim 2, wherein said selecting and outputting a vehicle speed limit command of a corresponding level according to the reception delay time comprises:
when the receiving delay time is smaller than a first delay threshold value, generating a speed limit control signal;
generating a brake control signal when the reception delay time is greater than or equal to the first delay threshold and less than a second delay threshold;
and when the receiving delay time is greater than or equal to the second delay threshold and lasts for a first time period, generating a flameout control signal.
4. The method of claim 1, wherein said calculating a delay time for receiving said control signal based on said at least two control signals further comprises:
calculating a transmission time interval between each time the control signal is received and the control signal received last time;
accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain an accumulated transmission time interval;
calculating a difference between the accumulated transmission time interval and a standard accumulated transmission time interval to generate the receive delay time.
5. The method of claim 4, wherein said selecting and outputting a vehicle speed limit command of a corresponding level according to said reception delay time further comprises:
when the receiving delay time is smaller than a first accumulated delay threshold value, generating a speed limit control signal;
generating a brake control signal when the receiving delay time is greater than or equal to the first accumulated delay threshold and less than a second accumulated delay threshold;
and when the receiving delay time is greater than or equal to the second accumulated delay threshold and lasts for a second time period, generating a flameout control signal.
6. The method as claimed in claim 5, further comprising, after the receiving delay time is greater than or equal to the second accumulated delay threshold value for a second period of time and a misfire control signal is generated:
receiving a restart control signal, and resetting the accumulated transmission time interval;
recalculating the transmission time interval between each time the control signal was received and the last received control signal;
accumulating the transmission time interval of the currently received control signal and the transmission time interval of the control signal received each time before to obtain an accumulated transmission time interval again;
calculating a difference between the accumulated transmission time interval and a standard accumulated transmission time interval to generate the receive delay time.
7. A safety control device for a remote-controlled bulldozer, comprising:
the receiving module is used for receiving the control signals at least twice in sequence;
the delay calculation module is used for calculating the receiving delay time of the control signal according to the at least two control signals;
and the execution control module is used for selecting and outputting a vehicle speed limiting instruction with a corresponding grade according to the receiving delay time, wherein the grade of the vehicle speed limiting instruction is positively correlated with the length of the receiving delay time.
8. A remote-controlled bulldozer safety control system, comprising a vehicle-mounted terminal and a remote-controlled terminal, said vehicle-mounted terminal comprising the remote-controlled bulldozer safety control apparatus set forth in claim 7;
the remote control end comprises a remote control end command generating module and a remote control end receiving and sending module;
the remote control end command generating module is electrically connected with the remote control end receiving and sending module; the remote control end command generating module is used for receiving an operation signal of a user, generating a corresponding first control command and transmitting the first control command to the remote control end receiving and sending module; the remote control end transceiver module is used for sending the first control command to the vehicle-mounted end;
the vehicle-mounted end also comprises a control equipment body and a vehicle-mounted end receiving and sending module;
the vehicle-mounted receiving and transmitting module and the remote control bulldozer safety control device are integrated on the control equipment body; the vehicle-mounted terminal receiving and sending module is electrically connected with the safety control device of the bulldozer; the vehicle-mounted end transceiver module is used for receiving the first control command sent by the remote control end and transmitting the first control command to the safety control device of the bulldozer; the safety control device for controlling the bulldozer is used for judging the information interaction delay condition according to the received first control command and generating a limit control command according to the information interaction delay condition.
9. The safety control system for a remotely controlled bulldozer according to claim 8, in which said truck-mounted end further includes a camera and a sound pickup;
the camera is integrated with the equipment body, is electrically connected with the vehicle-mounted terminal receiving and sending module, and is used for shooting image information of the surrounding environment of the equipment and transmitting the image information to the vehicle-mounted terminal receiving and sending module; the vehicle-mounted terminal transceiving module is also used for sending the image information to the remote control terminal transceiving module;
the sound pickup is electrically connected with the vehicle-mounted terminal receiving and transmitting module and is used for collecting sound information around the equipment and transmitting the sound information to the vehicle-mounted terminal receiving and transmitting module; the vehicle-mounted terminal transceiving module is also used for sending the sound information to the remote control terminal transceiving module.
10. The remote control bulldozer safety control system according to claim 8, characterised in that said remote control end further comprises a display and a loudspeaker;
the display is electrically connected with the remote control terminal receiving and sending module and is used for displaying the image information received by the remote control terminal receiving and sending module;
the loudspeaker is electrically connected with the remote control end transceiving module and is used for amplifying and playing the sound information received by the remote control end transceiving module.
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| CN202010679807.8A CN111827386A (en) | 2020-07-15 | 2020-07-15 | Safety control method, device and system for remote control bulldozer |
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| CN202010679807.8A CN111827386A (en) | 2020-07-15 | 2020-07-15 | Safety control method, device and system for remote control bulldozer |
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Application publication date: 20201027 |