CN216133501U - Beyond visual range remote wireless control device - Google Patents

Abstract

The utility model provides a beyond visual range remote wireless control device, which comprises remote mobile equipment and control terminal equipment; the remote mobile equipment is provided with at least two cameras, namely a first camera and a second camera, and the first camera and the second camera are connected with a first switch and used for acquiring a field environment video of the mechanical equipment; the first switch is connected with the first wireless transmission module and used for wirelessly transmitting the video of the site environment; the intelligent control system further comprises a second wireless transmission module, a second switch and an airborne computer, wherein the second wireless transmission module, the second switch and the airborne computer are installed on the control terminal equipment and are electrically connected in sequence. The remote mobile equipment action control method and the remote mobile equipment action control system realize action control on the remote mobile equipment by acquiring the remote image and the remote mobile equipment state information and utilizing the control terminal equipment, solve the problem of replacing manual operation in a severe environment, separate constructors from a dangerous or complex environment, solve the problem of site construction, ensure the safety of the site personnel and improve the working comfort level.

Description

Beyond visual range remote wireless control device

Technical Field

The utility model relates to the field of wireless control, in particular to a beyond-the-horizon remote wireless control device.

Background

In the face of more and more mobile mechanical equipment (such as pump trucks, cranes, mining machinery and the like), remote control operation can be carried out on the mobile mechanical equipment by adopting a remote controller so as to enhance the control flexibility, and meanwhile, personal injury to operators caused by accidents can be avoided. At present, a remote controller is generally provided with operating elements such as a handle, a button switch, a button and a knob to control the running state of mechanical equipment, but in an operation site, the working environment when a vehicle is operated by remote operation is generally severe and noisy, and the requirement cannot be met greatly only by adopting a visual remote operation method.

At present, mobile communication networks are developed, large-scale real-time remote data communication can be supported, and a beyond-the-horizon remote wireless control system and a control terminal based on the large-scale real-time remote data communication are urgently needed in the field of unmanned mobile equipment.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides a beyond-the-horizon remote wireless control device. The utility model realizes the action control of the remote mobile equipment by acquiring the remote image and the state information of the remote mobile equipment and utilizing the control terminal equipment. And a video splicing technology, a wireless transparent transmission technology and an automatic frequency hopping technology are adopted, so that bidirectional real-time transmission of the acquired information and the control information is realized, and the stability, timeliness and effectiveness of transmission signals are ensured. The problem of replace manual operation under adverse circumstances, separate constructor from dangerous or complicated environment, solve the site operation problem, guarantee site personnel's security and improve work comfort level is solved.

In order to realize the technical purpose, the technical scheme of the utility model is as follows:

a beyond visual range remote wireless control device comprises a remote mobile device and a control terminal device which are arranged on a mechanical device;

the remote mobile equipment is provided with at least two cameras, namely a first camera and a second camera, and the first camera and the second camera are connected with a first switch and used for acquiring a mechanical site environment video; the first switch is connected with the first wireless transmission module and used for wirelessly transmitting the video of the site environment;

the second wireless transmission module is connected with the airborne computer through the second switch and used for receiving the site environment video and displaying the spliced video of the first camera and the second camera on the airborne computer; the second data conversion module is also connected with an operation panel through a second controller and is used for remotely controlling mechanical equipment. The first wireless transmission module and the second wireless transmission module can adopt ZigBee, LORA, GPRS, Bluetooth, infrared and other wireless transmission protocols.

Furthermore, the mobile device further comprises a first engine state acquisition device, a gearbox state acquisition device, a hydraulic system state acquisition device, a GPS acquisition device and a first controller electrically connected with the first engine state acquisition device and the gearbox state acquisition device, wherein the first controller is used for acquiring the engine state, the gearbox state, the hydraulic system state and the GPS information of the mechanical device.

Further, a first data conversion module is arranged, and the first controller is electrically connected with the first switch through the first data conversion module and used for sending the engine state, the gearbox state, the hydraulic system state and the GPS information of the mechanical equipment to the control terminal equipment.

Furthermore, the second controller is electrically connected with a warning unit, and engine state, gearbox state, hydraulic system state and GPS information warning are carried out through the second controller.

Furthermore, the second controller is electrically connected with an operation panel for controlling the mechanism action and the running state of the mechanical equipment.

The utility model has the beneficial effects that:

the utility model realizes the action control of the remote mobile equipment by acquiring the remote image and the state information of the remote mobile equipment and utilizing the control terminal equipment. And a video splicing technology, a wireless transparent transmission technology and an automatic frequency hopping technology are adopted, so that bidirectional real-time transmission of the acquired information and the control information is realized, and the stability, timeliness and effectiveness of transmission signals are ensured. The problem of replace manual operation under adverse circumstances, separate constructor from dangerous or complicated environment, solve the site operation problem, guarantee site personnel's security and improve work comfort level is solved.

Drawings

FIG. 1 is a schematic diagram of the circuit modularity principle of the remote mobile device of the present invention;

fig. 2 is a schematic diagram of the circuit modularization principle of the operation terminal device of the utility model;

fig. 3 is a circuit wiring diagram of the manipulation terminal device of the present invention;

fig. 4 is a schematic circuit wiring diagram of the first controller of the present invention.

Detailed Description

The technical solution of the present invention will be clearly and completely described below.

A beyond visual range remote wireless mechanical equipment control device comprises remote mobile equipment and control terminal equipment which are arranged on the mechanical equipment;

as shown in fig. 1, at least two cameras, namely a first camera and a second camera, are installed on the remote mobile device, and the first camera and the second camera are connected to a first switch and used for acquiring a mechanical field environment video; the first switch is connected with the first wireless transmission module and used for wirelessly transmitting the video of the site environment; according to the utility model, a high-definition digital camera is selected at the mobile equipment end to acquire image information, the image information is accessed to a first switch through a network cable, and then data transmission is carried out by a first wireless transmission module.

According to the embodiment of the utility model, the remote mobile equipment terminal acquires the external image information through the camera, wherein the selection of the camera is determined according to the characteristics of the system, such as the definition and the visual angle of the acquired image. First camera and second are made a video recording and are installed respectively at the front end and the rear end of mobile device end, gather mobile device's peripheral scene, install two cameras around respectively, adopt the video concatenation technique to transmit the machine-carried computer of controlling terminal equipment through wireless network, guarantee to control that the personnel still can be clear observe mobile device all ring edge borders in the operational environment of beyond visual range, make accurate judgement and carry out remote control to equipment.

As shown in fig. 2, the present invention further includes a second wireless transmission module, a second switch, an onboard computer, and a second data conversion module, which are installed on the control terminal device and electrically connected to each other, wherein the second wireless transmission module is connected to the onboard computer through the second switch, and is configured to receive a field environment video and display a spliced video of the first camera and the second camera on the onboard computer; the airborne computer carries out real-time video splicing on the received multi-channel digital video images so as to obtain an integral video image with a wider visual angle range; the airborne computer is also provided with function keys, and the multi-path images can be displayed singly or circularly by pressing the function switching keys on the airborne computer. The utility model adopts the video splicing technology, the wireless transparent transmission technology and the automatic frequency hopping technology, realizes the bidirectional real-time transmission of the acquisition information and the control information, and ensures the stability, the timeliness and the effectiveness of the transmission signal.

The second data conversion module is also connected with an operation panel through a second controller and used for remotely controlling the machine. After a second wireless transmission module of the control terminal device receives data sent by the remote mobile device, the received data sent by the mobile device end is distributed and transmitted through the switch, the data are transmitted to the airborne computer and the second controller through the second switch according to the set address, and the airborne computer performs real-time video splicing display on video images collected by the device end so as to obtain a wider image visual angle. The remote mobile equipment state data are firstly transmitted to a second data conversion module, the data conversion module converts the number of the TCP/IP network protocol into data of a CAN bus protocol, the data are sent to a second controller through a CAN bus, the second controller carries out data operation, and the remote mobile equipment state is displayed by a display. The operation state of the mobile equipment end can be inquired through the onboard computer, and data setting and parameter adjustment can be carried out on the operation state.

Furthermore, the mobile device further comprises a first engine state acquisition device, a gearbox state acquisition device, a hydraulic system state acquisition device, a GPS acquisition device and a first controller electrically connected with the first engine state acquisition device and the gearbox state acquisition device, wherein the first controller is used for acquiring the engine state, the gearbox state, the hydraulic system state and the GPS information of the mechanical device. The remote mobile equipment terminal collects the equipment state information such as an engine state, a gearbox state, a hydraulic system state, a GPS state and the like through the first controller.

Further, a first data conversion module is arranged, and the first controller is electrically connected with the first switch through the first data conversion module and used for sending the engine state, the gearbox state, the hydraulic system state and the GPS information of the mechanical equipment to the control terminal equipment. As shown in fig. 4, the first controller includes a VCU1 using a PLC controller, an ECU, and a TCU controller, where the VCU1 is used to collect the state information of the hydraulic system of the mobile device, the ECU is used to collect the state information of the engine, and the TCU is used to collect the state information of the transmission.

The first data conversion module converts data received by a CAN bus protocol into data of a TCP/IP network protocol by adopting a CAN-to-Ethernet mode and transmits the data to the first switch through a network cable. As shown in fig. 3, the first data conversion module adopts a CAN-ethernet module with model number USR-CANnet, the second wireless transmission module adopts an AP of WR-01, and the connection relationship between the first data conversion module and the terminals of the onboard computer PC and the second switch is shown in fig. 3.

Furthermore, the second controller is electrically connected with a warning unit, and engine state, gearbox state, hydraulic system state and GPS information warning are carried out through the second controller. If the state of the remote mobile equipment is in failure or needs to be prompted to alarm, corresponding warning elements such as an alarm, a buzzer and an indicator light are triggered. Preferably, the second controller receives the data and compares and processes the data, and may embody the specific data on the display in the form of a pointer animation, a digital display system, an alarm lamp, an indicator lamp, or a buzzer.

Furthermore, the second controller is electrically connected with an operation panel for controlling the mechanism action and the running state of the mechanical equipment. Therefore, the data among the first wireless transmission module, the second wireless transmission module, the switch, the data conversion module and the controller are in a real-time bidirectional transmission mode, so that the mobile equipment can be remotely controlled in modes of controlling a mode switch, a control handle and the like on the panel, and the mechanism action and the running state of the mechanical equipment are controlled. The control terminal device collects the state information of devices such as a control handle, a mode switch and the like on the control panel in real time, sends the state information to the remote mobile device through second wireless transmission, further controls the VCU1, the ECU and the TCU controller shown in the figure 4, and controls the mechanism action and the running state of the mechanical device.

Further, the power supply module is used for supplying power to peripheral electric equipment at the remote mobile equipment end, namely a 24V direct-current storage battery at the remote mobile equipment end. The remote control end power supply module is an AC 220-to-24V direct current power supply and supplies power to components in the second wireless transmission module, the second switch, the second data conversion module, the airborne computer, the second controller and the control panel.

It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the utility model.

Claims (5)

1. A beyond visual range remote wireless control device is characterized by comprising remote mobile equipment and control terminal equipment which are arranged on mechanical equipment;

the remote mobile equipment is provided with at least two cameras, namely a first camera and a second camera, and the first camera and the second camera are connected with a first switch and used for acquiring a field environment video of the mechanical equipment; the first switch is connected with the first wireless transmission module and used for wirelessly transmitting the video of the site environment;

the second wireless transmission module is connected with the airborne computer through the second switch and used for receiving the site environment video and displaying the spliced video of the first camera and the second camera on the airborne computer; the second data conversion module is also connected with an operation panel through a second controller and is used for remotely controlling mechanical equipment.

2. The beyond-the-horizon remote wireless control device of claim 1, wherein the mobile device further comprises a first engine state acquisition device, a transmission state acquisition device, a hydraulic system state acquisition device, a GPS acquisition device, and a first controller electrically connected thereto, for acquiring mechanical engine state, transmission state, hydraulic system state, and GPS information.

3. The beyond-the-horizon remote wireless control device according to claim 2, wherein a first data conversion module is provided, and the first controller is electrically connected with the first switch through the first data conversion module and is used for sending mechanical engine state, gearbox state, hydraulic system state and GPS information to the control terminal equipment.

4. The beyond-the-horizon remote wireless control device of claim 2, wherein the second controller is electrically connected with a warning unit, and the second controller is used for warning the state of the engine, the state of the gearbox, the state of the hydraulic system and GPS information.

5. The beyond-the-horizon remote wireless control device of claim 2, wherein the second controller is electrically connected with a control panel for controlling the mechanical action and operation state of mechanical equipment.

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