CN105450990A - Down-hole mobile broadband streaming media network facing unmanned locomotive - Google Patents
Down-hole mobile broadband streaming media network facing unmanned locomotive Download PDFInfo
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- CN105450990A CN105450990A CN201510790862.3A CN201510790862A CN105450990A CN 105450990 A CN105450990 A CN 105450990A CN 201510790862 A CN201510790862 A CN 201510790862A CN 105450990 A CN105450990 A CN 105450990A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/41—Structure of client; Structure of client peripherals
- H04N21/4104—Peripherals receiving signals from specially adapted client devices
- H04N21/4126—The peripheral being portable, e.g. PDAs or mobile phones
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client
- H04N21/61—Network physical structure; Signal processing
- H04N21/6106—Network physical structure; Signal processing specially adapted to the downstream path of the transmission network
Abstract
An down-hole mobile broadband streaming media network facing an unmanned locomotive is disclosed. In the invention, traditional down-hole operation is combined with a broadband streaming media network. A camera installed on the locomotive is used to collect video data in real time. Simultaneously, locomotive state data and positional information data are acquired. Through a vehicle-mounted communication terminal, a trackside AP is connected into. A mobile locomotive access network is connected into in a real-time and dynamic mode. The mobile locomotive access network transmits data into a transportation scheduling local area network through an optical fiber. A ground locomotive operation server, a video server and a remote control operation bench are used to carry out remote control driving. A scheduling instruction issued by ground scheduling personnel and a road condition analyzer are used to identify a road condition and carry out autonomous driving. By using the network, cross-AP real-time transmission of multipath streaming media is realized; the remote control operation bench controls an instruction to carry out real-time response so that unmanned driving and autonomous driving modes are realized; safety of down-hole operation is increased; and exploratory work is performed for wireless communication network innovation and development of mine track transport.
Description
Technical field
The present invention relates to a kind of underground moving broadband streaming media network construction technology, especially relate to a kind of underground moving broadband streaming media network towards unmanned engine.
Background technology
Unmanned locomotive driving utilizes fast moving 100,000,000 WLAN technology to cover Mine Roadway conveying track electric locomotive along the line, staff only need at ground maneuvers centralized telecontrol locomotive shunting, avoid mine cave in or electric locomotive accidents time there are the injures and deaths of personnel, thus enable electric locomotive reliably at underground moving and the safety of safeguard work personnel.
Because system needs the HD video data that gathered by the vehicle-mounted camera of locomotive in driving process and locomotive state information are sent to ground monitoring center in real time and receive relevant control instruction, this bandwidth to network, real-time and reliability have very high requirement.
The comparative maturities such as current China mine video monitoring system, transportation dispatching supervisory control system and wireless access system, but also do not have at present complete set for unmanned engine underground moving broadband streaming media network system, especially under the Minepit environment of complexity, building the WiMAX Streaming Media mobile network that down-hole is highly reliable, is key technical problem urgently to be resolved hurrily.
Summary of the invention
The present invention is directed to the deficiency existing for above-mentioned prior art, by setting up downhole network, a kind of underground moving broadband streaming media network towards unmanned engine is provided, thus design four-layer network network structure, be followed successively by local area network (LAN) in car, mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN) from bottom to top, this structure is all applicable for the system driving model of Remote, autonomous operation.The underground moving broadband streaming media network towards unmanned engine that the present invention proposes is by local area network (LAN), mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN) in car, make to run between the electric locomotive in large lane, down-hole and ground control centre and set up reliable data channel, upload high clear video image and locomotive state information, lower biography driving instruction.
Technical solution problem of the present invention adopts following technical scheme:
The present invention is as follows towards the feature of the underground moving broadband streaming media network of unmanned engine:
A kind of underground moving broadband streaming media network towards unmanned engine, realize the network that transmitting video data and control information between local area network (LAN) are dispatched in underworkings and surface transportation, it is characterized in that, comprise local area network (LAN) in car, mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN);
In a, described car, local area network (LAN) is the network based on comprising locomotive control that vehicle-mounted camera, coke oven controller, road condition analyzing device, video encoder, bottom router, the down-hole locomotive control of vehicle mounted communication terminal and monitoring equipment build and monitoring;
Described vehicle-mounted camera shooting direction of traffic road conditions video, and by video streaming to video encoder, described video encoder carries out compression coding to video data, obtain analog video signal and digital video signal, analog video signal is transferred to road condition analyzing device Treatment Analysis by bottom router, road condition analyzing device is transferred to coke oven controller by analyzing the road conditions complaint message judged via bottom router, and coke oven controller judges locomotive state according to road conditions complaint message, controls the operation of locomotive; Digital video signal transfers to vehicle mounted communication terminal via bottom router, and then uploads in wireless stream of data;
B, described mobile vehicle Access Network be based on multiple track AP base station, the fixing camera with wireless communication module being arranged on underground site and vehicle mounted communication terminal build for realizing mobile vehicle handover management and dynamic access mobile radio network between multiple AP base station, and then realize underground moving locomotive relevant information and the exchanges data between underground site related data and fiber backbone network, finally complete the network passed down with aboveground dispatch command of uploading of down-hole information, specific as follows:
B1, described vehicle mounted communication terminal be trackside AP base station near dynamic access wirelessly, and described trackside AP base station receives the video data uploaded from vehicle mounted communication terminal, with locomotive constantly movement, along with a series of trackside AP handoff procedure;
B2, trackside AP base station, fixing camera are connected on access switch by netting twine, and described access switch is connected with access server;
B3, under the control of access server, by access switch all blended data streams of trackside AP base station, fixing camera are gathered and import fiber backbone network into;
C, described fiber backbone network are the long distance wired networks adopting the optical fiber switch with optical fiber interface to be built in optical fiber ring network mode by Fiber connection, for being communicated with mobile vehicle Access Network and transportation dispatching local area network (LAN);
D, described transportation dispatching local area network (LAN) to comprise multiple remote driving platform, video server, distribution switches, locomotive operation server, dispatch server carries out interconnected in interior uphole equipment, pass under completing the reception of down-hole information and the carrying out of aboveground scheduling and dispatch command, and the network that downhole video information is play at remote driving platform and video wall simultaneously, wherein, described locomotive operation server realizes resource management, binding management, monitor service, action queries, management and control Unmanned Systems, for establishing the link between remote operation console and locomotive, realize binding, record locomotive operating data and image, described dispatch server realizes down-hole railway traffic control according to the various information received, specific as follows:
D1, described dispatch server, according to the orbit information that the note axial organ be arranged on by wired ethernet interface on each track is gathered, remote control goat, semaphore complete the conversion of track switch, Road defence and opening, and send dispatching command to locomotive operation server, realize down-hole railway traffic control;
D2, by wired local net mode, locomotive operation server be establish the link between remote operation console and locomotive, realize binding;
The distribution switches of d3, employing OpenFlow technology, a blended data stream part is issued video server and carries out information cache, extraction, filtration, combination, and completing software decode broadcasting to reduce time delay by video wall by it, a part outputs to remote operation console and completes software decode broadcasting by it;
D4, described remote operation console are by distribution switches receiver, video, and interaction data, gathers all kinds of joystick state by USB interface, and joystick state is converted to operational command data and is transferred to target automatic control locomotive by switch;
D5, described video data are provided by two parts: vehicle-mounted camera and fixed point camera, the video flowing of video server to these two kinds of cameras is all preserved, and uses in order to subsequent query.
Described vehicle-mounted camera is high-definition anti-explosion camera, comprises and is arranged on front-facing camera on locomotive and post-positioned pick-up head.
Described video encoder is " two enter two goes out " type video encoder, carries 485 Communication Control output ports.
Described trackside AP base station refers to that interval is arranged on the base station of wall.
The described mineral aggregate entrucking district being arranged on underground site, unload zone and tunnel obtain camera.
Compared with the prior art, beneficial effect of the present invention is embodied in:
The present invention is by traditional underground work and broadband streaming media network integration, and locomotive utilizes the video camera Real-time Collection video data be installed on locomotive, obtains locomotive status data and location information data simultaneously; Locomotive accesses trackside AP by vehicle mounted communication terminal wireless mode, makes locomotive can dynamic access mobile vehicle access network in real time in traveling process; Mobile vehicle Access Network imports data into transportation dispatching network by optical fiber, utilizes ground locomotive operation server to realize resource management, binding management, monitor service, action queries; Utilize that video server carries out the decoding of video data, network insertion, vision signal export; Utilize remote operation console to check video image and locomotive state information, issue dispatch command, and then Remote is driven; Ground maneuvers personnel are utilized to assign dispatch command and road condition analyzing device identification road conditions carry out autonomous driving; This invention realize multi-way stream media across AP real-time Transmission, remote operation console control command real-time response, realize unmanned and autonomous driving pattern, improve the fail safe of underground work, the cordless communication network Innovation and development for mine rail transport makes exploration work.
Accompanying drawing explanation
Fig. 1 is involved in the present invention towards local area network structure schematic diagram in the underground moving broadband streaming media network car of unmanned engine;
Fig. 2 is the underground moving broadband streaming media overall network structural representation towards unmanned engine involved in the present invention;
Fig. 3 is the underground moving broadband streaming media network remote control driving model course of work towards unmanned engine involved in the present invention;
Fig. 4 is the underground moving broadband streaming media network autonomous driving work pattern process towards unmanned engine involved in the present invention;
Below by way of embodiment, and the invention will be further described by reference to the accompanying drawings.
Embodiment
Below by way of embodiment, and the invention will be further described by reference to the accompanying drawings:
Towards a underground moving broadband streaming media network for unmanned engine, it is characterized in that: comprise local area network (LAN) in car, mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN);
1, see Fig. 1, in described car, local area network (LAN) is the network based on comprising locomotive control that vehicle-mounted camera, coke oven controller, road condition analyzing device, video encoder, bottom router, the down-hole locomotive control of vehicle mounted communication terminal and monitoring equipment build and monitoring, wherein:
Described vehicle-mounted camera is positioned at the preposition high-definition anti-explosion camera at locomotive top and rearmounted high-definition anti-explosion camera, for camera car direction of traffic road conditions;
Described coke oven controller is the equipment judging locomotive state, control locomotive operation;
Described road condition analyzing device uses image recognition technology analysis driving video image, judges the equipment of preceding object information;
Described video encoder is " two enter two goes out " model, carries 485 communication ports and controls to export, and by video image compression, is encoded to network packet data and carries out the equipment that transmits;
The cable LAN that described bottom router is responsible between vehicle-mounted camera, coke oven controller, road condition analyzing device is interconnected;
Described vehicle mounted communication terminal is the WIFI interface module be installed on locomotive, and its external antenna is positioned at locomotive top;
When uploading down-hole information, workflow is as follows:
A1, described vehicle-mounted camera shooting direction of traffic road conditions video image;
A2, by the video image that obtains in a1 via video streaming to video encoder, video encoder process obtains analog video signal and digital video signal, analog video signal is transferred to road condition analyzing device by bottom router, and digital video signal transfers to vehicle mounted communication terminal via bottom router;
A3, described road condition analyzing device carry out software for jitters elimination to analog video signal, the vision signal of real-time analysis direct of travel picked-up, thus know direction of traffic road conditions condition information, and road conditions condition information is transferred to coke oven controller through bottom router, coke oven controller judges locomotive state according to road conditions complaint message, controls the operation of locomotive;
A4, described vehicle mounted communication terminal are wirelessly sent in the digital video signal wireless stream of data of acquisition in mobile vehicle Access Network.
2, see Fig. 2, the present invention, towards the underground moving broadband streaming media network of unmanned engine, also comprises mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN).
Mobile vehicle Access Network described in 2.1 be arranged on the track AP base station of wall based on multiple installation interval, the fixing camera with wireless communication module being arranged on underground site and vehicle mounted communication terminal build for realizing mobile vehicle handover management and dynamic access mobile radio network between multiple AP base station, and then realize the network of underground moving locomotive relevant information and the exchanges data between underground site related data and fiber backbone network, finally complete the biography down with aboveground dispatch command of uploading of down-hole information;
Described vehicle mounted communication terminal realizes the mobile radio network access of locomotive by trackside AP base station;
Described fixing camera is arranged on the mineral aggregate entrucking district of underground site, unload zone and tunnel, the image scene that shooting is corresponding, and by motorcycle track AP base station upload images, realizes road safety monitoring and train operation condition monitoring.
Mobile vehicle Access Network workflow based on above equipment is as follows:
B1, described vehicle mounted communication terminal be trackside AP base station near dynamic access wirelessly, and described trackside AP base station receives the video data uploaded from vehicle mounted communication terminal, with locomotive constantly movement, along with a series of trackside AP handoff procedure;
B2, trackside AP base station, fixing camera are connected on access switch by netting twine, and described access switch is connected with access server;
B3, under the control of access server, by access switch all blended data streams of trackside AP base station, fixing camera are gathered and import fiber backbone network into;
Fiber backbone network described in 2.2 is the long distance wired network adopting the optical fiber switch with optical fiber interface to be built in optical fiber ring network mode by Fiber connection, for being communicated with mobile vehicle Access Network and transportation dispatching local area network (LAN), when information upload, by being with the switch of optical fiber interface the blended data of acquisition to be gathered, passing through this long distance wired Internet Transmission to transportation dispatching local area network (LAN).
2.3, described transportation dispatching local area network (LAN) be by comprise multiple remote driving platform, video server, distribution switches, locomotive operation server, dispatch server uphole equipment carry out interconnected, pass under completing the reception of down-hole information and the carrying out of aboveground scheduling and dispatch command, and the network that downhole video information is play at remote driving platform and video wall simultaneously;
Wherein: described remote operation console is universal PC equipment, can bind with the arbitrary automatic control locomotive in down-hole, remote control hopper, it is manipulated, screen completes the real-time road video image of bound automatic control locomotive, micro-GIS information, the display of this three class of virtual meter panel information, after the automatic control locomotive bound enters loading and unloading district, the road conditions image that fixing camera gathers can be shown, and can manipulate it, provide the action bars of all kinds of physical analogy for human pilot;
Described video server is that the IP packet of mixing is carried out information cache, extraction, filtration, combination, export the continuous whole IP data packet format video corresponding to different vehicle-mounted camera, can call for third party, all video stream datas are stored in video server, carry out ex-post analysis for transferring at any time;
Described locomotive operation server is the computer equipment in transport movement control center, management and control Unmanned Systems, for establishing the link, realizing binding between remote operation console and locomotive, and record locomotive operating data and image;
Described dispatch server is the computer equipment in transport movement control center, effect is the orbit information gathered according to the note axial organ be arranged on each track, remote control goat, semaphore complete the conversion of track switch, Road defence and opening, realize down-hole railway traffic control;
Described distribution switches adopts OpenFlow technology, and the video packets of data of fiber backbone network is distributed to remote operation console and video server simultaneously;
Described video wall is the display device assembled by multiple liquid crystal display that transport movement control center is set up, all kinds of images that display down-hole is uploaded, so that dispatcher intuitively understands underground transportation situation;
Transportation dispatching local area network (LAN) workflow based on above equipment is as follows:
D1, described locomotive operation server realize resource management, binding management, monitor service, action queries;
The orbit information that d2, described dispatch server gather according to the note axial organ that is arranged on each track, remote control goat, semaphore complete the conversion of track switch, Road defence and opening, realize down-hole railway traffic control;
D3, described remote operation console are by distribution switches receiving video data, and interaction data, gathers all kinds of joystick state by USB interface, and joystick state is converted to operational command data and is transferred to target automatic control locomotive by switch by PC;
D4, described video data are by comprising vehicle-mounted camera video data and fixed point camera video data, and the video flowing of video server to these two kinds of video datas is all preserved, and uses in order to subsequent query;
D5, by wired local net mode, locomotive operation server be establish the link between remote operation console and locomotive, realize binding;
D6, by wired ethernet interface, dispatch server receives the orbit information that is distributed in wheel counting apparatus collection on each track and sends dispatching command to locomotive operation server;
D7, by adopting the distribution switches of OpenFlow technology, a blended data stream part is issued video server and carries out information cache, extraction, filtration, combination, a part outputs to remote operation console or video wall completes software decode broadcasting to reduce time delay by it.
3, see Fig. 3, the remote driving work pattern process based on the underground moving broadband streaming media network towards unmanned engine is as follows:
(1), the locomotive operation server at ground maneuvers center distributes controlled engine number to remote operation console, remote operation console operating personnel select engine number according to current task, and engine number is sent to locomotive operation server, locomotive, remote operation console are combined and are added and set up " binding " relation by locomotive operation server;
(2), car-mounted terminal carries out the access of dynamic AP base station, switches under broadband streaming media network environment;
(3), uploaded the video data of camera and image processor collect and transmit in real time by broadband mobile stream media network, reappear true locomotive driving scene;
(4), dispatch server and locomotive operation server instruction, remote driving order (physical virtual startup, action bars, brake, the action button such as to blow a whistle) return to locomotive via fiber backbone network, mobile vehicle Access Network and Che Nei local area network (LAN), coke oven controller automatically completes light, blows a whistle, and the starting of locomotive, braking etc., realize remote driving.
4, see Fig. 4, based on as follows towards autonomous driving work pattern process in the underground moving broadband streaming media network of unmanned engine:
(1), the dispatcher of ground transport control centre in advance according to dispatching patcher, assign dispatch command;
(2), after locomotive sails haulage drift into, the transport task that autonomous receiving scheduling computer distributes, learns the information such as path, interval, semaphore sequence, enters autonomous driving pattern;
(3), under normal circumstances, locomotive travels according to the parameter that prestores, according to road conditions before and after vehicle-mounted camera shooting, road condition analyzing device real-time analysis identification vision signal, locomotive obtains locomotive location information according to positioner, carry out self-operating adjustment, direct of travel selection, preceding object identification, speeds control etc., thus realize autonomous driving;
(4), under failure condition, the road condition analyzing device in locomotive constantly detects front traffic information, once barrier, abnormal conditions be detected, then coke oven controller carries out braking process, after waiting for trouble shooting, again travels according to the parameter that prestores.
Claims (5)
1. the underground moving broadband streaming media network towards unmanned engine, realize the network that transmitting video data and control information between local area network (LAN) are dispatched in underworkings and surface transportation, it is characterized in that, comprise local area network (LAN) in car, mobile vehicle Access Network, fiber backbone network, transportation dispatching local area network (LAN);
In a, described car, local area network (LAN) is the network based on comprising locomotive control that vehicle-mounted camera, coke oven controller, road condition analyzing device, video encoder, bottom router, the down-hole locomotive control of vehicle mounted communication terminal and monitoring equipment build and monitoring;
Described vehicle-mounted camera shooting direction of traffic road conditions video, and by video streaming to video encoder, described video encoder carries out compression coding to video data, obtain analog video signal and digital video signal, analog video signal is transferred to road condition analyzing device Treatment Analysis by bottom router, road condition analyzing device is transferred to coke oven controller by analyzing the road conditions complaint message judged via bottom router, and coke oven controller judges locomotive state according to road conditions complaint message, controls the operation of locomotive; Digital video signal transfers to vehicle mounted communication terminal via bottom router, and then uploads in wireless stream of data;
B, described mobile vehicle Access Network be based on multiple track AP base station, the fixing camera with wireless communication module being arranged on underground site and vehicle mounted communication terminal build for realizing mobile vehicle handover management and dynamic access mobile radio network between multiple AP base station, and then realize underground moving locomotive relevant information and the exchanges data between underground site related data and fiber backbone network, finally complete the network passed down with aboveground dispatch command of uploading of down-hole information, specific as follows:
B1, described vehicle mounted communication terminal be trackside AP base station near dynamic access wirelessly, and described trackside AP base station receives the video data uploaded from vehicle mounted communication terminal, with locomotive constantly movement, along with a series of trackside AP handoff procedure;
B2, trackside AP base station, fixing camera are connected on access switch by netting twine, and described access switch is connected with access server;
B3, under the control of access server, by access switch all blended data streams of trackside AP base station, fixing camera are gathered and import fiber backbone network into;
C, described fiber backbone network are the long distance wired networks adopting the optical fiber switch with optical fiber interface to be built in optical fiber ring network mode by Fiber connection, for being communicated with mobile vehicle Access Network and transportation dispatching local area network (LAN);
D, described transportation dispatching local area network (LAN) to comprise multiple remote driving platform, video server, distribution switches, locomotive operation server, dispatch server carries out interconnected in interior uphole equipment, pass under completing the reception of down-hole information and the carrying out of aboveground scheduling and dispatch command, and the network that downhole video information is play at remote driving platform and video wall simultaneously, wherein, described locomotive operation server realizes resource management, binding management, monitor service, action queries, management and control Unmanned Systems, for establishing the link between remote operation console and locomotive, realize binding, record locomotive operating data and image, described dispatch server realizes down-hole railway traffic control according to the various information received, specific as follows:
D1, described dispatch server, according to the orbit information that the note axial organ be arranged on by wired ethernet interface on each track is gathered, remote control goat, semaphore complete the conversion of track switch, Road defence and opening, and send dispatching command to locomotive operation server, realize down-hole railway traffic control;
D2, by wired local net mode, locomotive operation server be establish the link between remote operation console and locomotive, realize binding;
The distribution switches of d3, employing OpenFlow technology, a blended data stream part is issued video server and carries out information cache, extraction, filtration, combination, and completing software decode broadcasting to reduce time delay by video wall by it, a part outputs to remote operation console and completes software decode broadcasting by it;
D4, described remote operation console are by distribution switches receiver, video, and interaction data, gathers all kinds of joystick state by USB interface, and joystick state is converted to operational command data and is transferred to target automatic control locomotive by switch;
D5, described video data are provided by two parts: vehicle-mounted camera and fixed point camera, the video flowing of video server to these two kinds of cameras is all preserved, and uses in order to subsequent query.
2. the underground moving broadband streaming media network towards unmanned engine according to claim 1, is characterized in that: described vehicle-mounted camera is high-definition anti-explosion camera, comprises and is arranged on front-facing camera on locomotive and post-positioned pick-up head.
3. the underground moving broadband streaming media network towards unmanned engine according to claim 1, is characterized in that: described video encoder is " two enter two goes out " type video encoder, carries 485 Communication Control output ports.
4. the underground moving broadband streaming media network towards unmanned engine according to claim 1, is characterized in that: described trackside AP base station refers to that interval is arranged on the base station of wall.
5. the underground moving broadband streaming media network towards unmanned engine according to claim 1, is characterized in that: described fixing camera is mounted in the mineral aggregate entrucking district of underground site, unload zone and tunnel and obtains camera.
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| CN109407586B (en) * | 2018-11-21 | 2023-12-19 | 北京安期生技术有限公司 | Remote control system of non-line-of-sight underground scraper |
| CN110398970A (en) * | 2019-08-05 | 2019-11-01 | 湖南柿竹园有色金属有限责任公司 | A kind of remote controlled unmanned control loop in downhole equipment ground |
| CN110475163B (en) * | 2019-08-23 | 2022-04-01 | 山东临工工程机械有限公司 | Excavator remote control system and excavator |
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| CN111163431A (en) * | 2019-12-29 | 2020-05-15 | 合肥工业大学 | Ultra Wide Band (UWB) wireless communication distance measurement and positioning method and system for underground locomotive |
| CN111163431B (en) * | 2019-12-29 | 2021-11-19 | 合肥工业大学 | Ultra Wide Band (UWB) wireless communication distance measurement and positioning method and system for underground locomotive |
| CN111252084B (en) * | 2020-02-27 | 2021-01-12 | 山东黄金矿业（莱西）有限公司 | Automatic rail electric locomotive transportation system based on 5G technology |
| CN111252084A (en) * | 2020-02-27 | 2020-06-09 | 山东黄金矿业（莱西）有限公司 | Automatic rail electric locomotive transportation system based on 5G technology |
| CN111510885A (en) * | 2020-04-16 | 2020-08-07 | 合肥工大高科信息科技股份有限公司 | Roaming switching system and method of wireless fidelity network |
| CN111510885B (en) * | 2020-04-16 | 2022-05-17 | 合肥工大高科信息科技股份有限公司 | Roaming switching system and method of wireless fidelity network |
| CN113110266A (en) * | 2021-05-25 | 2021-07-13 | 青岛慧拓智能机器有限公司 | Remote control monitoring and early warning method and system for automatic driving vehicle and storage medium |
| CN113110266B (en) * | 2021-05-25 | 2022-10-18 | 青岛慧拓智能机器有限公司 | Remote control monitoring early warning method for automatic driving vehicle and storage medium |
| CN113409537A (en) * | 2021-05-28 | 2021-09-17 | 武汉乾峯智能科技有限公司 | Rail transport safety guarantee system |
| CN113589807A (en) * | 2021-07-23 | 2021-11-02 | 翔和高科智控(江苏)有限公司 | Mine unmanned locomotive control device and control method |
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