CN110493573A - A kind of excavator and excavator tele-control system - Google Patents
A kind of excavator and excavator tele-control system Download PDFInfo
- Publication number
- CN110493573A CN110493573A CN201910785193.9A CN201910785193A CN110493573A CN 110493573 A CN110493573 A CN 110493573A CN 201910785193 A CN201910785193 A CN 201910785193A CN 110493573 A CN110493573 A CN 110493573A
- Authority
- CN
- China
- Prior art keywords
- excavator
- video
- data
- component
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- 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
Abstract
The invention discloses a kind of excavator and excavator tele-control systems.Excavator includes: that at least two depth cameras are arranged in front of the driver's cabin of excavator, acquires the video data within the scope of excavator operation；First video output component is electrically connected at least two depth cameras, and the video data of at least two depth cameras acquisition is carried out splicing, generates excavator operation video data；Vehicle Controller acquires the vehicle status data of excavator, and executes the control instruction transmitted based on remote control terminal；Video data and vehicle status data are sent to remote control terminal by the first 5G communication component, and receive the control instruction of remote control terminal transmission；Vehicle-mounted data manifold is electrically connected with the first video output component, Vehicle Controller and the first 5G communication component.The control process for simplifying camera in the remote control process of excavator is realized, the vision physical examination of remote operator is improved, spinning sensation is reduced, provides control accuracy and safety.
Description
Technical field
The present embodiments relate to excavator technology more particularly to a kind of excavators and excavator tele-control system.
Background technique
Excavator is using one of most extensive, most important engineering mechanical device in engineering construction, in building trade, traffic
Particularly important effect is played in the construction such as transport, mine excavation.Currently, existing excavator substantially uses manual operation side
Formula will affect the normal of operator in this way under conditions of certain special operation condition conditions, such as high temperature, high-risk adverse circumstances
Operation, or even damage operator's health.
When remotely being controlled excavator, need the operation video of camera acquisition excavator for remote operator acquisition
The job information of excavator passes through the component controls of motor or steering engine holder when the excavator configured in excavator at present and images
Head is rotated to realize the comprehensive detection to excavator, but there is only camera shootings by way of control camera rotation
The control delay of head, also causes remote operator in the dizziness for checking video view, is unfavorable for the long-range control to excavator.
Summary of the invention
The embodiment of the present invention provides a kind of excavator and excavator tele-control system, is remotely controlled with realizing to excavator
System.
In a first aspect, the embodiment of the invention provides a kind of excavators, comprising: at least two depth cameras, the first view
Frequency processing component, Vehicle Controller, vehicle-mounted data manifold and the first 5G communication component；Wherein,
At least two depth camera is arranged in front of the driver's cabin of the excavator, acquires the excavator operation
Video data in range, wherein include depth information in the video data；
First video output component is electrically connected at least two depth camera, deep by described at least two
The video data for spending camera acquisition carries out splicing, generates excavator operation video data；
The Vehicle Controller acquires the vehicle status data of the excavator, and executes and be based on the remote control terminal
The control instruction of transmission；
The video data and the vehicle status data are sent to remote control terminal by the first 5G communication component, and
Receive the control instruction of the remote control terminal transmission；
The vehicle-mounted data manifold, with first video output component, the Vehicle Controller and the first 5G
Communication component electrical connection.
Second aspect, the embodiment of the invention also provides a kind of excavator remote control terminal, including remote control terminal and extremely
A few excavator provided such as any embodiment of that present invention；Wherein, the remote control terminal includes the 2nd 5G communication component, behaviour
Make control assembly, teledata aggregator, the second video output component, video display element and status data display component；
The 2nd 5G communication component is communicated to connect with the first 5G communication component of the excavator, and reception is described at least
The video data and vehicle status data that one excavator is sent, and control instruction is sent to an at least excavator；
The teledata aggregator, respectively with the 2nd 5G communication component, second video output component and shape
The electrical connection of state data display component sends the received video data of the 2nd 5G communication component to second video processing
The vehicle status data is sent to the status data display component by component；
Second video output component, is electrically connected with the video display element, carries out stabilization to the video data
Processing, and by treated, video data is sent to the video display element, carries out video based on the video display element
Display；
Operation control assembly is electrically connected with the teledata aggregator, is acquired the control operation of operator, is generated control
Instruction.
Technical solution provided by the invention can be without controlling camera by least two depth cameras of setting
In the case where rotation, wide-angle 3D video data is acquired, and information exchange is carried out by the first 5G communication component and remote control terminal,
It realizes to the transmission of wide-angle video data and the reception of control instruction, realizes the simplification in the remote control process of excavator and take the photograph
As the control process of head, the vision physical examination of remote operator is improved, reduces spinning sensation, improves the accurate of excavator operation data
Degree and control accuracy and safety.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for excavator that the embodiment of the present invention one provides；
Fig. 2 is a kind of structural schematic diagram of excavator tele-control system provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of structural schematic diagram for excavator that the embodiment of the present invention one provides, which includes at least two
Depth camera 110, the first video output component 120, Vehicle Controller 130, vehicle-mounted data manifold 140 and the first 5G communication
Component 150；
At least two depth cameras 110 are arranged in front of the driver's cabin of excavator, acquire within the scope of excavator operation
Video data, wherein depth camera 110 can be but not limited to binocular camera or TOF camera, and can acquire has deeply
Spend the video data of information.There is the video data of depth information by acquiring, so that the remote operator of remote control terminal can
The 3D video information for seeing excavator generates feeling on the spot in person, and then accurately controls excavator, improves and excavates
The control precision of machine.
Optionally, at least two depth cameras are arranged in front of the driver's cabin of excavator according to preset interval, wherein phase
The preset interval of adjacent depth camera is determined according to the coverage of depth camera.Specifically, arbitrary neighborhood depth camera
Coverage exist partly overlap, wherein the ratio of the coverage of overlapping region and depth camera be less than preset value, example
As preset value can be 5% or 3%.In the present embodiment, directly set in front of the driver's cabin of excavator according to above-mentioned set-up mode
Multiple depth cameras are set, and each camera acquires the video data of different coverages, not only expands coverage, also keep away
Exempt from shooting to omit.
First video output component 120 is electrically connected at least two depth cameras 110, by least two depth cameras
The video data of acquisition carries out splicing, generates excavator operation video data.Optionally, at least two depth camera
110 settings are in the same horizontal line.Spliced by the video data for acquiring multiple depth cameras, obtains the digging of wide-angle
Machine operation video data is dug, so that can obtain in the case where without controlling camera rotation and shoot model greater than any camera
The video data enclosed simplifies the control to excavator camera, avoids in camera control process caused by delay of control
The problem of dizziness, further, relative to rotating camera, the service life is longer for the camera of fixed setting, reduces digging
The long-range control cost of pick machine.
On the basis of the above embodiments, depth camera 110 acquire video data in include timestamp, i.e., each
The video frame of video frame or preset interval carries timestamp, which is the acquisition time of video frame.The processing of first video
Component 120 splices the video data with identical time stamp according to the name placement of depth camera, generates excavator
Operation video data.Illustratively, when two depth cameras are arranged on excavator, according to the opposite of two depth cameras
Position determines the stitching position of acquisition video data, when the first depth camera is located at left, and second camera is located at right,
Correspondingly, the video frame of the first depth camera acquisition is located at left, the second depth camera for the video frame of same timestamp
The video frame of head acquisition is located at right and is spliced.It should be noted that when the quantity of depth camera is more than two, together
Sample is based on aforesaid way and carries out video data splicing, and details are not described herein again.
Optionally, video data is carried out splicing the weight that can be in the video information for determining adjacent depth camera acquisition
Region is folded, the overlapping region in the video information that adjacent depth camera is acquired carries out average value processing, generates excavator operation
Video information.
On the basis of the above embodiments, the first video output component 120 is also used to carrying out splicing it to video data
Before, it identifies the target object of the video frame of identical time stamp, the target object in the video frame of adjacent position is matched, really
The offset for determining the video frame of adjacent position adjusts any video frame according to offset.It is trembled since excavator exists in operation
Dynamic, easily there is offset in the video data of different depth camera acquisition, have the mesh of the video frame of identical time stamp by identifying
Object is marked, illustratively, target object can be but not limited to the scraper bowl of excavator, based on target object in each video frame
Position carries out the matching of video frame, determines the offset of adjacent video frames, adjusts any video frame and moved, by each video frame
It is aligned, and each video frame after alignment is spliced, improved the excavator operation video information quality of generation, avoid regarding
Frequency leads to control inaccuracy according to dislocation is led to the problem of when splicing, and improves the control precision and safety of excavator.
Vehicle Controller 140 is electrically connected with vehicle-mounted data manifold 130, acquires the vehicle status data of excavator, and is held
The control instruction that row is transmitted based on vehicle-mounted data manifold.Wherein, vehicle status data includes vehicle status parameters and failure letter
Breath, vehicle status parameters include but is not limited to oil consumption, electricity and calendar scheduling.It can continue, Vehicle Controller 140 is default according to first
Time interval acquires the vehicle status parameters of excavator, and illustratively, the first prefixed time interval can be 5 minutes.It can continue,
Vehicle Controller 140 according to the second prefixed time interval poll carries out fault detection to the preset component of excavator, wherein pre-
If component can be predetermined, determined according to the historical failure component of excavator, fault detection is carried out to each component
The second prefixed time interval can be identical or different, for example, it may be according to the failure-frequency of component determine, the failure of component
Frequency is higher, and the second prefixed time interval of the progress fault detection of the component is smaller, to determine event according to the otherness of component
Hinder detection time interval, improves the accuracy and timeliness of fault detection, while avoiding the frequency to the longer component of service life
Numerous detection.When detecting with the presence of component failure, fault message is generated.
Video data, vehicle status data are sent to remote control terminal by the first 5G communication component 150, and receive long-range control
The control instruction that end processed is sent, illustratively, control instruction includes but is not limited to enabled instruction, idling instruction, halt instruction, preceding
Into instruction, retreat instruction and driver's cabin rotation instruction etc..First 5G communication component 150 can be the component with 5G communication function
, such as can be the terminal (mobile phone, smartwatch or tablet computer etc.) with 5G communication function, this is not made
It limits.Relative to 3G/4G communication network, 5G communication network bandwidth is big, improves the rate of information throughput, reduce onboard system with
The information propagation delay time of remote control terminal, improves the real-time remotely controlled.
Vehicle-mounted data manifold 130, with the first video output component 120, Vehicle Controller 140, the first 5G communication component
150 electrical connections, be the first video output component 120 and the first 5G communication component 150 connection and Vehicle Controller 140 and
The connection of first 5G communication component 150 provides connecting interface.
On the basis of the above embodiments, excavator further includes at least four cameras 160, and the shell of excavator is arranged in
Upper (its connection structure is not shown in the figure), is electrically connected with vehicle-mounted data manifold respectively, acquires the ambient video data of excavator,
And remote control terminal is sent to based on vehicle-mounted data manifold and the first 5G communication component.In the present embodiment, at least four camera shootings
Head setting is in excavator periphery, to acquire the ambient video data where excavator, illustratively, when camera quantity is 4
When, it can be and be separately positioned on four angles of front left, front right, rear left and right of excavator.At least four cameras can be
Depth camera can also be two-dimentional camera, by the way that camera is arranged on excavator periphery, acquires ambient video data, is convenient for
Remote operator obtains the operating environment where excavator, and is accurately controlled in time according to environmental change, and excavation is improved
The safety of machine.
On the basis of the above embodiments, excavator further includes at least one sound pick-up 170, and the shell of excavator is arranged in
Upper (its connection structure is not shown in the figure), is electrically connected with camera respectively, acquires the environment voice data of excavator, and be based on vehicle
It carries data concentrator and the first 5G communication component is sent to remote control terminal.Wherein, at least one sound pick-up is arranged in excavator
Periphery may be, for example, each camera and configure a sound pick-up, and when so that camera acquiring video data, sound pick-up, which synchronizes, to be adopted
Collection environment voice signal can also be and be electrically connected by interface and camera specifically, sound pick-up is configurable on inside camera
It connects.
The impact sound of excavator Yu other objects is determined whether there is according to the environment voice data that sound pick-up acquires, especially
It is in the shooting blind area of camera.The voice data of acquisition is sent to remote control terminal, when determining there are when impact sound, can and
When excavator is controlled, such as into idling mode, or the modes such as driver's cabin of control rotation excavator obtain environment
Video data improves the safety of excavator to determine the current work state of excavator.
Excavator provided in this embodiment can be without controlling camera by least two depth cameras of setting
In the case where rotation, wide-angle 3D video data is acquired, and information exchange is carried out by the first 5G communication component and remote control terminal,
It realizes to the transmission of wide-angle video data and the reception of control instruction, realizes the simplification in the remote control process of excavator and take the photograph
As the control process of head, the vision physical examination of remote operator is improved, reduces spinning sensation, improves the accurate of excavator operation data
Degree and control accuracy and safety.
Referring to fig. 2, Fig. 2 is a kind of structural schematic diagram of excavator tele-control system provided in an embodiment of the present invention, should
Excavator tele-control system is for remotely controlling excavator.The system includes remote control terminal 200 and at least one
Excavator 100 provided by the above embodiment.Remote control terminal 200 include the 2nd 5G communication component 210, operation control assembly 220,
Teledata aggregator 230, the second video output component 240, video display element 250 and status data display component 260.
2nd 5G communication component 210 communicates to connect with the first 5G communication component of excavator, receives an at least excavator
The video data and vehicle status data of transmission, and control instruction is sent to an at least excavator.2nd 5G communication component 210
It can be but not limited to the terminal that mobile phone, smartwatch, tablet computer etc. have 5G communication function, do not limited in the present embodiment
It is fixed.
Teledata aggregator 230, respectively with the 2nd 5G communication component 210, the second video output component 240 and status number
Be electrically connected according to display component 260, for the 2nd 5G communication component 210 and the second video output component 240 be electrically connected and second
5G communication component 210 provides connecting interface with being electrically connected for status data display component 260.Illustratively, status data is shown
Component 260 can be display screen.
Second video output component 240, is electrically connected with video display element 250, carries out stabilization processing to video data, and
By treated, video data is sent to video display element 250, is carried out video based on video display element 250 and is shown.Example
Property, video display element 250, which can be, wears 3D display equipment or naked eye 3D display equipment, such as wearing 3D display equipment can
To be VR glasses or AR glasses, naked eye 3D display equipment can be naked-eye 3 D television, to received video information progress 3D
It has been shown that, convenient for the remote operator current visual angle for knowing excavator on the spot in person, convenient for accurately controlling excavator.It can
Choosing, wearing 3D display equipment includes biasing element, and naked eye 3D display equipment can be to be matched with polaroid glasses, for realizing
The switching that 3D display and 2D are shown can check 3D video data (depth camera in same display equipment convenient for remote operator
The video data of head acquisition) and 2D video data (video data of two-dimentional camera acquisition).
Operation control assembly 220 is electrically connected with teledata aggregator 230, is acquired the control operation of operator, is generated control
System instruction.Illustratively, operation control assembly 220 includes operating member and operation monitoring component；Wherein, operating member includes pressing
Key, handle, pedal part, touch panel, in sound pick-up at least one of, remote operator can be by key, handle, foot-operated
Component, touch panel are operated, and realize the input of control instruction, or believe by the voice that sound pick-up acquires remote operator
Number.The operation information for operating monitoring component real-time detection operating member, when detecting that any operation component is operated, according to inspection
The operation information measured generates control instruction, wherein includes the mark of the target excavator controlled in control instruction.It needs
It is bright, each excavator is arranged and is identified, illustratively, the mark of excavator can be serial number, letter or character string, example
Such as mark can be but not limited to 1,2, A, B, the mark of target excavator be carried in the control instruction that remote control terminal generates
Know, correspondingly, control instruction is sent to target excavator according to mark by the 2nd 5G communication component 210, realizes and target is excavated
The long-range control of machine.
On the basis of the above embodiments, remote control terminal further includes voice player module, with teledata aggregator electricity
Connection plays the voice data that excavator is sent.
The technical solution of the present embodiment is acquired the video information of excavator operation by onboard system, is sent to long-range control
End processed, operator obtains the video information that onboard system is sent by remote control terminal, and is controlled according to video information, real
Now to the long-range control of excavator.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of excavator characterized by comprising at least two depth cameras, the first video output component, vehicle-mounted control
Device, vehicle-mounted data manifold and the first 5G communication component；Wherein,
At least two depth camera is arranged in front of the driver's cabin of the excavator, acquires the excavator operation range
Interior video data, wherein include depth information in the video data；
First video output component is electrically connected at least two depth camera, and at least two depth is taken the photograph
The video data acquired as head carries out splicing, generates excavator operation video data；
The Vehicle Controller is acquired the vehicle status data of the excavator, and executes the control transmitted based on remote control terminal
System instruction；
The video data and the vehicle status data are sent to remote control terminal by the first 5G communication component, and are received
The control instruction of the remote control terminal transmission；
The vehicle-mounted data manifold is communicated with first video output component, the Vehicle Controller and the first 5G
Component electrical connection.
2. excavator according to claim 1, which is characterized in that at least two depth camera is according to preset interval
It is arranged in front of the driver's cabin of the excavator, wherein the preset interval of adjacent depth camera is according to the depth camera
Coverage determine.
3. excavator according to claim 2, which is characterized in that there are portions for the coverage of arbitrary neighborhood depth camera
Divide overlapping, wherein the ratio of the coverage of overlapping region and the depth camera is less than preset value.
4. excavator according to claim 1, which is characterized in that include in the video data of the depth camera acquisition
Timestamp；
First video output component arranges the video data with identical time stamp according to the position of the depth camera
Sequence is spliced, and excavator operation video data is generated.
5. excavator according to claim 4, which is characterized in that first video output component is also used to video
Before data are spliced, the target object of the video frame of identical time stamp is identified, to the target in the video frame of adjacent position
Object is matched, and determines the offset of the video frame of the adjacent position, adjusts any video frame according to the offset.
6. excavator according to claim 1, which is characterized in that the excavator further includes at least four cameras, if
It sets on the shell of the excavator, is electrically connected respectively with the vehicle-mounted data manifold, acquire the environment view of the excavator
Frequency evidence, and remote control terminal is sent to based on the vehicle-mounted data manifold and the first 5G communication component.
7. excavator according to claim 6, which is characterized in that the excavator further includes at least one sound pick-up, if
It sets on the shell of the excavator, is electrically connected respectively with the camera, acquire the environment voice data of the excavator, and
Remote control terminal is sent to based on the vehicle-mounted data manifold and the first 5G communication component.
8. a kind of excavator tele-control system, which is characterized in that including remote control terminal and at least one such as claim 1-7
Any excavator；Wherein, the remote control terminal includes the 2nd 5G communication component, operation control assembly, teledata
Aggregator, the second video output component, video display element and status data display component；
The 2nd 5G communication component is communicated to connect with the first 5G communication component of the excavator, is received at least one described
The video data and vehicle status data that excavator is sent, and control instruction is sent to an at least excavator；
The teledata aggregator, respectively with the 2nd 5G communication component, second video output component and status number
It is electrically connected according to display component, the received video data of the 2nd 5G communication component is sent to the second video processing group
The vehicle status data is sent to the status data display component by part；
Second video output component, is electrically connected with the video display element, carries out stabilization processing to the video data,
And by treated, video data is sent to the video display element, is carried out video based on the video display element and is shown；
Operation control assembly is electrically connected with the teledata aggregator, is acquired the control operation of operator, is generated control instruction.
9. excavator tele-control system according to claim 8, which is characterized in that the operation control assembly includes behaviour
Make component and operation monitoring component；Wherein,
The operating member include key, handle, pedal part, touch panel, in sound pick-up at least one of；
The operation information of operating member described in the operation monitoring component real-time detection, and generated according to the operation information detected
Control instruction, wherein include the mark of the target excavator controlled in the control instruction；
Correspondingly, the control instruction is sent to the target excavator according to the mark by the 2nd 5G communication component.
10. excavator tele-control system according to claim 8, which is characterized in that remote control terminal further includes voice
Player module is electrically connected with the teledata aggregator, plays the voice data that the excavator is sent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910785193.9A CN110493573A (en) | 2019-08-23 | 2019-08-23 | A kind of excavator and excavator tele-control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910785193.9A CN110493573A (en) | 2019-08-23 | 2019-08-23 | A kind of excavator and excavator tele-control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110493573A true CN110493573A (en) | 2019-11-22 |
Family
ID=68551743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910785193.9A Pending CN110493573A (en) | 2019-08-23 | 2019-08-23 | A kind of excavator and excavator tele-control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110493573A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111918036A (en) * | 2020-08-03 | 2020-11-10 | 三一智矿科技有限公司 | Excavator remote control method and system based on 5G network |
| CN112180783A (en) * | 2020-09-17 | 2021-01-05 | 刘小霞 | Information monitoring management method and device based on Internet |
| CN115708350A (en) * | 2022-10-26 | 2023-02-21 | 新兴铸管股份有限公司 | Remote control operation method of crown block for steelmaking and continuous casting |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204258976U (en) * | 2014-12-10 | 2015-04-08 | 泉州市宇云电子科技有限公司 | A kind of vehicle-mounted panoramic visible system |
| CN104574567A (en) * | 2015-01-07 | 2015-04-29 | 苏州科技学院 | Vehicle-mounted stereoscopic image recording device and signal processing method |
| US20150175071A1 (en) * | 2012-07-27 | 2015-06-25 | Hitachi Construction Machinery Co., Ltd. | Environment monitoring device for operating machinery |
| CN107888895A (en) * | 2017-10-17 | 2018-04-06 | 三重机有限公司 | Excavator tele-control system, method and excavator |
| CN108700414A (en) * | 2016-02-25 | 2018-10-23 | 京瓷株式会社 | Stereo photographic device, vehicle and parallax calculation method |
| CN110132255A (en) * | 2019-04-10 | 2019-08-16 | 北京拓疆者智能科技有限公司 | Control method, device, display terminal, mechanical equipment and man-machine interactive system |
-
2019
- 2019-08-23 CN CN201910785193.9A patent/CN110493573A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150175071A1 (en) * | 2012-07-27 | 2015-06-25 | Hitachi Construction Machinery Co., Ltd. | Environment monitoring device for operating machinery |
| CN204258976U (en) * | 2014-12-10 | 2015-04-08 | 泉州市宇云电子科技有限公司 | A kind of vehicle-mounted panoramic visible system |
| CN104574567A (en) * | 2015-01-07 | 2015-04-29 | 苏州科技学院 | Vehicle-mounted stereoscopic image recording device and signal processing method |
| CN108700414A (en) * | 2016-02-25 | 2018-10-23 | 京瓷株式会社 | Stereo photographic device, vehicle and parallax calculation method |
| CN107888895A (en) * | 2017-10-17 | 2018-04-06 | 三重机有限公司 | Excavator tele-control system, method and excavator |
| CN110132255A (en) * | 2019-04-10 | 2019-08-16 | 北京拓疆者智能科技有限公司 | Control method, device, display terminal, mechanical equipment and man-machine interactive system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111918036A (en) * | 2020-08-03 | 2020-11-10 | 三一智矿科技有限公司 | Excavator remote control method and system based on 5G network |
| CN112180783A (en) * | 2020-09-17 | 2021-01-05 | 刘小霞 | Information monitoring management method and device based on Internet |
| CN115708350A (en) * | 2022-10-26 | 2023-02-21 | 新兴铸管股份有限公司 | Remote control operation method of crown block for steelmaking and continuous casting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110493573A (en) | A kind of excavator and excavator tele-control system | |
| CN100492436C (en) | Device for displaying image outside vehicle | |
| KR100697150B1 (en) | Multiple image transmission method and mobile device having multiple image simultaneous imaging function | |
| US20200159482A1 (en) | Display system, display device, information display method, and program | |
| CN110460677A (en) | A kind of excavator and excavator tele-control system | |
| JP5067850B2 (en) | System, head-mounted display device, and control method thereof | |
| EP0921694A3 (en) | Stereoscopic image pick-up apparatus | |
| CN110418215A (en) | A kind of excavator tele-control system and excavator | |
| US6785403B1 (en) | Method and system for inspecting a vehicle-mounted camera | |
| CN108432234B (en) | Terminal device, control device, data integration device, work vehicle, imaging system, and imaging method | |
| JP6134301B2 (en) | Video transmission system for remote control of construction machinery | |
| JP2018121195A (en) | Remote control system | |
| KR101670033B1 (en) | System for Smart black box service using a smart blackbox Helmet | |
| CN102970550A (en) | Open hole visible three-dimensional (3D) display control system and method | |
| EP3822923A1 (en) | Maintenance assistance system, maintenance assistance method, program, method for generating processed image, and processed image | |
| CN107493460A (en) | A kind of image-pickup method and system | |
| CN112479037B (en) | Wearing formula monitored control system, hoist and engineering machine tool | |
| CN110475163B (en) | Excavator remote control system and excavator | |
| JP2006013851A (en) | Imaging display device, and imaging display method | |
| KR20150139108A (en) | TBM Face Scanner | |
| CN105592294B (en) | A kind of monitoring system of VSP excitations big gun group | |
| CN213938189U (en) | Non-blind area remote control system based on mixed reality technology and engineering vehicle | |
| JP2019083370A (en) | Vision expansion system for construction machine | |
| JP2003101488A (en) | Radio quality measuring instrument | |
| JP4722084B2 (en) | Mobile device and communication system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191122 |