CN111068213A - Remote control driving control method, storage medium, control device of fire fighting truck and fire fighting truck - Google Patents
Remote control driving control method, storage medium, control device of fire fighting truck and fire fighting truck Download PDFInfo
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- CN111068213A CN111068213A CN201911341048.8A CN201911341048A CN111068213A CN 111068213 A CN111068213 A CN 111068213A CN 201911341048 A CN201911341048 A CN 201911341048A CN 111068213 A CN111068213 A CN 111068213A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
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- A62C27/00—Fire-fighting land vehicles
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Abstract
The application provides a remote control driving control method, a storage medium, a control device of a fire fighting truck and the fire fighting truck, and relates to the technical field of remote control driving. The remote control driving control method comprises the step of sending a remote control mode starting signal to the fire truck, wherein the remote control mode starting signal is used for controlling the fire truck to enter a remote control driving mode. And the remote control device sends a driving control signal to the remote control signal processing controller, and the remote control signal processing controller sends the analyzed driving control signal to a chassis controller of the fire truck. The chassis controller controls the fire truck to run according to the running control signals, wherein the running control signals comprise at least one of gear signals, speed signals, steering signals and start-stop signals. The remote control driving control method can realize remote control driving of the fire fighting truck, is beneficial to a driver to keep away from a dangerous environment, and improves the operation safety of the fire fighting truck.
Description
Technical Field
The invention relates to the technical field of remote control driving, in particular to a remote control driving control method, a storage medium, a control device of a fire fighting truck and the fire fighting truck.
Background
Present fire engine does not have remote control driving function, needs the driver to control in the driver's cabin in person and drives the fire engine, if the fire fighter when dangerous fire control environment operation, is difficult to guarantee driver's personal safety.
Therefore, a fire fighting truck with a remote control driving function is urgently needed to be researched.
Disclosure of Invention
The invention aims to provide a remote control driving control method, a storage medium, a control device of a fire fighting truck and the fire fighting truck, which can carry out remote control driving on the fire fighting truck, realize a remote control driving function and greatly improve the safety of fire fighting operation.
Embodiments of the invention may be implemented as follows:
in a first aspect, the present embodiment provides a remote control driving control method, which is applied to a fire fighting truck, where a remote control signal processing controller is arranged on the fire fighting truck, and the remote control driving control method includes:
sending a remote control mode starting signal to the fire truck, wherein the remote control mode starting signal is used for controlling the fire truck to enter a remote control driving mode;
sending a driving control signal to a remote control signal processing controller through a remote control device;
the analyzed driving control signal is sent to a chassis controller of the fire fighting truck through the remote control signal processing controller;
and the chassis controller controls the fire truck to run according to the running control signal, wherein the running control signal comprises at least one of a gear signal, a speed signal, a steering signal and a start-stop signal.
In an alternative embodiment, the remote-control driving control method further includes:
and sending a power switching signal to the remote control signal processing controller through the remote control device, wherein the power switching signal is used for controlling the power of the fire fighting truck to be distributed to a drive axle assembly or an upper mounting system.
In an alternative embodiment, the driving control signal is used for controlling the power distribution of the fire fighting truck to a vehicle drive axle assembly and controlling the fire fighting truck to drive to a preset position;
and acquiring the position information of the fire fighting truck, and controlling the power distribution of the fire fighting truck to the loading system when the fire fighting truck reaches a preset position.
In an optional embodiment, after the step of controlling the fire fighting truck to travel to the preset position, the method further includes: and controlling the parking brake of the fire fighting truck.
In an alternative embodiment, the method further comprises: and sending an emergency braking signal to the remote control signal processing controller through the remote control device, and controlling the fire truck to brake emergently through the emergency braking signal by the remote control signal processing controller.
In an alternative embodiment, the step of controlling the emergency braking of the fire fighting truck by the remote control signal processing controller through the emergency braking signal includes:
and controlling the control power supply of the engine of the fire fighting truck to be disconnected according to the emergency braking signal, and controlling the braking element of the fire fighting truck to perform emergency braking.
In an alternative embodiment, the step of controlling the fire fighting vehicle to enter a remote control driving mode comprises:
judging whether the fire fighting truck is in a parking state or not;
if the fire fighting truck is in a parking state, the chassis controller simultaneously receives a parking signal and the remote control mode starting signal, and then the fire fighting truck is controlled to enter the remote control driving mode;
and if the fire fighting truck is not in the parking state, the remote control driving mode is not entered.
In a second aspect, the present embodiment provides a storage medium storing a program for executing the remote-control driving control method of any one of the preceding claims.
In a third aspect, the present embodiment provides a control device for a fire fighting truck, including a remote control device and a remote control signal processing controller, where the remote control device is connected to the remote control signal processing controller;
the remote control device is used for sending a driving control signal, a remote control mode starting signal and/or a power switching signal;
the remote control signal processing controller is used for receiving the running control signal and controlling the fire fighting truck to run according to the running control signal;
the remote control signal processing controller is also used for receiving the remote control mode starting signal and controlling the fire truck to enter a remote control driving mode according to the remote control mode starting signal; and/or the presence of a gas in the gas,
the remote control signal processing controller is also used for receiving the power switching signal and controlling the power of the fire fighting truck to be distributed to a drive axle assembly or an upper mounting system according to the power switching signal.
In a fourth aspect, the present embodiment provides a fire fighting truck, including a chassis controller and the control device of the fire fighting truck according to the foregoing embodiment, wherein the remote control signal processing controller is connected to the chassis controller; alternatively, the fire engine is provided with a storage medium as described above.
The remote control driving control method, the storage medium, the control device of the fire fighting truck and the fire fighting truck provided by the invention have the beneficial effects that:
the remote control device sends a driving control signal to the remote control signal processing controller, the remote control signal processing controller sends the analyzed driving control signal to a chassis controller of the fire truck, and the chassis controller controls the fire truck to drive according to the driving control signal, wherein the driving control signal comprises at least one of a gear signal, a speed signal, a steering signal and a start-stop signal. Just so can realize the remote control of fire engine and drive, when the operation in the hazardous environment, operating personnel can remote control fire engine, keeps safe distance relatively with the hazardous environment, improves fire-fighting operation security, has greatly guaranteed driver's personal safety. Secondly, set up remote control signal processing controller on this fire engine, can adapt to the fire engine chassis of different types, strong adaptability, as long as install remote control signal processing controller additional on the fire engine and just can realize the remote control of fire engine and drive, application scope is wide.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a block diagram of a fire engine according to an embodiment of the present invention;
FIG. 2 is a basic control logic block diagram of a remote control driving control method according to an embodiment of the present invention;
FIG. 3 is a basic control logic diagram for implementing a power switching function of the remote control driving control method according to the embodiment of the present invention;
FIG. 4 is a basic control logic block diagram for implementing an emergency stop function of the remote control driving control method according to the embodiment of the present invention;
fig. 5 is a basic control logic block diagram of the remote control driving control method according to the embodiment of the present invention for implementing a video display function.
Icon: 110-a remote control device; 120-a transmitter; 130-a receiver; 140-a control panel; 141-power switching operating element; 142-remote control mode operating element; 143-remote control emergency stop operating element; 144-video display operating elements; 150-remote control signal processing controller; 170-driving safety auxiliary system; 200-a fire engine; 210-a chassis controller; 220-power distribution box; 221-drive axle assembly; 223-loading the system; 230-driving safety control system.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a fire fighting truck 200 with remote driving function. The fire fighting truck 200 mainly comprises a control device, a chassis controller 210, an engine control power supply, a drive axle assembly 221, an upper mounting system 223, a power distribution box 220, an electric valve, a driving safety auxiliary system 170 and a driving safety control system 230, wherein the control device comprises a remote control device 110 and a remote control signal processing controller 150, the remote control device 110 comprises a transmitter 120 and a receiver 130 which are connected with each other, and the receiver 130 is connected with the remote control signal processing controller 150. Optionally, the transmitter 120 includes a display screen and a control panel 140, the control panel 140 is provided with a plurality of operation elements, the form of the operation elements includes, but is not limited to, virtual keys, physical keys, knobs, switches, etc. of the touch screen, and the operation elements are used for a remote operator to send out operation signals, the operation signals are transmitted to the remote control signal processing Controller 150 through the transmitter 120 and the receiver 130, the remote control signal processing Controller 150 directly controls execution elements of the fire fighting truck 200 to execute actions desired by the remote operator, or the remote control signal processing Controller 150 is connected with a chassis Controller 210 of the fire fighting truck 200, the two are communicated through a Controller Area Network (CAN), the remote control signal processing Controller 150 sends processing signals to the chassis Controller 210, the chassis Controller 210 controls corresponding vehicle components according to the received processing signals, and implements the actions desired by the remote operator, such as acceleration, deceleration, steering, gear shifting, parking, etc. The transmission of the remote control signal for performing the remote control function may be in a wireless transmission mode or a wired transmission mode, and is not particularly limited herein.
Further, the chassis controller 210 is connected to the engine, and CAN control the engine speed through CAN communication, and also CAN control an electric steering system, an automatic transmission, an electronic brake system, a parking brake system, and the like of the fire truck 200 through CAN communication. The engine is coupled to a power distribution box 220, and the power distribution box 220 is selectively coupled to a drive axle assembly 221 or a top-loading system 223 to provide travel power or top-loading power. It is easy to understand that the driving power is used for driving the fire fighting truck 200 in a driving state, and the drive axle assembly 221 includes an electric control steering system, an automatic transmission, an electronic braking system, a parking braking system, and the like; the upper power is used to power the entire upper system 223, including but not limited to powering the boom, the water pump, etc. of the fire truck 200 during a fire-fighting mode. The upper system 223 includes, but is not limited to, a waterway system, a leg assembly, an arm frame assembly, and the like. Further, the power distribution box 220 includes a push rod connected to an electric valve, and the remote control signal processing controller 150 is connected to the electric valve to control the electric valve to rotate, and the electric valve drives the push rod to move, so that the power of the engine is distributed to the drive axle assembly 221 or the upper mounting system 223. Alternatively, the electric valve may be an electric gas valve.
Optionally, the driving safety control system 230 includes a brake element and a relay, which are respectively connected to the remote control signal processing controller 150. In this embodiment, the brake element is a brake air pump. The remote control signal processing controller 150 can control the braking element to realize the braking of the fire fighting truck 200; further, the engine is connected to an engine control power source, the relay is connected to the engine control power source, and the remote control signal processing controller 150 can control the relay to cut off the engine control power source, that is, not only braking by the braking element but also cutting off the engine control power source when handling an emergency stop.
The driving safety auxiliary system 170 includes a collecting unit, an image processor and a transmitter, the collecting unit is connected with the image processor, the image processor is connected with the transmitter, the transmitter is connected with the transmitter 120, the collecting unit is installed on the fire fighting truck 200, for example, a high-definition camera is installed at each of the front, back, left and right of the fire fighting truck 200 to collect video images around the fire fighting truck 200; the image processor splices the images into 360-degree panoramic video images, transmits the panoramic video images to the transmitter 120, and the transmitter 120 displays the panoramic video images on the display screen for a remote control operator to observe in real time. Of course, without limitation, the images displayed by the display screen may also be from a front camera and a rear camera of the fire fighting truck 200, and are not limited in this regard.
Optionally, the control panel 140 of the transmitter 120 is provided with a remote control mode operation element 142, a power switching operation element 141, a remote control emergency stop operation element 143, a video display operation element 144, and the like, for example, a remote control operator presses the remote control mode operation element 142 to control the fire truck 200 to enter a remote control mode; pressing the power switching operation member 141 for switching between the running power and the loading power; pressing the remote control emergency stop operation element 143 to realize emergency stop of the fire fighting truck 200; by pressing the video display operation element 144, video images around the fire fighting truck 200 can be displayed on the display screen; the horn of the fire fighting truck 200 can be remotely controlled to whistle by pressing the remote control whistle operation element. In addition, a driving position switch, a pumping position switch, an acceleration switch, a deceleration switch, a straight-ahead switch, a steering switch, a parking switch, and the like may be provided, which is not particularly limited herein.
Alternatively, remote signal Processing controller 150 may be a general-purpose Processor, including but not limited to a Central Processing Unit (CPU), a Network Processor (NP), etc.; but also Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Of course, the controller can also be integrated into a PLC controller, a single chip microcomputer and the like.
In the fire fighting truck 200 provided by this embodiment, the remote control signal processing controller 150 is added between the remote control device 110 and the chassis controller 210, a remote control operator generates an operation signal through the remote control device 110, the transmitter 120 transmits the operation signal to the receiver 130, the receiver 130 transmits the operation signal to the remote control signal processing controller 150 through the CAN, and the remote control signal processing controller 150 performs certain logic control on the received operation signal, on one hand, the processing result is in CAN communication with the chassis controller 210, so as to control the drive axle assembly 221 of the fire fighting truck 200; on the other hand, the hard-wire circuit is directly controlled to control the fire truck 200 to suddenly stop, and the hard-wire circuit is directly controlled to realize the switching control of the driving power and the upper-mounted power, so that the remote control driving function can be realized on the basis of not changing the drive axle assembly 221 of the original fire truck 200, namely, the remote control function can be realized for the vehicle with fixed whole vehicle programs, and the application range is wide.
First embodiment
Referring to fig. 2, the present embodiment provides a remote driving control method, by which the functions that can be implemented by the fire fighting truck 200 include, but are not limited to, a mode switching function, switching the fire fighting truck 200 into a cab control mode and a remote control mode; the power switching function is used for switching to driving power or loading power to execute a fire fighting task; the emergency stop function is realized, and the emergency stop of the fire fighting truck 200 is realized; the remote control 110 displays a function to display a video image of the surroundings of the fire engine 200. For example, the control method for implementing the power switching function mainly includes the following steps:
s10: the fire engine 200 is in the parking state. At this time, when the remote control mode operation element 142 is pressed, S20 is executed. It should be understood that there may be more than one remote mode operating element 142, and in addition to being located on transmitter 120, may be attached to fire fighting vehicle 200, such as by providing a remote mode button in the cab, etc. The number and arrangement position, manner, etc. of the remote mode operation elements 142 are not particularly limited herein.
S20: and controlling the fire fighting truck 200 to enter a remote control driving mode. Specifically, a remote operator presses a remote mode operation element 142 on a control panel 140 of a transmitter 120 to generate a remote mode start signal, the remote mode start signal is sent from the transmitter 120 to a receiver 130, the receiver 130 sends the remote mode start signal to a remote signal processing controller 150 through a CAN network, the remote signal processing controller 150 sends the remote mode start signal to a chassis controller 210 through the CAN network, the chassis controller 210 judges whether the fire truck 200 is in a parking state, and if the fire truck 200 is in the parking state, the chassis controller 210 controls the fire truck 200 to enter a remote driving mode after receiving the parking signal and the remote mode start signal; if the fire fighting truck 200 is not in the parking state, the chassis controller 210 controls the fire fighting truck 200 not to enter the remote control driving mode.
The chassis controller 210 feeds back the actual control result of the fire fighting vehicle 200 to the remote control signal processing controller 150, and the remote control signal processing controller 150 feeds back the actual control result to the transmitter 120 to be known to the remote control operator. When the fire fighting vehicle 200 enters the remote control mode, the remote operator may send a driving control signal through the transmitter 120, and step S30 is performed. The driving control signal includes, but is not limited to, at least one of a speed signal, a gear signal, a steering signal, and a start-stop signal, and is used to control the fire truck 200 to accelerate, decelerate, shift, steer, start-stop, and the like.
S30: the receiver 130 receives the driving control signal and transmits it to the remote control signal processing controller 150. Further, the remote operator presses the traveling switch on the control panel 140 of the transmitter 120 to generate a traveling control signal, the receiver 130 transmits the traveling control signal to the remote signal processing controller 150 through the CAN network, the remote signal processing controller 150 transmits the analyzed traveling control signal to the chassis controller 210 of the fire fighting truck 200, and the chassis controller 210 controls the fire fighting truck 200 to travel according to the traveling control signal. Further, the remote control signal processing controller 150 executes step S40.
S40: the remote control signal processing controller 150 performs logic processing on the received operation signal and communicates with the chassis controller 210 through the CAN network. Further, the remote control signal processing controller 150 receives the vehicle control signal, performs logic processing on the vehicle control signal, transmits the logic processed signal to the chassis controller 210, and executes step S50.
S50: the chassis controller 210 controls the driving state of the fire fighting vehicle 200 according to the received logic signal, and feeds back the actual control result of the fire fighting vehicle 200 to the remote control signal processing controller 150. For example, the chassis controller 210 receives the logic processing signal, controls acceleration and deceleration, driving gear shifting, steering, start and stop, and the like of the fire fighting truck 200, and feeds back the actual control result of the fire fighting truck 200 to the remote control signal processing controller 150, and the remote control signal processing controller 150 feeds back the actual control result to the transmitter 120, so that the remote control operator can know and send out a more accurate operation signal until the fire fighting truck 200 drives to the fire fighting destination, i.e., the preset position, and then executes step S60.
S60: the fire engine 200 travels to a fire destination. When the vehicle reaches the destination, the remote operator operates the transmitter 120 to switch the traveling power during traveling to the upper-mount power, and step S70 is executed.
Optionally, referring to fig. 3, the step further includes:
s61: and sending a power switching signal.
S62: the receiver 130 receives the power switching signal from the transmitter 120 and transmits the power switching signal to the remote control signal processing controller 150. The receiver 130 transmits a power switching signal of the remote controller operator to the remote control signal processing controller 150 through CAN communication.
S63: the remote control signal processing controller 150 performs logical judgment to directly control the rotation of the electric valve. The remote control signal processing controller 150 performs logic judgment on the power switching signal, and judges that the corresponding pin of the control circuit board outputs an electric signal so as to control the electric valve to rotate.
S64: the electric valve rotates to drive the push rod of the power distribution box 220 to move, the power distribution box 220 is connected with the loading system 223, and therefore the driving power is switched to the loading power.
Of course, the power switching may be performed by using a clutch, an electromagnetic relay, or the like to control power distribution, or by using a plurality of engines to provide driving power or loading power, respectively, in addition to the manner of using the power distribution box 220, which is not limited in this respect.
S70: the fire fighting vehicle 200 enters a fire fighting operation preparation state.
It should be noted that after the fire fighting truck 200 reaches the fire fighting destination, the parking brake is required to be executed, that is, the parking brake of the fire fighting truck 200 is controlled, and the power switching can be performed only when the fire fighting truck 200 is in the parking state.
The remote control driving control method provided by this embodiment CAN realize the power switching function, the transmitter 120 operates the power switching operation element 141 to send a power switching signal to the receiver 130, the receiver 130 transmits the operation signal of the remote control operator, i.e. the power switching signal, to the remote control signal processing controller 150 through the CAN communication, the remote control signal processing controller 150 performs logic judgment to control the corresponding pin of the circuit board to output an electric signal to control the electric valve to rotate, the electric valve rotates to drive the push rod of the power distribution box 220 to move, the driving power is switched to the upper power, and the fire fighting truck 200 enters the fire fighting operation preparation state. Can realize like this that when fire engine 200 traveles to the fire control destination, can directly carry out the fire control operation, need not go the driver's cabin again and press the power switching button of facial make-up, improve the life safety protection of fire fighter when the operation of hazardous environment.
Second embodiment
Referring to fig. 4, the present embodiment provides a remote driving control method, which can implement emergency stop of the fire fighting vehicle 200. An emergency braking signal is transmitted to the remote control signal processing controller 150 through the transmitter 120, and the remote control signal processing controller 150 receives the emergency braking signal and controls the fire fighting vehicle 200 to perform emergency braking according to the emergency braking signal. Optionally, the control method for implementing the emergency stop function mainly includes the following steps:
s101: an emergency braking signal, i.e., an emergency stop signal, is generated. The remote operator presses the remote emergency stop operating element 143 on the control panel 140 of the transmitter 120 to generate an emergency stop signal.
S102: an emergency braking signal, i.e., an emergency stop signal, is received. The transmitter 120 transmits the emergency stop signal to the receiver 130, and the receiver 130 receives the emergency stop signal and transmits it to the remote control signal processing controller 150.
S103: and executing the sudden stop action. This step includes S104 and S105.
S104: controlling a braking element to brake emergently;
s105: the control relay cuts off the engine control power supply.
Alternatively, the remote control signal processing controller 150 controls the braking element to perform emergency braking after receiving the emergency stop signal, and cuts off the engine control power supply through the control relay. I.e. the power source of the fire fighting vehicle 200 is cut off while the braking element is braking. By adopting the mode of controlling the soft and sudden stop of the remote control signal processing controller 150, the brake element is controlled to perform emergency braking, and the power supply of the engine controller is cut off, so that the fire fighting truck 200 can be braked, the power source of the fire fighting truck 200 can be cut off, and the emergency braking effect is improved. And when the emergency stop is controlled, the power supply of a controller of the engine is cut off and the braking element is controlled to brake by controlling a hard line circuit signal directly through the additional braking element and the hard line circuit, so that the emergency stop can be carried out without passing through the chassis controller 210, and the safety treatment effect under the emergency condition is greatly improved.
Of course, in alternative embodiments, only the brake application may be used without cutting off the engine control power. For example, when the remote control signal processing controller 150 determines the generated parking signal through its internal logic, including that the remote control signal processing controller 150 fails to communicate, the remote control signal processing controller 150 does not receive the actual work information of the fire fighting truck 200 fed back by the chassis controller 210, and the internal logic of the remote control signal processing controller 150 determines the parking signal automatically; for another example, if the message information fed back by the chassis controller 210 received by the remote control signal processing controller 150 is incorrect, the remote control signal processing controller 150 will automatically generate a parking signal through logic judgment; or, the remote control signal processing controller 150 receives a vehicle fault signal fed back by the chassis controller 210, such as a steering fault, a gear shift fault, an engine speed regulation fault, a braking fault, and the like, and the remote control signal processing controller 150 may automatically generate a parking signal through logic determination. After the stop signal is generated, the remote control signal processing controller 150 also executes step S104 without cutting off the engine control power supply.
If the remote control signal processing controller 150 fails or fails, the emergency stop of the fire fighting truck 200 can be executed by a stop switch in a cab of the real vehicle, and the fire fighting truck 200 can realize the emergency stop after the stop switch in the cab is triggered. Specific modes include but are not limited to air pump braking, or simultaneously cutting off the engine control power supply, or other braking modes. The number of the parking switches and the remote-control emergency stop operation elements 143 may be one or more, and the arrangement thereof may be flexible and may not be particularly limited.
In the remote control driving control method provided in this embodiment, the emergency stop control adopts dual emergency stop redundant control, that is, the method includes real vehicle stop switch hardware control and remote control signal processing controller 150 soft emergency stop control. In case of emergency, the emergency stop is realized by preferentially controlling the soft emergency stop through the remote control signal processing controller 150. When the soft emergency stop control of the remote control signal processing controller 150 fails, the emergency stop can be controlled by the hardware of the stop switch on the real fire fighting truck 200. Therefore, the driving safety can be greatly improved through the double emergency stop redundant control.
Third embodiment
Referring to fig. 5, the present embodiment provides a remote driving control method, which can realize the display function of the video image around the fire fighting truck 200. The method specifically comprises the following control logics:
s201: collecting a video image;
s202: splicing the video images;
s203: sending the video image;
s204: the video image is displayed.
Optionally, when the remote operator presses the video display operation element 144 on the transmitter 120, the display screen is turned on, and the high-definition camera on the fire fighting truck 200 collects video images around the fire fighting truck 200 in real time; image processor carries out the concatenation processing to the image, realizes 360 degrees panoramic video images to transmit panoramic video image to sending the ware, send the ware and transmit panoramic video image to transmitter 120, transmitter 120 transmits panoramic video image to the display screen, and the display screen is used for showing the video image around the fire engine 200, supplies remote control operator to observe in real time, has 360 remote control driving safety auxiliary function. Therefore, the surrounding environment of the fire fighting truck 200 can be clearly watched in real time without dead angles even under the remote condition, and the safety during remote control driving is improved.
The present embodiment also provides a storage medium storing a program for executing the remote-control driving control method in any one of the foregoing embodiments.
In summary, the embodiment of the present invention provides a remote control driving control method, a storage medium, a control device, and a fire fighting truck 200, which have the following beneficial effects:
this fire engine 200 has remote control driving control function, and when carrying out the fire control task in the hazardous environment, the driver need not to control the vehicle in the driver's cabin, can make fire fighter and hazardous environment keep distance far away through remote control, improves the operation security. When the fire engine 200 travels to the fire-fighting destination, the fire-fighting operation can be directly carried out, the cab does not need to be moved to press the upper power switching button, and the life safety protection of the firemen during the operation in the dangerous environment is improved. Secondly, the fire fighting truck 200 and the remote control driving control method provided by the embodiment can realize that the remote control driving function can be executed by adding the remote control signal processing controller 150 on the basis of not changing the drive axle assembly 221 of the original fire fighting truck 200, that is, the remote control function can be realized for the vehicles with fixed whole truck programs, and the application range is wide. In the remote control driving control method provided by the embodiment, the emergency stop control adopts dual emergency stop redundant control, namely, the dual emergency stop redundant control comprises real vehicle stop switch hardware control and remote control signal processing controller 150 soft emergency stop control, so that the safety of the fire truck 200 can be greatly improved. Finally, the fire fighting truck 200 has a video display function, so that even in a long distance, a fireman can clearly view the surrounding environment of the fire fighting truck 200 in real time without dead angles, and the safety during remote control driving is improved.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A remote control driving control method is applied to a fire fighting truck and is characterized in that a remote control signal processing controller is arranged on the fire fighting truck, and the remote control driving control method comprises the following steps:
sending a remote control mode starting signal to the fire truck, wherein the remote control mode starting signal is used for controlling the fire truck to enter a remote control driving mode;
sending a driving control signal to a remote control signal processing controller through a remote control device;
the analyzed driving control signal is sent to a chassis controller of the fire fighting truck through the remote control signal processing controller;
and the chassis controller controls the fire truck to run according to the running control signal, wherein the running control signal comprises at least one of a gear signal, a speed signal, a steering signal and a start-stop signal.
2. The remote-control driving control method according to claim 1, further comprising:
and sending a power switching signal to the remote control signal processing controller through the remote control device, wherein the power switching signal is used for controlling the power of the fire fighting truck to be distributed to a drive axle assembly or an upper mounting system.
3. The remote-control driving control method according to claim 1, wherein the driving control signal is used to control power distribution of the fire fighting vehicle to a drive axle assembly and control the fire fighting vehicle to drive to a preset position;
and acquiring the position information of the fire fighting truck, and controlling the power distribution of the fire fighting truck to an upper-mounted system when the fire fighting truck reaches the preset position.
4. The remote-control driving control method according to claim 3, further comprising, after the step of controlling the fire engine to travel to a preset position: and controlling the parking brake of the fire fighting truck.
5. The remote-controlled driving control method according to claim 1, characterized by further comprising: and sending an emergency braking signal to the remote control signal processing controller through the remote control device, and controlling the fire truck to brake emergently through the emergency braking signal by the remote control signal processing controller.
6. The remote-control driving control method according to claim 5, wherein the step of the remote-control signal processing controller controlling the emergency braking of the fire fighting truck by the emergency braking signal comprises:
and controlling the control power supply of the engine of the fire fighting truck to be disconnected according to the emergency braking signal, and controlling the braking element of the fire fighting truck to perform emergency braking.
7. The remote-drive control method according to claim 1, wherein the step of controlling the fire engine to enter a remote-drive mode includes:
judging whether the fire fighting truck is in a parking state or not;
if the fire fighting truck is in a parking state, the chassis controller simultaneously receives a parking signal and the remote control mode starting signal, and then the fire fighting truck is controlled to enter the remote control driving mode;
and if the fire fighting truck is not in the parking state, the remote control driving mode is not entered.
8. A storage medium characterized by storing a program for executing the remote-control driving control method according to any one of claims 1 to 7.
9. The control device of the fire fighting truck is characterized by comprising a remote control device and a remote control signal processing controller, wherein the remote control device is connected with the remote control signal processing controller;
the remote control device is used for sending a driving control signal, a remote control mode starting signal and/or a power switching signal;
the remote control signal processing controller is used for receiving the running control signal and controlling the fire fighting truck to run according to the running control signal;
the remote control signal processing controller is also used for receiving the remote control mode starting signal and controlling the fire truck to enter a remote control driving mode according to the remote control mode starting signal; and/or the presence of a gas in the gas,
the remote control signal processing controller is also used for receiving the power switching signal and controlling the power of the fire fighting truck to be distributed to a drive axle assembly or an upper mounting system according to the power switching signal.
10. A fire fighting vehicle, characterized by comprising a chassis controller and the control device of the fire fighting vehicle of claim 9, the remote control signal processing controller being connected to the chassis controller; or the like, or, alternatively,
a storage medium as claimed in claim 8 is provided.
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| CN201911341048.8A CN111068213B (en) | 2019-12-23 | 2019-12-23 | Remote control driving control method, storage medium, control device of fire fighting truck and fire fighting truck |
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| CN111068213B (en) | 2022-06-21 |
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