CN111093055A - Safety monitoring vehicle-mounted platform, ground platform and monitoring system for insulating bucket arm vehicle - Google Patents
Safety monitoring vehicle-mounted platform, ground platform and monitoring system for insulating bucket arm vehicle Download PDFInfo
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- CN111093055A CN111093055A CN201911106523.3A CN201911106523A CN111093055A CN 111093055 A CN111093055 A CN 111093055A CN 201911106523 A CN201911106523 A CN 201911106523A CN 111093055 A CN111093055 A CN 111093055A
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
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- H04J3/00—Time-division multiplex systems
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- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
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- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
Abstract
The invention provides an insulating arm car safety monitoring system, which comprises: the vehicle-mounted platform connects the obtained monitoring image information and the obtained operation parameter information to a switch supporting the TSN function in a transmission mode of an industrial Ethernet protocol, and the switch automatically completes clock synchronization of the monitoring image information and the operation parameter information and then sends the monitoring image information and the operation parameter information to the ground platform, so that the problem of communication obstacle between monitoring personnel and operating personnel caused by environment is solved, and meanwhile, low time delay of a control signal is ensured while video data streams are transmitted in a network; therefore, the personal safety of operators can be protected through real-time monitoring, all key parameters of the insulating bucket arm vehicle can be conveniently recorded, and corresponding control instructions can be made.
Description
Technical Field
The application relates to the field of automatic control, and particularly relates to an insulating bucket arm vehicle safety monitoring vehicle-mounted platform, a ground platform and a monitoring system.
Background
At present, the safety of the work of the insulating arm trolley is mainly guaranteed through safety limit and design index allowance when the insulating arm trolley is loaded out of a factory. Due to long-time use, environmental factors and other factors, mechanical damage such as aging, deformation and the like of the upper garment is caused, and therefore the safety of a power grid or an operator cannot be guaranteed. At present, supervision work is mainly carried out by calling an operator after the operator observes on the ground. When the ground has obstacles or the environment is noisy, the supervisor can not remind the operator in time due to the vision blind area.
Disclosure of Invention
The application provides an insulating boom car safety monitoring system, solves because the communication obstacle of monitoring personnel and operating personnel that the environment leads to, can make monitoring personnel real time monitoring vehicle state simultaneously, both can protect operating personnel personal safety, also conveniently takes notes each key parameter of insulating boom car facial make-up. In the operation process, when dangerous condition appears in the facial make-up, ground platform can in time report to the police.
The application provides an insulating arm car safety monitoring vehicle-mounted platform includes:
the data acquisition module is used for acquiring operation parameter information and operation monitoring images of the insulated bucket arm vehicle;
the data sending module is used for sending the operation parameter information and the operation monitoring image to the insulating arm vehicle safety monitoring ground platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the command receiving module is used for receiving a control command of the ground platform for safety monitoring of the insulating arm vehicle;
and the mechanical control module is used for controlling the insulating bucket arm of the insulating bucket arm vehicle and the holder camera for monitoring operation according to the control command.
Preferably, the data obtaining module includes:
the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle;
and the audio-video data flow module is used for acquiring the high-bandwidth and high-delay operation monitoring image of the insulated bucket arm vehicle.
Preferably, the data acquisition module is further used for establishing voice communication with the insulating arm vehicle safety monitoring ground platform.
Preferably, the TSN network is constructed by a switch arranged on the vehicle-mounted platform for safety monitoring of the insulating arm vehicle and a switch arranged on the ground platform for safety monitoring of the insulating arm vehicle, and each switch supports a TSN function.
This application provides an insulating arm car safety monitoring ground platform simultaneously, includes:
the data receiving module is used for receiving the operation parameter information and the operation monitoring image of the insulated bucket arm vehicle, which are sent by the insulated bucket arm vehicle safety monitoring vehicle-mounted platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the instruction generating module is used for generating a control instruction according to the operation parameter information and the operation monitoring image;
and the data sending module is used for sending the control command to the vehicle-mounted platform for safety monitoring of the insulating arm vehicle.
Preferably, the TSN network is constructed by a switch arranged on the vehicle-mounted platform for safety monitoring of the insulating arm vehicle and a switch arranged on the ground platform for safety monitoring of the insulating arm vehicle, and each switch supports a TSN function.
Preferably, the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network, and the operation parameter information with low bandwidth and low delay and the monitoring image with high bandwidth and high delay complete clock synchronization.
This application is an insulating arm car safety monitoring system simultaneously, includes:
the safety monitoring vehicle-mounted platform of the insulating arm vehicle is used for acquiring operation parameter information and operation monitoring images of the insulating arm vehicle, performing clock synchronization on the operation parameter information and the operation monitoring images through a TSN (time sequence network) and then sending the operation parameter information and the operation monitoring images to the safety monitoring ground platform of the insulating arm vehicle; receiving a control instruction of a safety monitoring ground platform of the insulating bucket arm vehicle to control an insulating bucket arm of the insulating bucket arm vehicle and a holder camera for operation monitoring;
the safety monitoring ground platform of the insulating arm vehicle is used for receiving operation parameter information and operation monitoring images of the insulating arm vehicle sent by the vehicle-mounted platform, completing clock synchronization through a TSN (time sequence network), generating a control instruction according to the operation parameter information and the operation monitoring images and sending the control instruction to the safety monitoring vehicle-mounted platform of the insulating arm vehicle.
Preferably, on-vehicle platform of insulating arm car safety monitoring includes:
the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle;
the audio-video data stream module is used for acquiring a high-bandwidth and high-delay monitoring image of the insulated hopper arm vehicle;
and the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network, in particular to the operation parameter information with low bandwidth and low time delay and the monitoring image with high bandwidth and high time delay complete clock synchronization.
Preferably, the method further comprises the following steps:
and voice communication is established between the safety monitoring vehicle-mounted platform of the insulating bucket arm vehicle and the safety monitoring ground platform of the insulating bucket arm vehicle.
The application provides an insulation boom vehicle safety monitoring system, which uses an industrial Internet TSN, solves the communication barrier between monitoring personnel and operating personnel caused by the environment, and simultaneously ensures low time delay of control signals while video data streams are transmitted in a network; therefore, the personal safety of operators can be protected through real-time monitoring, all key parameters of the insulating bucket arm vehicle can be conveniently recorded, and corresponding control instructions can be made. In the operation process, when dangerous condition appears in the facial make-up, ground platform can in time report to the police.
Drawings
Fig. 1 is a schematic structural diagram of an insulation boom truck safety monitoring system provided in an embodiment of the present application;
fig. 2 is a workflow diagram of a safety monitoring system according to an embodiment of the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
Fig. 1 is a schematic structural diagram of an insulated arm car safety monitoring system based on TSN technology and multi-information fusion provided in an embodiment of the present application, and it can be seen from the diagram that the safety monitoring system mainly comprises two parts, namely a ground platform and a vehicle-mounted platform.
Example 1
The utility model provides an on-vehicle platform of insulating arm car safety monitoring, includes:
the data acquisition module is used for acquiring operation parameter information and operation monitoring images of the insulated bucket arm vehicle;
the data sending module is used for sending the operation parameter information and the operation monitoring image to the insulating arm vehicle safety monitoring ground platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the command receiving module is used for receiving a control command of the ground platform for safety monitoring of the insulating arm vehicle;
and the mechanical control module is used for controlling the insulating bucket arm of the insulating bucket arm vehicle and the holder camera for monitoring operation according to the control command.
A data acquisition module comprising: the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle; and the audio-video data flow module is used for acquiring the high-bandwidth and high-delay operation monitoring image of the insulated bucket arm vehicle. And the data acquisition module is also used for establishing voice communication with the insulating arm vehicle safety monitoring ground platform.
The TSN network is established by the switch that sets up in insulating arm car safety monitoring vehicle-mounted platform and the switch that sets up in insulating arm car safety monitoring ground platform and is obtained, and every switch all supports the TSN function.
Example 2
An insulating arm car safety monitoring ground platform includes:
the data receiving module is used for receiving the operation parameter information and the operation monitoring image of the insulated bucket arm vehicle, which are sent by the insulated bucket arm vehicle safety monitoring vehicle-mounted platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the instruction generating module is used for generating a control instruction according to the operation parameter information and the operation monitoring image;
and the data sending module is used for sending the control command to the vehicle-mounted platform for safety monitoring of the insulating arm vehicle.
The TSN network is established by the switch that sets up in insulating arm car safety monitoring vehicle-mounted platform and the switch that sets up in insulating arm car safety monitoring ground platform and is obtained, and every switch all supports the TSN function.
The operation parameter information and the operation monitoring image complete clock synchronization through a TSN network, and the clock synchronization is completed for the operation parameter information with low bandwidth and low delay and the monitoring image with high bandwidth and high delay.
Example 3
The utility model provides an insulating arm car safety monitoring system which characterized in that includes:
the safety monitoring vehicle-mounted platform of the insulating arm vehicle is used for acquiring operation parameter information and operation monitoring images of the insulating arm vehicle, performing clock synchronization on the operation parameter information and the operation monitoring images through a TSN (time sequence network) and then sending the operation parameter information and the operation monitoring images to the safety monitoring ground platform of the insulating arm vehicle; receiving a control instruction of a safety monitoring ground platform of the insulating bucket arm vehicle to control an insulating bucket arm of the insulating bucket arm vehicle and a holder camera for operation monitoring;
the safety monitoring ground platform of the insulating arm vehicle is used for receiving operation parameter information and operation monitoring images of the insulating arm vehicle sent by the vehicle-mounted platform, completing clock synchronization through a TSN (time sequence network), generating a control instruction according to the operation parameter information and the operation monitoring images and sending the control instruction to the safety monitoring vehicle-mounted platform of the insulating arm vehicle.
Insulating arm car safety monitoring vehicle-mounted platform includes:
the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle;
the audio-video data stream module is used for acquiring a high-bandwidth and high-delay monitoring image of the insulated hopper arm vehicle;
and the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network, in particular to the operation parameter information with low bandwidth and low time delay and the monitoring image with high bandwidth and high time delay complete clock synchronization.
And voice communication is established between the safety monitoring vehicle-mounted platform of the insulating bucket arm vehicle and the safety monitoring ground platform of the insulating bucket arm vehicle.
The TSN network is formed by connecting two switches supporting the TSN, wherein one end of the TSN network is connected with a ground platform. The ground platform is a ground device consisting of a wireless communication module, a TSN (transmission time network), a control insulation bucket arm and an audio and video data stream module. The ground platform equipment integrates the functions of real-time video display, audio communication, insulating arm control, parameter display and the like, and provides comprehensive monitoring from vehicles to operators for ground monitoring personnel. The vehicle-mounted platform equipment comprises the functions of environmental parameter acquisition, insulating bucket speed acquisition, grounding current acquisition, insulating bucket arm deformation analysis, real-time image acquisition, voice transmission, pan-tilt control, insulating bucket control and the like
The vehicle-mounted platform equipment comprises the functions of environmental parameter acquisition, insulating bucket speed acquisition, grounding current acquisition, insulating bucket arm deformation analysis, real-time image acquisition, voice transmission, cloud platform control, insulating bucket control and the like.
After the safety monitoring system is started, a voice channel, a video channel and a system information acquisition channel are established by the ground platform and the vehicle-mounted platform; monitoring image information in the insulating bucket through a video data stream module of the vehicle-mounted platform, and acquiring operation parameter information of the insulating bucket through a parameter monitoring module of the vehicle-mounted platform; the vehicle-mounted platform connects the obtained monitoring image information and the obtained operation parameter information to a switch supporting the TSN function in a transmission mode of an industrial Ethernet protocol, and the switch automatically completes clock synchronization of the monitoring image information and the operation parameter information and then sends the monitoring image information and the operation parameter information to the ground platform. The voice channel is used for the monitoring personnel to carry out voice connection with the operating personnel through voice; industrial ethernet protocol for guaranteeing real-time and low latency of transmitted information. The parameter monitoring module through vehicle-mounted platform acquires the operation parameter information of insulating fill, includes: the parameter monitoring module monitors the condition in the insulating hopper, the control information of the insulating hopper, the environmental parameter acquisition and the control information of the insulating hopper arm. Monitoring image information in the insulating fill of video data flow module control through vehicle-mounted platform includes: and monitoring image information with high bandwidth and high time delay is obtained by the working camera. The switch sends the monitoring image information and the operation parameter information to a ground platform after automatically completing clock synchronization, and the method comprises the following steps: after the switch automatically completes clock synchronization of high-bandwidth and high-delay monitoring image information and low-bandwidth and low-delay operation parameter information on the vehicle-mounted platform, the switch sets the priority of the data stream to complete data stream scheduling, but needs a worker to set and debug. And the monitoring image information is used for ensuring that the priority of the low-delay operation parameter information is higher than that of the high-bandwidth high-delay monitoring image information. And then all the information is sent to the ground platform, so that the synchronization and the real-time performance of the information are ensured.
The technical solution of the present application will be described in further detail with reference to the detailed description and the workflow diagram of the safety monitoring system in fig. 2.
The safety monitoring system is opened to the control personnel, a series of sensors of parameter detection module on the vehicle-mounted platform carry out real-time uninterrupted measurement to a series of parameters of environment operating mode and arm car work, fight interior signal processing module collection current signal and carry out data processing through insulating work, data transmission after handling through the CAN bus is to wireless module, finally show data on the display screen of ground platform equipment, CAN set up the alarm value at ground platform, when real-time angle value reaches or surpasss the alarm value, ground platform reports to the police.
The signal processor is a core component for receiving data of each monitoring part, processing analog signals, calculating data and the like, receives analog signals sent by the anemoscope and the temperature and humidity transmitter through the analog signal input interface, and calculates the value of the current sensor after the conversion is carried out through the internal analog-to-digital conversion module. The CAN bus is used for receiving digital signals of the RTK equipment and the angle sensor, converting the digital signals into actual values, calculating and integrating the actual values through data, and sending the actual values to the wireless transmission module to be displayed on the ground platform equipment.
Meanwhile, ground workers send control signals to the cloud deck and the insulating bucket arm through rockers of ground equipment to carry out fine adjustment, so that observation of operation of operators without dead angles is facilitated. The ground platform equipment integrates the audio communication function, and the contact between the supervision personnel and the operating personnel is enhanced. Adopt the cloud platform camera to carry out the omnidirectional video monitoring of insulating work fill, the cloud platform possesses real-time audio acquisition and audio playback function simultaneously, and the supervision personnel on ground realizes reminding and warning the violation operation when monitoring insulating work fill interior staff. After the cloud platform camera collects real-time image data and audio data, the data are integrated and converted into network signals to be sent to the wireless module, and the high-speed Ethernet can meet the requirement of mass data communication. And an insulating accessory is added on the outer side of the insulating working bucket to place devices such as a cradle head and the like, so that the stability of the cradle head is ensured and the maximum view angle of the cradle head is realized.
The wireless module integrates the functions of image transmission and data transmission, transmits image data and audio data of the pan-tilt camera and monitoring data of all parts to the ground platform equipment for corresponding processing, and can send the communication data which is sent to the controller and used for controlling the pan-tilt camera and the insulating bucket arm by the ground platform equipment to the insulating bucket end. Before that, image data and monitoring data of the pan-tilt camera are converted into wires through the gateway, transmitted into a TSN (transmission switching network) consisting of two TSN switches and transmitted to ground equipment after passing through the TSN. The wireless module supports the access of a plurality of nodes in a star networking mode, and the invention adopts a three-node mode to carry out multi-party communication. After various data transmission is integrated, the electromagnetic environment on site is greatly purified, and the same frequency interference is avoided.
The whole process is firstly carried out when the TSN function is not started in the TSN, at the moment, the two switches form a common local area network, the monitoring data and the holder control data which are transmitted at first can both guarantee real-time performance, but when high-definition video monitoring starts to be transmitted, data time delay increase of the monitoring data, the control signals and the like can be found, and the real-time performance cannot be guaranteed. At the moment, the TSN function is started, firstly, the two switches only perform clock synchronization, then, data scheduling is performed according to the priority, the delay of monitoring data and cradle head control data is found to be reduced, the instantaneity is guaranteed, and the whole system can work normally.
The system adopts the lithium cell to supply power, and the lithium cell energy density is high, provides the most electric quantity under the condition of small volume, low weight, does benefit to long-time work. The battery divide into four bibliographic categories altogether, and insulating fill end adopts the great battery of capacity to supply power for insulating fill end equipment such as cloud platform camera, controller, and insulating arm lower extreme angle sensor and automobile body leakage current detection sensor adopt special little battery to supply power, and ground platform equipment embeds the battery, and each part battery all adopts quick detachable design, is convenient for change and battery replenishment.
Example 4
The application provides a many information fusion's insulating arm car safety monitoring system based on TSN technique, including parts such as video monitoring system, voice communication system, leakage current detecting system, insulating arm deformation detection, the insulating fill speed detection of RTK, environmental parameter detection, utilize RTK to calculate insulating arm speed, angle sensor deformation detection, video pronunciation communication system, star type communication network simultaneously. Meanwhile, a TSN is used for replacing a traditional local area network to transmit measurement parameters, control signals and high-bandwidth monitoring video streams, the TSN can transmit data streams by using IEEE802.1Qbv and IEEE802.1Qbu protocols, and transmission of the high-bandwidth data streams and the low-delay data streams in the same network can be met through scheduling, so that the integrity of data is guaranteed, and the real-time property of data transmission is also guaranteed.
In conclusion, the application provides an insulation boom vehicle safety monitoring system, which uses an industrial internet TSN, solves the communication barrier between monitoring personnel and operating personnel caused by the environment, and simultaneously ensures low time delay of control signals while video data streams are transmitted in a network; therefore, the personal safety of operators can be protected through real-time monitoring, all key parameters of the insulating bucket arm vehicle can be conveniently recorded, and corresponding control instructions can be made. In the operation process, when dangerous condition appears in the facial make-up, ground platform can in time report to the police.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: although the present invention has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides an on-vehicle platform of insulating arm car safety monitoring which characterized in that includes:
the data acquisition module is used for acquiring operation parameter information and operation monitoring images of the insulated bucket arm vehicle;
the data sending module is used for sending the operation parameter information and the operation monitoring image to the insulating arm vehicle safety monitoring ground platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the command receiving module is used for receiving a control command of the ground platform for safety monitoring of the insulating arm vehicle;
and the mechanical control module is used for controlling the insulating bucket arm of the insulating bucket arm vehicle and the holder camera for monitoring operation according to the control command.
2. The vehicle platform of claim 1, wherein the data acquisition module comprises:
the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle;
and the audio-video data flow module is used for acquiring the high-bandwidth and high-delay operation monitoring image of the insulated bucket arm vehicle.
3. The vehicle platform of claim 1, wherein the data acquisition module is further configured to establish voice communication with the platform.
4. The vehicle platform of claim 1, wherein the TSN network is constructed from a switch disposed on the platform and a switch disposed on the ground platform, each switch supporting TSN functionality.
5. The utility model provides an insulating arm car safety monitoring ground platform which characterized in that includes:
the data receiving module is used for receiving the operation parameter information and the operation monitoring image of the insulated bucket arm vehicle, which are sent by the insulated bucket arm vehicle safety monitoring vehicle-mounted platform; the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network;
the instruction generating module is used for generating a control instruction according to the operation parameter information and the operation monitoring image;
and the data sending module is used for sending the control command to the vehicle-mounted platform for safety monitoring of the insulating arm vehicle.
6. The ground platform of claim 5, wherein the TSN network is constructed from a switch located on the platform on which the IGV is mounted and a switch located on the ground platform on which the IGV is mounted, each switch supporting TSN functionality.
7. The ground platform of claim 5, wherein the operational parameter information and the operational monitoring images are clocked through the TSN network, and wherein the low bandwidth, low latency operational parameter information is clocked with the high bandwidth, high latency monitoring images.
8. The utility model provides an insulating arm car safety monitoring system which characterized in that includes:
the safety monitoring vehicle-mounted platform of the insulating arm vehicle is used for acquiring operation parameter information and operation monitoring images of the insulating arm vehicle, performing clock synchronization on the operation parameter information and the operation monitoring images through a TSN (time sequence network) and then sending the operation parameter information and the operation monitoring images to the safety monitoring ground platform of the insulating arm vehicle; receiving a control instruction of a safety monitoring ground platform of the insulating bucket arm vehicle to control an insulating bucket arm of the insulating bucket arm vehicle and a holder camera for operation monitoring;
the safety monitoring ground platform of the insulating arm vehicle is used for receiving operation parameter information and operation monitoring images of the insulating arm vehicle sent by the vehicle-mounted platform, completing clock synchronization through a TSN (time sequence network), generating a control instruction according to the operation parameter information and the operation monitoring images and sending the control instruction to the safety monitoring vehicle-mounted platform of the insulating arm vehicle.
9. The system of claim 8, wherein the insulated arm car safety monitoring onboard platform comprises:
the parameter monitoring module is used for acquiring low-bandwidth and low-delay operation parameter information of the insulated bucket arm vehicle;
the audio-video data stream module is used for acquiring a high-bandwidth and high-delay monitoring image of the insulated hopper arm vehicle;
and the operation parameter information and the operation monitoring image complete clock synchronization through a TSN network, in particular to the operation parameter information with low bandwidth and low time delay and the monitoring image with high bandwidth and high time delay complete clock synchronization.
10. The system of claim 8, further comprising:
and voice communication is established between the safety monitoring vehicle-mounted platform of the insulating bucket arm vehicle and the safety monitoring ground platform of the insulating bucket arm vehicle.
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| CN113055650A (en) * | 2021-03-18 | 2021-06-29 | 四川大学 | Power distribution uninterrupted operation field audio and video cooperative auxiliary system |
| CN114485530A (en) * | 2021-10-29 | 2022-05-13 | 许继时代技术有限公司 | Device and method for measuring attitude of insulating bucket arm of bucket arm vehicle based on real-time dynamic RTK |
| CN114499726A (en) * | 2020-10-23 | 2022-05-13 | 苏州市伯太数字科技有限公司 | Sensor communication method based on TSN (time sensitive network) standard |
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| CN109450943A (en) * | 2018-12-25 | 2019-03-08 | 重庆邮电大学 | Industrial time sensitive network multi-level safety data scheduling method |
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| CN112421483B (en) * | 2020-11-09 | 2022-05-31 | 国网江苏省电力有限公司常州供电分公司 | Live working AI monitors command device |
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