CN111913486A

CN111913486A - Operation system, engineering vehicle, remote operation subsystem and control method

Info

Publication number: CN111913486A
Application number: CN202010777139.2A
Authority: CN
Inventors: 李纯袁; 贺志国; 文宝
Original assignee: Sany Special Vehicle Co Ltd
Current assignee: Sany Special Vehicle Co Ltd
Priority date: 2020-08-05
Filing date: 2020-08-05
Publication date: 2020-11-10
Anticipated expiration: 2040-08-05
Also published as: CN111913486B

Abstract

The invention provides an operation system, an engineering vehicle, a remote operation subsystem and a control method. Wherein, the operation system includes: a service subsystem; the service subsystem comprises an order management and control device, and the order management and control device is used for acquiring a remote operation order; the remote operation subsystem is connected with the service subsystem; the engineering vehicle is connected with the remote operation subsystem; the remote operation subsystem is used for controlling the action of the engineering vehicle according to the remote operation order. By the technical scheme, a plurality of engineering vehicles and a plurality of remote operation subsystems can be effectively and uniformly allocated, the resource allocation is optimized, the working efficiency is improved, the working environment of an operator is improved, the utilization rate is high, the response speed is high, and the limitation of a working space is reduced.

Description

Operation system, engineering vehicle, remote operation subsystem and control method

Technical Field

The invention relates to the technical field of remote driving, in particular to an operation system, an engineering vehicle, a remote operation subsystem and a control method.

Background

The mixer truck is an engineering vehicle for transporting concrete, and a mixing drum on the truck needs to be kept to rotate ceaselessly in the transportation process so as to prevent the concrete from solidifying. The existing mixer trucks employ special drivers to drive, however, the manpower cost of the mixer truck drivers is higher and higher, the utilization rate of the drivers is not high, the waiting time on the construction site is long, the driving time is short, in case of emergency, the drivers need to spend time on the truck, and the response speed is slow; in addition, under severe environments such as high temperature, severe cold, hypoxia and the like, the physiological limit of a human body is exceeded, and a driver cannot work normally.

Disclosure of Invention

Embodiments according to the present invention are directed to improving at least one of the technical problems of the related art or the related art.

In view of the above, an object according to an embodiment of the present invention is to provide an operation system.

Another object according to an embodiment of the present invention is to provide a work vehicle.

It is another object according to an embodiment of the present invention to provide a remote operation subsystem.

It is another object according to an embodiment of the present invention to provide a control method.

In order to achieve the above object, an embodiment according to a first aspect of the present invention provides an operation system, including: a service subsystem; the service subsystem comprises an order management and control device, and the order management and control device is used for acquiring a remote operation order; the remote operation subsystem is connected with the service subsystem; the engineering vehicle is connected with the remote operation subsystem; the remote operation subsystem is used for controlling the action of the engineering vehicle according to the remote operation order.

In the technical scheme, the remote operation subsystem controls the action of the engineering vehicle according to the remote operation order, namely the operation and control of the engineering vehicle are not performed by an operator on a construction site, but performed by the remote operation subsystem at a remote end. The remote operation mode enables an operator to be far away from a construction site, the severe environment of the construction site is also far away, the physical and mental health of the operator is guaranteed, the operator can be kept in a normal and stable working state, and therefore the working stability and reliability of the engineering vehicle are guaranteed. In addition, even in some construction sites with high temperature, severe cold or serious pollution, an operator operates the engineering vehicle in a remote mode, and the work efficiency and the operation range of the engineering vehicle are favorably ensured. Through remote operation, when the engineering vehicle waits for other processes without being controlled by an operator, the operator can operate the engineering vehicle on other construction sites, the invalid waiting time of the operator is reduced, the working time of the operator is prolonged, the utilization rate of the operator is correspondingly improved, and the labor cost is reduced. In addition, the operator does not need to spend time to arrive at a construction site, and particularly when a plurality of construction sites exist, due to remote operation, the operator can operate the engineering vehicles on different construction sites under the condition that the site does not need to be replaced, so that the response speed of the operator is improved.

More importantly, the operation system comprises the engineering vehicles capable of being remotely operated and corresponding remote operation subsystems, the number of the engineering vehicles can be multiple, the types of the engineering vehicles can also be multiple, and correspondingly, the remote operation subsystems can also be multiple and multiple types and are suitable for various engineering vehicles. It can be understood that according to the specific types and operation requirements of various engineering vehicles, a plurality of operators with different skills and different operation authorities can be configured, and the combination of the operators, the engineering vehicles and the remote operation subsystems is optimized through the operation system, so that the use efficiency of the engineering vehicles and the operators is improved, and the working environment of the operators is improved. The engineering vehicle and the remote operation subsystem are connected with the service subsystem, and the service subsystem comprises an order management and control device, so that the service subsystem can carry out unified allocation on a plurality of engineering vehicles and a plurality of remote operation subsystems according to different requirements of orders, the resource allocation is optimized, the working efficiency is improved, the utilization rate of an operator is high, the response speed is high, and the limitation of a working space is reduced.

It is understood that the order management apparatus is also used to manage remote operation orders.

In the technical scheme, the engineering vehicle comprises a sensing device and a line control device, the remote operation subsystem is used for controlling the sensing device to acquire environmental information of the engineering vehicle according to a remote operation order, and the remote operation subsystem is also used for controlling the line control device to carry out remote driving or remote operation on the engineering vehicle.

In the technical scheme, the engineering vehicle comprises the sensing device and the line control device, and an operator of the remote operation subsystem can conveniently control the sensing device to acquire environmental information around the engineering vehicle, state information of the engineering vehicle and the like, so that the line control device on the engineering vehicle can be further controlled through the remote operation subsystem, remote driving and remote operation of the engineering vehicle are further realized, the time of the operator on the road is reduced, the waiting time of the operator is also reduced, and the working environment of the operator is optimized.

In the above technical solution, the service subsystem further includes: the order management and control device is used for managing the information, authority and performance of the operator; and the scheduling device is connected with the order management and control device and the operator management and control device and is used for matching the engineering vehicle, the operator and the remote operation subsystem according to the remote operation order.

According to the technical scheme, the dispatching device is connected with the order management and control device, so that the dispatching device can conveniently acquire the work tasks corresponding to the remote operation orders. The scheduling device is connected with the operator management and control device, so that the obtained work tasks can be matched with operators, engineering vehicles and remote operation subsystems conveniently, manual matching is not needed, the work efficiency is favorably improved, and the manual work intensity is reduced. Through setting up operator management and control device, both can restrict the operator permission and avoid appearing the maloperation, can open the operator permission again, make the operator can carry out remote operation to engineering vehicle. In addition, through opening and limiting the authority of the operator, the operator management and control device and the scheduling device can acquire the working condition of the operator, so that the scheduling device can perform planned allocation conveniently, and the automatic and intelligent operation effect of the operation system is improved. Furthermore, through the connection of the scheduling device and the operator control device, the process, the efficiency, the duration and the like of each operation of the operator can be recorded and analyzed, so that the working capacity of the operator can be objectively and reliably evaluated, and the convenience and the objectivity of personnel management can be favorably improved. The remote operation subsystem is connected with the service subsystem. Correspondingly, the remote operation subsystem is connected with the service subsystem, namely the remote operation subsystem is connected with the operator management and control device and the scheduling device, so that an operator can control the remote operation subsystem after obtaining the authority, and the engineering vehicle is operated remotely.

In the above technical solution, the service subsystem further includes: the user management and control device is connected with the order management and control device and is used for acquiring and managing user information and user authority; and/or financial management and control device, be connected with order management and control device, operator management and control device and scheduling device, financial management and control device is used for fund management.

In the technical scheme, by arranging the user management and control device and/or the financial management and control device, the service subsystem of the operation system integrates various functions such as task management, personnel management, user management, financial management and the like. After each remote operation order is completed, the corresponding information such as engineering vehicles, operators, remote operation subsystems, users, expenses and the like can be found through the service subsystem, the whole process tracing of the remote operation orders is achieved, the various correlated information can be inquired in one station through the service subsystem, various intermediate management links and facility equipment are reduced, the work efficiency is favorably greatly improved, and the labor intensity is reduced. The user management and control device is connected with the order management and control device, so that user information can be conveniently acquired through remote operation orders on the order management and control device, and the user information can be managed. Financial management and control device is connected with the order management and control device, is convenient for acquire the relevant information of user on the remote operation order to according to the remote operation order, automatic record and institute accounts receivable etc. reduce manual operation, be convenient for settle accounts with the user. Financial management and control device is connected with operator management and control device, scheduling device, is convenient for according to information such as operator's work load, work quality, efficiency, and the automatic calculation operator's reward and salary to promote managerial efficiency, and promote financial management's objectivity.

An embodiment according to a second aspect of the present invention provides an engineering vehicle for use in an operation system in any one of the above-mentioned first aspects, including: a body; the sensing device is arranged on the machine body and used for acquiring the environmental information of the machine body and the state information of the machine body; the communication device is arranged on the machine body, connected with the sensing device and used for sending environmental information and state information and receiving remote operation instructions; the wire control device is arranged on the machine body and is connected with the communication device; and the actuating mechanism is arranged on the machine body and is connected with the communication device, wherein the wire control device is used for controlling the actuating mechanism to execute the driving action or the operation action corresponding to the remote operation instruction according to the remote operation instruction.

In the technical scheme, the sensing device, the communication device, the line control device and the executing mechanism are arranged, so that the remote operation of the engineering vehicle is favorably realized, an operator of the engineering vehicle can be far away from a construction site of the engineering vehicle, the severe environment of the construction site is also far away, the physical and mental health of the operator is ensured, the operator can be favorably kept in a normal and stable working state, and the working stability and reliability of the engineering vehicle are ensured. In addition, even in some construction sites with high temperature, severe cold or serious pollution, an operator can mechanically operate the engineering vehicle in a remote mode, and the working efficiency and the working range of the engineering vehicle are ensured. Through remote operation, when the engineering vehicle waits for other processes without being controlled by an operator, the operator can operate the engineering vehicle on other construction sites, the invalid waiting time of the operator is reduced, the working time of the operator is prolonged, the utilization rate of the operator is correspondingly improved, and the labor cost is reduced. In addition, the operator does not need to spend time to arrive at a construction site, and particularly when a plurality of construction sites exist, due to remote operation, the operator can operate the engineering vehicles on different construction sites under the condition that the site does not need to be replaced, so that the response speed of the operator is improved.

Specifically, by arranging the sensing device on the machine body, the environmental information and the state information of the machine body can be acquired, namely, the sensing device replaces the sense organs of an operator at a construction site. Further, the communication device is arranged to send out the environmental information and the state information, so that an operator can conveniently remotely obtain the environmental information around the machine body and the state information of the machine body, and the operator can conveniently make corresponding operation according to the environmental condition and the state of the machine body. In addition, the communication device is also used for receiving remote operation instructions, namely after an operator performs corresponding operation, the communication device on the machine body can receive the corresponding remote operation instructions, so that the remote operation instructions are converted into commands which can be executed by the execution mechanism through the thread control device, the action of the engineering vehicle is realized, and the aim of remote operation is finally realized. The remote operation includes remote driving and remote operation, that is, the actuating mechanism is controlled by the wire control device to enable the actuating mechanism to execute the driving action or the operation action corresponding to the remote operation instruction. The working actions include lifting, digging, flattening, bulldozing and the like.

The actuating mechanism comprises any one or combination of a plurality of power devices, speed regulating devices, lifting devices, telescopic devices and stirring devices.

In the above technical solution, the engineering vehicle further includes: and the positioning device is arranged on the machine body and is used for acquiring the position information of the machine body, the positioning device is connected with the communication device, and the communication device is also used for sending the position information.

In the technical scheme, the positioning device is arranged to acquire the position information of the machine body and is connected with the communication device, so that an operator can conveniently determine the specific position of the engineering vehicle, and a certain basis is provided for the operation of the operator on the engineering vehicle.

In any of the above technical solutions, the sensing device includes any one or a combination of several of an image capturing device, a video capturing device, an audio capturing device, an environmental parameter detecting device, and a distance measuring device.

In the technical scheme, the image acquisition device and the video acquisition device can acquire images and video information around the engineering vehicle so as to facilitate an operator to observe the environmental condition. The audio acquisition device can acquire various sound information around the engineering vehicle, and an operator can listen to special sounds of the environment conveniently so as to find out equipment faults or emergency situations in time, such as abnormal sound of equipment, emergency calls of construction site personnel and the like. The environment parameter detection device detects the environment parameters, so that an operator can know more real environment conditions conveniently, the operation which is adaptive to the environment conditions is facilitated for the operator, the engineering vehicle runs in a proper environment, and the adverse effect on the work of the engineering vehicle caused by various adverse factors such as temperature, humidity and dust concentration is reduced. The distance measuring device is used for detecting the distances between various objects and the engineering vehicle, so that an operator can conveniently and accurately judge the distance, and the condition that the operator carries out misoperation due to the distortion of videos, images and audios is reduced.

The engineering vehicle is any one of a concrete mixer truck, a crane, a slag car and an excavator.

An embodiment according to a third aspect of the present invention provides a remote operation subsystem, which is used in an operation system according to any one of the above-mentioned first aspects, and includes: the monitoring device is used for receiving the environmental information and the state information of the engineering vehicle and displaying the environmental information and the state information; the operating device is connected with the monitoring device and is used for inputting a remote operating instruction; the monitoring device is also used for sending remote operation instructions.

In the technical scheme, the monitoring device receives and displays the environmental information and the state information of the engineering vehicle, namely, the environment where the engineering vehicle is located can be displayed in front of an operator, so that the operator has an experience of being personally on the scene. The operator can directly know the working environment of the remote engineering vehicle through the monitoring device, so that the operator can conveniently make proper judgment and operation, the convenience and the reliability of remote operation are improved, and the wrong judgment and operation are reduced under the condition that the field condition is not known. Further, the engineering vehicle is remotely operated through the remote operation subsystem, so that all the beneficial effects of any one of the technical solutions of the first aspect can be achieved, and details are not repeated herein.

The setting of operating means is convenient for the operator to input remote operation instruction. The monitoring device is also used for sending a remote operation instruction, so that the remote operation instruction input by an operator can be sent to a remote engineering vehicle through the monitoring device, and the engineering vehicle can execute corresponding actions according to the intention of the operator, thereby achieving the purpose of remote operation.

It is understood that the monitoring device comprises communication means, and that the remote operation instruction is transmitted by the communication means in the monitoring device.

An embodiment according to a fourth aspect of the present invention provides a control method, for an operation system according to any one of the above first aspects, including: acquiring a remote operation order; according to the remote operation order, determining an engineering vehicle, an operator and a remote operation subsystem which are matched with the remote operation order; executing a remote operation order according to the information of the engineering vehicle, the remote operation subsystem and an operator; wherein, the remote operation order at least comprises the following contents: required engineering vehicles, task places of the engineering vehicles, working hours and operation contents.

According to the technical scheme, the remote operation order is obtained, and the corresponding engineering vehicle, the operator and the remote operation subsystem are determined to execute the remote operation order, so that the automatic management of the remote operation of the engineering vehicle is facilitated according to the remote operation order, the use efficiency of the engineering vehicle and the operator is improved, the working environment of the operator is improved, the response speed of the operator can be improved, and the invalid waiting time is reduced. The remote operation order includes at least the required work vehicle, the task location of the work vehicle, the working hours, the work content, etc., so that it can be determined which work vehicle to use, which operator or operators to match, the specific remote driving task, the remote work task, etc.

In the above technical solution, executing the remote operation order specifically includes: opening an engineering vehicle and a remote operation subsystem, and opening the operation authority of an operator; acquiring environmental information and state information of the engineering vehicle according to the operation authority; displaying environmental information and state information on the remote operation subsystem; acquiring a remote operation instruction corresponding to the environment information and the state information; controlling the engineering vehicle to execute corresponding actions according to the remote operation instruction to complete a remote operation order; service charges are calculated and stored according to the completed remote operation orders.

In the technical scheme, the engineering vehicle, the remote operation subsystem and the operation authority of an operator are opened, so that the operator can operate the engineering vehicle through the remote operation subsystem, and can start to record the operation process of the operator, and the objective evaluation can be conveniently carried out on the operator after the operation is finished. According to the operation authority, the environment information and the state information of the engineering vehicle are obtained, namely, an operator can only operate the engineering vehicle with the operation authority, so that the phenomenon of misoperation can be reduced, invalid work and accidents caused by misoperation are avoided, and the work efficiency and the overall efficiency of an operation system are improved; by displaying the environmental information and the state information on the remote operation subsystem, an operator can conveniently and intuitively observe the condition of the environment where the engineering vehicle is located. The operator can grasp the on-site condition although not on site, so that corresponding operation is carried out according to the working specific environment of the engineering vehicle, and a corresponding remote operation instruction is sent out. By obtaining the remote operation instruction, the engineering vehicle can conveniently execute corresponding actions according to the remote operation instruction, so that the work task on the remote operation order can be completed. Further, after the execution of the remote operation order is completed, the execution process, the duration, the used engineering vehicles and the like of the remote operation order can be recorded and counted, so that corresponding fees, such as service fees to be charged, fees to be paid to an operator, fees to be paid for depreciation of fixed assets and the like, can be determined, and the fees are recorded and stored so as to be convenient for inquiring and charging the service fees to a user, so that after each remote operation order is completed, the related fees are automatically generated, the working efficiency is improved, and the occurrence of errors can be reduced.

Additional aspects and advantages of embodiments in accordance with the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments in accordance with the invention.

Drawings

FIG. 1 is a block diagram illustrating the structure of an operating system according to an embodiment of the present invention;

FIG. 2 is a block diagram illustrating the structure of an operating system according to an embodiment of the present invention;

FIG. 3 is a block diagram illustrating the structure of an operating system according to an embodiment of the present invention;

FIG. 4 is a block diagram schematic of a construction vehicle according to one embodiment of the present disclosure;

FIG. 5 is a block diagram illustrating the structure of a sensing device according to an embodiment of the present invention;

FIG. 6 is a block diagram illustrating the structure of a remote operation subsystem according to one embodiment of the present invention;

FIG. 7 is a block diagram schematically illustrating the construction of a blender truck according to one embodiment of the present invention;

FIG. 8 is a block diagram schematic of a remote cab according to one embodiment of the present invention;

FIG. 9 is a schematic workflow diagram of a control method according to one embodiment provided by the invention;

FIG. 10 is a schematic workflow diagram of a control method according to one embodiment provided by the invention;

fig. 11 is a schematic diagram of an operation mode of an operation system according to an embodiment of the invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 8 is:

the system comprises an engineering vehicle, a machine body 100, a sensing device 102, a communication device 104, a line control device 106, an execution mechanism 108, a positioning device 110, an image acquisition device 112, a video acquisition device 114, an audio acquisition device 116, an environmental parameter detection device 118, a distance measurement device 120, a remote operation subsystem 2, a monitoring device 20, an operation device 22, an operation system 3, a service subsystem 300, an order management and control device 302, an operator management and control device 304, a scheduling device 306, a user management and control device 308, a financial management and control device 310, a storage 320, a processor 322, a mixer truck 4, a truck body 40, a remote cab 42 and a driving simulator 44.

Detailed Description

In order that the above objects, features and advantages of embodiments in accordance with the present invention may be more clearly understood, embodiments in accordance with the present invention are described in further detail below with reference to the accompanying drawings and the detailed description. It should be noted that features of embodiments according to the invention may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments according to the invention, however, embodiments according to the invention may be practiced in other ways than those described herein, and therefore, embodiments according to the invention are not limited in scope by the specific embodiments disclosed below.

Some embodiments provided according to the present invention are described below with reference to fig. 1 to 11.

As shown in fig. 1, an embodiment according to a first aspect of the present invention provides an operation system 3, including: a service subsystem 300, a work vehicle 1 and a remote operation subsystem 2. The engineering vehicle 1 is connected with the remote operation subsystem 2, and the remote operation subsystem 2 is connected with the service subsystem 300.

The service subsystem 300 includes an order manager 302, and the order manager 302 is configured to obtain a remote operation order. The remote operation subsystem 2 is used for controlling the action of the engineering vehicle 1 according to the remote operation order.

In this embodiment, the remote operation subsystem 2 controls the operation of the work vehicle 1, that is, the operation of the work vehicle 1, according to the remote operation order, not by the operator at the construction site, but by the operator at a remote location through the remote operation subsystem 2. The remote operation mode enables an operator to be far away from a construction site, the severe environment of the construction site is also far away, the physical and mental health of the operator is guaranteed, the operator can be kept in a normal and stable working state, and therefore the working stability and reliability of the engineering vehicle 1 are guaranteed. In addition, even in some construction sites with high temperature, severe cold or serious pollution, an operator mechanically operates the engineering vehicle 1 in a remote mode, which is beneficial to ensuring the working efficiency and the working range of the engineering vehicle 1. Through remote operation, when the engineering vehicle 1 waits for other processes without being controlled by an operator, the operator can operate the engineering vehicle 1 on other construction sites, the invalid waiting time of the operator is reduced, the working time of the operator is prolonged, the utilization rate of the operator is correspondingly improved, and the labor cost is reduced. In addition, the operator does not need to spend time to arrive at the construction site, and particularly when a plurality of construction sites exist, due to remote operation, the operator can operate the engineering vehicles 1 at different construction sites under the condition that the site does not need to be replaced, so that the response speed of the operator is improved.

More importantly, the operation system 3 comprises the engineering vehicles 1 which can be remotely operated and the corresponding remote operation subsystems 2, the number of the engineering vehicles 1 can be multiple, the types of the engineering vehicles can also be multiple, and correspondingly, the remote operation subsystems 2 can also be multiple, multiple types and are suitable for various engineering vehicles 1. It can be understood that according to the specific type and operation requirement of various engineering vehicles 1, a plurality of operators with different skills and different operation authorities can be configured, and the combination of the operators, the engineering vehicles 1 and the remote operation subsystems 2 is optimized through the operation system 3, so that the use efficiency of the engineering vehicles 1 and the operators is improved, and the working environment of the operators is improved. The engineering vehicle 1 and the remote operation subsystem 2 are both connected with the service subsystem 300, and the service subsystem 300 comprises an order management and control device 302, so that the service subsystem 300 can carry out unified allocation on the multiple engineering vehicles 1 and the multiple remote operation subsystems 2 according to different requirements of orders, the resource allocation is optimized, the working efficiency is improved, the utilization rate of an operator is high, the response speed is high, and the limitation of a working space is reduced.

It is understood that the order manager 302 is also used to manage remote operation orders.

Further, the working vehicle 1 includes a sensing device 102 and a drive-by-wire device 106, which facilitates the operator of the remote operation subsystem 2 to control the sensing device 102 to acquire environmental information around the working vehicle 1, status information of the working vehicle 1 itself, and the like. The remote operation subsystem 2 is used for controlling the sensing device to acquire the environment information of the engineering vehicle 1 according to the remote operation order, or acquiring the environment information of the environment of the engineering vehicle 1. The remote operation subsystem 2 is also used for controlling the line control device 106 to remotely drive or remotely operate the engineering vehicle 1, so that the time of an operator on the way is reduced, the waiting time of the operator is also reduced and the working environment of the operator is optimized by remotely driving and remotely operating the engineering vehicle 1.

In the above embodiment, the service subsystem 300 further includes an operator management device 304 and a scheduling device 306.

Specifically, the operator management apparatus 304 is used to manage information, authority, and performance of the operator, and is connected to the order management apparatus 302. By providing the operator control device 304, the operator authority can be restricted to avoid misoperation, such as avoiding that a driver driving a mixer truck is arranged to drive an excavator; or on the crane, to avoid the driver being arranged to perform the lifting operation. According to the order management and control device 302, a remote operation order is obtained, and the authority of the operator is opened, so that the operator can remotely operate the engineering vehicle 1.

The scheduling device 306 is used for matching the engineering vehicle 1, the operator and the remote operation subsystem 2 according to the remote operation order, and the scheduling device 306 is connected with the order management device 302 and the operator management device 304 respectively. Through the connection between the scheduling device 306 and the order management and control device 302, the scheduling device 306 can obtain the work task corresponding to the remote operation order conveniently. The scheduling device 306 is connected with the operator management and control device 304, so that the obtained work tasks can be matched with operators, the engineering vehicles 1 and the remote operation subsystems 2 conveniently, manual matching is not needed, the work efficiency is improved, and the manual work intensity is reduced. In addition, through opening and limiting the authority of the operator, the operator management and control device 304 and the scheduling device 306 can acquire the working condition of the operator, so that the scheduling device 306 can perform planned allocation conveniently, and the automatic and intelligent operation effect of the operation system 3 is improved. Further, through the connection between the scheduling device 306 and the operator management and control device 304, the process, efficiency, duration and the like of each operation of the operator can be recorded and analyzed, so that the working capacity of the operator can be objectively and reliably evaluated, and convenience and objectivity of personnel management can be improved.

The remote operation subsystem 2 is connected to the service subsystem 300, and accordingly, the remote operation subsystem 2 is naturally connected to the operator management apparatus 304 and the scheduling apparatus 306 of the service subsystem 300. After obtaining the authority, the operator can operate the remote operation subsystem 2 to remotely operate the work vehicle 1.

In the above embodiment, the operation system 3 further includes a user management device 308 and/or a financial management device 310, and the user management device 308 is used for acquiring and managing user information and user rights and is connected to the order management device 302. The fiscal management device 310 is used for fund management. Financial management device 310 is connected to order management device 302, operator management device 304, and scheduling device 306.

In this embodiment, by providing the user management device 308 and/or the financial management device 310, the service subsystem 300 of the operation system 3 integrates various functions such as task management, personnel management, user management, financial management, and the like. After each remote operation order is completed, the corresponding information such as the engineering vehicle 1, the operator, the remote operation subsystem 2, the user, the cost and the like can be searched through the service subsystem 300, the whole process tracing of the remote operation order is realized, the various correlated information can be inquired in one station through the service subsystem 300, various intermediate management links and facility equipment are reduced, the work efficiency is greatly improved, and the labor intensity is reduced. The user management device 308 is connected to the order management device 302, so as to facilitate obtaining user information through remote operation of the order on the order management device 302, thereby managing the user information. Financial management and control device 310 is connected with order management and control device 302, is convenient for acquire the relevant information on the teleoperation order to according to the teleoperation order, automatic record and institute accounts receivable etc. reduce manual operation, be convenient for settle accounts with the user. Financial management and control device 310 is connected with operator management and control device 304, scheduling device 306, is convenient for according to information such as the work load of operator, work quality, efficiency, and the automatic consideration and the salary of calculating the operator to promote management efficiency, and promote financial management's objectivity.

As shown in fig. 4, an embodiment according to a second aspect of the present invention provides a work vehicle 1 for use in an operation system 3 in any one of the above-mentioned first aspects. The work vehicle 1 includes a body 100, a sensing device 102, a communication device 104, a drive-by-wire device 106, and an actuator 108.

Specifically, the sensing device 102, the communication device 104, the drive-by-wire device 106 and the actuator 108 are all disposed on the body 100. The sensing device 102 is used to acquire environmental information of the body 100 and state information of the body 100 itself. The communication device 104 is connected with the sensing device 102, and the communication device 104 is used for sending environmental information and status information and receiving remote operation instructions. The by-wire device 106 is connected to the communication device 104. The actuator 108 is coupled to the communication device 104. The by-wire device 106 is configured to control the actuator 108 to execute an operation corresponding to the remote operation command, such as a driving operation and a working operation, according to the remote operation command. The remote operation includes remote driving, remote work, remote sensing by the sensing device 102, and the like. The work operation may specifically include lifting, digging, dozing, and the like.

In this embodiment, the sensing device 102, the communication device 104, the drive-by-wire device 106 and the executing mechanism 108 are arranged, which is beneficial to realizing the remote operation of the engineering vehicle 1, so that an operator of the engineering vehicle 1 can be far away from a construction site of the engineering vehicle 1, i.e. from a severe environment of the construction site, thereby ensuring the physical and mental health of the operator, being beneficial to the operator to keep a normal and stable working state, and ensuring the working stability and reliability of the engineering vehicle 1. In addition, even in some construction sites with high temperature, severe cold or serious pollution, an operator can mechanically operate the engineering vehicle 1 in a remote mode, and the working efficiency and the working range of the engineering vehicle 1 are ensured. Through remote operation, when the engineering vehicle 1 waits for other processes without being controlled by an operator, the operator can operate the engineering vehicle 1 on other construction sites, so that the invalid waiting time of the operator is reduced, the working time of the operator is prolonged, the utilization rate of the operator is correspondingly improved, and the labor cost is reduced; for example, the working vehicle 1 is a concrete mixer truck, which does not need to be moved when waiting for concrete to be poured on site. At this time, the operator, that is, the driver of the mixer truck does not need to operate the mixer truck to move, and if the mixer truck is the mixer truck of the prior art, the driver can only wait on the spot, while the mixer truck in the embodiment is remotely operated, so the driver does not need to wait on the spot, but can directly put into the driving work of another mixer truck.

In addition, the operator does not need to spend time to arrive at the construction site, and particularly when a plurality of construction sites exist, due to remote operation, the operator can operate the engineering vehicles 1 at different construction sites under the condition that the site does not need to be replaced, so that the response speed of the operator is improved.

In the above embodiment, the working vehicle 1 includes, but is not limited to, any one of the concrete mixer truck 4, a crane, a slag car, and an excavator.

It will be appreciated that the operator may be a driver or may be other personnel on the work vehicle 1.

The actuator 108 includes any one or a combination of several of a power device, a speed adjusting device, a lifting device, a telescopic device and a stirring device, and more specifically, the power device is an engine; speed regulating devices such as transmissions and the like.

In the above embodiment, the work vehicle 1 further includes the positioning device 110. The positioning device 110 is disposed on the machine body 100, and is used for acquiring position information of the machine body 100. The positioning device 110 is connected with the communication device 104, and the communication device 104 is further configured to send position information so that an operator can determine a specific position of the work vehicle 1, and certain basis is provided for the operator to operate the work vehicle 1.

As shown in fig. 5, in any of the above embodiments, the sensing device 102 includes an image capturing device 112 (e.g., a camera), a video capturing device 114 (e.g., a camera, an infrared imager) to obtain images and video information of the surroundings of the work vehicle 1, so that an operator can visually observe the environment. The sensing device 102 further includes an audio collecting device 116 to obtain various sound information around the work vehicle 1, so that an operator can listen to special sounds in the environment and find out equipment failure or emergency situations, such as abnormal sound of equipment, emergency call of construction site personnel, and the like. The sensing device 102 further includes an environmental parameter detecting device 118, such as a temperature sensor, a humidity sensor, a wind speed sensor, etc., and the detection of the environmental parameter by these environmental parameter detecting devices 118 facilitates the operator to know the more real environmental situation, facilitates the operator to perform the operation suitable for the environmental situation, enables the engineering vehicle 1 to operate in the suitable environment, and reduces the adverse effect of various adverse factors such as temperature, humidity, dust concentration, etc. on the work of the engineering vehicle 1. The sensing device 102 further includes a distance measuring device 120 (e.g., a millimeter wave radar, an ultrasonic sensor, etc.), and the distance measuring device 120 is used to detect the distances between various objects and the engineering vehicle 1, so as to facilitate the operator to perform accurate judgment operations, and reduce the occurrence of misoperation caused by distortion of video, image and audio.

It is understood that in the above embodiments, the sensing device 102 includes one or more of the image capturing device 112, the video capturing device 114, the audio capturing device 116, the environment parameter detecting device 118, and the distance measuring device 120. Of course, the sensing device 102 is not limited to the above devices.

As shown in fig. 6, according to the third aspect of the present invention, there is provided a remote operation subsystem 2, which is used in the operation system 3 of any one of the embodiments of the first aspect, and includes a monitoring device 20 and an operation device 22.

And the monitoring device 20 is used for receiving the environmental information and the state information of the engineering vehicle 1. The monitoring device 20 is further configured to display environmental information and status information, so that the environment of the engineering vehicle 1 can be displayed to an operator, and the operator can feel personally on the scene.

The operator can personally know the working environment of the remote engineering vehicle 1 through the monitoring device 20, so that the operator can conveniently make proper judgment and operation, the convenience and the reliability of remote operation are improved, and the wrong judgment and operation under the condition that the field condition is not known are reduced. Further, the engineering vehicle 1 is remotely operated through the remote operation subsystem 2, so that all the beneficial effects of any one of the embodiments of the first aspect can be achieved, and details are not repeated herein.

Further, an operation device 22 is connected to the monitoring device 20, and the operation device 22 is used to input a remote operation instruction. The monitoring device 20 is further configured to send a remote operation instruction, so that the operation instruction input by the operator can be sent to the remote work vehicle 1 through the monitoring device 20, and the work vehicle 1 can perform a corresponding action according to the intention of the operator, thereby achieving the purpose of remote operation.

The operation device 22 includes any one or a combination of a steering wheel, a gear device, an accelerator pedal, a decelerator pedal, a lifting device, and a telescopic device.

The monitoring device 20 comprises a communication means. The transmission of the remote operation instruction is transmitted through the communication device in the monitoring apparatus 20.

As shown in fig. 9, an embodiment according to a fourth aspect of the present invention provides a control method for an operation system 3 as any one of the embodiments of the first aspect, including:

step S100: acquiring a remote operation order;

step S102: according to the remote operation order, determining an engineering vehicle, an operator and a remote operation subsystem which are matched with the remote operation order;

step S104: and executing the remote operation order according to the information of the engineering vehicle, the remote operation subsystem and the operator.

It is understood that the remote operation order includes at least the following: required engineering vehicles, task places of the engineering vehicles, working hours and operation contents.

In the embodiment, the remote operation order is obtained, and the corresponding engineering vehicle, the operator and the remote operation subsystem are determined to execute the remote operation order, so that the automatic management of the remote operation of the engineering vehicle is realized according to the remote operation order. In addition, by combining the remote operation order, the engineering vehicle and the remote operation subsystem together, the use efficiency of the engineering vehicle and the operator can be improved, the working environment of the operator can be improved, the response speed of the operator can be improved, and the invalid waiting time can be reduced.

The remote operation order includes at least the required work vehicle, the task location of the work vehicle, the working hours, the work content, etc., so that it can be determined which work vehicle to use, which operator or operators to match, the specific remote driving task, the remote work task, etc.

As shown in fig. 10, according to a fourth aspect of the present invention, there is provided another control method for an operation system as in any one of the first aspect, including:

step S200: acquiring a remote operation order;

step S202: according to the remote operation order, determining an engineering vehicle, an operator and a remote operation subsystem which are matched with the remote operation order;

step S204: opening the engineering vehicle and the remote operation subsystem according to the information of the engineering vehicle, the remote operation subsystem and the operator, and opening the operation authority of the operator;

step S206: acquiring environmental information and state information of the engineering vehicle according to the operation authority;

step S208: displaying environmental information and state information on the remote operation subsystem;

step S210: acquiring a remote operation instruction corresponding to the environment information and the state information;

step S212: controlling the engineering vehicle to execute corresponding actions according to the remote operation instruction to complete a remote operation order;

step S214: service charges are calculated and stored according to the completed remote operation orders.

In the embodiment, the engineering vehicle and the remote operation subsystem are opened, and the operation authority of the operator is opened, so that the operator can operate the engineering vehicle through the remote operation subsystem. According to the operation authority, the environmental information and the state information of the engineering vehicle are obtained, namely, an operator can only operate the engineering vehicle with the operation authority, so that the phenomenon of misoperation can be reduced, the invalid work and the accident caused by the misoperation are avoided, and the work efficiency and the overall efficiency of an operation system are improved. By displaying the environmental information and the state information on the remote operation subsystem, an operator can conveniently and visually observe the condition of the environment where the engineering vehicle is located in a remote mode, and the severe environment of the site is avoided. Meanwhile, an operator can perform corresponding operation on the remote operation subsystem according to the specific working environment of the engineering vehicle, and sends a corresponding remote operation instruction through the remote operation subsystem. By acquiring and sending the remote operation instruction, the engineering vehicle can conveniently execute corresponding actions according to the remote operation instruction, so that the work task on the remote operation order can be completed. Further, after the execution of the remote operation order is completed, the execution process, the duration, the used engineering vehicles and the like of the remote operation order can be recorded and counted, so that the corresponding cost can be determined. Such as the service fee to be charged, the fee to be paid to the operator, the fee to be paid for the depreciation of the fixed asset, etc., and the fee is recorded and stored so as to be convenient for inquiring and charging the service fee to the user, so that the related fee is automatically generated after the execution of each remote operation order is completed, the working efficiency is improved, and the occurrence of errors can be reduced.

As shown in fig. 3, there is provided an operation system 3 according to another embodiment of the present invention, including: a memory 320 and a processor 322, where the memory 320 stores a computer program that can be run on the processor 322, and the processor 322 implements the steps of the control method of any of the embodiments when executing the computer program, so that all the advantages of any of the embodiments are achieved, and details are not described herein.

According to still another embodiment of the present invention, a computer-readable storage medium is provided, and a computer program is executed by a processor to implement the steps of the control method according to any one of the above embodiments, so that the beneficial effects of any one of the above embodiments are achieved, and are not described herein again.

According to the operation system 3 provided by the embodiment of the invention, a novel driving service mode of the mixer truck 4 is provided by means of technologies such as parallel driving, 5G, sensors and the Internet, the field unmanned driving of the mixer truck 4 is realized, the working environment of a driver can be improved, the working efficiency is improved, and the labor cost of an enterprise can be saved.

As shown in fig. 2, the operation system 3 of the present embodiment includes a mixer truck 4 capable of being remotely driven, a service subsystem 300 and a remote cab 42, where the remote cab 42 is the aforementioned remote operation subsystem 2. It is understood that in other embodiments, the remote operation subsystem 2 may be an operation platform or a computer only, and an operator may operate the operation platform by using a keyboard and a mouse.

As shown in fig. 7, in the mixer truck 4 capable of being remotely driven, a sensing device 102, such as various sensors such as a camera, a communication device 104, a positioning device 110, and the like, is added to the mixer truck 4, so that information interaction can be performed with the service subsystem 300 of the operation system 3 and the remote cab 42, and high-definition video, positioning information, and vehicle state information of a site are transmitted to the service subsystem 300. The remotely driven mixer truck 4 mainly includes five major parts, i.e., a truck body 40, a positioning device 110, a drive-by-wire device 106, a sensing device 102, and a communication device 104, and in the present embodiment, the aforementioned actuating mechanism 108, e.g., a steering wheel, an accelerator pedal, a gear shifter, etc., are all part of the truck body 40.

A mixer truck 4: the engineering vehicle is used for transporting concrete, and needs to keep the mixing drum on the vehicle to rotate ceaselessly in the transportation process so as to prevent the concrete from solidifying.

The positioning device 110: the system has a device system capable of acquiring vehicle position information, such as satellite positioning, inertial navigation, SLAM (simultaneous localization and mapping), and the like.

The by-wire device 106: the control commands of the vehicle such as steering, deceleration, braking and gear are converted into electric signals through sensors, and the electric signals are directly transmitted to a system device (a pure electric chassis and various controllers) of the chassis actuating mechanism 108 through cables.

The sensing device 102: the system device is composed of sensors such as a camera, a millimeter wave radar, an ultrasonic radar or a laser radar and is used for collecting a large amount of information of the surrounding environment.

The communication device 104: system means for vehicle information transfer and interaction with remote service subsystem 300.

As shown in fig. 6, the operation system 3 includes the mixer truck 4 and the remote cab 42, and further includes an order management device 302, a user management device 308, an operator management device 304, a scheduling device 306, and a financial management device 310.

The order management apparatus 302: a system for managing remote driving service order information.

The user management control device 308: a system for managing information and rights of a demanding user.

The operator management apparatus 304: a system for managing information, authority and performance of a remote operator, i.e. in this particular embodiment a driver who remotely drives the mixer truck 4.

The scheduling device 306: a system for optimally matching user needs with available driver resources to achieve resource optimization.

Financial management and control device 310: a system for managing funds-related transactions such as payments, revenues, and cash withdrawals.

As shown in fig. 8, the remote cab 42 includes the monitoring device 20 and the driving simulator 44, wherein the operator, i.e., the remote driver, remotely drives the mixer truck 4 through the monitoring device 20 and the driving simulator 44. The driving simulator 44 is also the aforementioned operation device 22.

Remote driving driver: with professional training, the driver of the vehicle can be remotely operated via the monitoring device 20 and the driving simulator 44.

The monitoring device 20: the system which comprises a display and other devices and can check the environment information and the vehicle state information remotely transmitted back in real time is used as a judgment basis when a driver remotely controls.

The driving simulator 44: i.e. the aforementioned operating device 22, the operating equipment used by the driver for remote driving, including a simulated steering wheel, a brake, an accelerator pedal, and a plurality of control buttons, etc.

As shown in fig. 11, the specific embodiment is as follows:

s1: ordering by a user: the user puts forward a driving demand (including information of a time period, a starting point and the like) through App/applet/order placing, and the service subsystem receives the driving demand, namely receives a remote operation order.

S2: driver dispatching: the operating system allocates tasks to the appropriate drivers based on the remote operation order requirements and the driver's (i.e., operator's) scheduling, i.e., matching the operator, the work vehicle (remote mixer truck in fig. 11) and the remote operation subsystem (remote cab in fig. 11) based on the remote operation order.

S3: data transmission: the ambient environment information and the vehicle state information collected by a sensor of a remote driving mixer truck on site are transmitted to a monitoring device or a monitoring system of a remote cab through a communication device.

S4: remote driving: in the remote cab, a driver drives the mixer truck according to a remote control designated route within a designated time period to complete a work task corresponding to the remote operation order.

S5: service charging: the user is charged according to the service duration and times, and the charging can be carried out in a daily/monthly packet mode.

The advantages of this particular embodiment:

1. the method breaks through the space limitation, a driver can remotely control the mixer truck at any place in a remote cab, the driver does not need to wait when the mixer truck works in situ, the driver can control the mixer truck at another place, and the utilization rate of the driver is high;

2. the environmental limitation is broken through, and the stirring vehicle can normally operate in the environment which is difficult to bear by human bodies, such as high temperature, severe cold, low oxygen and the like;

3. in an emergency, the response speed of a driver is high, and time does not need to be wasted on the way;

4. the adoption cost of a driver is reduced for a mixer truck buyer, the driver does not need to be hired for a long time, and remote driving service can be flexibly purchased according to the requirement;

5. a novel service mode is provided for the truck manufacturer, and a new profit point is added.

The embodiment provided by the invention is described in detail in the above with reference to the attached drawings, and by the embodiment, a plurality of engineering vehicles and a plurality of remote operation subsystems can be effectively and uniformly allocated, the resource allocation is optimized, the working efficiency is improved, the working environment of an operator is improved, the utilization rate is high, the response speed is high, and the limitation of the working space is reduced.

In embodiments according to the present invention, the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. Specific meanings of the above terms in the embodiments according to the present invention can be understood by those of ordinary skill in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example in accordance with the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment according to the present invention, and is not intended to limit the embodiment according to the present invention, and various modifications and variations may be made to the embodiment according to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment according to the present invention should be included in the protection scope of the embodiment according to the present invention.

Claims

1. An operating system, comprising:

a service subsystem (300), the service subsystem (300) comprising an order management apparatus (302), the order management apparatus (302) for obtaining a remote operation order;

a remote operation subsystem (2) connected to the service subsystem (300);

the engineering vehicle (1) is connected with the remote operation subsystem (2);

the remote operation subsystem (2) is used for controlling the action of the engineering vehicle (1) according to the remote operation order.

2. The operating system of claim 1,

the engineering vehicle (1) comprises a sensing device (102) and a line control device (106), the remote operation subsystem (2) is used for controlling the sensing device (102) to acquire environmental information of the engineering vehicle (1) according to the remote operation order, and the remote operation subsystem (2) is also used for controlling the line control device (106) to carry out remote driving or remote operation on the engineering vehicle (1).

3. The operating system according to claim 1 or 2,

the service subsystem (300) further comprises:

an operator management device (304) connected with the order management device (302), wherein the operator management device (304) is used for managing the information, authority and performance of the operator;

the scheduling device (306) is connected with the order management device (302) and the operator management device (304), and the scheduling device (306) is used for matching the engineering vehicle (1), the operator and the remote operation subsystem (2) according to the remote operation order.

4. The operating system of claim 3,

the service subsystem (300) further comprises:

the user management and control device (308) is connected with the order management and control device (302), and the user management and control device (308) is used for acquiring and managing user information and user authority; and/or

Financial management means (310) connected to said order management means (302), said operator management means (304) and said scheduling means (306), said financial management means (310) being used for fund management.

5. A work vehicle for use in the operation system of any one of claims 1 to 4, characterized by comprising:

a body (100);

the sensing device (102) is arranged on the machine body (100), and the sensing device (102) is used for acquiring environmental information of the machine body (100) and state information of the machine body (100);

the communication device (104) is arranged on the machine body (100), the communication device (104) is connected with the sensing device (102), the communication device (104) is used for sending the environment information and the state information, and the communication device (104) is also used for receiving a remote operation instruction;

the drive-by-wire device (106) is arranged on the machine body (100), and the drive-by-wire device (106) is connected with the communication device (104);

an actuator (108) provided on the body (100), the actuator (108) being connected to the communication device (104),

the drive-by-wire device (106) is used for controlling the execution mechanism (108) to execute a driving action or a working action corresponding to the remote operation instruction according to the remote operation instruction.

6. The work vehicle of claim 5, further comprising:

the positioning device (110) is arranged on the machine body (100), the positioning device (110) is used for acquiring the position information of the machine body (100), the positioning device (110) is connected with the communication device (104), and the communication device (104) is also used for sending the position information.

7. The work vehicle according to claim 5 or 6,

the sensing device (102) comprises any one or combination of a plurality of image acquisition devices (112), video acquisition devices (114), audio acquisition devices (116), environment parameter detection devices (118) and distance measurement devices (120).

8. A remote operation subsystem for use in the operation system of any one of claims 1 to 4, comprising:

the monitoring device (20) is used for receiving environmental information and state information of the engineering vehicle (1), and the monitoring device (20) is also used for displaying the environmental information and the state information;

the operating device (22) is connected with the monitoring device (20), and the operating device (22) is used for inputting a remote operating instruction;

the monitoring device (20) is also used for sending the remote operation instruction.

9. A control method for an operating system according to any one of claims 1 to 4, comprising:

acquiring a remote operation order;

according to the remote operation order, determining an engineering vehicle, an operator and a remote operation subsystem which are matched with the remote operation order;

executing the remote operation order according to the information of the engineering vehicle, the remote operation subsystem and the operator;

wherein the remote operation order at least comprises the following: required engineering vehicles, task places, working hours and operation contents.

10. The control method according to claim 9,

the executing the remote operation order specifically includes:

opening the engineering vehicle and the remote operation subsystem, and opening the operation authority of the operator;

acquiring environmental information and state information of the engineering vehicle according to the operation authority;

displaying the environmental information and the status information on the remote operation subsystem;

acquiring a remote operation instruction corresponding to the environment information and the state information;

controlling the engineering vehicle to execute corresponding actions according to the remote operation instruction to complete the remote operation order;

and calculating and storing service cost according to the completed remote operation order.