CN113467343A - Remote control system and method for drill jumbo - Google Patents
Remote control system and method for drill jumbo Download PDFInfo
- Publication number
- CN113467343A CN113467343A CN202110911211.0A CN202110911211A CN113467343A CN 113467343 A CN113467343 A CN 113467343A CN 202110911211 A CN202110911211 A CN 202110911211A CN 113467343 A CN113467343 A CN 113467343A
- Authority
- CN
- China
- Prior art keywords
- remote control
- drill
- control
- hoc network
- communication
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 23
- 238000004891 communication Methods 0.000 claims abstract description 57
- 238000010276 construction Methods 0.000 claims abstract description 56
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 238000005553 drilling Methods 0.000 claims description 20
- 230000002159 abnormal effect Effects 0.000 claims description 12
- 239000011435 rock Substances 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 6
- 230000003213 activating effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 101150008604 CAN1 gene Proteins 0.000 description 1
- 101150063504 CAN2 gene Proteins 0.000 description 1
- 238000005422 blasting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention discloses a remote control system of a drill jumbo, belonging to the technical field of control of drill jumpers, wherein the system comprises a cab end and a remote control end, wherein the cab end is in remote communication connection with the remote control end through an ad hoc network communication system; the cab end includes: the system comprises a plurality of groups of cameras, a video host and a controller; the remote control end is: the control system is used for receiving and outputting a display field construction video and sending a corresponding control instruction to the cab end according to the field construction video and the whole vehicle parameter information; according to the invention, the video information of a plurality of groups of cameras is transmitted to the far end without clamping, so that the real-time monitoring of the construction environment of the drill jumbo is realized, the site construction working condition is restored, an operator can accurately judge the surrounding environment and the working face condition, and meanwhile, the system can quickly and accurately transmit a remote control signal to the vehicle end, so that the function control of the far end on the construction operation of the drill jumbo is realized.
Description
Technical Field
The invention relates to a remote control system and a remote control method for a drill jumbo, and belongs to the technical field of drill jumbo.
Background
The rock drilling jumbo is rock drilling equipment for tunnel and underground engineering construction by adopting a drilling and blasting method, and is widely applied to the construction process of tunnels and mines. Due to the unfavorable geological conditions of high altitude, rockburst, high temperature, high dust, high humidity water burst and the like in the tunnel construction environment, the safety of constructors and equipment is seriously threatened, and a severe challenge is also provided for construction technology and construction equipment. The remote teleoperation technology is developed according to the tunnel environment and the extreme working condition. The remote teleoperation technology transmits the collected images or videos of the construction site to a remote end through wired or wireless transmission equipment, so that remote control of an operator is realized. The remote teleoperation technology can not only ensure the personal safety of operators under severe environments such as high altitude, rockburst and high temperature of the tunnel, improve the operation comfort level of the operators, but also improve the technical level of products and enhance the competitiveness of the products.
The video imaging technology in a general control system of a drill jumbo can generate certain deviation on the judgment of construction environment, working face condition and working posture of a drill boom, so that the working quality is influenced, the defect of incomplete working control of the drill boom exists, and the phenomena of blockage, delay and the like easily occur in signal transmission in a complex environment.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a remote control system and a remote control method for a drill jumbo, which can improve the precision and timeliness of remote control of the drill jumbo and improve the construction efficiency.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides a remote control system of a drill jumbo, which comprises a cab end and a remote control end, wherein the cab end is in remote communication connection with the remote control end through an ad hoc network communication system;
the cab end includes:
a plurality of groups of cameras: the system is used for acquiring the on-site construction video of the drill jumbo in real time;
the video host computer: the system is used for encoding and decoding the on-site construction videos collected by the multiple groups of cameras, converting the processed signals into network signals and transmitting the network signals to a remote control end through an ad hoc network communication system;
a controller: the control system is used for sending the parameter information of the whole drill rig to the remote control end and controlling the drill jumbo to act according to the received control instruction;
the remote control end is: and the control device is used for receiving and outputting a display field construction video and sending a corresponding control instruction to the cab end according to the field construction video and the whole vehicle parameter information.
With reference to the first aspect, further, the ad hoc network communication system includes a first Mesh ad hoc network base station and a first gateway distributed at a cab end, and a second Mesh ad hoc network base station and a second gateway distributed at a remote control end;
the first gateway is connected between the controller and the first Mesh ad hoc network base station, the second gateway is connected between the remote control end and the second Mesh ad hoc network base station, and the first Mesh ad hoc network base station is matched with the second Mesh ad hoc network base station and used for realizing remote communication between the cab end and the remote control end.
With reference to the first aspect, further, the remote control terminal includes:
a distal control box: the second gateway is connected with the first gateway and used for sending a control command;
an industrial personal computer: the second Mesh ad hoc network base station is connected with the first Mesh ad hoc network base station and used for receiving the field construction video signal of the drill jumbo, processing the field construction video signal into an HDMI signal and forwarding the HDMI signal to the display;
a display: and the system is used for outputting and displaying the field construction video forwarded by the industrial personal computer.
In combination with the first aspect, further, the remote control boxes are configured with two remote control boxes, and the CAN ports of the two remote control boxes are respectively connected to two different CAN ports of the second gateway.
With reference to the first aspect, further, the cab end is further configured with a proximal control box; the controller can selectively receive a control instruction sent by the near-end control box or a control instruction sent by the far-end control box according to the far-end and near-end switch.
Combine first aspect, it is further that the camera disposes three at least, distributes in the driver's cabin top of drilling jumbo, can cover the construction environment scope of drilling jumbo comprehensively.
With reference to the first aspect, further, the controller includes:
an initialization module: the system is used for initializing the whole state of the drill jumbo and checking whether a control handle and a function switch of the drill jumbo are in initial positions or not;
the communication monitoring module: the system is used for monitoring whether the communication state of each hardware device in the drill jumbo is normal or not, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end;
an activation right selection module: a drill boom for activating operator preselection;
the drill boom control module: the control device is used for controlling the drill boom to execute construction actions;
a frame loss processing module: the method is used for judging frame loss of the communication signals received by the drill boom, and stopping all output control of the drill boom when the frame loss of the communication signals exceeds the time limit.
In a second aspect, the present invention provides a method for remotely controlling a drill jumbo, performed by a controller provided at a cab end, the method comprising:
sending vehicle parameter information to a remote control end through an ad hoc network communication system;
receiving a control command and controlling the drill jumbo to act according to the control command;
the control instruction comprises a control instruction sent by a remote control end according to the site construction video of the drilling jumbo and the parameter information of the whole jumbo; the field construction video is acquired by a plurality of cameras arranged at the cab end.
With reference to the second aspect, further, the method further includes:
monitoring the communication state of each hardware device in the drill jumbo, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end.
With reference to the second aspect, further, the method further includes:
and performing frame loss judgment on the communication signal received by the drill boom of the drill jumbo, and stopping all output control on the drill boom when the frame loss of the communication signal exceeds the time limit.
Compared with the prior art, the invention has the following beneficial effects:
the remote control system of the drill jumbo is provided with the plurality of cameras, and the plurality of cameras can not only enlarge the acquisition visual field of video signals, but also acquire construction site videos from multiple angles, so that the working condition of a construction site can be restored more accurately, the judgment precision of operators can be improved, and the accuracy of control signals can be improved; the self-organized network communication system is adopted to realize the two-way communication between the remote control end and the cab end, the signal transmission is more stable, the blocking phenomenon in the video/control instruction transmission process is overcome, the signal transmission real-time performance is ensured, and the remote control precision and efficiency of the drill jumbo are further improved.
Drawings
Fig. 1 is a system composition diagram of a remote control system of a drill jumbo according to an embodiment of the present invention;
figure 2 is a software composition diagram of a controller of a remote control system for a rock drilling rig provided in an embodiment of the present invention;
fig. 3 is a diagram of a camera mounting location of a remote control system of a drill jumbo according to an embodiment of the present invention;
fig. 4 is a control flow chart of the remote control system of the drill jumbo according to the embodiment of the present invention.
In the figure: 1. a camera group; 2. a controller; 3. a video host; 4. a first gateway; 5. a switch; 6. a first mesh ad hoc network base station; 7. a second mesh ad hoc network base station; 8. an industrial personal computer; 9. a second gateway; 10. a remote control box; 11. a display.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The embodiment provides a remote control system of a drill jumbo, which comprises a cab end and a remote control end, wherein the cab end is in remote communication connection with the remote control end through an ad hoc network communication system; the ad hoc network communication system comprises a first Mesh ad hoc network base station and a first gateway which are distributed at a cab end, and a second Mesh ad hoc network base station and a second gateway which are distributed at a remote control end; the first gateway is connected between the controller and the first Mesh ad hoc network base station, the second gateway is connected between the remote control end and the second Mesh ad hoc network base station, and the first Mesh ad hoc network base station is matched with the second Mesh ad hoc network base station and used for realizing remote communication between the cab end and the remote control end.
The cab end includes:
a plurality of groups of cameras: the system is used for acquiring the on-site construction video of the drill jumbo in real time; the three cameras are at least distributed at the top of a cab of the drill jumbo, and the three groups of cameras are matched with each other to completely cover the construction environment range of the drill jumbo;
the video host computer: the system is used for encoding and decoding the on-site construction videos collected by the multiple groups of cameras, converting the processed signals into network signals and transmitting the network signals to a remote control end through an ad hoc network communication system;
a controller: the control system is used for sending the parameter information of the whole drill rig to the remote control end and controlling the drill jumbo to act according to the received control instruction; the controller includes: an initialization module: the system is used for initializing the whole state of the drill jumbo and checking whether a control handle and a function switch of the drill jumbo are in initial positions or not; the communication monitoring module: the system is used for monitoring whether the communication state of each hardware device in the drill jumbo is normal or not, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end; an activation right selection module: a drill boom for activating operator preselection; the drill boom control module: the control device is used for controlling the drill boom to execute construction actions; a frame loss processing module: the system is used for judging frame loss of the communication signals received by the drill boom, and stopping all output control of the drill boom when the frame loss of the communication signals exceeds the time limit;
the remote control end is: and the control device is used for receiving and outputting a display field construction video and sending a corresponding control instruction to the cab end according to the field construction video and the whole vehicle parameter information.
The remote control terminal includes:
a distal control box: the second gateway is connected with the first gateway and used for sending a control command;
an industrial personal computer: the second Mesh ad hoc network base station is connected with the first Mesh ad hoc network base station and used for receiving the field construction video signal of the drill jumbo, processing the field construction video signal into an HDMI signal and forwarding the HDMI signal to the display;
a display: and the system is used for outputting and displaying the field construction video forwarded by the industrial personal computer.
The remote control box is provided with two remote control boxes, CAN ports of the two remote control boxes are respectively and correspondingly connected with two different CAN ports of the second gateway, and functions of the two remote control boxes CAN be configured according to actual needs.
The cab end is also provided with a near-end control box; the controller can selectively receive a control instruction sent by the near-end control box or a control instruction sent by the far-end control box according to the far-end and near-end switch.
Example 2
The embodiment provides a remote control method of a drill jumbo, which is executed by a controller arranged at a cab end, and comprises the following steps:
sending vehicle parameter information to a remote control end through an ad hoc network communication system;
receiving a control command and controlling the drill jumbo to act according to the control command;
the control instruction comprises a control instruction sent by a remote control end according to the site construction video of the drilling jumbo and the parameter information of the whole jumbo; the field construction video is acquired by a plurality of cameras arranged at the cab end.
Preferably, the method further comprises:
monitoring the communication state of each hardware device in the drill jumbo, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end.
Preferably, the method further comprises:
and performing frame loss judgment on the communication signal received by the drill boom of the drill jumbo, and stopping all output control on the drill boom when the frame loss of the communication signal exceeds the time limit.
The contents designed in the above embodiments will be described below with reference to a preferred embodiment.
As shown in fig. 1, a remote control system for a drill jumbo includes a camera
Camera and camera
Camera and camera
The system comprises a video host, a controller, a first gateway, a far-near end change-over switch, a first Mesh ad-hoc network base station, a second Mesh ad-hoc network base station, an industrial personal computer, a second gateway, a remote left control box, a remote right control box and a display.
Camera head
Camera and camera
Camera and camera
Respectively installed in the right, middle and left positions of the top of the driving cab of the drill jumbo, as shown in fig. 3, so that the drill jumbo can fully cover the construction range of the drill jumbo. Camera head
Camera and camera
Camera and camera
The video host is connected with the first mesh ad hoc network base station, the camera group is used for monitoring the construction environment of the drill jumbo in real time, monitored video signals are transmitted to the remote control end through the first mesh ad hoc network base station and displayed in real time through the remote end display, and an operator can clearly see the construction operation environment of the drill jumbo at the remote end.
The CAN port of the remote left control box and the CAN port of the remote right control box are respectively connected with the CAN1 port and the CAN2 port of the second gateway, the second gateway and the second Mesh ad hoc network base station are used for converting the control signals into network signals and transmitting the control signals to the cab end through the second Mesh ad hoc network base station, and stable transmission of remote control signals is realized. The first mesh ad hoc network base station is connected with the first gateway, a CAN port of the first gateway is connected with a CAN port of the controller, and the first mesh ad hoc network base station is used for sending a control signal transmitted from a far end to the controller and transmitting parameters of the whole vehicle to a remote control end through the first mesh ad hoc network base station, so that the remote control of the trolley is realized.
Far and near end switch installs in the driver's cabin, the acquiescence is near-end control, the CAN mouth and the controller CAN mouth of the control box of driver's cabin this moment link to each other, when the switch switches to the far-end, control signal is controlled the box by the control box of driver's cabin end and is switched to two control boxes about the remote end, two control boxes's CAN mouth and controller CAN mouth link to each other about the remote end this moment, CAN be on the basis that need not change original procedure like this, convenient and fast's realization far and near end control signal's switching.
The system shown in fig. 2 is composed of an initialization module, a communication monitoring module, an activation right selection module, a drill boom control module and a frame loss processing module. As shown in fig. 4, when the cab near-far end switch is ON, the system is in a far-end control state, and the system performs initialization processing to check the positions of the handle and the switch; then judging whether the communication of the whole system is normal or not, if so, prompting an operator through a display in time, and if so, entering an activation right selection module; and judging that the manipulator activates several drill booms to carry out construction operation, determining that the system enters a drill boom control module after the drill boom works, and controlling the selected drill boom to carry out pitching, swinging, rotating and other actions. Taking the drill boom No. 1 as an example, if the operator selects the drill boom No. 1 to perform construction operation, the operator enters the drill boom No. 1 control module to control the drill boom No. 1 to perform pitching, swinging, rotating and other actions, and if the operator releases the activation right of the drill boom No. 1, the drill boom No. 1 stops acting. In the whole process, the system judges whether frame loss occurs due to interference signals in real time, and stops all output if the frame loss of the system exceeds the set time, so that the phenomenon that the drill boom is out of control is prevented.
The technical scheme of the invention has the following beneficial effects:
aiming at the control system of the existing drill jumbo, the invention can monitor the construction environment of the drill jumbo in real time by reasonably distributing a plurality of groups of cameras, restore the site construction working condition, and transmit a plurality of groups of video streams to a remote end in real time without blocking through a mesh wireless ad hoc base station. The far-near end change-over switch is arranged at the cab end, so that the switching of far-near end control signals can be conveniently and quickly changed, and the remote control of the drill jumbo is realized on the basis of not changing the original program. Meanwhile, the system can quickly and accurately transmit the remote control signal to the vehicle end, so that the function control of the far end on the construction operation of the rock drilling jumbo is realized. Therefore, the personal safety of an operator can be ensured, the operation comfort of the operator can be improved, the technical level of the product can be improved, and the competitiveness of the product can be enhanced.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A remote control system of a drill jumbo comprises a cab end and a remote control end, and is characterized in that the cab end is in remote communication connection with the remote control end through an ad hoc network communication system;
the cab end includes:
a plurality of groups of cameras: the system is used for acquiring the on-site construction video of the drill jumbo in real time;
the video host computer: the system is used for encoding and decoding the on-site construction videos collected by the multiple groups of cameras, converting the processed signals into network signals and transmitting the network signals to a remote control end through an ad hoc network communication system;
a controller: the control system is used for sending the parameter information of the whole drill rig to the remote control end and controlling the drill jumbo to act according to the received control instruction;
the remote control end is: and the control device is used for receiving and outputting a display field construction video and sending a corresponding control instruction to the cab end according to the field construction video and the whole vehicle parameter information.
2. A remote control system for a rock drilling rig as recited in claim 1, wherein the ad hoc network communication system includes a first Mesh ad hoc network base station and a first gateway distributed at the cab end, and a second Mesh ad hoc network base station and a second gateway distributed at the remote control end;
the first gateway is connected between the controller and the first Mesh ad hoc network base station, the second gateway is connected between the remote control end and the second Mesh ad hoc network base station, and the first Mesh ad hoc network base station is matched with the second Mesh ad hoc network base station and used for realizing remote communication between the cab end and the remote control end.
3. A remote control system for a rock-drilling rig according to claim 2 wherein the remote control end comprises:
a distal control box: the second gateway is connected with the first gateway and used for sending a control command;
an industrial personal computer: the second Mesh ad hoc network base station is connected with the first Mesh ad hoc network base station and used for receiving the field construction video signal of the drill jumbo, processing the field construction video signal into an HDMI signal and forwarding the HDMI signal to the display;
a display: and the system is used for outputting and displaying the field construction video forwarded by the industrial personal computer.
4. A remote control system for a rock drilling rig as claimed in claim 3, wherein there are two remote control boxes, and the CAN ports of the two remote control boxes are respectively connected to two different CAN ports of the second gateway.
5. A remote control system for a rock drilling rig as recited in claim 3 wherein the cab end is further configured with a proximal control box; the controller can selectively receive a control instruction sent by the near-end control box or a control instruction sent by the far-end control box according to the far-end and near-end switch.
6. A remote control system for a rock-drilling rig as claimed in claim 1, wherein the number of cameras is at least three and is distributed on the top of the cab of the rock-drilling rig to fully cover the construction environment of the rock-drilling rig.
7. A remote control system for a rock drilling rig as claimed in claim 1, wherein the controller comprises:
an initialization module: the system is used for initializing the whole state of the drill jumbo and checking whether a control handle and a function switch of the drill jumbo are in initial positions or not;
the communication monitoring module: the system is used for monitoring whether the communication state of each hardware device in the drill jumbo is normal or not, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end;
an activation right selection module: a drill boom for activating operator preselection;
the drill boom control module: the control device is used for controlling the drill boom to execute construction actions;
a frame loss processing module: the method is used for judging frame loss of the communication signals received by the drill boom, and stopping all output control of the drill boom when the frame loss of the communication signals exceeds the time limit.
8. A method for remotely controlling a drill jumbo, performed by a controller provided at a cab end, the method comprising:
sending vehicle parameter information to a remote control end through an ad hoc network communication system;
receiving a control command and controlling the drill jumbo to act according to the control command;
the control instruction comprises a control instruction sent by a remote control end according to the site construction video of the drilling jumbo and the parameter information of the whole jumbo; the field construction video is acquired by a plurality of cameras arranged at the cab end.
9. A method of remote manipulation of a rock drilling rig according to claim 8, the method further comprising:
monitoring the communication state of each hardware device in the drill jumbo, and if the communication state is abnormal, sending abnormal communication prompt information to a remote control end.
10. A method of remote manipulation of a rock drilling rig according to claim 8 or 9, the method further comprising:
and performing frame loss judgment on the communication signal received by the drill boom of the drill jumbo, and stopping all output control on the drill boom when the frame loss of the communication signal exceeds the time limit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110911211.0A CN113467343A (en) | 2021-08-10 | 2021-08-10 | Remote control system and method for drill jumbo |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110911211.0A CN113467343A (en) | 2021-08-10 | 2021-08-10 | Remote control system and method for drill jumbo |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113467343A true CN113467343A (en) | 2021-10-01 |
Family
ID=77867735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110911211.0A Pending CN113467343A (en) | 2021-08-10 | 2021-08-10 | Remote control system and method for drill jumbo |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113467343A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776275A (en) * | 2022-04-29 | 2022-07-22 | 四川蓝海智能装备制造有限公司 | Arm support electric control method and system |
| CN115708350A (en) * | 2022-10-26 | 2023-02-21 | 新兴铸管股份有限公司 | Remote control operation method of crown block for steelmaking and continuous casting |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101709642A (en) * | 2009-12-02 | 2010-05-19 | 煤炭科学研究总院西安研究院 | Track-type four-arm rock drilling jumbo |
| CN102013943A (en) * | 2010-07-26 | 2011-04-13 | 浙江吉利汽车研究院有限公司 | Network frame loss processing method of CAN (Controller Area Network) bus |
| CN102828738A (en) * | 2012-09-13 | 2012-12-19 | 北京易联创安科技发展有限公司 | Wired/wireless remote control system device of down-the-hole drill |
| CN105298387A (en) * | 2015-11-03 | 2016-02-03 | 中国铁建重工集团有限公司 | Drill jumbo |
| US20190279020A1 (en) * | 2018-03-12 | 2019-09-12 | Steeringz, Inc. | Landscape video stream compression using computer vision techniques |
| CN209803593U (en) * | 2019-05-16 | 2019-12-17 | 唐山威程科技有限公司 | wireless remote control system of bulldozer |
| CN111251321A (en) * | 2020-03-16 | 2020-06-09 | 浙江图讯科技股份有限公司 | Remote control explosion-proof reconnaissance system |
| CN212160766U (en) * | 2020-06-15 | 2020-12-15 | 三一智矿科技有限公司 | Engineering vehicle, remote control terminal and control system of engineering vehicle |
-
2021
- 2021-08-10 CN CN202110911211.0A patent/CN113467343A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101709642A (en) * | 2009-12-02 | 2010-05-19 | 煤炭科学研究总院西安研究院 | Track-type four-arm rock drilling jumbo |
| CN102013943A (en) * | 2010-07-26 | 2011-04-13 | 浙江吉利汽车研究院有限公司 | Network frame loss processing method of CAN (Controller Area Network) bus |
| CN102828738A (en) * | 2012-09-13 | 2012-12-19 | 北京易联创安科技发展有限公司 | Wired/wireless remote control system device of down-the-hole drill |
| CN105298387A (en) * | 2015-11-03 | 2016-02-03 | 中国铁建重工集团有限公司 | Drill jumbo |
| US20190279020A1 (en) * | 2018-03-12 | 2019-09-12 | Steeringz, Inc. | Landscape video stream compression using computer vision techniques |
| CN209803593U (en) * | 2019-05-16 | 2019-12-17 | 唐山威程科技有限公司 | wireless remote control system of bulldozer |
| CN111251321A (en) * | 2020-03-16 | 2020-06-09 | 浙江图讯科技股份有限公司 | Remote control explosion-proof reconnaissance system |
| CN212160766U (en) * | 2020-06-15 | 2020-12-15 | 三一智矿科技有限公司 | Engineering vehicle, remote control terminal and control system of engineering vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 李杨: "DD311凿岩台车远程无线遥控系统设计", 《电子元器件与信息技术》 * |
| 李猛钢: "面向井下钻孔机器人应用的精确定位与地图构建技术研究", 《中国博士学位论文全文数据库 工程科技I辑》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114776275A (en) * | 2022-04-29 | 2022-07-22 | 四川蓝海智能装备制造有限公司 | Arm support electric control method and system |
| CN115708350A (en) * | 2022-10-26 | 2023-02-21 | 新兴铸管股份有限公司 | Remote control operation method of crown block for steelmaking and continuous casting |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113467343A (en) | Remote control system and method for drill jumbo | |
| US20030036817A1 (en) | Machine control over the web | |
| CN112794208B (en) | Hoisting method, hoisting control system and engineering machinery | |
| CN203822285U (en) | Remote control system and rotary drilling machine | |
| JP5919022B2 (en) | Remote control system | |
| CN103195123A (en) | Remote control system and excavator | |
| CN212160766U (en) | Engineering vehicle, remote control terminal and control system of engineering vehicle | |
| CN110602714A (en) | Wireless ad hoc network signal transmission method suitable for tunnel environment operation of explosive-handling robot | |
| CN111583443A (en) | Engineering vehicle, remote control terminal, and control system and method of engineering vehicle | |
| CN203606651U (en) | An intelligent remote control device for engineering machinery | |
| CN113067624A (en) | Unmanned aerial vehicle control method based on Beidou message chain | |
| CN209855783U (en) | Visual remote control system of heading machine | |
| CN105338308A (en) | Unmanned plane video sensing method for tracking coal cutter | |
| CN206192900U (en) | Composite insulator visual examination apparatus | |
| KR101401010B1 (en) | System and method for remote control of excavator using zigbee communication | |
| CN216311046U (en) | Mining rock drilling equipment removes remote control device | |
| CN105854211A (en) | Follow-up control device for fire monitor | |
| CN115766817A (en) | Remote control system and method for working machine, working machine and electronic device | |
| CN213072723U (en) | Remote wireless remote control slag raking machine | |
| CN205490871U (en) | Remote wireless image transmission system of wireless remote control obstacles removing car | |
| CN203399215U (en) | Mining communication device, hydraulic support and mining wireless communication system | |
| CN113630583A (en) | Rock drilling trolley control system and control method | |
| CN211056546U (en) | Tower crane control system and tower crane | |
| CN208310786U (en) | Development machine wireless control system based on ZIGBEE network | |
| CN211338571U (en) | Black box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20211001 |