CN113645460A - Engineering mechanical equipment remote control system - Google Patents
Engineering mechanical equipment remote control system Download PDFInfo
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- CN113645460A CN113645460A CN202110911089.7A CN202110911089A CN113645460A CN 113645460 A CN113645460 A CN 113645460A CN 202110911089 A CN202110911089 A CN 202110911089A CN 113645460 A CN113645460 A CN 113645460A
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- 238000010276 construction Methods 0.000 claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000003384 imaging method Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 16
- 239000011521 glass Substances 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/261—Image signal generators with monoscopic-to-stereoscopic image conversion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses a remote control system of engineering mechanical equipment, which comprises: image acquisition imaging system: the system comprises a binocular image acquisition device and an image processing device, wherein the binocular image acquisition device is used for acquiring a construction site environment image of the engineering machinery; the image processing device is used for processing the construction site environment image into a 3D (three-dimensional) image; remote human-computer interaction system: the system is used for remotely receiving and outputting a 3D image and remotely sending an operation instruction to the engineering machinery according to the 3D image; an equipment control system: and the operation instruction is used for responding to the operation instruction and executing corresponding operation. The invention can realize the remote control operation construction of the engineering machinery, ensure the safety of operators, realize the vivid three-dimensional effect through the dynamic self-calibration of the remote human-computer interaction system, enable the operators to realize the fine operation on the spot and improve the remote operation precision.
Description
Technical Field
The invention relates to a remote control system for engineering mechanical equipment, and belongs to the technical field of engineering machinery.
Background
Engineering machinery equipment is closely related to development in the fields of construction, water conservancy, roads, mines, ports, national defense engineering construction and the like, particularly works in complex and severe construction environments such as dangerous tunnels, earthquake relief, mining and the like, is high in danger degree and difficult to guarantee safety, and needs to be fused with engineering machinery technology through a remote control technology, so that remote control operation on the engineering machinery is realized, and construction danger of operators is reduced.
Most of existing engineering machinery remote control systems are provided with a plurality of paths of plane cameras on an engineering vehicle, construction site environments are collected and transmitted to a remote control end, operators can remotely control construction operation of engineering machinery equipment through a plurality of groups of site environment video information, however, displayed monitoring pictures are plane video information, the plane video information cannot restore the real environment of a construction site, particularly the problem of depth of field of video cannot be solved, and therefore the monitoring precision of remote control construction operation is poor and the operation efficiency is low.
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 provide a remote control system for engineering mechanical equipment, which can restore the construction site environment more truly and improve the remote construction operation precision.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a remote control system for construction machinery equipment, comprising:
image acquisition imaging system: the system comprises a binocular image acquisition device and an image processing device, wherein the binocular image acquisition device is used for acquiring a construction site environment image of the engineering machinery; the image processing device is used for processing the construction site environment image into a 3D (three-dimensional) image;
remote human-computer interaction system: the system is used for remotely receiving and outputting a 3D image and remotely sending an operation instruction to the engineering machinery according to the 3D image;
an equipment control system: and the operation instruction is used for responding to the operation instruction and executing corresponding operation.
Furthermore, the binocular image acquisition device comprises a binocular camera and an industrial tripod head, wherein the binocular camera is used for acquiring construction site environment images within a visual field range; the industrial cloud deck is used for controlling the binocular camera to rotate in the horizontal dimension and the pitching dimension.
Furthermore, still be provided with the dustproof brush by industry cloud platform control on the binocular camera, industry cloud platform control is right through the rotation of controlling dustproof brush the deashing is carried out to the binocular camera.
Furthermore, the remote human-computer interaction system comprises a binocular tripod head control keyboard, the binocular tripod head control keyboard is used for controlling the industrial tripod head to move so as to adjust the acquisition visual field of the binocular camera, and the adjustment of the binocular tripod head control keyboard on the binocular camera further comprises three-dimensional zooming and brightness control.
Furthermore, the binocular image acquisition device further comprises a 3D video coding device, and the 3D video coding device is used for remotely transmitting the coded 3D stereoscopic images to a remote human-computer interaction system.
Further, the remote human-computer interaction system comprises:
a video signal decoding device: for decoding encoded video transmitted by the 3D video encoding device;
3D video display device: for outputting and displaying the decoded video signal.
Preferably, the 3D video display device is AR glasses or VR glasses.
Further, the remote human-computer interaction system comprises a device remote control device and a first control signal conversion device;
the equipment control system comprises a second control signal conversion device, an equipment control unit and an equipment execution mechanism;
the first control signal conversion device is used for converting an operation instruction output by the equipment remote control device into a network signal;
the second control signal conversion device is used for restoring the network signal into an operation instruction;
the equipment control unit is used for controlling the equipment executing mechanism to execute corresponding operation according to the operation instruction output by the second control signal conversion device.
Further, still include communication transmission system, communication transmission system includes first switch and second switch, long-range man-machine interaction system can pass through first switch and insert wide area network, image acquisition imaging system and equipment control system can pass through the access of second switch wide area network.
Furthermore, the communication transmission system further comprises a plurality of wireless base stations, the wireless base stations can self-establish a wireless local area network, and the image acquisition imaging system and the equipment control system can perform signal interaction with the remote human-computer interaction system through the wireless local area network.
Compared with the prior art, the invention has the following beneficial effects:
the remote control system provided by the invention is provided with the binocular image acquisition device, so that the problem of depth of field of a construction site environment video can be solved, the construction site environment can be reflected more truly, and the remote operation precision can be improved; meanwhile, the communication transmission system provided by the invention supports wide area network communication and wireless local area network communication, and can improve the adaptability of the system in different communication environments.
Drawings
Fig. 1 is a schematic block circuit diagram of a remote control system for construction machinery according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a communication transmission system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a remote human-computer interaction system according to an embodiment of the present invention;
in the figure: 21. a device remote control; 22. a binocular head control keyboard; 23. a remote console; 24. a video signal decoding device; 25. a 3D video display device; 31. 32, 33, 35, a radio base station; 34 remote human-computer interaction system.
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.
In the description of the present invention, it is to be understood that the terms "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The embodiment of the invention provides a remote control system for engineering mechanical equipment, which mainly comprises a remote control end and a field control end, wherein the remote control end and the field control end carry out signal interaction through a communication transmission system. As shown in FIG. 1, the remote control end is provided with a remote human-computer interaction system 34, and the field control end comprises an image acquisition imaging system and an equipment control system.
The image acquisition imaging system comprises a binocular image acquisition device and an image processing device, wherein the binocular image acquisition device is used for acquiring a construction site environment image of the engineering machinery; the image processing device is used for processing the construction site environment image into a 3D (three-dimensional) image; the operations performed by the image processing apparatus may include image reconstruction, image optimization, and image synthesis processing;
the remote human-computer interaction system 34: the system is used for remotely receiving and outputting a 3D image and remotely sending an operation instruction to the engineering machinery according to the 3D image;
the device control system: and the operation instruction is used for responding to the operation instruction and executing corresponding operation.
During operation, can gather engineering mechanical equipment construction site environment image in real time through binocular image acquisition device, be handled into 3D stereoscopic image by image processing device, later with the transmission of the 3D stereoscopic image who handles to remote human-computer interaction system 34, receive and show 3D stereoscopic image by remote human-computer interaction system 34, the third dimension demonstrates when 3D stereoscopic image can utilize the visual difference of binocular to make the staff watch, compare in traditional plane display image's mode, 3D stereoscopic image can be more real reaction construction site environment, so that the staff can be more timely, accurately to the operating instruction of giving down of engineering mechanical equipment, thereby realize engineering mechanical equipment's remote control, can increase substantially construction precision and efficiency.
The binocular image acquisition device comprises a binocular camera and an industrial cloud deck, wherein the binocular camera is configured to have the functions of high-definition video acquisition, stereoscopic vision zooming, multi-level brightness adjustment, high resolution and high frame rate display and is used for acquiring construction site environment images in a visual field range; the industrial cloud deck is used for controlling the binocular camera to rotate in the horizontal dimension and the pitching dimension. Through the cooperation of industry cloud platform and two mesh cameras, make the staff can freely adjust the angle of two mesh cameras according to the demand to the staff looks over the environmental information around the engineering machine tool equipment according to actual need. It should be noted that, in order to increase the visual angle of the binocular camera, the binocular camera is preferably arranged at the top of the engineering mechanical equipment, and a dustproof brush controlled by an industrial cloud platform is further arranged on the binocular camera, and the industrial cloud platform controls the rotation of the dustproof brush to clean ash of the binocular camera.
In order to realize the remote control of the industrial pan-tilt, a binocular pan-tilt control keyboard 22 is also configured at the remote control end. As part of the remote human machine interaction system 34, the binocular pan/tilt control keyboard 22 is used to control the industrial pan/tilt movements to remotely adjust the acquisition field of view of the binocular camera, thereby assisting the binocular camera in achieving ultra-large field of view video acquisition.
The binocular camera has the functions of stereoscopic vision zooming and multi-level brightness adjustment, and the binocular holder control keyboard is used for controlling the binocular camera to zoom and adjust brightness so as to adjust image magnification, image reduction and image brightness in the acquisition visual field range.
The binocular image acquisition device further comprises a 3D video encoding device, the 3D video encoding device is used for encoding 3D stereoscopic images into video signals which can be remotely transmitted through a communication transmission system, and the communication transmission system transmits the 3D stereoscopic images to a remote human-computer interaction system 34 in real time through transmitting the video signals. The 3D video coding device can be arranged in a cab of engineering mechanical equipment to prevent the problem that the 3D video coding device is easy to be damaged accidentally. The remote man-machine interaction system 34 is provided with a video signal decoding device 24 and a 3D video display device 25, which are matched with the 3D video coding device; the video signal decoding device 24 is used to decode the encoded video transmitted by the 3D video encoding device. The 3D video display device 25 is configured to output and display the decoded video signal.
AR glasses can be chooseed for use to 3D video display device 25, also can choose for use VR glasses, and during the use, the staff obtains the accurate information of job site through wearing AR glasses or VR glasses, through two mesh cloud platform control keyboard 22 and equipment remote control device 21, realizes the adjustment to the visual angle to and the real time control to engineering machine tool equipment.
The remote human-computer interaction system 34 comprises a device remote control device 21 and a first control signal conversion device;
the equipment control system comprises a second control signal conversion device, an equipment control unit and an equipment execution mechanism;
the first control signal conversion device is used for converting the operation instruction output by the equipment remote control device 21 into a network signal;
the second control signal conversion device is used for restoring the network signal into an operation instruction;
the equipment control unit is used for controlling the equipment executing mechanism to execute corresponding operation according to the operation instruction output by the second control signal conversion device.
The communication transmission system provided by the embodiment of the invention uses the wireless Mesh network to carry out data transmission, and the wireless Mesh network is used for bidirectional transceiving high-frequency-band network communication. The wireless mesh network consists of mesh routers and mesh clients, wherein the mesh routers form a backbone network, are connected with a wired internet network line and are responsible for providing multi-hop wireless internet connection for the mesh clients.
In a wireless Mesh network, any wireless device node can simultaneously serve as an AP and a router, each node in the network can send and receive signals, and each node can directly communicate with one or more peer nodes, which has the greatest advantage that: if the nearest AP is congested due to overlarge traffic, the data can be automatically rerouted to a neighboring node with small communication traffic for transmission, and the ad hoc network can be conveniently realized, and meanwhile, the super-remote control can be realized by accessing to a 4G/5G wide area network and the like.
The communication transmission system provided by the embodiment of the invention comprises a first switch and a second switch, wherein the remote human-computer interaction system 34 can be accessed to a wide area network through the first switch, and the image acquisition imaging system and the equipment control system can be accessed to the wide area network through the second switch. On the basis of wireless network communication, the remote control system provided by the embodiment of the invention can also realize self-establishment of a wireless local area network, and is provided with a plurality of wireless base stations, and the image acquisition imaging system and the equipment control system can perform signal interaction with the remote man-machine interaction system 34 through the wireless local area network, so that the requirement of signal remote communication transmission in the case of no-basic network communication is met, and the adaptability of the remote control system to different communication environments is improved.
As shown in fig. 2, in a wireless local area network environment, a 3D stereoscopic image acquired by an image acquisition imaging system may be remotely transmitted to a remote human-computer interaction system 34 by a wireless base station 31, a wireless base station 32, and a wireless base station 33, and an operation instruction sent by the remote human-computer interaction system 34 may be transmitted to an equipment control system via the wireless base station 33, the wireless base station 32, and the wireless base station 31; under the environment of a wireless wide area network, the image acquisition imaging system and the equipment control system can be accessed to a 4G/5G wide area communication network through the wireless base station 31, the wireless base station 32, the wireless base station 33, the wireless base station 35 and the second switch, and the remote man-machine interaction system 34 can be accessed to the 4G/5G wide area communication network through the first switch, so that the ultra-long distance information transmission is realized. The installation position of each wireless base station can be determined according to the construction requirement and the construction environment of the engineering mechanical equipment, and the wireless base station close to the field control end can be considered to be arranged at the top of the cab; the number of the wireless base stations can also be selected according to the construction environment and the communication transmission distance.
As shown in fig. 3, which is a schematic structural diagram of a remote human-computer interaction system 34 provided in an embodiment of the present invention, the remote human-computer interaction system includes a remote console 23, the remote console 23 includes a seat for an operator and a device remote control 21, the device remote control 21 is disposed on the left and right sides of the seat, and a binocular pan-tilt control keyboard 22 is disposed on the right side of the seat; the video signal decoding device 24 may be disposed in a rear compartment of a remote console located at the rear of the seat; the 3D video display device 25 is detachably disposed on the left side of the seat. It should be understood that the distribution positions of the structural members can be adjusted according to actual requirements.
It should be noted that the engineering machinery equipment described in the present application includes engineering vehicles, such as: drill jumpers, scrapers, and the like.
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 for construction machinery equipment, comprising:
image acquisition imaging system: the system comprises a binocular image acquisition device and an image processing device, wherein the binocular image acquisition device is used for acquiring a construction site environment image of the engineering machinery; the image processing device is used for processing the construction site environment image into a 3D (three-dimensional) image;
remote human-computer interaction system: the system is used for remotely receiving and outputting a 3D image and remotely sending an operation instruction to the engineering machinery according to the 3D image;
an equipment control system: and the operation instruction is used for responding to the operation instruction and executing corresponding operation.
2. The remote control system for construction machinery equipment as claimed in claim 1, wherein the binocular image collecting device comprises a binocular camera and an industrial pan-tilt, the binocular camera is used for collecting construction site environment images within a visual field range; the industrial cloud deck is used for controlling the binocular camera to rotate in the horizontal dimension and the pitching dimension.
3. The remote control system for engineering mechanical equipment as claimed in claim 2, wherein the binocular camera is further provided with a dust brush controlled by an industrial pan-tilt, and the industrial pan-tilt controls the rotation of the dust brush to clean ash of the binocular camera.
4. The engineering mechanical equipment remote control system as claimed in claim 2, wherein the remote human-machine interaction system comprises a binocular pan-tilt control keyboard, the binocular pan-tilt control keyboard is used for controlling an industrial pan-tilt to adjust the acquisition field of view of the binocular camera, and the adjustment of the binocular camera by the binocular pan-tilt control keyboard further comprises stereo zooming and brightness control.
5. The remote control system for engineering mechanical equipment according to claim 1, wherein the binocular image acquisition device further comprises a 3D video coding device, and the 3D video coding device is used for remotely transmitting a 3D stereoscopic image after being coded to the remote human-computer interaction system.
6. The work machine remote control system of claim 4, wherein the remote human-machine interaction system comprises:
a video signal decoding device: for decoding encoded video transmitted by the 3D video encoding device;
3D video display device: for outputting and displaying the decoded video signal.
7. The remote control system for construction machinery equipment as claimed in claim 6, wherein the 3D video display device is AR glasses or VR glasses.
8. The remote control system for engineering machinery equipment according to claim 1, wherein the remote human-computer interaction system comprises an equipment remote control device and a first control signal conversion device;
the equipment control system comprises a second control signal conversion device, an equipment control unit and an equipment execution mechanism;
the first control signal conversion device is used for converting an operation instruction output by the equipment remote control device into a network signal;
the second control signal conversion device is used for restoring the network signal into an operation instruction;
the equipment control unit is used for controlling the equipment executing mechanism to execute corresponding operation according to the operation instruction output by the second control signal conversion device.
9. The remote control system for engineering mechanical equipment according to claim 1, further comprising a communication transmission system, wherein the communication transmission system comprises a first switch and a second switch, the remote human-computer interaction system can access a wide area network through the first switch, and the image acquisition imaging system and the equipment control system can access the wide area network through the second switch.
10. The remote control system for engineering mechanical equipment according to claim 9, wherein the communication transmission system further comprises a plurality of wireless base stations, the plurality of wireless base stations can self-establish a wireless local area network, and the image acquisition imaging system and the equipment control system can perform signal interaction with the remote human-computer interaction system through the wireless local area network.
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| CN202110911089.7A CN113645460A (en) | 2021-08-10 | 2021-08-10 | Engineering mechanical equipment remote control system |
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| CN202110911089.7A CN113645460A (en) | 2021-08-10 | 2021-08-10 | Engineering mechanical equipment remote control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114294528A (en) * | 2021-12-15 | 2022-04-08 | 国网河北省电力有限公司检修分公司 | High-altitude 3D acquisition equipment for construction site |
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