CN114006930B - Remote control method, operation method, device and system of grabbing machine - Google Patents
Remote control method, operation method, device and system of grabbing machine Download PDFInfo
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- CN114006930B CN114006930B CN202111168932.3A CN202111168932A CN114006930B CN 114006930 B CN114006930 B CN 114006930B CN 202111168932 A CN202111168932 A CN 202111168932A CN 114006930 B CN114006930 B CN 114006930B
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0663—Performing the actions predefined by failover planning, e.g. switching to standby network elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application discloses a remote control method, an operation method, a device and a system of a material grabbing machine. The first link is used for receiving the information of the grabbing machine sent by the grabbing machine and the second link is used for sending the control instruction to the grabbing machine, so that data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmitted information is improved, the accuracy of the operation of the grabbing machine is improved through remote control, and the operation efficiency is improved.
Description
Technical Field
The application relates to the technical field of remote control, in particular to a remote control method, an operation method, a device and a system of a grabbing machine.
Background
At present, along with the maturation of communication information technology, the informatization, unmanned and intelligent development of engineering equipment is faster and faster. Particularly in some working conditions with complex and severe environments, the working conditions with great threat to human health and life, such as well digging, mountain keeping and the like, are used. Thus, remote control of the engineering equipment is required. However, since an operator needs to fully understand the environment of the working site and the working state of the engineering equipment during remote control, the engineering equipment and the control equipment generally need to transmit the data of the environment and the working state of the engineering equipment, and also need to transmit the control command of the control equipment. I.e. there is a large amount of data transmission, which may cause data to interfere with each other and thus not be handled accurately.
Disclosure of Invention
The present application has been made to solve the above-mentioned technical problems. The embodiment of the application provides a remote control method, an operation method, a device and a system of a grabbing machine, which solve the problem that engineering equipment and control equipment are mutually interfered when transmitting data and cannot be accurately controlled.
According to an aspect of the present application, there is provided a remote control method of a material grabbing machine applied to a cockpit, the cockpit and the material grabbing machine being remotely connected in communication through a first link and a second link connected in parallel, the remote control method comprising: receiving the material grabbing machine information sent by the material grabbing machine by adopting the first link; and according to the information of the material grabbing machine, adopting the second link to send a control instruction to the material grabbing machine so that the material grabbing machine executes the operation corresponding to the control instruction.
In an embodiment, the receiving, by using the first link, the gripper information sent by the gripper includes: sending a video connection request to a hard disk video recorder of the material grabbing machine; and if the connection between the cockpit and the hard disk video recorder is successful, receiving video data sent by the hard disk video recorder of the grabbing machine and displaying the video data on a video display of the cockpit.
In one embodiment, the receiving the video data sent by the hard disk video recorder of the material grabbing machine and displaying the video data on the video display of the cockpit includes: acquiring a current first network; if the signal intensity corresponding to the first network is smaller than or equal to a preset first signal intensity threshold value, replacing a second network; the signal intensity of the second network is smaller than or equal to that of the second network; and receiving video data sent by the hard disk video recorder of the material grabbing machine by adopting a second network and displaying the video data on a video display of the cockpit.
In an embodiment, the gripper information includes first verification information; after the first link is adopted to receive the information of the material grabbing machine sent by the material grabbing machine, the remote control method of the material grabbing machine further comprises the following steps: calculating second verification information for receiving the material grabbing machine information; if the first verification information is the same as the second verification information, determining that the material grabbing machine information is accurate; the control instruction comprises third verification information; after the control command is sent by adopting the second link according to the information of the material grabbing machine, the remote control method of the material grabbing machine further comprises the following steps: and if the third verification information is the same as the fourth verification information calculated by the material grabbing machine aiming at the control instruction, confirming that the control instruction is successfully sent.
According to another aspect of the present application, there is provided a remote operation method of a material grabbing machine applied to the material grabbing machine, the material grabbing machine and a cockpit being remotely connected in communication through a first link and a second link connected in parallel, the remote operation method comprising: transmitting the information of the material grabbing machine to the cockpit by adopting the first link; and receiving a control instruction sent by the cockpit by adopting the second link according to the information of the grabbing machine and executing the operation corresponding to the control instruction.
In an embodiment, said sending the grapple information to the remotely located cockpit using the first link comprises: detecting the signal intensity of the current network; if the signal intensity of the current network is smaller than or equal to a preset second signal intensity threshold value, the first link is adopted to preferentially send the material grabbing machine information to the cockpit; the steps of receiving the control instruction sent by the cockpit by adopting the second link and executing the corresponding operation of the control instruction according to the information of the material grabbing machine include: and if the material grabbing machine information is sent to the cockpit, receiving a control instruction sent by the cockpit by adopting the second link according to the material transferring machine information and executing the operation corresponding to the control instruction.
In an embodiment, the gripper information includes fifth verification information; after the sending the gripper information to the remotely located cockpit using the first link, the method for remotely operating the gripper further includes: if the fifth verification information is the same as the sixth verification information calculated by the cockpit aiming at the material grabbing machine information, determining that the material grabbing machine information is accurate; the control instruction includes seventh verification information; after receiving the control instruction sent by the cockpit by adopting the second link and executing the operation corresponding to the control instruction according to the information of the material grabbing machine, the remote operation method of the material grabbing machine further comprises the following steps: calculating eighth verification information for receiving the control instruction; and if the eighth verification information is the same as the seventh verification information, determining that the control instruction is successfully sent.
According to another aspect of the present application, there is provided a remote control device of a material grabbing machine, provided in a cockpit, the cockpit and the material grabbing machine being remotely connected in communication through a first link and a second link connected in parallel, the remote control device comprising: the first receiving module is used for receiving the material grabbing machine information sent by the material grabbing machine by adopting the first link; and the first sending module is used for sending a control instruction to the material grabbing machine by adopting the second link according to the material grabbing machine information so that the material grabbing machine executes the operation corresponding to the control instruction.
According to another aspect of the present application, there is provided a remote operation device of a material grabbing machine, provided in a cockpit, the cockpit and the material grabbing machine being remotely connected in communication through a first link and a second link connected in parallel, the remote operation device comprising: the second sending module is used for sending the information of the material grabbing machine to the cockpit by adopting the first link; and the second receiving module is used for receiving the control instruction sent by the cockpit by adopting the second link according to the information of the material grabbing machine and executing the operation corresponding to the control instruction.
According to another aspect of the present application, there is provided a grapple machine system, characterized by comprising: a cockpit for performing the remote control method of the material grabbing machine according to any one of the above; and the material grabbing machine is in remote communication connection with the cockpit and is used for executing the remote operation method of the material grabbing machine.
According to the remote control method, the operation method, the device and the system of the material grabbing machine, the cockpit is in remote communication connection with the material grabbing machine through the first link and the second link which are connected in parallel, the first link is adopted to receive the material grabbing machine information sent by the material grabbing machine, and according to the material grabbing machine information, the second link is adopted to send a control instruction to the material grabbing machine so that the material grabbing machine can execute corresponding operation of the control instruction. The first link is used for receiving the information of the grabbing machine sent by the grabbing machine and the second link is used for sending the control instruction to the grabbing machine, so that data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmitted information is improved, the accuracy of the operation of the grabbing machine is improved through remote control, and the operation efficiency is improved.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing embodiments of the present application in more detail with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a schematic flow chart of a remote control method of a material grabbing machine according to an exemplary embodiment of the present application.
Fig. 2 is a flowchart of a method for receiving information of a gripper according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a remote control method of a material grabbing machine according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart of a method for remotely operating a material grabbing machine according to an exemplary embodiment of the present application.
Fig. 5 is a flowchart of a method for transmitting information of a gripper according to an exemplary embodiment of the present application.
Fig. 6 is a flowchart illustrating a remote operation method of the material grabbing machine according to another exemplary embodiment of the present application.
Fig. 7 is a schematic structural diagram of a remote control device of a material grabbing machine according to an exemplary embodiment of the present application.
Fig. 8 is a schematic structural view of a remote control device of a material grabbing machine according to another exemplary embodiment of the present application.
Fig. 9 is a schematic structural view of a remote operation device of a material grabbing machine according to an exemplary embodiment of the present application.
Fig. 10 is a schematic structural view of a remote operation device of a material grabbing machine according to another exemplary embodiment of the present application.
Fig. 11 is a block diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Fig. 1 is a schematic flow chart of a remote control method of a material grabbing machine according to an exemplary embodiment of the present application. As shown in fig. 1, the cockpit is in remote communication connection with the material grabbing machine through a first link and a second link which are connected in parallel, and the remote control method of the material grabbing machine comprises the following steps:
step 110: and receiving the information of the material grabbing machine sent by the material grabbing machine by adopting a first link.
The gripper information may be received over the first link, and may include video or photographs or the like taken by a camera of the gripper. The received information of the grabbing machine can be displayed on a display of the cockpit, so that an operator can conveniently check the operation condition of the grabbing machine on site in real time. In addition, because the cockpit is in remote communication connection with the grabbing machine, the grabbing machine can be remotely controlled by an operator to work.
Step 120: and according to the information of the material grabbing machine, a second link is adopted to send a control instruction to the material grabbing machine so that the material grabbing machine executes the operation corresponding to the control instruction.
The operator determines the next action of the grabbing machine through the grabbing machine information sent by the grabbing machine, and then adopts a second link to send a control instruction to the grabbing machine so that the grabbing machine executes the operation corresponding to the control instruction, thereby realizing the remote control of the grabbing machine by the operator. In addition, the first link and the second link are two parallel branches, so that interference of sending a control command to the material grabbing machine when the cab receives the material grabbing machine information sent by the material grabbing machine is prevented. That is, the information of the material grabbing machine and the control command can be received at the same time and are not interfered with each other.
According to the remote control method of the material grabbing machine, the cockpit is in remote communication connection with the material grabbing machine through the first link and the second link which are connected in parallel, firstly, the first link is adopted to receive information of the material grabbing machine sent by the material grabbing machine, and then, according to the information of the material grabbing machine, a control instruction is sent to the material grabbing machine through the second link so that the material grabbing machine can execute corresponding operation of the control instruction. The first link is used for receiving the information of the grabbing machine sent by the grabbing machine and the second link is used for sending the control instruction to the grabbing machine, so that data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmitted information is improved, the accuracy of the operation of the grabbing machine is improved through remote control, and the operation efficiency is improved.
Fig. 2 is a flowchart of a method for receiving information of a gripper according to an exemplary embodiment of the present application. As shown in fig. 2, step 110 may include:
step 111: and sending the video connection request to a hard disk video recorder of the grabbing machine.
And sending a video connection request to the hard disk video recorder of the grabbing machine so as to realize that the cockpit can be in communication connection with the hard disk video recorder of the grabbing machine. The hard disk video recorder is connected with the cameras on the grabbing machine, and videos shot by the cameras are stored in the hard disk video recorder, so that loss of video data is prevented. Or the cockpit establishes TCP (Transmission Control Protocol ) connection with the hard disk video recorder of the grabbing machine, and the TCP connection is a connection-oriented, reliable and byte stream-based transmission layer communication protocol). The cockpit is connected with the hard disk video recorder in a communication way through the TCP, so that the accuracy of video data or other data transmission can be ensured, and the data loss, disorder, repetition and the like are prevented, thereby providing reliable communication service. In addition, the cockpit may be provided with a router and a switch, the router being in communication connection with the switch, the router being capable of establishing a TCP connection with the 5G base station via an optical fiber. The material grabbing machine is provided with 5G CPE (Customer Premise Equipment, wireless CPE) which is mobile signal access equipment for receiving mobile signals and forwarding the mobile signals through wireless WIFI signals. The cockpit can perform 5G network communication through the 5G CPE. The 5G CPE establishes TCP connection with the POE switch, and the POE switch is in communication connection with the hard disk video recorder, wherein the POE switch (a network device for forwarding electric (optical) signals) can transmit video data sent by the hard disk video recorder to the cockpit through a 5G network.
Step 112: and if the cockpit is successfully connected with the hard disk video recorder, receiving video data sent by the hard disk video recorder of the material grabbing machine and displaying the video data on a video display of the cockpit.
If the cockpit is successfully connected with the hard disk video recorder, the cockpit can receive the video data sent by the material grabbing machine and display the video data on a video display, and an operator determines the action required to be realized in the next step of the material grabbing machine according to the video on the video display.
In addition, if the cockpit is disconnected with the grabbing machine, an alarm signal is sent out to prompt the connection between the cockpit and the grabbing machine to be interrupted.
In one embodiment, step 112 may be implemented as: acquiring a current first network, and if the signal intensity corresponding to the first network is smaller than or equal to a preset first signal intensity threshold value, replacing a second network, wherein the signal intensity of the second network is smaller than or equal to the signal intensity of the second network, and receiving video data sent by a hard disk video recorder of a material grabbing machine by adopting the second network and displaying the video data on a video display of a cockpit.
A current first network is acquired, which may be a 5G network. When the material grabbing machine possibly works in a scene without a 5G base station, the material grabbing machine can be replaced by a second network, the second network is related to the base station arranged in the scene, if the material grabbing machine works and is nearby with a 4G base station or a 3G base station or a 2G base station, the first network can be replaced by a 4G network or a 3G network or a 2G network, and the second network with higher signal strength is preferred. The first network gateway is arranged in parallel with the second network gateway.
Fig. 3 is a flowchart of a remote control method of a material grabbing machine according to another exemplary embodiment of the present application. As shown in fig. 3, the grapple information includes first verification information; the remote control method of the grabbing machine can further comprise the following steps:
step 130: second verification information is calculated for receiving the gripper information.
And verifying whether the data is interfered or not when the information of the material grabbing machine is transmitted through the first verification information and the second verification information, wherein the information of the material grabbing machine adopts an error prevention mechanism of 3 byte frame heads, 1 byte frame tail and 2 byte verification information, and under the condition that a transmission channel is interfered, the accuracy of the information of the material grabbing machine received by a cockpit is ensured under the condition that the transmitted information is in error, and the anti-interference capability is greatly improved. The first verification information is equal to a first accumulated sum of values corresponding to bytes of the data portion. The second verification information is equal to the product between the value corresponding to the 1 st byte verification information in the 2-byte verification information and the fixed value 256 (high byte threshold), which is the sum between the value corresponding to the 2 nd byte verification information in the 2-byte verification information. For example, setting 595 bytes, byte0, byte1, and byte2 as the frame header, and byte594 as the frame tail, the first verification information is equal to the sum of the value corresponding to byte3 and the value corresponding to byte 591. The second authentication information is equal to byte592 x 256+ byte593.
Step 140: if the first verification information is the same as the second verification information, the information of the material grabbing machine is determined to be accurate.
If the first verification information and the second verification information are the same, the fact that the information of the material grabbing machine transmitted at the time is not interfered is indicated, and the information of the material grabbing machine is received by the cockpit accurately. In addition, if the first verification information and the second verification information are different, the fact that the information of the material grabbing machine transmitted at this time is interfered is indicated, and the information of the material grabbing machine is inaccurate. If the signal of the current network is poor, the cockpit is likely to only receive important information in the material grabbing machine information sent by the material grabbing machine, therefore, the important information of the material grabbing machine information comprises first sub-verification information, second sub-verification information corresponding to the important information of the material grabbing machine information is calculated and received, and if the first sub-verification information is identical with the second sub-verification information, the material grabbing machine information is determined to be accurate.
In one embodiment, as shown in FIG. 3, the control instruction includes third verification information; the remote control method of the material grabbing machine can comprise the following steps:
step 150: and if the third verification information is the same as the fourth verification information obtained by the material grabbing machine aiming at the control instruction, confirming that the control instruction is successfully sent.
In order to prevent the situation that data are disturbed in the process that the control command is sent to the grabbing machine by the cockpit. The setting control instruction adopts an error-setting mechanism of 2 byte frame heads, 2 byte frame tails and 2 byte verification information, and when a transmission channel is interfered, the manual control and the non-disorder of the material grabbing machine are ensured under the condition that the transmitted instruction is in error, and the reliability of the whole system is ensured. And filling the 2 byte frame heads, the 2 byte frame tails and the data parts corresponding to the control instructions into corresponding preset grabbing machine thresholds. The bytes filled with the data portion may enable a series of actions to be performed on the gripper. For example, the cab may be raised or lowered, the crawler belt extended or retracted, and the like. And accumulating bytes of the data part corresponding to the control instruction, and obtaining a second accumulated sum, wherein the second accumulated sum is fourth verification information. The 2 byte authentication information is assigned respectively, wherein the 1 st byte authentication information in the 2 byte authentication information is assigned as a quotient between the second accumulation sum and 256 (preset high byte value). The 2 nd byte authentication information in the 2-byte authentication information is assigned as a remainder between the second accumulation sum and 256 (preset high byte value). If the third verification information is the same as the fourth verification information, the condition that the control instruction is not interfered by other data is indicated, so that the control instruction is determined to be successfully sent, and the material grabbing machine can execute the operation corresponding to the control instruction.
Fig. 4 is a flowchart of a method for remotely operating a material grabbing machine according to an exemplary embodiment of the present application. As shown in fig. 4, the remote operation method of the material grabbing machine, which is applied to the material grabbing machine, is in remote communication connection with the cockpit through a first link and a second link which are connected in parallel, and comprises the following steps:
step 210: and sending the information of the material grabbing machine to the cockpit by adopting a first link.
The grabbing machine shoots the obtained video or photo through the camera and sends the video or photo to the cockpit through the first link. Can be transmitted to the remotely located cockpit through a 5G network, wherein the 5G network transmits signals quickly and the transmission is more stable.
Step 220: and receiving a control instruction sent by the cockpit by adopting a second link according to the information of the material grabbing machine and executing the operation corresponding to the control instruction.
The material grabbing machine receives the control instruction sent by the cockpit through the second link, and the second link does not interfere the first link to send the material grabbing machine information to the cockpit. The grabbing machine executes corresponding operations of control instructions, such as ascending or descending of a cab, so that an operator can remotely control the grabbing machine through the cab.
In addition, if the grab is not in remote communication with the cockpit, the grab receives a local control command and then performs an operation corresponding to the control command.
According to the remote operation method of the material grabbing machine, the cockpit is in remote communication connection with the material grabbing machine through the first link and the second link which are connected in parallel, firstly, the first link is adopted to send information of the material grabbing machine to the cockpit, then, according to the information of the material grabbing machine, the second link is adopted to receive a control instruction sent by the cockpit and execute corresponding operation of the control instruction. The control instruction sent by the cockpit is received through the first link sending the information of the grabbing machine to the cockpit and the second link, so that the double-link data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmission information is improved, the accuracy of the operation of the grabbing machine by remote control is improved, and the operation efficiency can be improved.
Fig. 5 is a flowchart of a method for transmitting information of a gripper according to an exemplary embodiment of the present application. As shown in fig. 5, step 210 may include:
step 211: and receiving a video connection request sent by a decoder of the cockpit.
The material grabbing machine receives a video connection request sent by a decoder of the cockpit so as to enable the cockpit to be connected with the material grabbing machine, and accordingly data transmission is carried out, wherein the decoder of the cockpit is used for analyzing the video data sent by the material grabbing machine.
Step 212: responding to the video connection request, and connecting the material grabbing machine with the decoder.
And responding to the video connection request, and connecting the material grabbing machine with the decoder. Or the decoder of the cockpit and the material grabbing machine are connected by TCP, so that the correctness of video data or other data transmission can be ensured, and the data loss, disorder, repetition and the like are prevented, thereby providing reliable communication service. In addition, the cockpit may be provided with a router and a switch, the router being in communication connection with the switch, the router being capable of establishing a TCP connection with the 5G base station via an optical fiber. The material grabbing machine is provided with 5G CPE (Customer Premise Equipment, wireless CPE) which is mobile signal access equipment for receiving mobile signals and forwarding the mobile signals through wireless WIFI signals. The cockpit can perform 5G network communication through the 5G CPE. The 5G CPE establishes a TCP connection with a POE switch, which is in communication connection with a hard disk recorder, wherein the POE switch, a network device for electrical (optical) signal forwarding, then the decoder can receive video data via the 5G network.
Step 213: and if the material grabbing machine is successfully connected with the decoder, sending video data to the cockpit.
If the material grabbing machine is successfully connected with the decoder, the material grabbing machine sends video data to the cockpit, and the decoder of the cockpit analyzes the video data so that the video can be displayed on a display screen of the cockpit.
In one embodiment, step 210 may be implemented as: detecting the signal strength of the current network, if the signal strength of the current network is less than or equal to a preset second signal strength threshold, preferentially sending the gripper information to the cockpit by using the first link, wherein step 220 may be implemented as follows: and if the material grabbing machine information is sent to the cockpit, receiving a control instruction sent by the cockpit by adopting a second link according to the material transferring machine information and executing the operation corresponding to the control instruction.
If the signal intensity of the current network is poor, the material grabbing machine can be sent to the cockpit, so that the loss of the information of the material grabbing machine is guaranteed, and then after the information of the material grabbing machine is sent to the cockpit, the control instruction sent by the cockpit is received, and the operation corresponding to the control instruction is executed. That is, when the signal strength of the current network is poor, the information of the material grabbing machine is sent in preference to the receiving control instruction. In one embodiment, step 210 may be implemented as: detecting the signal intensity of the current network, and if the signal intensity of the current network is smaller than or equal to a preset second signal intensity threshold value, preferentially sending important information in the material grabbing machine information to the cockpit by adopting a first link.
Because the signal of the current network is poor, possibly in order to prevent important information from being lost when sending the material grabbing machine information, the important information in the material grabbing machine information can be sent to the cockpit, the secondary information is reserved, and when the signal of the network is strong, the secondary information can be sent to the cockpit. Wherein the important information is a plurality of information, and the secondary information is a plurality of information. The importance of the important information is higher than the importance of the secondary information.
Fig. 6 is a flowchart illustrating a remote operation method of the material grabbing machine according to another exemplary embodiment of the present application. As shown in fig. 6, the gripper information includes fifth verification information, the control instruction includes seventh verification information, and the remote operation method of the gripper may include:
step 230: and if the fifth verification information is the same as the sixth verification information obtained by the cockpit aiming at the material grabbing machine information, determining that the material grabbing machine information is accurate.
The gripper information carries fifth verification information so as to verify whether the transmitted gripper has the condition that data is interfered or lost. The information of the material grabbing machine adopts an error prevention mechanism of 3 byte frame heads, 1 byte frame tail and 2 byte verification information, and when a transmission channel is interfered, the accuracy of the information of the material grabbing machine received by a cockpit is ensured under the condition that the transmitted information is in error, and the anti-interference capability is greatly improved. The fifth verification information is equal to a third accumulated sum of values corresponding to the bytes of the data portion. The sixth verification information is equal to the product between the value corresponding to the 1 st byte verification information in the 2-byte verification information and the fixed value 256 (high byte threshold), which is the sum between the value corresponding to the 2 nd byte verification information in the 2-byte verification information. Wherein the 1 st byte of the 2 byte authentication information corresponds to a value equal to a quotient between the third accumulated sum and the high byte threshold. The value corresponding to the 2 nd byte authentication information in the 2-byte authentication information is equal to the remainder between the third accumulation sum and the high byte threshold.
In addition, the important information of the gripper information includes fifth sub-verification information. If the fifth sub-verification information is the same as the sixth sub-verification information calculated by the cockpit aiming at the material grabbing machine information, determining that the important information of the material grabbing machine information is accurate.
Step 240: eighth authentication information of the reception control instruction is calculated.
In order to prevent the situation that data are disturbed in the process that the control command is sent to the grabbing machine by the cockpit. The setting control instruction adopts an error-setting mechanism of 2 byte frame heads, 2 byte frame tails and 2 byte verification information, and when a transmission channel is interfered, the manual control and the non-disorder of the material grabbing machine are ensured under the condition that the transmitted instruction is in error, and the reliability of the whole system is ensured. And filling the 2 byte frame heads, the 2 byte frame tails and the data parts corresponding to the control instructions into corresponding preset grabbing machine thresholds. The bytes filled with the data portion may enable a series of actions to be performed on the gripper. For example, the cab may be raised or lowered, the crawler belt extended or retracted, and the like. And accumulating bytes of the data part corresponding to the control instruction, and obtaining a fourth accumulated sum, wherein the second accumulated sum is eighth verification information. The 2 byte authentication information is assigned respectively, wherein the 1 st byte authentication information in the 2 byte authentication information is assigned as a quotient between the second accumulation sum and 256 (preset high byte value). The 2 nd byte authentication information in the 2-byte authentication information is assigned as a remainder between the second accumulation sum and 256 (preset high byte value).
Step 250: if the eighth verification information is the same as the seventh verification information, the control instruction is determined to be successfully sent.
If the eighth verification information is the same as the seventh verification information, the control instruction is not interfered by other data, so that the control instruction is determined to be successfully sent, and the material grabbing machine can execute the operation corresponding to the control instruction.
Fig. 7 is a schematic structural diagram of a remote control device of a material grabbing machine according to an exemplary embodiment of the present application. As shown in fig. 7, the remote control device 20 for the material grabbing machine is applied to the material grabbing machine, and the cockpit is in remote communication connection with the material grabbing machine through a first link and a second link which are connected in parallel, and includes: the first receiving module 201 is configured to receive the gripper information sent by the gripper by using a first link, and the first sending module 202 is configured to send a control instruction to the gripper by using a second link according to the gripper information, so that the gripper performs an operation corresponding to the control instruction.
According to the remote control device for the material grabbing machine, the cockpit is in remote communication connection with the material grabbing machine through the first link and the second link which are connected in parallel, the first receiving module 201 receives the material grabbing machine information sent by the material grabbing machine through the first link, and the first sending module 202 sends a control instruction to the material grabbing machine through the second link according to the material grabbing machine information so that the material grabbing machine can execute operation corresponding to the control instruction. The first link is used for receiving the information of the grabbing machine sent by the grabbing machine and the second link is used for sending the control instruction to the grabbing machine, so that data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmitted information is improved, the accuracy of the operation of the grabbing machine is improved through remote control, and the operation efficiency is improved.
Fig. 8 is a schematic structural view of a remote control device of a material grabbing machine according to another exemplary embodiment of the present application. As shown in fig. 8, the first receiving module 201 may include: a sending video connection request unit 2011, configured to send a video connection request to a hard disk video recorder of the material grabbing machine; and a video data receiving unit 2012, configured to receive video data sent by the hard disk video recorder of the material grabbing machine and display the video data on the video display of the cockpit if the cockpit is successfully connected with the hard disk video recorder.
In one embodiment, the received video data unit 2012 is specifically configured to: acquiring a current first network; if the signal intensity corresponding to the first network is smaller than or equal to a preset first signal intensity threshold value, replacing the second network; wherein the signal strength of the second network is less than or equal to the signal strength of the second network; and receiving video data sent by the hard disk video recorder of the material grabbing machine by adopting a second network and displaying the video data on a video display of the cockpit.
In one embodiment, as shown in fig. 8, the gripper information includes first verification information; the remote control device 20 of the grabbing machine may further comprise: a calculating unit 203 for calculating second verification information for receiving the gripper information; and a determining accuracy unit 204, configured to determine that the gripper information is accurate if the first verification information is the same as the second verification information; the control instruction comprises third verification information; the remote control device 20 of the grabbing machine may further comprise: and the determining and successful sending unit 205 is configured to confirm that the control instruction is sent successfully if the third verification information is the same as the fourth verification information calculated by the material grabbing machine for the control instruction.
Fig. 9 is a schematic structural view of a remote operation device of a material grabbing machine according to an exemplary embodiment of the present application. As shown in fig. 9, the remote operation device 30 for the material grabbing machine is applied to the material grabbing machine, and the material grabbing machine is in remote communication connection with the cockpit through a first link and a second link which are connected in parallel, and the remote operation device comprises: the second sending module 301 is configured to send the information of the material grabbing machine to the cockpit by using the first link, and the second receiving module 302 is configured to receive the control instruction sent by the cockpit by using the second link and execute an operation corresponding to the control instruction according to the information of the material grabbing machine.
According to the remote operation device of the grabbing machine, the cockpit is in remote communication connection with the grabbing machine through the first link and the second link which are connected in parallel, the grabbing machine information is sent to the cockpit through the second sending module 301 by adopting the first link, and the second receiving module 302 receives the control instruction sent by the cockpit through the second link according to the grabbing machine information and executes corresponding operation of the control instruction. The control instruction sent by the cockpit is received through the first link sending the information of the grabbing machine to the cockpit and the second link, so that the double-link data transmission between the cockpit and the grabbing machine is realized, the information of the grabbing machine and the control instruction are not interfered with each other, the accuracy of the transmission information is improved, the accuracy of the operation of the grabbing machine by remote control is improved, and the operation efficiency can be improved.
Fig. 10 is a schematic structural view of a remote operation device of a material grabbing machine according to another exemplary embodiment of the present application. As shown in fig. 10, in an embodiment, the second sending module 301 may be specifically configured to: detecting the signal intensity of the current network; if the signal intensity of the current network is smaller than or equal to a preset second signal intensity threshold value, a first link is adopted to preferentially send the information of the material grabbing machine to the cockpit; the second receiving module 302 may be specifically configured to: and if the material grabbing machine information is sent to the cockpit, receiving a control instruction sent by the cockpit by adopting a second link according to the material transferring machine information and executing the operation corresponding to the control instruction.
In an embodiment, as shown in fig. 10, the gripper information includes fifth verification information, and the control instruction includes seventh verification information; the remote operation device 30 of the grabbing machine may include: an accuracy unit 303, configured to determine that the information of the material grabbing machine is accurate if the fifth verification information is the same as the sixth verification information calculated by the cockpit for the information of the material grabbing machine; a calculation information unit 304 for calculating eighth authentication information of the reception control instruction; and a transmission success unit 305, configured to determine that the control instruction is successfully transmitted if the eighth authentication information is the same as the seventh authentication information.
The application provides a material grabbing machine system, which comprises: the control system comprises a cockpit and a grabbing machine, wherein the cockpit is used for executing the remote control method of the grabbing machine of any one of the above steps, the grabbing machine is in remote communication connection with the cockpit, and the grabbing machine is used for executing the remote operation method of the grabbing machine of any one of the above steps.
In one embodiment, the cockpit includes routers, switches, decoders, displays, remote controllers, remote displays, and manipulation ends.
The router may establish a TCP connection with the 5G base station, the router may be communicatively coupled to a switch (first switch), the decoder may establish a TCP connection with the switch, and the decoder may be coupled to the display. The router can acquire the data which are transmitted remotely through being connected with the 5G base station, then the data are transmitted to the decoder through the switch, the decoder analyzes the data and then transmits the data to the display, and accordingly the data are displayed on the display, and the data are the first link of the cockpit.
In addition, the switch establishes TCP connection with the remote controller, the remote controller is in communication connection with the remote display, and the operation end is in communication connection with the remote controller and the remote display respectively. The control instruction is sent to the remote controller through the operation of the operation end, and an operator can also check the field condition of the grabbing machine through the display in real time. The remote controller then sends the control command to the switch, and the control command in the switch is sent to the 5G CPE of the grab through the router, which is the second link of the cockpit.
The material grabbing machine comprises a first 5G CPE (a first 5G gateway or a first communication end), a material grabbing machine controller, a display, a camera, a hard disk video recorder, a POE switch (a second switch) and a second 5G CPE (a second 5G gateway or a second communication end). The method comprises the steps that video data are shot through a camera and sent to a hard disk video recorder, the hard disk video recorder stores the video data, and then the video data are sent to a router of a cockpit through a switch and a first communication end, wherein the router is a first link of a grabbing machine. The control command sent by the cockpit is received through the second communication end, then the control command is sent to the grabbing machine controller, the grabbing machine is controlled to control the grabbing machine to perform corresponding operation, and the operation condition can be displayed in real time through the grabbing machine, and the operation condition is the second link of the grabbing machine.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 11. The electronic device may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
Fig. 11 illustrates a block diagram of an electronic device according to an embodiment of the application.
As shown in fig. 11, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. On which one or more computer program instructions may be stored, which may be executed by the processor 11 to implement the method of remote control of a gripper and the method of remote operation of a gripper and/or other desired functions of the various embodiments of the application described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 11 for simplicity, components such as buses, input/output interfaces, etc. being omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (8)
1. A remote control method of a material grabbing machine, which is applied to a cockpit, wherein the cockpit and the material grabbing machine are in remote communication connection through a first link and a second link which are connected in parallel, and the remote control method comprises the following steps:
Receiving the material grabbing machine information sent by the material grabbing machine by adopting the first link;
calculating second verification information for receiving the material grabbing machine information; the material grabbing machine information comprises first verification information, and an error prevention mechanism of 3-byte frame heads, 1-byte frame tails and 2-byte verification information is adopted by the material grabbing machine information;
if the first verification information is the same as the second verification information, determining that the material grabbing machine information is accurate; wherein the first verification information is equal to a first accumulated sum of values corresponding to bytes of the data portion, the second verification information is equal to a product between a value corresponding to 1 st byte verification information in the 2-byte verification information and a fixed value 256, and a sum value between the value corresponding to 2 nd byte verification information in the 2-byte verification information is according to the product; and
according to the information of the material grabbing machine, a control instruction is sent to the material grabbing machine by adopting the second link so that the material grabbing machine executes the operation corresponding to the control instruction; the control instruction comprises third verification information, and adopts an error prevention mechanism of 2-byte frame heads, 2-byte frame tails and 2-byte verification information;
If the third verification information is the same as fourth verification information calculated by the material grabbing machine aiming at the control instruction, confirming that the control instruction is successfully sent; and accumulating bytes of the data part corresponding to the control instruction, and obtaining a second accumulated sum, wherein the second accumulated sum is the third verification information, and respectively assigning values to 2 byte verification information in the control instruction, wherein the 1 st byte verification information in the 2 byte verification information is assigned as a quotient between the second accumulated sum and 256, and the 2 nd byte verification information in the 2 byte verification information is assigned as a remainder between the second accumulated sum and 256.
2. The method of claim 1, wherein receiving the gripper information sent by the gripper using the first link comprises:
sending a video connection request to a hard disk video recorder of the material grabbing machine; and
and if the cockpit is successfully connected with the hard disk video recorder, receiving video data sent by the hard disk video recorder of the material grabbing machine and displaying the video data on a video display of the cockpit.
3. The method of claim 2, wherein receiving video data transmitted from a hard disk recorder of the grappler and displaying the video data on a video display of the cockpit comprises:
Acquiring a current first network;
if the signal intensity corresponding to the first network is smaller than or equal to a preset first signal intensity threshold value, replacing a second network; the signal intensity of the first network is smaller than or equal to that of the second network; and
and receiving video data sent by the hard disk video recorder of the material grabbing machine by adopting a second network and displaying the video data on a video display of the cockpit.
4. A remote operation method of a material grabbing machine, which is applied to the material grabbing machine, wherein the material grabbing machine is in remote communication connection with a cockpit through a first link and a second link which are connected in parallel, the remote operation method comprising:
transmitting the information of the material grabbing machine to the cockpit by adopting the first link; the material grabbing machine information comprises fifth verification information, and an error prevention mechanism of 3-byte frame heads, 1-byte frame tails and 2-byte verification information is adopted by the material grabbing machine information;
if the fifth verification information is the same as the sixth verification information calculated by the cockpit aiming at the material grabbing machine information, determining that the material grabbing machine information is accurate; wherein the fifth verification information is equal to a third accumulated sum of values corresponding to bytes of the data portion, the sixth verification information is equal to a product between a value corresponding to 1 st byte verification information in the 2-byte verification information and a fixed value 256, and a sum value between the value corresponding to 2 nd byte verification information in the 2-byte verification information is according to the product; and
According to the information of the material grabbing machine, the second link is adopted to receive a control instruction sent by the cockpit and execute operation corresponding to the control instruction; the control instruction comprises seventh verification information, and adopts an error prevention mechanism of 2-byte frame heads, 2-byte frame tails and 2-byte verification information;
calculating eighth verification information for receiving the control instruction; and
if the eighth verification information is the same as the seventh verification information, determining that the control instruction is successfully sent; and accumulating bytes of the data part corresponding to the control instruction, obtaining a fourth accumulated sum, wherein the fourth accumulated sum is the seventh verification information, and respectively assigning values to the 2 byte verification information in the control instruction, wherein the 1 st byte verification information in the 2 byte verification information is assigned as a quotient between the fourth accumulated sum and 256, and the 2 nd byte verification information in the 2 byte verification information is assigned as a remainder between the fourth accumulated sum and 256.
5. The method of claim 4, wherein said sending the gripper information to the remotely located cockpit using the first link comprises:
Detecting the signal intensity of the current network;
if the signal intensity of the current network is smaller than or equal to a preset second signal intensity threshold value, the first link is adopted to preferentially send the material grabbing machine information to the cockpit;
the steps of receiving the control instruction sent by the cockpit by adopting the second link and executing the corresponding operation of the control instruction according to the information of the material grabbing machine include:
and if the material grabbing machine information is sent to the cockpit, receiving a control instruction sent by the cockpit by adopting the second link according to the material grabbing machine information and executing the operation corresponding to the control instruction.
6. The utility model provides a grab remote control device of material machine, its characterized in that sets up in the cockpit, the cockpit with grab the material machine and pass through parallelly connected first link and second link remote communication connection, remote control device includes:
the first receiving module is used for receiving the material grabbing machine information sent by the material grabbing machine by adopting the first link; calculating second verification information for receiving the material grabbing machine information; the material grabbing machine information comprises first verification information, and an error prevention mechanism of 3-byte frame heads, 1-byte frame tails and 2-byte verification information is adopted by the material grabbing machine information;
If the first verification information is the same as the second verification information, determining that the material grabbing machine information is accurate; wherein the first verification information is equal to a first accumulated sum of values corresponding to bytes of the data portion, the second verification information is equal to a product between a value corresponding to 1 st byte verification information in the 2-byte verification information and a fixed value 256, and a sum value between the value corresponding to 2 nd byte verification information in the 2-byte verification information is according to the product; and
the first sending module is used for sending a control instruction to the material grabbing machine by adopting the second link according to the material grabbing machine information so that the material grabbing machine executes the operation corresponding to the control instruction; the control instruction comprises third verification information, and adopts an error prevention mechanism of 2-byte frame heads, 2-byte frame tails and 2-byte verification information;
if the third verification information is the same as fourth verification information calculated by the material grabbing machine aiming at the control instruction, confirming that the control instruction is successfully sent; and accumulating bytes of the data part corresponding to the control instruction, and obtaining a second accumulated sum, wherein the second accumulated sum is the third verification information, and respectively assigning values to 2 byte verification information in the control instruction, wherein the 1 st byte verification information in the 2 byte verification information is assigned as a quotient between the second accumulated sum and 256, and the 2 nd byte verification information in the 2 byte verification information is assigned as a remainder between the second accumulated sum and 256.
7. The utility model provides a grab remote operation device of material machine, its characterized in that sets up in grab the material machine, the cockpit with grab the material machine and pass through parallelly connected first link and second link remote communication connection, remote operation device includes:
the second sending module is used for sending the information of the material grabbing machine to the cockpit by adopting the first link; the material grabbing machine information comprises fifth verification information, and an error prevention mechanism of 3-byte frame heads, 1-byte frame tails and 2-byte verification information is adopted by the material grabbing machine information;
if the fifth verification information is the same as the sixth verification information calculated by the cockpit aiming at the material grabbing machine information, determining that the material grabbing machine information is accurate; wherein the fifth verification information is equal to a third accumulated sum of values corresponding to bytes of the data portion, the sixth verification information is equal to a product between a value corresponding to 1 st byte verification information in the 2-byte verification information and a fixed value 256, and a sum value between the value corresponding to 2 nd byte verification information in the 2-byte verification information is according to the product; and
the second receiving module is used for receiving the control instruction sent by the cockpit by adopting the second link according to the information of the material grabbing machine and executing the operation corresponding to the control instruction; the control instruction comprises seventh verification information, and adopts an error prevention mechanism of 2-byte frame heads, 2-byte frame tails and 2-byte verification information;
Calculating eighth verification information for receiving the control instruction; and
if the eighth verification information is the same as the seventh verification information, determining that the control instruction is successfully sent; and accumulating bytes of the data part corresponding to the control instruction, and obtaining a fourth accumulated sum, wherein the fourth accumulated sum is the seventh verification information, and assigning values to 2 byte verification information in the control instruction respectively, wherein the 1 st byte verification information in the 2 byte verification information is assigned as a quotient between the fourth accumulated sum and 256, and the 2 nd byte verification information in the 2 byte verification information is assigned as a remainder between the fourth accumulated sum and 256.
8. A grapple machine system, comprising:
a cockpit for performing the method of remote control of a material handling machine according to any one of the preceding claims 1-3; and
a material handling machine in remote communication with the cockpit for performing the method of remote operation of the material handling machine of any of the preceding claims 4-5.
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