CN115426382A - System and method for remote communication control of excavator - Google Patents

System and method for remote communication control of excavator Download PDF

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Publication number
CN115426382A
CN115426382A CN202210964724.2A CN202210964724A CN115426382A CN 115426382 A CN115426382 A CN 115426382A CN 202210964724 A CN202210964724 A CN 202210964724A CN 115426382 A CN115426382 A CN 115426382A
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excavator
directional high
gain antenna
antenna
signal
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Inventor
潘雷
崔相义
刘家林
周威
李鑫鑫
李佳龙
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Xuzhou XCMG Excavator Machinery Co Ltd
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Xuzhou XCMG Excavator Machinery Co Ltd
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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
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
    • H01Q15/14—Reflecting surfaces; Equivalent structures
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q19/00—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic
    • H01Q19/10—Combinations of primary active antenna elements and units with secondary devices, e.g. with quasi-optical devices, for giving the antenna a desired directional characteristic using reflecting surfaces
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • 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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  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Quality & Reliability (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses a system and a method for remote communication control of an excavator, wherein the system comprises the following steps: the excavator control system comprises a control unit and an excavator execution unit communicated with the control unit; the control unit comprises an operating device, a transmitting-receiving device, a rotating platform and a directional high-gain antenna; the excavator execution unit comprises a receiving and transmitting device, a camera and a monopole antenna; the control unit sends a request signal, receives uploaded data of the response request signal of the excavator execution unit, generates a control command in real time, sends the control command to the excavator execution unit, outputs the running state data of the excavator, and the excavator execution unit collects the running state data of the excavator, responds to the request signal, generates the uploaded data of the current running state of the excavator, and receives the control command sent by the control unit. The invention transmits signals with high efficiency, no interference and large flow rate through the directional high-gain antenna, and provides comprehensive, accurate and real-time data support and reference for remote control of the excavator by operators.

Description

System and method for remote communication control of excavator
Technical Field
The invention belongs to the technical field of engineering machinery communication systems, and particularly relates to a remote communication control system and method for an excavator.
Background
With the development of unmanned technologies and the further improvement of intellectualization of excavators, the research and application of the technology become more and more extensive, the unmanned excavator can automatically complete a part of work under certain conditions, but still needs human intervention aiming at complex conditions, so that remote wireless communication control is needed, and the existing communication control generally uses an omnidirectional antenna, namely, the antenna sends electromagnetic wave signals to the surrounding 360 degrees without pointing to a communication target, thereby wasting transmission energy and causing signal interference to other ongoing communication.
The receiving antenna on the existing remote control excavator is arranged on the side surface, the inside and the like of a vehicle, and the transmitted electromagnetic wave signals cannot directly irradiate the receiving antenna, so that the received signals are weak, the signal to noise ratio is low, and the signal receiving is not facilitated.
Although a part of excavator communication systems carry out remote communication control through a 4G/5G network, the method can realize very remote communication control, although the peak value communication speed of the 4G/5G network is not low, the speed can be realized quickly, but a public network is adopted, more users commonly use the communication network to cause that the average effective speed is greatly reduced, in addition, the uploading speed of the network is low, the signal propagation time on the physical distance is required, the control signal is transmitted to a remote excavator from a remote control device through the network, the excavator transmits the video signal of a camera back through the network to be displayed, the time delay causes great pause and pause feeling of operation.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a system and a method for remote communication control of an excavator.
The technical scheme is as follows: in a first aspect, the present invention provides a system for remote communication control of an excavator, comprising:
the excavator control system comprises a control unit and an excavator execution unit communicated with the control unit;
the control unit sends a request signal, receives uploaded data of the response request signal of the excavator execution unit, generates a control instruction in real time according to the uploaded data, sends the control instruction to the excavator execution unit, and visually outputs excavator running state data for providing data support and reference for an operator of the control unit to remotely control the excavator;
the excavator execution unit acquires the excavator running state data, responds to the request signal, generates the current excavator running state, uploads the data, transmits the data to the control unit, and receives the control command transmitted by the control unit to execute the excavator action according to the control command.
In a further embodiment of the method of the invention,
the manipulation control unit includes: the antenna comprises an operating device, a first transceiver, a rotary platform and a first directional high-gain antenna;
the operating device is formed by assembling a handle, a switch, a knob, a display device and a plurality of control input and/or output devices, is convenient for an operator to manually trigger and switch control instructions, and visually displays the running state data of the excavator through the display device so as to be convenient for the operator to refer;
the operating device is electrically connected with the first transceiver for receiving or transmitting digital signals;
the first transceiver is provided with a radio transceiver, a received signal strength detection unit and an antenna rotation control unit;
the first transceiver is respectively communicated with the operating device and the first directional high-gain antenna through a radio transceiver and is used for receiving a digital signal of a control instruction or a request instruction of the operating device, converting the digital signal into a carrier frequency signal and sending the carrier frequency signal to the first directional high-gain antenna, receiving the carrier frequency signal of the running state data of the excavator in real time through the first directional high-gain antenna, converting the carrier frequency signal of the running state data of the excavator into a digital signal and uploading the digital signal to the operating device;
the first transceiver is used for judging the strength of the received response signal through a received signal strength detection unit;
the first receiving and transmitting device is electrically connected with the rotating platform through the antenna rotating control unit and is used for controlling the rotating platform to rotate;
the first directional high-gain antenna is respectively communicated with the first transceiver and the excavator and is used for converting the carrier frequency signal of the first transceiver into an electromagnetic wave signal and transmitting the electromagnetic wave signal to the excavator; receiving electromagnetic wave signals of the excavator running state data in real time;
the rotating platform is fixedly connected with the first directional high-gain antenna, and the first transceiver is used for controlling the rotating platform to rotate so as to drive the first directional high-gain antenna to rotate and adjust the beam direction of the first directional high-gain antenna.
In a further embodiment, the operating device further comprises a GPS positioner and a GPS resolving unit, wherein the GPS positioner and the GPS resolving unit are used for extracting the relative positions of the operating device and the excavator according to the real-time received excavator running state data.
In a further embodiment, the excavator execution unit comprises: the system comprises a second transceiver, a camera, a monopole antenna and/or a second directional high-gain antenna, an excavator controller and a GPS (global positioning system) positioner;
the second transceiver, the camera, the monopole antenna and/or the second directional high-gain antenna and the GPS receiver are/is arranged on the excavator respectively;
the excavator comprises an excavator body, a plurality of cameras and a control module, wherein the number of the cameras is multiple, and the cameras are respectively arranged on multiple side surfaces of the excavator body and are used for collecting image data including excavator actions and the environment around the whole excavator;
the GPS positioner is used for uploading real-time position data of the excavator to the controller;
the excavator controller is used for receiving the image data and the real-time position data and generating excavator running state data; the digital signals of the running state data of the excavator are forwarded to the second transceiver, and the digital signals of the control instructions or the request instructions returned by the second transceiver are received;
the second transceiver receives the carrier frequency signal converted by the monopole antenna or the second directional high-gain antenna, converts the carrier frequency signal into a digital signal and sends the digital signal to the excavator controller, converts the excavator running state data generated by the excavator controller into a carrier frequency signal and sends the carrier frequency signal to the monopole antenna or the second directional high-gain antenna for transmission;
the monopole antenna or the second directional high-gain antenna is used for respectively communicating with the first directional high-gain antenna and the second transceiver device; and receiving the space electromagnetic wave signal of the first directional high-gain antenna, converting the carrier frequency signal of the second transceiver into an electromagnetic wave signal, and transmitting the electromagnetic wave signal to the first directional high-gain antenna.
In a further embodiment, the first directional high-gain antenna and/or the second directional high-gain antenna are/is assembled in a radome, and the radome is made of PBT + GF30 material; the expression of the antenna element array of the first directional high-gain antenna and/or the second directional high-gain antenna is as follows: m is multiplied by n;
wherein n is an antenna element row, m is an antenna element column, the row spacing and the column spacing between the antenna elements are the same and the phase of each antenna element is also the same, the radiation power is distributed according to the Chebyshev weight or the Taylor weight,
the half-power beam angle in the pitching direction of the array antenna is approximate to
Figure BDA0003794351470000031
The horizontal half-power beam angle is approximately
Figure BDA0003794351470000032
In a second aspect, the present invention provides an excavator remote communication method, including:
acquiring image data and position data, and receiving an electromagnetic wave signal transmitted by a first directional high-gain antenna in real time through a second directional high-gain antenna or a monopole antenna;
modulating the electromagnetic wave signal into a carrier frequency signal, transmitting the carrier frequency signal to a second transceiver, and converting the carrier frequency signal through the second transceiver to obtain a digital signal of a request instruction;
generating the image data and the position data into excavator running state data for uploading according to the digital signal of the request instruction;
the excavator running state data is converted into a carrier frequency signal through a second transceiver and transmitted to a second directional high-gain antenna or a monopole antenna;
the carrier frequency signal is converted into a space electromagnetic wave through the second directional high-gain antenna or the monopole antenna, and the space electromagnetic wave is used for transmitting an electromagnetic wave signal responding to the request instruction to the first directional high-gain antenna.
In a third aspect, the present invention provides a remote control method for a manipulation control unit, including:
acquiring position information of a control unit and the orientation of a current first directional high-gain antenna in real time, and receiving a response signal taking an electromagnetic wave signal as a carrier through the first directional high-gain antenna;
the response signal is converted into a carrier frequency signal from an electromagnetic wave signal and transmitted to the first transceiver; the intensity of the received response signal is judged through the first transceiver device, and a current response signal intensity judgment result is obtained;
the carrier frequency signal is converted into a digital signal through the first transceiver and transmitted to the operating device, and the operating device directly reads the current excavator running state data and performs visual output for providing reference for an operator to manually trigger and switch a control instruction to remotely control the excavator;
the excavator running state data comprises image data and position data of the excavator running in real time; and controlling the rotation of the first directional high-gain antenna in real time according to the judgment result of the strength of the response signal and the position data, calculating the position data to obtain a path scalar of the excavator, and judging whether to control the rotation of the first directional high-gain antenna according to the path scalar.
In a further embodiment, the method for obtaining the strength judgment result of the response signal by the first transceiver device performing the strength judgment on the received response signal includes:
comparing the response signal with a preset value to obtain a response signal strength judgment result; wherein, the judgment result of the response signal strength comprises: the intensity value is valid and invalid;
if the response signal is larger than the preset value, judging that the intensity value is effective, and outputting a normal communication state;
if the response signal is smaller than the preset value, judging that the strength value is invalid, controlling the first directional high-gain antenna to rotate under the condition that the strength value is invalid, recording whether the strength of the response signal is invalid in the rotating process, and selectively outputting system fault information for prompting a user to overhaul according to the rotating search result; and in the rotation process of the first directional high-gain antenna, analyzing the trend of the signal variation according to the rotation search result, and selecting the direction in which the trend of the variation rises as the rotation direction of the first directional high-gain antenna.
In a further embodiment, the method for adjusting the rotation of the first directional high-gain antenna in real time according to the determination result of the strength of the response signal and the position data includes:
extracting the position data of the current excavator operation from the excavator operation state data and acquiring a response signal strength judgment result in real time;
and calculating the relative position of the excavator position data and the operating device position to obtain the relative orientation of the excavator, and selecting and outputting fault data or a first orientation high-gain antenna rotation instruction according to the response signal strength judgment result to control the relative orientation of the first orientation high-gain antenna and the excavator to be consistent all the time.
In a further embodiment, the method for calculating the position data to obtain a path scalar of the excavator and judging whether to control the rotation of the first directional high-gain antenna according to the path scalar comprises the following steps: :
presetting a path scalar quantity of the excavator beyond a coverage area of the first directional high-gain antenna as an adjusted scalar quantity, and acquiring a plurality of continuous response signal strength judgment results among the path scalar quantities of the excavator when the path scalar quantity of the excavator is greater than the scalar quantity;
obtaining the strength change of the response signal during the walking of the excavator according to the strength judgment results of the plurality of continuous response signals;
if the intensity of the response signal changes to a reduced amplitude, and the reduced amplitude is larger than a set value, outputting a prompt to prompt a user of the excavator to stop moving, simultaneously controlling the first directional high-gain antenna to rotate, recording the angles of the upper limit value and the upper limit value of the intensity of the response signal in the rotating process, and controlling the orientation of the first directional high-gain antenna to be overlapped with the angle of the upper limit value;
if the strength of the response signal changes to be amplitude, the first directional high-gain antenna is controlled to rotate, the angles of the upper limit value and the upper limit value of the strength of the response signal in the rotating process are recorded, and the direction of the first directional high-gain antenna is controlled to coincide with the angle of the upper limit value.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) The system of the invention utilizes the directional high-gain antenna to realize long-distance large-volume data transmission; the control device is communicated with the excavator to acquire the action and the surrounding environment of the excavator, and display the information of the running state, the task progress state and the like of the excavator, so that an operator can conveniently remotely control a plurality of excavators or other working vehicles in real time to provide judged data support and reference;
(2) The system and the method of the invention prolong the applicable distance of communication control, reduce the ineffective radiation and interference of electromagnetic waves, improve the real-time efficiency of data transmission and reduce the network delay through the directional high-gain antenna;
(3) Through array antenna or plane of reflection, change the too big phenomenon of former single antenna radiation angle scope, make the radiation angle of whole antenna reduce, promote the electromagnetic wave energy density on the appointed angle and avoid the signal on the electromagnetic wave transmission distance to weaken, and set up rotary platform and can adjust the wave beam pointing according to the real-time operating position of excavator, keep the stable transmission of communication signal.
Drawings
FIG. 1 is a system configuration diagram of the excavator remote communication control of the present invention;
fig. 2 is a structural diagram of an array antenna of the first directional high-gain antenna or the second directional high-gain antenna according to the present invention;
fig. 3 is a diagram of a radome structure of the first directional high-gain antenna or the second directional high-gain antenna according to the present invention;
FIG. 4 is a diagram of an internal functional module of a first transceiver device according to an embodiment of the present invention;
FIG. 5 is a flow chart of the system of the present invention for initially selecting a direction;
FIG. 6 is a communication flow and a location calibration flow of the system of the present invention;
FIG. 7 is a flow chart of the excavator movement tracking system of the present invention;
FIG. 8 is a flow chart of the system for handling an obstacle exception according to the present invention.
The reference numbers in the figures are: 1-operating the device; 2-a first transceiving means; 3-rotating the platform; 4-a first directional high gain antenna; 5-directional high gain antenna beam; 6-monopole antenna beam; 7-monopole antenna; 8-a second transceiver; 9-a camera; 10-an antenna element; 11-radome.
Detailed Description
In order to more fully understand the technical contents of the present invention, the technical solutions of the present invention will be further described and illustrated with reference to specific embodiments, but not limited thereto.
With reference to fig. 1 to 4, a system for remote communication control of an excavator comprises: the control unit and the excavator execution unit are communicated with the control unit;
the control unit sends a request signal, receives uploaded data of the response request signal of the excavator execution unit, generates a control instruction in real time according to the uploaded data, sends the control instruction to the excavator execution unit, and visually outputs excavator running state data for providing judged data support and reference for an operator of the control unit to remotely control the excavator;
the excavator execution unit acquires the excavator running state data, responds to the request signal, generates the current excavator running state, uploads the data, transmits the data to the control unit, and receives the control command transmitted by the control unit to execute the excavator action according to the control command.
The manipulation control unit includes: the antenna comprises an operating device 1, a first transceiver 2, a rotary platform 3 and a first directional high-gain antenna 4;
the operating device 1 is formed by assembling a handle, a switch, a knob, a display device and a plurality of control input and/or output devices, is used for facilitating manual triggering and control instruction switching of an operator, and visually displays the running state data of the excavator through the display device for facilitating reference of the operator;
the operating device 1 is electrically connected with the first transceiver 2 for receiving or transmitting digital signals;
the first transceiver 2 is provided with a radio transceiver, a received signal strength detection unit and an antenna rotation control unit;
the first transceiver 2 is respectively communicated with the operating device 1 and the first directional high-gain antenna 4 through a radio transceiver, and is used for receiving a digital signal of a control instruction or a request instruction of the operating device 1, converting the digital signal into a carrier frequency signal and sending the carrier frequency signal to the first directional high-gain antenna 4, receiving the carrier frequency signal of the excavator running state data in real time through the first directional high-gain antenna 4, converting the carrier frequency signal of the excavator running state data into the digital signal and uploading the digital signal to the operating device 1;
the first transceiver 2 is used for judging the strength of the received response signal through a received signal strength detection unit;
the first transceiver 2 is electrically connected with the rotary platform 3 through an antenna rotation control unit and is used for controlling the rotary platform 3 to rotate;
the first directional high-gain antenna 4 is respectively communicated with the first transceiver 2 and the excavator and is used for converting the carrier frequency signal of the first transceiver 2 into an electromagnetic wave signal and transmitting the electromagnetic wave signal to the excavator; receiving electromagnetic wave signals of the excavator running state data in real time;
the rotating platform 3 is fixedly connected with the first directional high-gain antenna 4, and the rotating platform 3 is controlled to rotate through the first transceiver 2 so as to drive the first directional high-gain antenna 4 to rotate and adjust the beam direction of the first directional high-gain antenna 4.
The operating device 1 further comprises a GPS positioner and a GPS resolving unit which are used for extracting the relative position of the operating device 1 and the excavator according to the real-time received excavator running state data.
The excavator execution unit includes: the system comprises a second transceiver 8, a camera 9, a monopole antenna 7 and/or a second directional high-gain antenna, an excavator controller and a GPS (global positioning system) positioner;
the second transceiver device 8, the camera 9, the monopole antenna 7 and/or the second directional high-gain antenna and the GPS receiver are respectively arranged on the excavator;
the excavator comprises a plurality of cameras 9, wherein the cameras 9 are arranged on a plurality of side surfaces of an excavator body respectively and used for collecting image data including actions of the excavator and the surrounding environment of the whole excavator;
the GPS positioner is used for uploading real-time position data of the excavator to the controller;
the excavator controller is used for receiving the image data and the real-time position data and generating excavator running state data; the digital signals of the excavator running state data are forwarded to the second transceiver 8, and the digital signals of the control instructions or the request instructions returned by the second transceiver 8 are received;
the second transceiver 8 receives the carrier frequency signal converted by the monopole antenna 7 or the second directional high-gain antenna, converts the carrier frequency signal into a digital signal and sends the digital signal to the excavator controller, converts the excavator running state data generated by the excavator controller into a carrier frequency signal and sends the carrier frequency signal to the monopole antenna 7 or the second directional high-gain antenna for transmission;
the monopole antenna 7 or the second directional high-gain antenna is respectively used for communicating with the first directional high-gain antenna 4 and the second transceiver device 8; receiving the space electromagnetic wave signal of the first directional high-gain antenna 4, and converting the carrier frequency signal of the second transceiver 8 into an electromagnetic wave signal to be transmitted to the first directional high-gain antenna 4;
in the embodiment, the monopole antenna 7 and the first directional high-gain antenna 4 are used in combination, so that the defect of the beam 6 of the monopole antenna 7 is effectively reduced, and meanwhile, the first directional high-gain antenna 4 and the second directional high-gain antenna can be used for communication in combination;
in order to effectively utilize the energy of electromagnetic waves, a single electronic antenna 7 is arranged at the top of the rotary platform 3 of the excavator, the maximum intensity direction of a wave beam 6 of the single electronic antenna faces a directional high-gain antenna, and the intensity of a received signal can be effectively improved;
the directional high-gain antenna changes the phenomenon that the range of the radiation angle of the original single antenna is too large through the array antenna or the reflecting surface, so that the radiation angle of the whole antenna is reduced, and the electromagnetic wave energy density of the directional high-gain antenna beam 5 at the specified angle is improved.
The first directional high-gain antenna 4 and/or the second directional high-gain antenna are/is assembled in the antenna housing 11, and the antenna housing 11 is made of PBT + GF30 materials; the material has good wave-transmitting performance, ageing resistance, hydrolysis resistance and high strength; the antenna housing 11 can effectively protect the array, and reduce damage in hoisting and transportation;
the expression for the array of antenna elements 10 of the first directional high gain antenna 4 and/or the second directional high gain antenna is: m is multiplied by n;
wherein n is a row of 10 antenna units, m is a column of 10 antenna units, the row spacing and the column spacing between the antenna units 10 are the same, the phase of each antenna unit 10 is also the same, and the radiation power is distributed according to the Chebyshev weight or the Taylor weight;
the elevation direction half-power beam angle of the array antenna in this embodiment is approximately
Figure BDA0003794351470000081
The horizontal half-power beam angle is approximately
Figure BDA0003794351470000082
In general, a directional high-gain antenna can cover a certain area, and an excavator does not need to be adjusted all the time when moving, so that the horizontal beam angle of the antenna cannot be too small, the altitude of the excavator in a project area does not change greatly, and the beam pitching angle of the antenna can be smaller; so generally n is greater than m. The distance d between the antenna units is generally 0.5 lambda, and in practical engineering application, when the antenna units are not one point and the requirement on the side lobe is not particularly high, the array antenna has no phase shifter again and has no phase-scanning function, and the distance d can be slightly larger than 0.5 lambda. The increase in the distance d can achieve the effect of more antennas with fewer antenna elements, and at the same time, reduce the coupling between the antenna elements and give more size space to the antenna elements.
Example 2: further, the excavator remote communication method comprises the following working steps:
collecting image data and position data, and receiving electromagnetic wave signals transmitted by the first directional high-gain antenna 4 in real time through a second directional high-gain antenna or a monopole antenna 7;
modulating the electromagnetic wave signal into a carrier frequency signal, transmitting the carrier frequency signal to a second transceiving device 8, converting the carrier frequency signal through the second transceiving device 8, and acquiring a digital signal of a request instruction;
generating the image data and the position data into excavator running state data for uploading according to the digital signal of the request instruction;
the excavator running state data is converted into a carrier frequency signal through a second transceiver 8 and transmitted to a second directional high-gain antenna or a monopole antenna 7;
the carrier frequency signal is converted into a space electromagnetic wave through the second directional high-gain antenna or the monopole antenna 7, and is used for transmitting an electromagnetic wave signal responding to the request instruction to the first directional high-gain antenna 4.
Example 3: further, the remote control method of the control unit comprises the following working steps:
acquiring position information of the control unit and the orientation of the current first directional high-gain antenna 4 in real time, and receiving a response signal using an electromagnetic wave signal as a carrier through the first directional high-gain antenna 4;
the response signal is converted from an electromagnetic wave signal into a carrier frequency signal and transmitted to the first transceiver 2; the intensity judgment is carried out on the received response signal through the first transceiver device 2, and a current response signal intensity judgment result is obtained;
the carrier frequency signal is converted into a digital signal through the first transceiver 2 and transmitted to the operating device 1, and the operating device 1 directly reads the current excavator running state data and performs visual output for providing reference for an operator to manually trigger and switch a control instruction to remotely control the excavator;
the excavator running state data comprises image data and position data of real-time operation of the excavator; and controlling the first directional high-gain antenna 4 to rotate in real time according to the judgment result of the strength of the response signal and the position data, calculating the position data to obtain a path scalar of the excavator, and judging whether to control the first directional high-gain antenna 4 to rotate or not according to the path scalar.
The method for judging the strength of the received response signal through the first transceiver 2 to obtain the judgment result of the strength of the response signal comprises the following steps:
comparing the response signal with a preset value to obtain a response signal strength judgment result; wherein, the response signal strength judgment result comprises: the strength value is valid and the strength value is invalid;
if the response signal is larger than the preset value, judging that the intensity value is effective, and outputting a normal communication state;
if the response signal is smaller than the preset value, judging that the strength value is invalid, controlling the first directional high-gain antenna 4 to rotate under the condition that the strength value is invalid, recording whether the strength of the response signal is invalid in the rotating process, and selectively outputting system fault information for prompting a user to overhaul according to the rotating search result;
during the rotation of the first directional high-gain antenna 4, the trend of the signal variation is analyzed according to the rotation search result, and the direction in which the trend of the variation rises is selected as the rotation direction of the first directional high-gain antenna 4.
The method for adjusting the rotation of the first directional high-gain antenna 4 in real time according to the judgment result of the strength of the response signal and the position data comprises the following steps:
extracting the position data of the current excavator operation from the excavator operation state data and acquiring a response signal strength judgment result in real time;
and calculating the relative position of the position data of the excavator and the position of the operating device 1 to obtain the relative orientation of the excavator, and selecting and outputting fault data or a rotation instruction of the first orientation high-gain antenna 4 according to the judgment result of the strength of the response signal for controlling the relative orientation of the first orientation high-gain antenna 4 and the excavator to be consistent all the time.
The method for calculating the position data to obtain the path scalar quantity of the excavator and judging whether to control the rotation of the first directional high-gain antenna 4 or not according to the path scalar quantity comprises the following steps: :
presetting a path scalar quantity of the excavator beyond a coverage area of the first directional high-gain antenna 4 as an adjusted scalar quantity, and acquiring a plurality of continuous response signal strength judgment results among the path scalar quantities of the excavator when the path scalar quantity of the excavator is greater than the scalar quantity;
obtaining the intensity change of the response signal during the walking of the excavator according to the intensity judgment results of the plurality of continuous response signals;
if the strength change of the response signal is amplitude reduction and the amplitude reduction is larger than a set value, outputting a prompt to stop the movement of a user, simultaneously controlling the first directional high-gain antenna 4 to rotate, recording the angles of the upper limit value and the upper limit value of the strength of the response signal in the rotating process, and controlling the direction of the first directional high-gain antenna 4 to coincide with the angle of the upper limit value;
if the strength of the response signal changes to an amplitude, the first directional high-gain antenna 4 is controlled to rotate, the angles of the upper limit value and the upper limit value of the strength of the response signal in the rotating process are recorded, and the direction of the first directional high-gain antenna 4 is controlled to be overlapped with the angle of the upper limit value.
Example 4: in the actual excavation or operation process, the present embodiment further provides the application of the communication system, the operation device 1 and the excavator in a plurality of different scenarios according to different working conditions and with reference to fig. 5 to 8:
as shown in fig. 5, the initial direction selection process includes the following steps:
step S101: the rotating platform 3 is driven to drive the directional high-gain antenna to rotate, and electromagnetic wave signals of the controlled excavator are received while the directional high-gain antenna rotates;
step S102: the first transceiver 2 detects the signal strength transmitted by the directional high-gain antenna and the orientation of the antenna transmitted by the rotary platform 3, if the signal strength is greater than a calibration value a, the strength value is considered to be valid, and if the signal strength value is less than or equal to the calibration value a, the strength value is considered to be invalid;
step S103: analyzing whether the signal strength has an extreme point or not according to the effective signal strength value and the angle of the signal strength value;
step S104: if the directional high-gain antenna rotates for a circle, the first transceiver device 2 determines whether the detection results are less than or equal to the minimum detectable signal;
step S105: if the step S104 shows that no effective signal exists in one rotation, the user is prompted to have a system fault and cannot detect the signal;
step S106: judging whether a maximum value exists according to the strength value and the maximum value point analysis result recorded in the step S103, namely when the directional high-gain antenna faces the controlled excavator antenna, the signal strength is strong;
step S107: and if the maximum value point does not exist, judging whether the signal is monotonously increased, if the strength value of the received signal is larger along with the rotating direction, indicating that the directional high-gain antenna is pointing to the controlled target, otherwise, the directional high-gain antenna is far away from the target.
Step S108: if the current rotation direction of the directional high-gain antenna is far away from the controlled target and the signal intensity is gradually reduced, rotating in the opposite direction to search for a maximum value point;
step S109: if the signal intensity value recorded in the rotating process, continuing the current rotating direction and recording the position of the maximum value point;
step S110: and if the maximum value point is found, the directional high-gain antenna is turned to the position to carry out communication.
As shown in fig. 6, the communication flow and the position calibration include the following steps:
step S201: when the high-gain antenna is adjusted and communication is available, the operating device 1 sends a state information request to the controlled excavator;
step S202: the first transceiver 2 converts the digitized state request information into a carrier frequency signal and transmits the carrier frequency signal to the directional high-gain antenna;
step S203: the directional high-gain antenna converts the traveling wave signal provided by the first transceiver 2 into a space wave, the antenna unit 10 of the array antenna forms an array according to a certain weight, phase and distance, and the concentrated electromagnetic wave forms a concentrated beam;
step S204: a single sub antenna on the excavator is used as a receiving antenna, receives electromagnetic waves, converts the electromagnetic waves into traveling waves in a transmission line, and transmits the traveling waves to the second transceiver device 8;
step S205: the second transceiver 8 converts the received traveling wave state signal into digital request information, and the whole vehicle controller of the controlled excavator receives a data request;
step S206: the second transceiver 8 receives the data information replied by the whole vehicle, and sends the data information out through a single sub antenna of the controlled excavator, and the directional high-gain antenna is used as a receiving antenna for receiving signals and further sends the signals to the operating device 1 through the first transceiver 2;
step S207: the operating device 1 extracts the GPS positioning information of the controlled excavator in the reply information;
step S208: the operation device 1 obtains the positioning and orientation of the operation device 1 according to the self positioning sensor;
step S209: the operating device 1 calculates the position of the controlled excavator according to the information and the orientation of the GPS, and whether the position is consistent with the orientation of the current directional high-gain antenna;
step S210: if the relative position calculated according to the GPS positioning information is inconsistent with the orientation of the directional high-gain antenna, the directional high-gain antenna is turned to the position of the controlled excavator provided by the GPS, and the received signal strength of the current new position is recorded;
step S211: comparing the strength of the azimuth receiving signal provided by the GPS signal with the strength of the signal of the maximum value point searched before, and judging whether the strength of the azimuth receiving signal provided by the current GPS is higher or not;
step S212: if the comparison result in step S211 is lower, i.e., equal to or less than the home position, the directional high gain antenna is switched back to the home position for communication.
As shown in fig. 7, the excavator movement tracking process includes the following steps:
step S301: in the communication control process, if the accumulated walking amount of the excavator after the last antenna adjustment reaches a certain calibration value b;
step S302: calculating the distance between the operating device 1 and the controlled excavator according to the GPS positioning information of the operating device and the controlled excavator, and calculating the strength value of the theoretical receiving signal at the moment;
step S303: calculating the amplitude reduction of the signal according to the theoretical intensity value of the step 302 and the intensity value of the current received signal, and judging whether the amplitude reduction reaches a calibrated value c;
step S304: if the amplitude reduction reaches a calibration value, preparing to adjust the direction of the directional high-gain antenna, prompting a user that the antenna is being adjusted and the controlled excavator cannot be moved temporarily;
step S305: if the orientation of the step S209 is consistent, correcting the direction of the directional high-gain antenna according to the positioning value information provided by the GPS, and if the orientation of the step S209 is inconsistent, executing the steps S101 to S110;
step S306: and prompting the user to complete the adjustment, so that the normal operation can be realized.
As shown in fig. 8, the obstacle exception handling process includes the following steps:
step S401: the first transceiver 2 detects that the received signal has obvious abnormal change, and the movement of the non-controlled excavator causes the signal change;
step S402: judging whether the signal is interrupted or not by checking the detection signal strength and the response data;
step S403: if the signal is not interrupted, only the received signal is weakened, and whether the signal strength is smaller than the minimum value is judged;
step S404: if the judgment result in the step S403 is negative, the processing is not carried out for the moment, and the communication is continuously kept;
step S405: if the judgment result in the step S402 is yes or the judgment result in the step S403 is yes, informing the user that the signal strength is in failure;
step S406: monitoring the received signal strength of the directional high-gain antenna, and judging whether the signal strength has continuous change or not;
step S407: if the signal strength does not change continuously, the directional high-gain antenna is automatically adjusted, namely, steps S101 to S110;
step S408: after the step S407 is executed, it is determined whether the received signal strength can satisfy the requirement, and communication is performed;
step S409: if the result of step S408 is still not satisfied, the communication system is displayed to be abnormal, and the fault is processed.
In conclusion, the system of the invention utilizes the directional high-gain antenna to realize long-distance large-volume data transmission; the control device is communicated with the excavator to acquire the action and the surrounding environment of the excavator, and display the information of the running state, the task progress state and the like of the excavator, so that an operator can conveniently remotely control a plurality of excavators or other working vehicles in real time to provide judged data support and reference; the system and the method of the invention prolong the applicable distance of communication control, reduce the ineffective radiation and interference of electromagnetic waves, improve the real-time efficiency of data transmission and reduce the network delay through the directional high-gain antenna; through array antenna or plane of reflection, change the too big phenomenon of former single antenna radiation angle scope, make the radiation angle of whole antenna reduce, promote the electromagnetic wave energy density on the appointed angle and avoid the signal on the electromagnetic wave transmission distance to weaken, set up rotary platform 3 and can adjust the wave beam pointing according to the real-time operating position of excavator, keep the stable transmission of communication signal.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
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 system for remote communication control of an excavator, comprising:
the excavator control system comprises a control unit and an excavator execution unit communicated with the control unit;
the control unit sends a request signal, receives uploaded data of the response request signal of the excavator execution unit, generates a control instruction in real time according to the uploaded data, sends the control instruction to the excavator execution unit, and visually outputs excavator running state data for providing data support and reference for an operator of the control unit to remotely control the excavator;
the excavator execution unit acquires the excavator running state data, responds to the request signal, generates the current excavator running state, uploads the data, transmits the data to the control unit, and receives the control command transmitted by the control unit to execute the excavator action according to the control command.
2. The system for remote communication control of an excavator according to claim 1, wherein the manipulation control unit comprises: the antenna comprises an operating device, a first transceiver, a rotary platform and a first directional high-gain antenna;
the operating device is formed by assembling a handle, a switch, a knob, a display device and a plurality of control input and/or output devices, is used for facilitating manual triggering and switching of control instructions of operators, and visually displays the running state data of the excavator through the display device for facilitating reference of the operators;
the operating device is electrically connected with the first transceiver for receiving or transmitting digital signals;
the first transceiver is provided with a radio transceiver, a received signal strength detection unit and an antenna rotation control unit;
the first transceiver is respectively communicated with the operating device and the first directional high-gain antenna through the radio transceiver and is used for receiving a digital signal of a control instruction or a request instruction of the operating device, converting the digital signal into a carrier frequency signal and sending the carrier frequency signal to the first directional high-gain antenna, receiving the carrier frequency signal of the running state data of the excavator in real time through the first directional high-gain antenna, converting the carrier frequency signal of the running state data of the excavator into the digital signal and uploading the digital signal to the operating device;
the first transceiver is used for judging the strength of the received response signal through a received signal strength detection unit;
the first transceiver is electrically connected with the rotating platform through the antenna rotation control unit and is used for controlling the rotating platform to rotate;
the first directional high-gain antenna is respectively communicated with the first transceiver and the excavator and is used for converting the carrier frequency signal of the first transceiver into an electromagnetic wave signal and transmitting the electromagnetic wave signal to the excavator; receiving electromagnetic wave signals of the excavator running state data in real time;
the rotating platform is fixedly connected with the first directional high-gain antenna, and the first transceiver is used for controlling the rotating platform to rotate so as to drive the first directional high-gain antenna to rotate and adjust the beam direction of the first directional high-gain antenna.
3. The system for remote communication control of the excavator according to claim 2, wherein the operating device further comprises a GPS positioner and a GPS calculating unit for extracting the relative position of the operating device and the excavator according to the real-time received excavator running state data.
4. The system for remote communication control of an excavator according to claim 1, wherein the excavator execution unit comprises: the system comprises a second transceiver, a camera, a monopole antenna and/or a second directional high-gain antenna, an excavator controller and a GPS (global positioning system) positioner;
the second transceiver, the camera, the monopole antenna and/or the second directional high-gain antenna and the GPS receiver are/is arranged on the excavator respectively;
the excavator comprises an excavator body, a plurality of cameras, a plurality of positioning devices and a plurality of positioning devices, wherein the number of the cameras is multiple, and the cameras are respectively arranged on a plurality of side surfaces of the excavator body and are used for collecting image data comprising excavator actions and the surrounding environment of the whole excavator;
the GPS positioner is used for uploading real-time position data of the excavator to the controller;
the excavator controller is used for receiving the image data and the real-time position data and generating excavator running state data; the digital signals of the excavator running state data are forwarded to the second transceiver, and the digital signals of the control instructions or the request instructions returned by the second transceiver are received;
the second transceiver receives the carrier frequency signal converted by the monopole antenna or the second directional high-gain antenna, converts the carrier frequency signal into a digital signal and sends the digital signal to the excavator controller, converts the excavator running state data generated by the excavator controller into a carrier frequency signal and sends the carrier frequency signal to the monopole antenna or the second directional high-gain antenna for transmission;
the monopole antenna or the second directional high-gain antenna is used for respectively communicating with the first directional high-gain antenna and the second transceiver device; and receiving the space electromagnetic wave signal of the first directional high-gain antenna, converting the carrier frequency signal of the second transceiver into an electromagnetic wave signal, and transmitting the electromagnetic wave signal to the first directional high-gain antenna.
5. The system for excavator telecommunication control of claim 2 or 4 wherein the first directional high gain antenna and/or the second directional high gain antenna is/are assembled in a radome made of PBT + GF30 material; the expression of the antenna element array of the first directional high-gain antenna and/or the second directional high-gain antenna is as follows: m is multiplied by n;
wherein n is an antenna unit row, m is an antenna unit column, the row spacing and the column spacing between the antenna units are the same, the phase of each antenna unit is also the same, and the radiation power is distributed according to the Chebyshev weight or the Taylor weight.
6. An excavator remote communication method, comprising:
acquiring image data and position data, and receiving electromagnetic wave signals transmitted by the first directional high-gain antenna in real time through a second directional high-gain antenna or a monopole antenna;
modulating the electromagnetic wave signal into a carrier frequency signal, transmitting the carrier frequency signal to a second transceiver, and converting the carrier frequency signal through the second transceiver to obtain a digital signal of a request instruction;
generating the image data and the position data into excavator running state data for uploading according to the digital signal of the request instruction;
the excavator running state data is converted into a carrier frequency signal through a second transceiver and transmitted to a second directional high-gain antenna or a monopole antenna;
the carrier frequency signal is converted into a space electromagnetic wave through the second directional high-gain antenna or the monopole antenna, and the space electromagnetic wave is used for transmitting an electromagnetic wave signal responding to the request instruction to the first directional high-gain antenna.
7. A remote control method for an operation control unit is characterized by comprising the following steps:
acquiring position information of a control unit and the orientation of a current first directional high-gain antenna in real time, and receiving a response signal taking an electromagnetic wave signal as a carrier through the first directional high-gain antenna;
the response signal is converted from an electromagnetic wave signal into a carrier frequency signal and transmitted to the first transceiver; the intensity of the received response signal is judged through the first transceiver device, and a current response signal intensity judgment result is obtained;
the carrier frequency signal is converted into a digital signal through the first transceiver and transmitted to the operating device, and the operating device directly reads the current excavator running state data and performs visual output for providing reference for an operator to manually trigger and switch a control instruction to remotely control the excavator;
the excavator running state data comprises image data and position data of real-time operation of the excavator; and controlling the rotation of the first directional high-gain antenna in real time according to the judgment result of the strength of the response signal and the position data, calculating the position data to obtain a path scalar of the excavator, and judging whether to control the rotation of the first directional high-gain antenna according to the path scalar.
8. The remote control method of claim 7, wherein the strength of the received response signal is determined by the first transceiver, and the determination result of the strength of the response signal is obtained by:
comparing the response signal with a preset value to obtain a response signal strength judgment result; wherein, the judgment result of the response signal strength comprises: the strength value is valid and the strength value is invalid;
if the response signal is larger than the preset value, judging that the strength value is effective, and outputting a normal communication state;
if the response signal is smaller than the preset value, the strength value is judged to be invalid, the first directional high-gain antenna is controlled to rotate under the condition that the strength value is invalid, whether the strength values of the response signal in the rotating process are invalid or not is recorded, and fault information of the system is selected and output to prompt a user to overhaul according to the rotating search result; and in the rotation process of the first directional high-gain antenna, analyzing the trend of the signal variation according to the rotation searching result, and selecting the direction in which the trend of the variation increases as the rotation direction of the first directional high-gain antenna.
9. The remote control method of claim 7, wherein the method for adjusting the rotation of the first directional high-gain antenna in real time according to the determination result of the strength of the response signal and the position data comprises:
extracting the position data of the current excavator operation from the excavator operation state data and acquiring a response signal strength judgment result in real time;
and calculating the relative position of the excavator position data and the operating device position to obtain the relative orientation of the excavator, and selecting and outputting fault data or a first orientation high-gain antenna rotation instruction according to the response signal strength judgment result to control the relative orientation of the first orientation high-gain antenna and the excavator to be consistent all the time.
10. The remote control method of claim 7, wherein the position data is calculated to obtain a path scalar of the excavator, and the method for determining whether to control the rotation of the first directional high gain antenna according to the path scalar comprises:
presetting a path scalar quantity of the excavator beyond a coverage area of the first directional high-gain antenna as an adjusted scalar quantity, and acquiring a plurality of continuous response signal strength judgment results among the path scalar quantities of the excavator when the path scalar quantity of the excavator is greater than the scalar quantity;
obtaining the intensity change of the response signal during the walking of the excavator according to the intensity judgment results of the plurality of continuous response signals;
if the intensity change of the response signal is amplitude reduction and the amplitude reduction is larger than a set value, outputting a prompt to prompt an excavator user to stop moving, simultaneously controlling the first directional high-gain antenna to rotate, recording angles of an upper limit value and an upper limit value of the intensity of the response signal in the rotating process, and controlling the direction of the first directional high-gain antenna to coincide with the angle of the upper limit value;
and if the intensity of the response signal changes to an amplitude, controlling the first directional high-gain antenna to rotate, recording the angles of the upper limit value and the upper limit value of the intensity of the response signal in the rotating process, and controlling the orientation of the first directional high-gain antenna to coincide with the angle of the upper limit value.
CN202210964724.2A 2022-08-12 2022-08-12 System and method for remote communication control of excavator Pending CN115426382A (en)

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Application Number Priority Date Filing Date Title
CN202210964724.2A CN115426382A (en) 2022-08-12 2022-08-12 System and method for remote communication control of excavator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210964724.2A CN115426382A (en) 2022-08-12 2022-08-12 System and method for remote communication control of excavator

Publications (1)

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CN115426382A true CN115426382A (en) 2022-12-02

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