CN117021366A - Remote control method and system for low-carbon recycled concrete mixing equipment - Google Patents

Abstract

The application relates to the technical field of equipment control, and provides a remote control method and a remote control system for low-carbon recycled concrete stirring equipment, wherein the method comprises the following steps: responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; acquiring vehicle encryption data of a current vehicle to be charged based on a license plate number, and acquiring a data decoding strategy according to the type of the vehicle; decrypting the encrypted data of the vehicle based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value; if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, a discharge channel is opened, and the discharging equipment is controlled to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged. The application solves the defect that the existing low-carbon recycled concrete stirring equipment consumes a great deal of manpower during production control, and realizes the remote control of the low-carbon recycled concrete stirring equipment.

Description

Remote control method and system for low-carbon recycled concrete mixing equipment

Technical Field

The application relates to the technical field of equipment control, in particular to a remote control method and a remote control system for low-carbon recycled concrete stirring equipment.

Background

In the production process of the low-carbon recycled concrete mixing equipment, the starting, the closing and the working condition setting of more equipment are involved, and generally before formally starting production, operators need to start part of equipment on site in advance, for example, to start a conduction oil system on site for a few hours in advance for the asphalt low-carbon recycled concrete mixing equipment, and after the production is completed, the operators need to wait for a dust remover to delay to reach a closing condition and leave the site, so that the existing low-carbon recycled concrete mixing equipment needs to consume a large amount of manpower.

Disclosure of Invention

The embodiment of the application provides a remote control method and a remote control system for low-carbon recycled concrete mixing equipment, which aim to overcome the defect that the existing low-carbon recycled concrete mixing equipment consumes a large amount of manpower during production control and realize the remote control of the low-carbon recycled concrete mixing equipment.

In a first aspect, the present embodiment provides a remote control method for a low-carbon recycled concrete mixing apparatus, where the low-carbon recycled concrete mixing apparatus is an intelligent apparatus having networking capability, including:

Responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be an oversized carrier vehicle, determining a data decoding strategy as: taking the user identification information as a first auxiliary decryption key, and taking the central control user signature as a second auxiliary decryption key; the tonnage range of the oversized delivery vehicle is more than or equal to 20;

Correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the central control user signature information is used as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (user identification information) } { (central control user signature) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle user identification information is taken as a first auxiliary decryption key to perform second-layer decryption on the vehicle encrypted data ENP [ data ] { (user identification information) }, and a decrypted hash value is obtained.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be a large carrier vehicle, determining a data decoding strategy as: taking the central control user signature as a first auxiliary decryption key and taking the user identification information as a second auxiliary decryption key; tonnage range of large-scale carrier vehicle is [10, 20);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

Using the vehicle user identification information as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (center control user signature) } { (user identification information) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle encrypted data ENP [ data ] { (center control user signature) } is decrypted in a second layer by taking the center control user signature information as a first auxiliary decryption key, and the decrypted hash value is obtained.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be a medium-sized carrier vehicle, determining the data decoding strategy as: taking the user identification information as an upper-layer auxiliary decryption key, and taking the central control user signature as a lower-layer auxiliary decryption key; the tonnage range of the medium-sized carrier vehicle is [3, 10);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the vehicle user identification information is used as an upper-layer auxiliary decryption key, the central control user signature information is used as a lower-layer auxiliary decryption key, and double-layer parallel decryption is carried out on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

Wherein,representing parallel encryption.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be a small carrier vehicle, determining the data decoding strategy to be: taking the central control user signature as an upper-layer auxiliary decryption key and taking the user identification information as a lower-layer auxiliary decryption key; the tonnage range of the small-sized carrying vehicle is less than 3;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

taking the central control user signature information as an upper-layer auxiliary decryption key and taking the vehicle user identification information as a lower-layer auxiliary decryption key, and performing double-layer parallel decryption on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

In one embodiment, the method further comprises:

when receiving a device debugging request sent by the central control platform, opening a first target port and a second target port;

transmitting first port information to the central control platform through a first target port, so that the central control platform establishes connection with the first target port according to the first port information; the first port information includes a first token for the first target port;

Transmitting second port information to the central control platform through a second target port, so that the central control platform establishes connection with the second target port according to the second port information; the second port information includes a second token for the second destination port;

receiving first feedback information which is returned by the central control platform and is successfully connected with the first target port and second feedback information which is successfully connected with the second target port, acquiring a first random number as a first public key, acquiring a second random number as a first private key, and generating a first key pair;

the first public key is sent to the central control platform through the first target port, and a second public key sent by the central control platform is received; the central control platform is connected with the first target port to generate a second key pair, wherein the second key pair comprises a second public key and a second private key;

receiving a first message sent by the central control platform through the first target port, and decrypting the first message based on the second public key and the first private key; the first message is obtained by encrypting a second message by the central control platform based on the first public key and the second private key, and the second message comprises identification information of the central control platform, the first token and the second token;

Determining whether the central control platform has authority to establish connection with the first target port or not based on the decryption result of the first message;

if the central control platform is determined to have permission to establish connection with the first target port, determining that the central control platform is successfully connected with the first target port;

and if the fact that the central control platform does not have permission to establish connection with the first target port is determined, disconnecting the first target port from the central control platform.

In one embodiment, the method further comprises:

receiving a vehicle control instruction sent by the central control platform; the vehicle control instructions include waypoint planning instructions; the navigation point planning instruction comprises a plurality of preset navigation points;

calculating the distance between two waypoints under the condition that the vehicle control instruction is a waypoint planning instruction;

calculating the number of the tracking points according to a preset tracking demand period, the distance between the two navigation points and the vehicle speed; assigning coordinates of the tracking points based on a distance between two of the waypoints and the number of the tracking points; setting the relative time of each tracking point according to a preset tracking demand period and the number of the tracking points;

Generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints;

the navigation point track is sent to a whole vehicle controller of the current vehicle to be charged through a data transmission module, so that the whole vehicle controller carries out tracking control on the current vehicle to be charged according to the navigation point track;

accordingly, calculating the distance between two waypoints includes:

converting a WGS84 coordinate system to which the waypoint belongs into a UTM coordinate system;

calculating a distance based on coordinates of the two waypoints in the UTM coordinate system; the waypoints comprise attribute information of longitude, latitude, altitude and vehicle speed under a WGS84 coordinate system; the tracking points comprise attribute information of coordinates, speed, acceleration, curvature change rate, time stamp and relative time under a UTM coordinate system.

In a second aspect, the present embodiment provides a remote control system for a low-carbon recycled concrete mixing apparatus, where the low-carbon recycled concrete mixing apparatus is an intelligent apparatus having networking capability, including:

the response module is used for responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

The acquisition module is used for acquiring the vehicle encryption data of the current vehicle to be charged based on the license plate number and acquiring a data decoding strategy according to the type of the vehicle;

the decoding module is used for decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and the remote control module is used for starting a discharging channel and controlling discharging equipment to convey the low-carbon regenerated concrete with the planned discharging amount to the current vehicle to be charged if the decrypted hash value is determined to be matched with the preset hash value and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharging amount.

In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a memory, a processor, and a determining computer program stored in the memory and capable of running on the processor, and the processor implements the remote control method for the low-carbon recycled concrete mixing apparatus according to the first aspect when executing the determining computer program.

In a fourth aspect, the present embodiment provides a non-transitory determining machine-readable storage medium, which includes a determining machine program that, when executed by a processor, implements the method for remotely controlling a low-carbon recycled concrete mixing apparatus according to the first aspect.

In a fifth aspect, embodiments of the present application provide a computer product comprising a determining computer program which, when executed by a processor, implements the method for remotely controlling a low carbon recycled concrete mixing apparatus according to the first aspect.

The embodiment of the application provides a remote control method and a remote control system for low-carbon recycled concrete stirring equipment, which respond to a discharging request of low-carbon recycled concrete initiated by a central control platform; acquiring vehicle encryption data of a current vehicle to be charged based on a license plate number, and acquiring a data decoding strategy according to the type of the vehicle; decrypting the encrypted data of the vehicle based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value; if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, a discharge channel is opened, and the discharging equipment is controlled to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged. In the process of remote control of the low-carbon recycled concrete mixing equipment, the starting of the low-carbon recycled concrete mixing equipment can be controlled remotely, and the discharging of the discharging equipment can be controlled remotely, so that the defect that the existing low-carbon recycled concrete mixing equipment consumes a large amount of manpower during production control is overcome, and the remote control of the low-carbon recycled concrete mixing equipment is realized.

Drawings

In order to more clearly illustrate the application or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a remote control method of a low-carbon recycled concrete mixing device according to an embodiment of the application;

FIG. 2 is a schematic structural diagram of a remote control system for a low-carbon recycled concrete mixing plant according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, fig. 1 is a schematic flow chart of a remote control method of a low-carbon recycled concrete mixing device according to an embodiment of the application. The embodiment of the application provides a remote control method of low-carbon recycled concrete mixing equipment, which comprises the following steps:

step 101, responding to a discharging request of the low-carbon recycled concrete initiated by a central control platform;

102, acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

step 103, decrypting the encrypted data of the vehicle based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and 104, if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be greater than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

It should be noted that, the remote control method for the low-carbon recycled concrete mixing equipment provided by the embodiment of the application uses the remote control system of the mixing equipment as an execution main body for illustration.

Specifically, the remote control system of the stirring equipment responds to a discharging request of the low-carbon recycled concrete initiated by the central control platform, analyzes the discharging request, and obtains the vehicle type and license plate number of the current vehicle to be charged carried in the discharging request, the planned discharging amount, the vehicle user identification information and the central control user signature information.

Optionally, the remote control system of the stirring device obtains vehicle encryption data of the current vehicle to be charged according to the license plate number and obtains a data decoding strategy according to the vehicle type, wherein the vehicle encryption data is bound with the license plate number according to the user identification information and the data encrypted by the central control user signature in advance, the encryption strategy in the encryption process is obtained in the mapping table according to the vehicle type, different vehicle types correspond to different encryption strategies, and the encryption strategy and the decoding strategy correspond to each other.

Optionally, the remote control system of the stirring device decrypts the encrypted data of the vehicle according to the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain the decrypted hash value.

Optionally, the remote control system of the stirring device performs data matching on the decrypted hash value and a preset hash value, wherein the preset hash value is set according to the actual setting.

Optionally, if it is determined that the decrypted hash value matches the preset hash value and it is determined that the current low-carbon regenerated concrete amount is greater than or equal to the planned discharge amount, the remote control system of the stirring device opens the discharge channel. Optionally, the method comprises the steps of. And the stirring equipment remote control system controls the discharging equipment to convey the low-carbon regenerated concrete with the planned discharging amount to the current vehicle to be charged.

According to the remote control method for the low-carbon recycled concrete stirring equipment, provided by the embodiment of the application, a discharging request of the low-carbon recycled concrete initiated by a central control platform is responded; acquiring vehicle encryption data of a current vehicle to be charged based on a license plate number, and acquiring a data decoding strategy according to the type of the vehicle; decrypting the encrypted data of the vehicle based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value; if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, a discharge channel is opened, and the discharging equipment is controlled to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged. In the process of remote control of the low-carbon recycled concrete mixing equipment, the starting of the low-carbon recycled concrete mixing equipment can be controlled remotely, and the discharging of the discharging equipment can be controlled remotely, so that the defect that the existing low-carbon recycled concrete mixing equipment consumes a large amount of manpower during production control is overcome, and the remote control of the low-carbon recycled concrete mixing equipment is realized.

In an embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be an oversized carrier vehicle, determining a data decoding strategy as: taking the user identification information as a first auxiliary decryption key, and taking the central control user signature as a second auxiliary decryption key; the tonnage range of the oversized delivery vehicle is more than or equal to 20;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the central control user signature information is used as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (user identification information) } { (central control user signature) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle user identification information is taken as a first auxiliary decryption key to perform second-layer decryption on the vehicle encrypted data ENP [ data ] { (user identification information) }, and a decrypted hash value is obtained.

Specifically, if the vehicle type is determined to be an oversized carrier vehicle, the stirring device remote control system determines that the data decoding strategy is: the user identification information is used as a first auxiliary decryption key, and the central control user signature is used as a second auxiliary decryption key, wherein the tonnage range of the oversized carrier vehicle is more than or equal to 20 tons, namely the load capacity is more than or equal to 20 tons.

Optionally, the remote control system of the stirring device uses the central control user signature information as a second auxiliary decryption key to decrypt the first layer of vehicle encrypted data ENP [ data ] { (user identification information) } { (central control user signature) } to obtain a decrypted hash value.

If the decrypted hash value is determined to be matched with the preset hash value, the remote control system of the stirring equipment uses the vehicle user identification information as a first auxiliary decryption key to decrypt the vehicle encrypted data ENP [ data ] { (user identification information) } in a second layer, and the decrypted hash value is obtained.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be a large carrier vehicle, determining a data decoding strategy as: taking the central control user signature as a first auxiliary decryption key and taking the user identification information as a second auxiliary decryption key; tonnage range of large-scale carrier vehicle is [10, 20);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

using the vehicle user identification information as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (center control user signature) } { (user identification information) } to obtain a decryption hash value;

If the decrypted hash value is determined to match the preset hash value, the vehicle encrypted data ENP [ data ] { (center control user signature) } is decrypted in a second layer by taking the center control user signature information as a first auxiliary decryption key, and the decrypted hash value is obtained.

Specifically, if it is determined that the vehicle type is a large carrier vehicle, the data decoding strategy is: the central control user signature is used as a first auxiliary decryption key, and the user identification information is used as a second auxiliary decryption key, wherein the tonnage range of the large-scale carrier vehicle is [10, 20 ].

Optionally, the remote control system of the stirring device uses the vehicle user identification information as a second auxiliary decryption key to decrypt the first layer of vehicle encrypted data ENP [ data ] { (center control user signature) } { (user identification information) } to obtain a decrypted hash value.

If the decrypted hash value is determined to match the preset hash value, the remote control system of the stirring equipment uses the central control user signature information as a first auxiliary decryption key to decrypt the encrypted data ENP [ data ] { (central control user signature) } of the vehicle in a second layer, and the decrypted hash value is obtained.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

If the vehicle type is determined to be a medium-sized carrier vehicle, determining the data decoding strategy as: taking the user identification information as an upper-layer auxiliary decryption key, and taking the central control user signature as a lower-layer auxiliary decryption key; the tonnage range of the medium-sized carrier vehicle is [3, 10);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the vehicle user identification information is used as an upper-layer auxiliary decryption key, the central control user signature information is used as a lower-layer auxiliary decryption key, and double-layer parallel decryption is carried out on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

Specifically, if the vehicle type is determined to be a medium-sized carrier vehicle, the remote control system of the stirring device determines that the data decoding strategy is: the user identification information is used as an upper auxiliary decryption key, and the central control user signature is used as a lower auxiliary decryption key, wherein the tonnage range of the medium-sized carrier vehicle is [3,10 ].

Optionally, the remote control system of the stirring device uses the vehicle user identification information as an upper-layer auxiliary decryption key and uses the central control user signature information as a lower-layer auxiliary decryption key to decrypt the vehicle encrypted data ENP in a double-layer parallel manner to obtain a decrypted hash value, where the vehicle encrypted data ENP is:

；

Wherein,representing parallel encryption.

In one embodiment, obtaining a data decoding strategy according to the vehicle type includes:

if the vehicle type is determined to be a small carrier vehicle, determining the data decoding strategy to be: taking the central control user signature as an upper-layer auxiliary decryption key and taking the user identification information as a lower-layer auxiliary decryption key; the tonnage range of the small-sized carrying vehicle is less than 3;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

taking the central control user signature information as an upper-layer auxiliary decryption key and taking the vehicle user identification information as a lower-layer auxiliary decryption key, and performing double-layer parallel decryption on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

Specifically, if the vehicle type is determined to be a small carrier vehicle, the remote control system of the stirring device determines that the data decoding strategy is: taking a central control user signature as an upper-layer auxiliary decryption key and taking user identification information as a lower-layer auxiliary decryption key, wherein the tonnage range of the small-sized carrier vehicle is less than 3;

Optionally, the remote control system of the stirring device uses the central control user signature information as an upper-layer auxiliary decryption key and uses the vehicle user identification information as a lower-layer auxiliary decryption key to perform double-layer parallel decryption on the vehicle encrypted data ENP to obtain a decrypted hash value, where the vehicle encrypted data ENP is:

；

wherein,representing parallel encryption.

According to the embodiment of the application, the encrypted data is decrypted, and the subsequent operation is executed after decryption, so that the safety of remote control of the low-carbon recycled concrete mixing equipment is ensured.

In one embodiment, the method further comprises:

when receiving a device debugging request sent by the central control platform, opening a first target port and a second target port;

transmitting first port information to the central control platform through a first target port, so that the central control platform establishes connection with the first target port according to the first port information; the first port information includes a first token for the first target port;

transmitting second port information to the central control platform through a second target port, so that the central control platform establishes connection with the second target port according to the second port information; the second port information includes a second token for the second destination port;

Receiving first feedback information which is returned by the central control platform and is successfully connected with the first target port and second feedback information which is successfully connected with the second target port, acquiring a first random number as a first public key, acquiring a second random number as a first private key, and generating a first key pair;

the first public key is sent to the central control platform through the first target port, and a second public key sent by the central control platform is received; the central control platform is connected with the first target port to generate a second key pair, wherein the second key pair comprises a second public key and a second private key;

receiving a first message sent by the central control platform through the first target port, and decrypting the first message based on the second public key and the first private key; the first message is obtained by encrypting a second message by the central control platform based on the first public key and the second private key, and the second message comprises identification information of the central control platform, the first token and the second token;

determining whether the central control platform has authority to establish connection with the first target port or not based on the decryption result of the first message;

If the central control platform is determined to have permission to establish connection with the first target port, determining that the central control platform is successfully connected with the first target port;

and if the fact that the central control platform does not have permission to establish connection with the first target port is determined, disconnecting the first target port from the central control platform.

Specifically, when the remote control system of the stirring equipment receives an equipment debugging request sent by the central control platform, the first target port and the second target port are opened.

Optionally, the remote control system of the stirring device sends first port information to the central control platform through the first target port, so that the central control platform establishes a connection with the first target port according to the first port information, wherein the first port information comprises a first token of the first target port. Optionally, the remote control system of the stirring device sends second port information to the central control platform through the second target port, so that the central control platform establishes connection with the second target port according to the second port information, wherein the second port information comprises a second token of the second target port.

Optionally, the remote control system of the stirring device receives the first feedback information which is returned by the central control platform and is successfully connected with the first target port and the second feedback information which is successfully connected with the second target port, and then obtains the first random number as the first public key, and obtains the second random number as the first private key, so as to generate the first key pair.

Optionally, the remote control system of the stirring device sends the first public key to the central control platform through the first target port and receives the second public key sent by the central control platform, wherein the central control platform is connected with the first target port to generate a second key pair, and the second key pair comprises the second public key and the second private key;

optionally, the remote control system of the stirring device receives a first message sent by the central control platform through the first target port, and decrypts the first message based on the second public key and the first private key, wherein the first message is obtained by encrypting the second message by the central control platform based on the first public key and the second private key, and the second message comprises identification information of the central control platform, the first token and the second token;

optionally, the remote control system of the stirring device determines whether the central control platform has authority to establish connection with the first target port according to the decryption result of the first message.

If the central control platform is determined to have permission to establish connection with the first target port, the remote control system of the stirring equipment determines that the central control platform is successfully connected with the first target port;

and if the fact that the central control platform has no authority to establish connection with the first target port is determined, the remote control system of the stirring equipment disconnects the first target port from the central control platform.

The embodiment of the application realizes remote debugging of the low-carbon recycled concrete stirring equipment.

In one embodiment, the method further comprises:

receiving a vehicle control instruction sent by the central control platform; the vehicle control instructions include waypoint planning instructions; the navigation point planning instruction comprises a plurality of preset navigation points;

calculating the distance between two waypoints under the condition that the vehicle control instruction is a waypoint planning instruction;

calculating the number of the tracking points according to a preset tracking demand period, the distance between the two navigation points and the vehicle speed; assigning coordinates of the tracking points based on a distance between two of the waypoints and the number of the tracking points; setting the relative time of each tracking point according to a preset tracking demand period and the number of the tracking points;

generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints;

the navigation point track is sent to a whole vehicle controller of the current vehicle to be charged through a data transmission module, so that the whole vehicle controller carries out tracking control on the current vehicle to be charged according to the navigation point track;

Accordingly, calculating the distance between two waypoints includes:

converting a WGS84 coordinate system to which the waypoint belongs into a UTM coordinate system;

calculating a distance based on coordinates of the two waypoints in the UTM coordinate system; the waypoints comprise attribute information of longitude, latitude, altitude and vehicle speed under a WGS84 coordinate system; the tracking points comprise attribute information of coordinates, speed, acceleration, curvature change rate, time stamp and relative time under a UTM coordinate system.

Specifically, the remote control system of the stirring equipment receives a vehicle control instruction sent by a central control platform, wherein the vehicle control instruction comprises a waypoint planning instruction, and the waypoint planning instruction comprises a plurality of preset waypoints;

optionally, the remote control system of the stirring device calculates the distance between two waypoints under the condition that the vehicle control instruction is a waypoint planning instruction, specifically:

the remote control system of the stirring equipment converts the WGS84 coordinate system of the waypoint into a UTM coordinate system. Optionally, the remote control system of the stirring device calculates the distance according to coordinates of two waypoints in a UTM coordinate system, wherein the waypoints comprise attribute information of longitude, latitude, altitude and vehicle speed in a WGS84 coordinate system, and the tracking points comprise attribute information of coordinates, speed, acceleration, curvature change rate, time stamp and relative time in the UTM coordinate system.

Optionally, the remote control system of the stirring device calculates the number of the tracking points according to a preset tracking demand period, a distance between two waypoints and a vehicle speed. Optionally, the remote control system of the stirring device allocates coordinates of the tracking points according to the distance between the two waypoints and the number of the tracking points. Optionally, the remote control system of the stirring device sets the relative time of each tracking point according to a preset tracking demand period and the number of the tracking points.

Optionally, the stirring device remote control system generates the waypoint track according to the number of the tracking points, the coordinates, the relative time and the coordinates of the waypoints.

Optionally, the remote control system of the stirring device sends the waypoint track to the whole vehicle controller of the current vehicle to be charged through the data transmission module, so that the whole vehicle controller carries out tracking control on the current vehicle to be charged according to the waypoint track.

The embodiment of the application realizes the remote control of the low-carbon recycled concrete stirring equipment.

The low-carbon recycled concrete mixing equipment remote control system provided by the embodiment of the application is described below, and the low-carbon recycled concrete mixing equipment remote control system described below and the low-carbon recycled concrete mixing equipment remote control method described above can be correspondingly referred to each other. Referring to fig. 2, fig. 2 is a schematic structural diagram of a remote control system for a low-carbon recycled concrete mixing apparatus according to an embodiment of the present application, where the remote control system for a low-carbon recycled concrete mixing apparatus according to an embodiment of the present application includes:

The response module 201 is used for responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

an obtaining module 202, configured to obtain vehicle encrypted data of the current vehicle to be charged based on the license plate number, and obtain a data decoding policy according to the vehicle type;

the decoding module 203 is configured to decrypt the encrypted vehicle data based on the data decoding policy, the vehicle user identification information, and the central control user signature information, to obtain a decrypted hash value;

and the remote control module 204 is configured to, if it is determined that the decrypted hash value matches the preset hash value and it is determined that the current low-carbon recycled concrete amount is greater than or equal to the planned discharge amount, open a discharge channel and control a discharge device to deliver the low-carbon recycled concrete of the planned discharge amount to the current vehicle to be charged.

The remote control system of the low-carbon recycled concrete stirring equipment provided by the embodiment of the application responds to a discharging request of low-carbon recycled concrete initiated by a central control platform; acquiring vehicle encryption data of a current vehicle to be charged based on a license plate number, and acquiring a data decoding strategy according to the type of the vehicle; decrypting the encrypted data of the vehicle based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value; if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, a discharge channel is opened, and the discharging equipment is controlled to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged. In the process of remote control of the low-carbon recycled concrete mixing equipment, the starting of the low-carbon recycled concrete mixing equipment can be controlled remotely, and the discharging of the discharging equipment can be controlled remotely, so that the defect that the existing low-carbon recycled concrete mixing equipment consumes a large amount of manpower during production control is overcome, and the remote control of the low-carbon recycled concrete mixing equipment is realized.

In one embodiment, the decoding module 203 is further configured to:

if the vehicle type is determined to be an oversized carrier vehicle, determining a data decoding strategy as: taking the user identification information as a first auxiliary decryption key, and taking the central control user signature as a second auxiliary decryption key; the tonnage range of the oversized delivery vehicle is more than or equal to 20;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the central control user signature information is used as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (user identification information) } { (central control user signature) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle user identification information is taken as a first auxiliary decryption key to perform second-layer decryption on the vehicle encrypted data ENP [ data ] { (user identification information) }, and a decrypted hash value is obtained.

In one embodiment, the decoding module 203 is further configured to:

if the vehicle type is determined to be a large carrier vehicle, determining a data decoding strategy as: taking the central control user signature as a first auxiliary decryption key and taking the user identification information as a second auxiliary decryption key; tonnage range of large-scale carrier vehicle is [10, 20);

Correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

using the vehicle user identification information as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (center control user signature) } { (user identification information) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle encrypted data ENP [ data ] { (center control user signature) } is decrypted in a second layer by taking the center control user signature information as a first auxiliary decryption key, and the decrypted hash value is obtained.

In one embodiment, the decoding module 203 is further configured to:

if the vehicle type is determined to be a medium-sized carrier vehicle, determining the data decoding strategy as: taking the user identification information as an upper-layer auxiliary decryption key, and taking the central control user signature as a lower-layer auxiliary decryption key; the tonnage range of the medium-sized carrier vehicle is [3, 10);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

The vehicle user identification information is used as an upper-layer auxiliary decryption key, the central control user signature information is used as a lower-layer auxiliary decryption key, and double-layer parallel decryption is carried out on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

In one embodiment, the decoding module 203 is further configured to:

if the vehicle type is determined to be a small carrier vehicle, determining the data decoding strategy to be: taking the central control user signature as an upper-layer auxiliary decryption key and taking the user identification information as a lower-layer auxiliary decryption key; the tonnage range of the small-sized carrying vehicle is less than 3;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

taking the central control user signature information as an upper-layer auxiliary decryption key and taking the vehicle user identification information as a lower-layer auxiliary decryption key, and performing double-layer parallel decryption on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

In one embodiment, the stirring device remote control system is further configured to:

When receiving a device debugging request sent by the central control platform, opening a first target port and a second target port;

transmitting first port information to the central control platform through a first target port, so that the central control platform establishes connection with the first target port according to the first port information; the first port information includes a first token for the first target port;

transmitting second port information to the central control platform through a second target port, so that the central control platform establishes connection with the second target port according to the second port information; the second port information includes a second token for the second destination port;

receiving first feedback information which is returned by the central control platform and is successfully connected with the first target port and second feedback information which is successfully connected with the second target port, acquiring a first random number as a first public key, acquiring a second random number as a first private key, and generating a first key pair;

the first public key is sent to the central control platform through the first target port, and a second public key sent by the central control platform is received; the central control platform is connected with the first target port to generate a second key pair, wherein the second key pair comprises a second public key and a second private key;

Receiving a first message sent by the central control platform through the first target port, and decrypting the first message based on the second public key and the first private key; the first message is obtained by encrypting a second message by the central control platform based on the first public key and the second private key, and the second message comprises identification information of the central control platform, the first token and the second token;

determining whether the central control platform has authority to establish connection with the first target port or not based on the decryption result of the first message;

if the central control platform is determined to have permission to establish connection with the first target port, determining that the central control platform is successfully connected with the first target port;

and if the fact that the central control platform does not have permission to establish connection with the first target port is determined, disconnecting the first target port from the central control platform.

In one embodiment, the stirring device remote control system is further configured to:

receiving a vehicle control instruction sent by the central control platform; the vehicle control instructions include waypoint planning instructions; the navigation point planning instruction comprises a plurality of preset navigation points;

Calculating the distance between two waypoints under the condition that the vehicle control instruction is a waypoint planning instruction;

calculating the number of the tracking points according to a preset tracking demand period, the distance between the two navigation points and the vehicle speed; assigning coordinates of the tracking points based on a distance between two of the waypoints and the number of the tracking points; setting the relative time of each tracking point according to a preset tracking demand period and the number of the tracking points;

generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints;

the navigation point track is sent to a whole vehicle controller of the current vehicle to be charged through a data transmission module, so that the whole vehicle controller carries out tracking control on the current vehicle to be charged according to the navigation point track;

accordingly, calculating the distance between two waypoints includes:

converting a WGS84 coordinate system to which the waypoint belongs into a UTM coordinate system;

calculating a distance based on coordinates of the two waypoints in the UTM coordinate system; the waypoints comprise attribute information of longitude, latitude, altitude and vehicle speed under a WGS84 coordinate system; the tracking points comprise attribute information of coordinates, speed, acceleration, curvature change rate, time stamp and relative time under a UTM coordinate system.

The specific embodiments of the remote control system of the low-carbon recycled concrete mixing equipment provided by the application are basically the same as the embodiments of the remote control method of the low-carbon recycled concrete mixing equipment, and are not repeated here.

Fig. 3 illustrates a physical schematic diagram of an electronic device, as shown in fig. 3, where the electronic device may include: processor 310, communication interface (Communication Interface) 320, memory 330 and communication bus 340, wherein processor 310, communication interface 320, memory 330 accomplish communication with each other through communication bus 340. The processor 310 may call a deterministic computer program in the memory 330 to perform the steps of a low carbon recycled concrete mixing apparatus remote control method, including, for example:

responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

Decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

Further, the logic instructions in the memory 330 described above may be implemented in the form of software functional units and may be stored in a deterministic machine-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a determiner device (which may be a personal determiner, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, embodiments of the present application further provide a non-transitory determining machine-readable storage medium, the non-transitory determining machine-readable storage medium including a determining machine program, the determining machine program being storable on the non-transitory determining machine-readable storage medium, the determining machine program being executable by a processor, the determining machine being capable of executing the steps of the low carbon recycled concrete mixing apparatus remote control method provided in the above embodiments, for example, including:

responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

In still another aspect, embodiments of the present application further provide a computer product including a determining computer program, where the determining computer program may be stored on the computer product, and when the determining computer program is executed by a processor, the determining computer program may perform the steps of the remote control method for a low carbon recycled concrete mixing apparatus provided in the foregoing embodiments, for example, including:

responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the above technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a determiner-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., comprising several instructions for causing a determiner device (which may be a personal determiner, a server, a network device, etc.) to perform the embodiments or the methods described by some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (8)

1. The remote control method of the low-carbon recycled concrete mixing equipment is characterized in that the low-carbon recycled concrete mixing equipment is intelligent equipment with networking capability and comprises the following steps of:

responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

acquiring vehicle encryption data of the current vehicle to be charged based on the license plate number, and acquiring a data decoding strategy according to the type of the vehicle;

decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

And if the decrypted hash value is determined to be matched with the preset hash value, and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharge amount, opening a discharge channel, and controlling discharge equipment to convey the low-carbon regenerated concrete of the planned discharge amount to the current vehicle to be charged.

2. The method for remotely controlling a low carbon recycled concrete mixing plant according to claim 1, wherein said obtaining a data decoding strategy according to said vehicle type comprises:

if the vehicle type is determined to be an oversized carrier vehicle, determining a data decoding strategy as: taking the user identification information as a first auxiliary decryption key, and taking the central control user signature as a second auxiliary decryption key; the tonnage range of the oversized delivery vehicle is more than or equal to 20;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the central control user signature information is used as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (user identification information) } { (central control user signature) } to obtain a decryption hash value;

If the decrypted hash value is determined to match the preset hash value, the vehicle user identification information is taken as a first auxiliary decryption key to perform second-layer decryption on the vehicle encrypted data ENP [ data ] { (user identification information) }, and a decrypted hash value is obtained.

3. The method for remotely controlling a low carbon recycled concrete mixing plant according to claim 1, wherein said obtaining a data decoding strategy according to said vehicle type comprises:

if the vehicle type is determined to be a large carrier vehicle, determining a data decoding strategy as: taking the central control user signature as a first auxiliary decryption key and taking the user identification information as a second auxiliary decryption key; tonnage range of large-scale carrier vehicle is [10, 20);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

using the vehicle user identification information as a second auxiliary decryption key to decrypt the first layer of vehicle encryption data ENP [ data ] { (center control user signature) } { (user identification information) } to obtain a decryption hash value;

if the decrypted hash value is determined to match the preset hash value, the vehicle encrypted data ENP [ data ] { (center control user signature) } is decrypted in a second layer by taking the center control user signature information as a first auxiliary decryption key, and the decrypted hash value is obtained.

4. The method for remotely controlling a low carbon recycled concrete mixing plant according to claim 1, wherein said obtaining a data decoding strategy according to said vehicle type comprises:

if the vehicle type is determined to be a medium-sized carrier vehicle, determining the data decoding strategy as: taking the user identification information as an upper-layer auxiliary decryption key, and taking the central control user signature as a lower-layer auxiliary decryption key; the tonnage range of the medium-sized carrier vehicle is [3, 10);

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

the vehicle user identification information is used as an upper-layer auxiliary decryption key, the central control user signature information is used as a lower-layer auxiliary decryption key, and double-layer parallel decryption is carried out on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

5. The method for remotely controlling a low carbon recycled concrete mixing plant according to claim 1, wherein said obtaining a data decoding strategy according to said vehicle type comprises:

If the vehicle type is determined to be a small carrier vehicle, determining the data decoding strategy to be: taking the central control user signature as an upper-layer auxiliary decryption key and taking the user identification information as a lower-layer auxiliary decryption key; the tonnage range of the small-sized carrying vehicle is less than 3;

correspondingly, the decrypting the encrypted data of the vehicle based on the data decoding policy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value includes:

taking the central control user signature information as an upper-layer auxiliary decryption key and taking the vehicle user identification information as a lower-layer auxiliary decryption key, and performing double-layer parallel decryption on the vehicle encrypted data ENP to obtain a decryption hash value; the vehicle encryption data ENP is:

；

wherein,representing parallel encryption.

6. The method for remotely controlling a low carbon recycled concrete mixing plant of claim 1, further comprising:

when receiving a device debugging request sent by the central control platform, opening a first target port and a second target port;

transmitting first port information to the central control platform through a first target port, so that the central control platform establishes connection with the first target port according to the first port information; the first port information includes a first token for the first target port;

Transmitting second port information to the central control platform through a second target port, so that the central control platform establishes connection with the second target port according to the second port information; the second port information includes a second token for the second destination port;

receiving first feedback information which is returned by the central control platform and is successfully connected with the first target port and second feedback information which is successfully connected with the second target port, acquiring a first random number as a first public key, acquiring a second random number as a first private key, and generating a first key pair;

the first public key is sent to the central control platform through the first target port, and a second public key sent by the central control platform is received; the central control platform is connected with the first target port to generate a second key pair, wherein the second key pair comprises a second public key and a second private key;

receiving a first message sent by the central control platform through the first target port, and decrypting the first message based on the second public key and the first private key; the first message is obtained by encrypting a second message by the central control platform based on the first public key and the second private key, and the second message comprises identification information of the central control platform, the first token and the second token;

Determining whether the central control platform has authority to establish connection with the first target port or not based on the decryption result of the first message;

if the central control platform is determined to have permission to establish connection with the first target port, determining that the central control platform is successfully connected with the first target port;

and if the fact that the central control platform does not have permission to establish connection with the first target port is determined, disconnecting the first target port from the central control platform.

7. The method for remotely controlling a low carbon recycled concrete mixing plant of claim 1, further comprising:

receiving a vehicle control instruction sent by the central control platform; the vehicle control instructions include waypoint planning instructions; the navigation point planning instruction comprises a plurality of preset navigation points;

calculating the distance between two waypoints under the condition that the vehicle control instruction is a waypoint planning instruction;

calculating the number of the tracking points according to a preset tracking demand period, the distance between the two navigation points and the vehicle speed; assigning coordinates of the tracking points based on a distance between two of the waypoints and the number of the tracking points; setting the relative time of each tracking point according to a preset tracking demand period and the number of the tracking points;

Generating a waypoint trajectory based on the number of tracking points, coordinates, relative time, and coordinates of the waypoints;

the navigation point track is sent to a whole vehicle controller of the current vehicle to be charged through a data transmission module, so that the whole vehicle controller carries out tracking control on the current vehicle to be charged according to the navigation point track;

accordingly, calculating the distance between two waypoints includes:

converting a WGS84 coordinate system to which the waypoint belongs into a UTM coordinate system;

calculating a distance based on coordinates of the two waypoints in the UTM coordinate system; the waypoints comprise attribute information of longitude, latitude, altitude and vehicle speed under a WGS84 coordinate system; the tracking points comprise attribute information of coordinates, speed, acceleration, curvature change rate, time stamp and relative time under a UTM coordinate system.

8. The utility model provides a low carbon recycled concrete agitated vessel remote control system which characterized in that, low carbon recycled concrete agitated vessel is the smart machine that has networking ability, includes:

the response module is used for responding to a discharging request of the low-carbon recycled concrete initiated by the central control platform; the discharging request carries the type and license plate number of the current vehicle to be charged, the planned discharging amount, the vehicle user identification information and the central control user signature information;

The acquisition module is used for acquiring the vehicle encryption data of the current vehicle to be charged based on the license plate number and acquiring a data decoding strategy according to the type of the vehicle;

the decoding module is used for decrypting the vehicle encrypted data based on the data decoding strategy, the vehicle user identification information and the central control user signature information to obtain a decrypted hash value;

and the remote control module is used for starting a discharging channel and controlling discharging equipment to convey the low-carbon regenerated concrete with the planned discharging amount to the current vehicle to be charged if the decrypted hash value is determined to be matched with the preset hash value and the current low-carbon regenerated concrete amount is determined to be larger than or equal to the planned discharging amount.