CN211584998U - Remote control driving control system and fire engine - Google Patents
Remote control driving control system and fire engine Download PDFInfo
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- CN211584998U CN211584998U CN201922336777.6U CN201922336777U CN211584998U CN 211584998 U CN211584998 U CN 211584998U CN 201922336777 U CN201922336777 U CN 201922336777U CN 211584998 U CN211584998 U CN 211584998U
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Abstract
The application provides a control system and fire engine are driven in remote control relates to fire engine remote control and drives technical field. The remote control driving control system comprises a remote controller unit and a remote control signal processing controller, wherein the remote controller unit comprises a human-computer interaction device and a signal transceiver, the human-computer interaction device is used for generating driving control signals for controlling the fire engine, the signal transceiver is respectively connected with the human-computer interaction device and the remote control signal processing controller, the signal transceiver is used for receiving the driving control signals and sending the driving control signals to the remote control signal processing controller, and the remote control signal processing controller is used for analyzing the driving control signals and sending the analyzed driving control signals to a chassis controller. So as to control the running of the fire fighting truck. This remote control driving control system can realize the long-range driving control of fire engine, and the fireman can keep distance relatively far away to hazardous environment, improves the life safety protection to the fireman.
Description
Technical Field
The utility model relates to a technical field is driven in the remote control of fire engine particularly, relates to a control system and fire engine are driven in remote control.
Background
The current fire engine can't realize remote control and drive, needs the driver to control the fire engine in the driver's cabin, if the fire fighter is when dangerous fire control environment operation, is difficult to guarantee driver's personal safety.
Therefore, a fire fighting truck with a remote control driving function is urgently needed to be researched.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to include and provide a remote control driving control system and fire engine, its remote control that can realize the fire engine is driven, need not the driver and controls the fire engine in the driver's cabin, has greatly guaranteed driver's life safety.
The embodiment of the utility model is realized like this:
in a first aspect, the present embodiment provides a remote control driving control system, which is applied to a fire fighting truck, and includes a remote controller unit and a remote control signal processing controller, where the remote controller unit includes a human-computer interaction device and a signal transceiver, the human-computer interaction device is configured to generate a driving control signal for controlling the fire fighting truck, the signal transceiver is respectively connected to the human-computer interaction device and the remote control signal processing controller, and the signal transceiver is configured to receive the driving control signal and send the driving control signal to the remote control signal processing controller; the remote control signal processing controller is used for analyzing the running control signal and sending the analyzed running control signal to a chassis controller of the fire fighting truck so as to control the running of the fire fighting truck.
In an optional embodiment, the human-computer interaction device comprises a control panel, wherein the control panel comprises a power switch, and the power switch is used for generating a first trigger signal; the signal transceiver is used for receiving the first trigger signal and sending the first trigger signal to the remote control signal processing controller, and the remote control signal processing controller is used for controlling the power of the fire fighting truck to be distributed to the axle running module or the loading module after receiving the first trigger signal.
In an optional embodiment, the control panel includes a remote control emergency stop switch, the remote control emergency stop switch is configured to generate a second trigger signal, the signal transceiver is configured to receive the second trigger signal and send the second trigger signal to the remote control signal processing controller, and the remote control signal processing controller is configured to control the fire truck to stop emergently after receiving the second trigger signal.
In an optional embodiment, the control panel further includes a remote control mode switch, the remote control mode switch is configured to generate a third trigger signal, the signal transceiver is configured to receive the third trigger signal and send the third trigger signal to the remote control signal processing controller, and the remote control signal processing controller is configured to control the fire truck to be in a remote control mode after receiving the third trigger signal.
In a second aspect, the present embodiment provides a fire fighting truck, comprising a chassis controller and the remote driving control system according to any one of the foregoing embodiments, wherein the remote signal processing controller is connected to the chassis controller.
In an optional embodiment, the vehicle further comprises an engine, an axle driving module, a top module, a transfer case and an electric air valve, wherein the engine is connected with the axle driving module and the top module through the transfer case, and the transfer case is connected with the electric air valve.
The remote control signal processing controller is also connected with the electric air valve and used for controlling the action of the electric air valve so as to control the transfer case to transmit the power of the engine to the axle running module or the upper mounting module.
In an optional embodiment, the transfer case comprises a push rod, and the push rod is connected with the electric air valve; the electric air valve rotates to drive the push rod to move to a first position, so that the transfer case transmits the power of the engine to the axle running module; the electric air valve rotates to drive the push rod to move to a second position, so that the transfer case transmits the power of the engine to the upper mounting module.
In an optional implementation mode, the fire fighting truck further comprises a driving safety control module and an engine control power supply, wherein the driving safety control module comprises a brake air pump, and the remote control signal processing controller is connected with the brake air pump and used for controlling the fire fighting truck to brake.
The engine control power supply is connected with the engine; the driving safety control module also comprises a relay, and the relay is connected with the engine control power supply; and the remote control signal processing controller is connected with the relay and is used for controlling the engine to control the power supply to be disconnected.
In an optional embodiment, the fire fighting truck further comprises a panoramic image unit, the panoramic image unit comprises a collector and a transmitter, the human-computer interaction device comprises a display panel, the collector is connected with the transmitter, and the collector is used for collecting image signals around the fire fighting truck and transmitting the image signals to the transmitter; the transmitter receives the image signal and transmits the image signal to the human-computer interaction device, and the display panel on the human-computer interaction device is used for displaying images.
In an optional embodiment, the fire fighting truck further comprises a mode switch, the mode switch is arranged in a cab of the fire fighting truck, and the mode switch is used for switching the fire fighting truck to enter a cab driving mode or a remote control mode.
The utility model provides a control system and fire engine are driven in remote control, its beneficial effect includes:
the utility model provides a control system is driven in remote control, man-machine interaction ware are used for producing the control signal that traveles of control fire engine, and signal transceiver is used for receiving the control signal that traveles to control signal transmission will travel to remote control signal processing controller, and remote control signal processing controller is used for analytic control signal that traveles, and is used for sending the control signal that traveles through analytic to chassis controller. The remote control signal processing controller is communicated with a chassis controller of the fire fighting truck to control the running state of the fire fighting truck and realize the remote control driving function. This remote control driving control system has the remote control function, and in the dangerous operation environment, the driver can remote control fire engine, keeps safe distance relatively with dangerous environment, improves driver's operation security.
The utility model provides a fire engine, including chassis controller and foretell remote control driving control system, remote control signal processing controller can establish the communication with the chassis controller of fire engine, has the remote control driving function, and the driver need not to control in the driver's cabin of fire engine for the fire fighter can keep distance far away relatively to danger environment when dangerous fire control environment operation, improves the life safety protection to the fire fighter.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic block diagram of a remote control driving control system according to a first embodiment of the present invention;
fig. 2 is a block diagram showing a control panel of the remote control driving control system according to the first embodiment of the present invention;
fig. 3 is a control schematic block diagram of a driving safety control module of the remote control driving control system according to the first embodiment of the present invention;
fig. 4 is a block diagram illustrating a panoramic image unit of a remote control driving control system according to a first embodiment of the present invention;
fig. 5 is a schematic block diagram of a fire fighting truck according to a second embodiment of the present invention.
Icon: 100-remote control driving control system; 110-a remote control unit; 120-a human-computer interaction device; 130-a signal transceiver; 140-a control panel; 141-power change-over switch; 142-remote control emergency stop switch; 143-remote control mode switch; 144-video display switch; 145-remote control whistling switch; 150-remote control signal processing controller; 170-panoramic image unit; 171-a collector; 173-an image processor; 174-a transmitter; 175-a display panel; 200-a fire engine; 201-emergency stop switch of fire engine; 210-a chassis controller; 220-a transfer case; 221-axle drive module; 223-loading the module; 230-driving safety control module; 231-brake air pump; 241-motor control power supply.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
First embodiment
Referring to fig. 1, the present embodiment provides a remote control driving control system 100, which is applied to a fire fighting vehicle 200, but the remote control driving control system 100 is not limited thereto, and may be applied to not only the fire fighting vehicle 200, but also other equipment such as engineering vehicles and automobiles, and the present invention is not limited thereto. In the present embodiment, the remote control driving control system 100 is applied to the fire fighting truck 200 as an example.
The remote control driving control system 100 comprises a remote control unit 110 and a remote control signal processing controller 150, wherein the remote control unit 110 comprises a human-computer interaction device 120 and a signal transceiver 130, the human-computer interaction device 120 comprises a control panel 140, and the signal transceiver 130 is respectively connected with the human-computer interaction device 120 and the remote control signal processing controller 150. The human-computer interaction device 120 is used for generating a driving control signal for controlling the fire fighting vehicle 200, and the signal transceiver 130 is used for receiving the driving control signal and transmitting the driving control signal to the remote control signal processing controller 150. The control panel 140 is provided with a plurality of operating members for a remote operator to send out a control command, the control command is transmitted to the remote control signal processing controller 150 through the signal transceiver 130, the remote control signal processing controller 150 directly controls the execution elements of the fire fighting truck 200 to perform an action desired by the remote operator, or the remote control signal processing controller 150 is connected with the chassis controller 210 of the fire fighting truck 200 to realize communication. The remote control signal processing controller 150 is configured to analyze the driving control signal and send the analyzed driving control signal to the chassis controller 210 of the fire fighting truck 200, and the main purpose of the analysis is to convert the signal sent by the human-computer interaction device 120 into a control signal that can be recognized by the chassis controller 210. The chassis controller 210 controls corresponding vehicle components according to the received driving control signal to control the driving of the fire fighting vehicle 200, and realize actions desired by a remote operator, such as acceleration, deceleration, steering, gear shifting, parking, and the like. The signal transmission in the present embodiment may be implemented by wired transmission or wireless transmission, and is not limited in particular here.
It will be readily appreciated that the fire fighting vehicle 200 will be in two operational states, namely, a chassis-running state and a loading state, while performing a fire fighting task. Wherein the chassis driving state is a normal driving state of the fire fighting truck 200, the vehicle is driven from a place to a preset position, namely, to a fire fighting destination, and the power of the engine is transmitted to the axle driving module 221 as driving power; it is understood that the axle traveling module 221 includes, but is not limited to, a steering system, an automatic transmission, an electronic parking system, an electronic braking system, and the like. The loading operation state is that the fire fighting truck 200 enters a fire fighting preparation state after arriving at a fire fighting destination, and the engine power is transmitted to the loading module 223 as the loading power, for example, the engine power can provide power for a water pump to spray water for the fire fighting truck 200 and drive the boom and the like. The upper module 223 includes an electric control but is not limited to a boom, a leg, a waterway system, etc.
Optionally, referring to fig. 2, the control panel 140 includes a power switch 141, a remote emergency stop switch 142, a remote mode switch 143, and a remote whistle switch 145. Wherein, the power switch 141 is used for generating a first trigger signal; the remote control signal processing controller 150 is connected to the power switch 141, and is configured to receive the first trigger signal, and control the power of the fire fighting truck 200 to be distributed to the axle running module 221 or the upper-mounted module 223 after receiving the first trigger signal. When a remote operator presses the power switch 141, a first trigger signal is generated, the human-computer interaction device 120 sends the first trigger signal to the signal transceiver 130, the signal transceiver 130 receives the first trigger signal and transmits the first trigger signal to the remote control signal processing controller 150, and the remote control signal processing controller 150 controls power distribution of the fire fighting truck 200 according to the received first trigger signal, so that the driving power is switched to the loading power, or the loading power is switched to the driving power.
Referring to fig. 3, the remote-controlled emergency stop switch 142 is used for generating a second trigger signal, and the remote-controlled signal processing controller 150 is connected to the remote-controlled emergency stop switch 142 and is used for receiving the second trigger signal and controlling the fire truck 200 to stop emergently after receiving the second trigger signal. When the remote operator presses the remote emergency stop switch 142, a second trigger signal is generated, the human-computer interaction device 120 sends the second trigger signal to the signal transceiver 130, the signal transceiver 130 receives the second trigger signal and transmits the second trigger signal to the remote signal processing controller 150, and the remote signal processing controller 150 controls the fire fighting truck 200 to stop emergently according to the received second trigger signal. Alternatively, the remote control signal processing controller 150 controls the control power of the engine of the fire fighting vehicle 200 to be turned off and controls the brake air pump 231 of the fire fighting vehicle 200 to brake emergently, thereby achieving an emergency stop. The remote control emergency stop switch 142 in the remote control driving control system 100 has a remote control emergency stop function, and the second trigger signal, namely the remote control emergency stop signal does not pass through the chassis controller 210 of the fire fighting truck 200 and directly acts on the fire fighting truck 200 through the remote control signal processing controller 150, so that the response speed is higher, and the safety processing effect under emergency is greatly improved; not only can carry out the braking of fire engine 200, can cut off fire engine 200 power source moreover, promote emergency braking effect. Of course, when the remote emergency stop switch 142 fails or the remote driving control system 100 fails, the emergency stop may be controlled by the emergency stop switch 201 of the fire fighting truck 200.
In other alternative embodiments, the emergency stop function may be implemented by using other braking elements, and the number and arrangement of the braking elements may be flexibly changed, such as only including the braking element having the braking function, and the like, which is not limited herein.
The remote control mode switch 143 is used for generating a third trigger signal, and the remote control signal processing controller 150 is connected with the remote control mode switch 143 and is used for receiving the third trigger signal; and controls the fire fighting truck 200 to be in the remote control mode after receiving the third trigger signal. When the remote operator presses the remote emergency stop switch 142, a third trigger signal is generated, the human-computer interaction device 120 sends the third trigger signal to the signal transceiver 130, the signal transceiver 130 receives the third trigger signal and transmits the third trigger signal to the remote signal processing Controller 150, the remote signal processing Controller 150 communicates with the chassis Controller 210 through a Controller Area Network (CAN) according to the received third trigger signal, and the chassis Controller 210 controls the fire truck 200 to enter a remote control mode. Further, in order to improve the safety of the fire fighting truck 200 and avoid the influence of misoperation, after the remote control signal processing controller 150 receives the third trigger signal, it is determined whether the fire fighting truck 200 is in the parking state, and if the fire fighting truck 200 is in the parking state, the fire fighting truck 200 is controlled to enter the remote control mode. If the fire fighting truck 200 is not in the parking state, such as in the driving state, the fire fighting truck 200 is controlled not to enter the remote control mode.
It is easily understood that the remote control mode switch 143 is provided on the control panel 140, and the fire fighting vehicle 200 can be put into the remote control mode by activating the remote control mode switch 143. In other alternative embodiments, a mode switch may be provided in the cab of the fire fighting vehicle 200 to switch between the cab control mode and the remote control mode. The number and arrangement of the remote mode switches 143 and the mode switching switches may be various, and are not particularly limited.
The remote control signal processing controller 150 is also used to connect with the chassis controller 210 of the fire fighting truck 200 to control the driving state of the fire fighting truck 200. Alternatively, the chassis controller 210 may control the engine speed, the electronically controlled steering system, the automatic transmission, the electronic brake system, the parking brake system, and the like through CAN communication.
The control panel 140 further includes, but is not limited to, an engine start/stop switch for controlling the start and stop of the engine; the engine speed control switch is used for controlling acceleration, deceleration, neutral position, braking and the like of the engine; a driving gear control switch for controlling driving gears of the fire fighting truck 200, such as reverse gear, forward gear, neutral gear, and the like; a steering control switch for controlling left-turn, right-turn, straight running, and the like of the fire fighting truck 200; the parking switch is used for controlling the fire fighting truck 200 to be in a parking state; a video display switch 144 for displaying video images and the like; the pumping gear switch is used for controlling a pumping gear in a loading operation state; and the indicator light switch is used for controlling a driving gear indicator light, a parking indicator light, a steering indicator light, an engine speed control indicator light, a power switching indicator light, a pumping gear indicator, a power transmission system warning and the like.
Referring to fig. 4, the remote control driving control system 100 further includes a panoramic image unit 170, and the panoramic image unit 170 is connected to the remote control unit 110. Optionally, the panoramic image unit 170 comprises a collector 171, an image processor 173 and a transmitter 174, the human-computer interaction device 120 comprises a display panel 175, the collector 171 comprises but is not limited to a camera, the camera is used for being mounted on the fire fighting truck 200 and collecting video images around the fire fighting truck 200, the image processor 173 is used for processing the video images, the processed images are transmitted to the transmitter 174, and the transmitter 174 is connected with the human-computer interaction device 120. The quantity of camera is a plurality of, sets up respectively in the different positions of fire engine 200 to gather the video or the image of a plurality of directions. In this embodiment, the quantity of camera is four, install respectively around 200 fire engine, gather video image on every side, image processor 173 splices the image of four camera collections and handles, realize 360 degrees panorama shooting, display panel 175 includes the display screen, the display screen can be integrated on control panel 140, as control panel 140's partly, also can set up alone, as an independent display screen, in this embodiment, display panel 175 is the display screen on the human-computer interaction ware 120. The spliced panoramic image video is sent to the human-computer interaction device 120 by the sender 174, is displayed on a display screen of the human-computer interaction device 120 and is watched by remote operators, so that the remote operators can conveniently send out more accurate operation instructions, and the accuracy of remote driving control is improved.
It should be noted that, in addition to the four cameras used for collecting four pictures for stitching processing, 360-degree panoramic video image display is realized. The panoramic image unit 170 may also adopt a front camera and a rear camera of the fire fighting truck 200, which is not limited herein.
Optionally, the control panel 140 further includes a remote control whistle switch 145, such as a whistle button, when a remote operator presses the whistle button on the control panel 140, a fourth trigger signal is generated, the signal transceiver 130 receives the fourth trigger signal and sends the fourth trigger signal to the remote control signal processing controller 150, and the remote control signal processing controller 150 controls a horn on the fire fighting truck 200 to whistle after receiving the fourth trigger signal, so as to play a warning role and improve the driving safety of the fire fighting truck 200.
Alternatively, the remote control signal processing controller 150 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Of course, the controller can also be integrated into a PLC controller, a single chip microcomputer and the like. Since the remote driving control system 100 can control the vehicle through the remote signal processing controller 150, the remote control program in the remote signal processing controller 150 is independent of the vehicle program, and the remote driving function can be realized for the vehicle with the vehicle program fixed.
The remote control driving control system 100 according to this embodiment enables the fire fighting truck 200 to enter the remote control driving mode by pressing the remote control mode switch 143, and after entering the remote control driving mode, the driving behaviors of a driver such as engine acceleration and deceleration, driving gear shift, automobile steering, parking and the like, the switching to the upper-mounted working behavior after reaching a fire-fighting destination is that the chassis driving state is switched to the upper-mounted working state, the driving gear is switched to the upper-mounted power gear, and scram control, etc. CAN be inputted through the remote controller unit 110, the signal transceiver 130 transmits an operation signal of a remote operator to the remote controller signal processing controller through CAN communication, the remote controller signal processing controller communicates with the chassis controller 210 through a CAN network, and the chassis controller 210 controls corresponding vehicle components according to the received processing signal, thereby realizing an action desired by the remote controller operator. The remote control driving control system 100 can display the surrounding environment of the fire fighting truck 200 on the remote control unit 110, which is beneficial to better observing the surrounding environment of the truck in real time; the remote control emergency stop switch 142 is arranged, so that the safety processing effect under emergency can be improved; the switching between the driving power and the loading power can be realized, and the fire-fighting operation can be quickly and safely executed; and on the car that whole car procedure is fixed, also can realize remote control driving function, strong adaptability, the flexibility ratio is high.
Second embodiment
Referring to fig. 5, the fire fighting truck 200 of the present embodiment includes an engine, an engine control power source 241, an axle running module 221, an upper-mounted module 223, a transfer case 220, an electric air valve, a chassis controller 210, and the remote driving control system 100, wherein the remote signal processing controller 150 is connected to the chassis controller 210. Further, the engine is connected to the axle drive module 221 and the upper mount module 223 through the transfer case 220, the transfer case 220 and the electric valve, respectively. The remote control signal processing controller 150 is connected with the electric air valve and is used for controlling the action of the electric air valve after receiving the first trigger signal so as to control the transfer case 220 to transmit the power of the engine to the axle running module 221 or the upper mounting module 223.
Optionally, transfer case 220 includes a push rod that is connected to the electric gas valve. The electric air valve rotates to drive the push rod to move to a first position, so that the transfer case 220 distributes the power of the engine to the axle running module 221; the electric valve rotates to move the push rod to the second position to cause the transfer case 220 to distribute engine power to the upper mounting module 223. Optionally, the electric valve includes a first electric valve and a second electric valve, the first electric valve is connected to the axle running module 221, the second electric valve is connected to the upper module 223, and the first electric valve and the second electric valve are respectively connected to the push rod. When the power of the engine needs to be switched to the power of the rear axle, the remote control signal processing controller 150 controls the first electric air valve to rotate, and when the power of the engine needs to be switched to the upper power, the remote control signal processing controller 150 controls the second electric air valve to rotate. Of course, and not by way of limitation, in alternative embodiments, the fire engine 200 may employ multiple engines to power the axle traveling module 221 and the upper-mounted module 223, respectively, and is not limited thereto.
The driving safety control module 230 includes a brake air pump 231 and a relay, and the remote control signal processing controller 150 is connected to the brake air pump 231 for controlling the braking of the fire fighting truck 200. Further, an engine control power source 241 is connected with the engine, and a relay is connected with the engine control power source 241; the remote control signal processing controller 150 is connected to a relay for controlling the engine control power source 241 to be turned off. When the remote control signal processing controller 150 receives the second trigger signal, the brake air pump 231 is controlled to perform emergency braking, and the engine control power source 241 is controlled to be turned off. Not only can carry out the braking of fire engine 200, can cut off fire engine 200 power source moreover, promote emergency braking effect.
It should be noted that the fire fighting truck 200 provided in this embodiment employs dual emergency stop redundant control, including real-vehicle hardware emergency stop switch control and remote control signal processor soft emergency stop control. Wherein, real car hardware fire engine scram switch 201 sets up in the driver's cabin of fire engine 200, presses fire engine scram switch 201, realizes the emergency stop of fire engine 200. The remote control signal processor performs soft emergency stop, that is, the remote control emergency stop switch 142 on the control panel 140 is operated, and the remote control signal processing controller 150 controls the brake air pump 231 to perform emergency brake after receiving the second trigger signal, and controls the engine control power source 241 to be switched off at the same time, so that the fire fighting truck 200 performs emergency stop. If the remote control signal processing controller 150 fails, the emergency stop can be controlled by an actual vehicle hardware emergency stop switch.
In this embodiment, during emergency stop control, the remote control signal processing controller 150 directly implements cutting off the control power supply of the engine and controlling the brake air pump 231 to perform emergency braking through the hard-wired interface, without performing emergency stop processing through the chassis controller 210, thereby greatly improving the safety processing effect in emergency situations.
Alternatively, the remote control signal processing controller 150 logically controls parking in case of communication failure of the remote control unit 110. At this time, the fire engine 200 may perform only a braking operation without cutting off the engine control power source 241. The braking action may be the braking by controlling the brake air pump 231 as described above, or may be the braking by other modes, and is not limited in particular here.
Optionally, the fire fighting truck 200 is further provided with a plurality of collectors 171, such as cameras, in this embodiment, the number of the cameras is four, the four cameras are respectively installed around the fire fighting truck 200 to collect surrounding video images, the panoramic image unit 170 is connected to the human-computer interaction device 120, the image processor 173 is configured to receive the images collected by the four cameras and perform stitching processing, a 360-degree panoramic shot image is realized, the stitched video image is sent to the human-computer interaction device 120 by the sender 174, the display panel 175 on the human-computer interaction device 120 is used for displaying images, and the display panel 175 may be a display screen on the human-computer interaction device 120.
The contents of other portions not mentioned in the present embodiment are similar to those described in the first embodiment, and are not particularly limited herein.
The remote control driving control system 100 and the fire fighting truck 200 provided by the embodiment have the following beneficial effects:
the fire fighting truck 200 with the remote control driving control system 100 comprises a remote controller unit 110, a remote control signal processing controller 150 and a chassis controller 210, wherein the remote control signal processing controller 150 is respectively connected with the remote controller unit 110 and the chassis controller 210, the remote control signal processing controller 150 carries out certain logic control on received remote control signals and carries out CAN communication on the processed signals and the chassis controller 210, and the control effect is achieved. Therefore, the remote control driving function can be realized on the basis of not changing the original vehicle control program. Secondly, the system comprises real vehicle hardware emergency stop switch control and remote control signal processor soft emergency stop control, and the driving safety can be improved to a great extent through double emergency stop redundant control. And when the emergency stop occurs, the remote control signal processing controller 150 directly realizes the purpose of cutting off the control power supply of the engine and controlling the air pump to perform the emergency brake through the hard wire interface without performing the emergency stop processing through the chassis controller 210, so that the safety processing effect under the emergency situation is improved to a great extent. Then, the surrounding environment of the fire fighting truck 200 can be clearly viewed in real time without dead angles even at a long distance by the panoramic image unit 170, and safety during remote control driving is improved. Finally, the remote controller unit 110 has basic driving functions of controlling the speed of the automobile, steering, shifting, parking and the like, and also has functions of starting and stopping control of an automobile engine, emergency stop control, and power switching between a pump gear and a driving gear, when the fire fighting truck 200 drives to a fire destination, the driving power is switched to the control function of the upper-mounted working power, so that the fire fighting operation can be directly carried out when the automobile drives to the fire destination, and the driver does not need to go to a cab to press the upper-mounted working power switching button, so that the life safety protection of the fire fighter during the operation in the dangerous environment is improved.
The remote control driving control system 100 has a remote control function, and in a dangerous working environment, a driver can remotely control the fire fighting truck 200 to keep a relatively safe distance from the dangerous environment, so that the working safety of the driver is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A remote control driving control system is applied to a fire fighting truck and is characterized by comprising a remote control unit (110) and a remote control signal processing controller (150), wherein the remote control unit (110) comprises a human-computer interaction device (120) and a signal transceiver (130), the human-computer interaction device (120) is used for generating a driving control signal for controlling the fire fighting truck, the signal transceiver (130) is respectively connected with the human-computer interaction device (120) and the remote control signal processing controller (150), and the signal transceiver (130) is used for receiving the driving control signal and sending the driving control signal to the remote control signal processing controller (150);
the remote control signal processing controller (150) is used for analyzing the running control signal and sending the analyzed running control signal to a chassis controller (210) of the fire fighting truck so as to control the running of the fire fighting truck.
2. The remote-controlled driving control system according to claim 1, wherein the human-computer interaction device (120) comprises a control panel (140), the control panel (140) comprises a power switch (141), and the power switch (141) is used for generating a first trigger signal; the signal transceiver (130) is used for receiving the first trigger signal and sending the first trigger signal to the remote control signal processing controller (150), and the remote control signal processing controller (150) is used for controlling the power distribution of the fire fighting truck to an axle driving module (221) or an upper mounting module (223) after receiving the first trigger signal.
3. The remote-controlled driving control system according to claim 2, wherein the control panel (140) further comprises a remote-controlled emergency stop switch (142), the remote-controlled emergency stop switch (142) is configured to generate a second trigger signal, the signal transceiver (130) is configured to receive the second trigger signal and send the second trigger signal to the remote-controlled signal processing controller (150), and the remote-controlled signal processing controller (150) is configured to control the fire engine to stop emergently after receiving the second trigger signal.
4. The remote driving control system according to claim 2, wherein the control panel (140) further comprises a remote mode switch (143), the remote mode switch (143) is configured to generate a third trigger signal, the signal transceiver (130) is configured to receive the third trigger signal and send the third trigger signal to the remote signal processing controller (150), and the remote signal processing controller (150) is configured to control the fire truck to be in a remote control mode after receiving the third trigger signal.
5. A fire fighting vehicle, characterized in that it comprises a chassis controller (210) and a remote-control driving control system according to any one of claims 1 to 4, the remote-control signal processing controller (150) being connected to the chassis controller (210).
6. The fire engine of claim 5, further comprising an engine, an axle drive module (221), a top mount module (223), a transfer case (220), and an electric gas valve, the engine being coupled to the axle drive module (221) and the top mount module (223), respectively, via the transfer case (220), the transfer case (220) being coupled to the electric gas valve;
the remote control signal processing controller (150) is also connected with the electric air valve and is used for controlling the action of the electric air valve so as to control the transfer case (220) to transmit the power of the engine to the axle running module (221) or the upper mounting module (223).
7. The fire engine as recited in claim 6, characterized in that the transfer case (220) includes a push rod connected with the electric gas valve; the electric air valve rotates to drive the push rod to move to a first position, so that the transfer case (220) distributes power of the engine to the axle driving module (221); the electric air valve rotates to drive the push rod to move to a second position, so that the transfer case (220) distributes power of the engine to the upper mounting module (223).
8. The fire fighting truck of claim 6, further comprising a driving safety control module (230) and an engine control power supply (241), wherein the driving safety control module (230) comprises a brake air pump (231), and the remote control signal processing controller (150) is connected with the brake air pump (231) and used for controlling the braking of the fire fighting truck;
the engine control power supply (241) is connected with the engine; the driving safety control module (230) further comprises a relay, and the relay is connected with the engine control power supply (241); and the remote control signal processing controller (150) is connected with the relay and is used for controlling the engine control power supply (241) to be disconnected.
9. The fire fighting truck of claim 5, further comprising a panoramic image unit (170), wherein the panoramic image unit (170) comprises a collector (171) and a transmitter (174), the human-computer interaction device (120) comprises a display panel (175), the collector (171) is connected with the transmitter (174), and the collector (171) is used for collecting image signals around the fire fighting truck and transmitting the image signals to the transmitter (174);
the transmitter (174) receives the image signal and transmits the image signal to the human-computer interaction device (120), and the display panel (175) on the human-computer interaction device (120) is used for displaying images.
10. The fire fighting vehicle of claim 5, further comprising a mode switch disposed in a cab of the fire fighting vehicle, wherein the mode switch is configured to switch the fire fighting vehicle into a cab driving mode or a remote control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922336777.6U CN211584998U (en) | 2019-12-23 | 2019-12-23 | Remote control driving control system and fire engine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922336777.6U CN211584998U (en) | 2019-12-23 | 2019-12-23 | Remote control driving control system and fire engine |
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| CN211584998U true CN211584998U (en) | 2020-09-29 |
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| CN201922336777.6U Active CN211584998U (en) | 2019-12-23 | 2019-12-23 | Remote control driving control system and fire engine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119997A (en) * | 2021-04-16 | 2021-07-16 | 北京理工中云智车科技有限公司 | Safety control system for wire-controlled chassis of unmanned vehicle |
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2019
- 2019-12-23 CN CN201922336777.6U patent/CN211584998U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119997A (en) * | 2021-04-16 | 2021-07-16 | 北京理工中云智车科技有限公司 | Safety control system for wire-controlled chassis of unmanned vehicle |
| CN113119997B (en) * | 2021-04-16 | 2022-08-19 | 北京理工中云智车科技有限公司 | Safety control system for wire-controlled chassis of unmanned vehicle |
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