Remote control method and device, remote control, and engineering machine

Abstract

The application discloses a control method and device of a remote controller, the remote controller and engineering machinery, and relates to the technical field of remote controller control. The method comprises the following steps: grouping data to be sent by the remote controller based on data types; in the case that there is data change, determining the priority order of the data packet corresponding to the changed data based on the data type of the changed data, and sending the data packet based on the priority order. The method can effectively improve the response speed of the changed data, reduce the waste of wireless bandwidth, and optimize the overall control performance of the remote controller.

Description

Technical Field

[0001] This application relates to the field of remote control technology, and in particular to a remote control control method, a remote control, a remote control control device, and an engineering machine. Background Technology

[0002] In the field of industrial remote control, operators control the boom movements of mechanical equipment via remote controls. The response speed of the boom is crucial; significant latency (greater than 1 second) hinders operators' ability to judge the boom's position and movements, potentially leading to unexpected actions and production accidents. Even small latency (e.g., 300 milliseconds) can still impact operator efficiency for moving parts requiring frequent and precise adjustments. The remote control's range, latency, operating frequency band, transmission power, and bandwidth are all interconnected; a suitable technical solution must be selected by comprehensively considering regulatory requirements, technical characteristics, and application scenarios.

[0003] Currently, remote control solutions use a polling method for wireless data transmission. This method treats all data equally, resulting in a slow response to changing data and repeated transmission of unchanging data, which wastes wireless bandwidth and reduces the real-time performance and efficiency of wireless transmission. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in related technologies. To this end, the first objective of this application is to propose a remote control method that groups the data to be transmitted by the remote control based on data type. In the event of data change, the priority order of the data packets corresponding to the changed data is determined based on the data type of the changed data, and the data packets are transmitted according to the priority order. Thus, through accurate identification and grouping of data types, differentiated processing of data of different importance can be achieved. When a change occurs in the data to be transmitted, the data packet to which the changed data belongs is quickly identified, and the transmission sequence is dynamically adjusted according to the priority corresponding to its data type. This effectively reduces the impact of data transmission delay on the response speed of critical moving parts such as the boom, effectively improves the response speed of changed data, reduces wireless bandwidth waste, and optimizes the overall control performance of the remote control.

[0005] The second objective of this application is to propose a remote control.

[0006] The third objective of this application is to provide a control device for a remote control.

[0007] The fourth objective of this application is to propose an engineering machine.

[0008] To achieve the above objectives, a first aspect of this application proposes a control method for a remote controller, the method comprising: grouping the data to be transmitted by the remote controller into multiple data packets based on the data type; determining the priority order of the data packets corresponding to the changed data based on the data type of the changed data, and transmitting the data packets based on the priority order when there is a data change.

[0009] According to the remote control method of this application embodiment, the data to be transmitted by the remote control is grouped based on data type to obtain multiple data packets. When data changes, the priority order of the data packets corresponding to the changed data is determined based on the data type of the changed data, and the data packets are transmitted according to the priority order. Therefore, this method can effectively improve the response speed to changed data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote control.

[0010] In addition, the control method of the remote controller according to the above embodiments of this application may also have the following additional technical features: According to one embodiment of this application, the method further includes: sending the data packets based on a preset priority order when there is no data change, wherein the preset priority order is a fixed order pre-set according to the degree of influence of different data types on remote control operation.

[0011] According to one embodiment of this application, the method further includes: when there is a change in the data in one of the multiple sets of data packets, the data packet corresponding to the changed data is taken as the first data packet to be sent.

[0012] According to one embodiment of this application, the method further includes: when there are data changes in at least two groups of data packets among the plurality of data packets, determining the priority order of the data packets corresponding to the changed data based on the priority order of the data types.

[0013] According to one embodiment of this application, the method further includes: when sending the data packets based on the priority order, sending a preset number of data packets to the receiver, wherein the preset number of data packets is greater than the number of response data packets sent by the receiver to the data packets.

[0014] According to one embodiment of this application, the method further includes: storing the data packets in a buffer when sending the data packets based on the priority order.

[0015] According to one embodiment of this application, the method further includes: determining that there is a data change when the data information of at least one data packet in the data packet at the current time is different from the data information of the data packet in the buffer at the previous time.

[0016] To achieve the above objectives, a remote control is provided in a second aspect of this application, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the control method of the remote control described above.

[0017] The remote controller according to the embodiments of this application, by executing the above-described remote controller control method, can effectively improve the response speed of changing data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0018] To achieve the above objectives, a third aspect of this application provides a control device for a remote controller, the device comprising: a grouping module, configured to group the data to be transmitted by the remote controller based on data type to obtain multiple data packets; and a determining module, configured to determine the priority order of the data packets corresponding to the changed data based on the data type of the changed data when data changes occur, and to transmit the data packets based on the priority order.

[0019] According to the control device of the remote controller according to the embodiments of this application, the grouping module is used to group the data to be transmitted by the remote controller based on the data type to obtain multiple groups of data packets, and the determining module is used to determine the priority order of the data packets corresponding to the changed data based on the data type of the changed data when there is a data change, and send the data packets according to the priority order. Therefore, this device can effectively improve the response speed to changed data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0020] To achieve the above objectives, a fourth aspect of this application provides an engineering machine that includes the aforementioned remote controller or a control device for the aforementioned remote controller.

[0021] According to the embodiments of this application, the engineering machinery can effectively improve the response speed of changing data, reduce the waste of wireless bandwidth, and optimize the overall control performance of the remote control by using a control device including a remote controller or a remote controller.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] Figure 1 This is a flowchart of a remote control method according to an embodiment of this application.

[0024] Figure 2 This is a flowchart illustrating a control method for a remote control according to a specific example of this application.

[0025] Figure 3 This is a block diagram of a remote control according to an embodiment of this application.

[0026] Figure 4 This is a block diagram of a control device for a remote controller according to an embodiment of this application.

[0027] Figure 5 This is a block diagram of an engineering machine according to an embodiment of this application.

[0028] Figure 6 This is a block diagram of an engineering machine according to another embodiment of this application. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0030] The following description, with reference to the accompanying drawings, describes the control method, remote controller, remote controller control device, and engineering machinery of the remote controller proposed in the embodiments of this application.

[0031] Figure 1 This is a flowchart of a remote control method according to an embodiment of this application.

[0032] like Figure 1 As shown, the control method of the remote controller in this application embodiment may include the following steps: S1, group the data to be sent from the remote control based on the data type to obtain multiple data packets.

[0033] S2, In the case of data changes, determine the priority order of the data packets corresponding to the changed data based on the data type of the changed data, and send the data packets according to the priority order.

[0034] Specifically, the remote control's microcontroller unit (MCU) can periodically collect various types of data to be transmitted. This data may include handle action signals, button status signals, emergency stop signals, device status information, etc. The data type and content collected depend on the specific application scenario. After acquiring the remote control's data to be transmitted, it can be grouped based on data type to obtain multiple data packets. The priority order of these data packets is determined based on their data type. That is, the collected data is grouped according to data type, with each group containing one type of data. For example, analog data groups may contain analog signals such as handle position; digital data groups may contain digital signals such as button status and emergency stop signals; and auxiliary data groups may contain auxiliary data such as device status information (e.g., temperature, battery level). This allows for differentiated processing based on the characteristics of different data types, improving the efficiency and relevance of data processing.

[0035] For example, current technologies do not group data when transmitting remote control data; each data packet contains different types of data. This means that when data is sent to the receiver, other changed data may not be included in the current packet, preventing the receiver from obtaining the latest critical data in a timely manner, thus affecting the real-time control accuracy and response speed of the device. This application, however, effectively groups the collected data to be transmitted according to data type, ensuring that each data packet contains only a single type of data. For example, analog data such as handle movements are grouped into one group, switch data such as button states and emergency stop signals are grouped into another, and auxiliary data such as device temperature and battery level are grouped into a third. In this way, when a certain type of data changes, only that group of data packets needs to be updated and sent, avoiding unnecessary data redundancy caused by mixed data transmission. This significantly improves the targeting and efficiency of data transmission, ensuring that the receiver can quickly obtain critical change data and guaranteeing the timeliness and accuracy of the remote control's control of the device.

[0036] After receiving multiple data packets, the system determines whether the data in the current data packet has changed. If data changes are found, the priority order of the data packets corresponding to the changed data can be determined based on the data type, and data packets are sent according to this priority order. For example, changes can be detected by comparing the raw data collected by each sensor of the remote control in real time with the reference data stored at the previous moment. For example, for switch data, such as the on / off state of the emergency stop button, the current state value can be directly compared with the reference state value; if they are inconsistent, the data is considered to have changed. For analog data, such as the displacement of the handle or the rotation angle of the knob, a reasonable change threshold can be set; if the absolute value of the difference between the current sampled value and the reference value exceeds the threshold, the data is considered to have changed. In addition, for periodically reported auxiliary data such as device temperature and battery level, changes can be determined by detecting whether the values ​​exceed the preset normal range or whether the change in the unit of time reaches the set standard. Through this multi-dimensional and targeted detection method, changes in various types of remote control data can be accurately and timely identified, providing a reliable basis for subsequent priority-based data packet sending.

[0037] Therefore, by monitoring the status of current data in real time and comparing the current data with the data stored at the previous moment, it can accurately identify whether there are data changes, such as increases or decreases in the amount of controller operation, triggering and deactivation of emergency stop signals, and rises or falls in temperature values. When data changes are detected, the priority order of the data packets corresponding to the changed data can be determined based on the data type of the changed data, and data packets can be sent according to the priority order.

[0038] For example, the displacement of the handle that is currently experiencing a data change is a control-type analog data that directly affects the real-time operation of the device. Therefore, its corresponding data packet is set to the highest priority. After obtaining the priority order, the data packets can be sent out in that order to ensure that high-priority data packets can be processed by the receiver first, thus ensuring the safety and real-time performance of the remote control's control over the device.

[0039] For example, data packet A (handle action signal) includes data type: analog quantity, data content: handle position 60%; data packet B (button status signal) includes data type: digital quantity, data content: button BA=1, button B=0; data packet C (emergency stop signal) includes data type: digital quantity, data content: emergency stop signal=0; and data packet D (device status information) includes data type: auxiliary data, data content: temperature=30℃, battery level=80%. Assume that during a certain acquisition cycle, the handle position changes from 60% to 65%. At this time, the data content of data packet A is updated to handle position 65%. Simultaneously, assume that the emergency stop signal remains 0 (unchanged), the button status does not change, and the temperature and battery level in the device status information also remain unchanged during this cycle. Since only the data content of data packet A changes, only data packet A needs to be processed. That is, update the content of data packet A, such as the data content: handle position 65%. Therefore, since only the analog quantity has changed, according to its priority, the updated data packet A "data type: analog quantity, data content: handle position 65%" is sent and processed before other unchanged data packets. This effectively reduces the amount of data transmitted and the consumption of processing resources, and improves the real-time performance and accuracy of the remote control's response to operation commands. Especially in control scenarios that require rapid response, it can ensure that critical operation signals are received and executed with higher efficiency.

[0040] If, within the same acquisition cycle, not only does the handle position change, but the emergency stop signal also changes from 0 to 1 (triggering an emergency stop), then both data packets A and C will detect the data change. Based on predetermined rules, the data types of both packets can be identified: data packet C is an emergency stop signal type with the highest priority, while data packet A is an analog signal type with the second highest priority. Therefore, following the order of priority from highest to lowest, data packet C (the highest priority) is sent first, followed by data packet A (the second highest priority), and finally data packets B and D. This ensures that emergency stop signals, which directly affect the safe operation of the equipment, are processed by the receiver first, maximizing the safety of equipment operation.

[0041] This allows for dynamic adjustment of data packet priorities based on data type and changes, ensuring rapid transmission and processing of critical signals. This mechanism not only improves the response speed and reliability of remote control operation but also optimizes bandwidth usage, enhancing the flexibility and adaptability of the control system.

[0042] According to one embodiment of this application, the control method of the remote controller further includes: sending data packets based on a preset priority order when there is no data change, wherein the preset priority order is a fixed order set in advance according to the degree of influence of different data types on the remote control operation.

[0043] Specifically, the system determines whether data in data packets has changed. If no data packets in multiple sets show any changes, data packets can be sent based on a preset priority order. This preset priority order is a fixed order pre-set during the remote control system design phase, based on the degree of influence of different data types on remote control operations. This order reflects which data types are considered more important and require priority transmission during normal operation (i.e., no data changes). For example, the preset priority order is based on the following factors: Importance of data type: Some data types have higher real-time requirements for remote control operations; for example, handle motion signals directly affect device movement, therefore they have the highest priority. Security of data type: Data types involving security (such as emergency stop signals) must be processed first to ensure immediate response in emergencies. Frequency of data type: Some data types may require more frequent updates, therefore requiring higher priority to ensure timely transmission.

[0044] For example, the microcontroller of the remote control periodically collects various types of data to be sent, including but not limited to: handle action signals (analog signals): controlling the direction and speed of the device's movement; button status signals (switching signals): controlling specific functions of the device, such as grasping and releasing; emergency stop signals (switching signals): used to stop all actions of the device urgently; and device status information (auxiliary data): such as the device's temperature and battery level, used to monitor the device's status. The collected data is grouped according to the data type, with each group containing one type of data. A fixed priority order is preset based on the degree of influence of the data type on the remote control operation. For example, the preset priority order might be: Data packet C (emergency stop signal): highest priority, because it involves the safety of the equipment and personnel; Data packet A (handle action signal): second highest priority, because it directly affects the movement of the device; Data packet B (button status signal): medium priority, because it controls auxiliary functions of the device; and Data packet D (device status information): low priority, because it is mainly used for monitoring and real-time requirements are not high.

[0045] Suppose that the remote control collects the following data at a certain moment: Handle action signal (analog): Handle position is 60%. Button status signal (switching): Button A: Pressed (1), Button B: Released (0), Emergency stop signal (switching): Not triggered (0), Device status information (auxiliary data): Temperature: 30℃, Battery level: 80%. If no data change is detected in the next collection cycle (all data remain unchanged), then data packets are sent according to the preset priority order, that is, data packet C (emergency stop signal) is sent first, then data packet A (handle action signal), then data packet B (button status signal), and finally data packet D (device status information).

[0046] Therefore, in the absence of data changes, data packets are sent according to a preset priority order. This mechanism ensures the stability and reliability of the remote control during normal operation, while optimizing resource allocation and improving the overall efficiency of the system. The preset priority order provides the system with a default operating mode, ensuring that critical data is transmitted first, thereby enhancing the flexibility and adaptability of the control system.

[0047] According to one embodiment of this application, the control method of the remote controller further includes: when there is a change in the data in one of the multiple data packets, the data packet corresponding to the changed data is taken as the first data packet to be sent.

[0048] Specifically, the remote controller's microcontroller periodically collects various types of data to be sent. This data may include handle action signals, button status signals, emergency stop signals, and device status information. The collected data is grouped according to its data type, with each group containing one type of data. For example, data packet A (handle action signal): analog data, such as handle position; data packet B (button status signal): digital data, such as the status of buttons A and B; data packet C (emergency stop signal): digital data, such as the status of the emergency stop button; and data packet D (device status information): auxiliary data, such as device temperature and battery level.

[0049] When a change occurs in one of multiple data packets, the data packet corresponding to the changed data can be sent first. For example, if a change in analog data in data packet A is detected due to a movement of the handle, or a change in the switch data in data packet B due to button A changing from being pressed to being released, or a switch data in data packet C being switched due to the emergency stop button being triggered, the data packet corresponding to the changed data can be immediately designated as the first data packet to be sent. This design ensures that operation commands or critical status changes are transmitted to the controlled device as quickly as possible, avoiding delays caused by waiting for a preset priority order. For example, when a user adjusts the device's operating parameters using the handle, changes in the handle's action signal are sent first, allowing the device to respond promptly. If the emergency stop signal changes, the corresponding data packet C is sent first to ensure the safety of the equipment and personnel. After the changed data packet is sent first, the remaining unchanged data packets are still sent sequentially according to the preset priority order, thus ensuring the real-time nature of critical data while maintaining the orderliness and integrity of system data transmission.

[0050] For example, if a change in the handle position is detected (from 60% to 65%), and the data packet corresponding to the change is identified as data packet A, its priority is elevated to the highest, ensuring it is the first data packet sent. Similarly, when button A changes from pressed to released, causing a change in the switch data in data packet B, data packet B corresponding to this change is immediately identified and its priority is adjusted to the highest, taking precedence over other unchanged data packets. If the emergency stop button is triggered, causing a switch data change in data packet C, data packet C will also be prioritized to ensure the emergency stop signal is transmitted to the controlled device as quickly as possible. After prioritizing the transmission of changed data packets, the remaining data packets without data changes continue to be sent sequentially according to the system's preset priority order, thus achieving both rapid response to critical data and ensuring the overall data transmission order.

[0051] Therefore, by sending the data packet corresponding to the changed data as the first data packet, it is possible to quickly respond to changes in operator actions or equipment status, ensuring that critical signals can be transmitted to the receiving end immediately. Dynamically adjusting priorities ensures that the most important data is processed and transmitted first when data changes, improving the overall transmission efficiency of the remote control.

[0052] According to one embodiment of this application, the control method of the remote controller further includes: when there are data changes in at least two groups of data packets among multiple groups of data packets, determining the priority order of the data packets corresponding to the changed data based on the priority order of the data types.

[0053] Specifically, the remote controller's microcontroller periodically collects various types of data to be sent. This data may include handle action signals, button status signals, emergency stop signals, and device status information. The collected data is grouped according to data type, with each group containing one type of data. For example, data packet A (handle action signal): analog data, such as handle position; data packet B (button status signal): digital data, such as the status of buttons A and B; data packet C (emergency stop signal): digital data, such as the status of the emergency stop button; and data packet D (device status information): auxiliary data, such as device temperature and battery level. After each data acquisition, the newly acquired data is compared with the previously acquired data to detect any changes. If at least two data packets in multiple data packets show changes, the priority order of the data packets corresponding to the changed data can be determined based on the priority order of data types.

[0054] For example, suppose that during a certain acquisition period, data changes occur in two sets of data packets, such as the handle position changing from 60% to 65%, and button A changing from pressed (1) to released (0), while other data remain unchanged. Thus, a change in handle position (from 60% to 65%) is detected, and the data packet corresponding to the changed data is identified as data packet A. A change in the state of button A (from 1 to 0) is detected, and the data packet corresponding to the changed data is identified as data packet B. That is, there are two signal transmission changes at this time, and the priority order of the data packets corresponding to the changed data can be determined based on the priority order of the data types. For example, if the preset button state signal has a higher priority than the handle action signal, then data packet B has a higher priority than data packet A, and the remote control will send data packet B first; if the preset handle action signal has a higher priority than the button state signal, then data packet A has a higher priority than data packet B, and the remote control will send data packet A first.

[0055] For example, suppose the remote control collects the following data at a certain moment: Data packet A (handle action signal) includes an analog data type, specifically stating that the handle position is 60%; Data packet B (button status signal) includes a digital data type, specifically stating that button A is 1 (pressed) and button B is 0 (released); Data packet C (emergency stop signal) includes a digital data type, specifically stating that the emergency stop signal is 0 (not triggered); Data packet D (device status information) includes auxiliary data type, specifically stating that the temperature is 30℃ and the battery level is 80%. In the next collection cycle, the handle position is detected to change from 60% to 65%, and the button A state changes from pressed (1) to released (0), while the other signals such as button B, emergency stop signal, and device status remain unchanged. Therefore, the content of data packet A needs to be updated to handle position 65%, and the content of data packet B needs to be updated to button A=0 and button B=0. At this time, due to the change in handle action and button state, the priority of data packets A and B is dynamically increased, but they are still sorted according to the preset priority rules. For example, data packet A (handle position = 65%) is prioritized to the highest level, data packet B (button A = 0, button B = 0) is prioritized to the medium level, while data packets C (emergency stop signal = 0) and D (temperature = 30°C, battery level = 80%) retain their original priorities. Based on this dynamically adjusted order, data packets will be sent sequentially in the following sending window: first data packet A, then data packet B, then data packet C, and finally data packet D.

[0056] In one embodiment of this application, when updated data packets A and B are received, a CRC (Cyclic Redundancy Check) is performed to ensure that no bit flips or data loss occur during transmission. For example, for data packet A (handle position = 65%), its CRC checksum is calculated and compared with a preset threshold. If the check passes, it is marked as valid data; if the check fails, a data retransmission mechanism is triggered, requiring the data packet to be re-acquired and updated. For data packets D containing device status information, real-time monitoring is conducted to ensure that their values ​​do not exceed safe ranges. For example, when the temperature exceeds 45°C or the battery level is below 10%, the priority of data packet D is automatically temporarily increased to the highest level and sent to the controlled device first in the sending window to ensure that the user can promptly obtain information about abnormal device status. Furthermore, multi-protocol adaptation is supported. The integrated data packets can be converted into different protocol formats such as infrared, Bluetooth, or Wi-Fi according to the communication needs of the controlled device. For example, Bluetooth protocol is used when communicating with smart home devices, while Modbus protocol is switched when communicating with industrial robotic arms. The data priority order remains unchanged during protocol conversion, ensuring the accuracy and real-time performance of control commands.

[0057] Therefore, when at least two sets of data packets exhibit changes, the priority order of the data packets corresponding to the changed data is determined based on the priority order of data types. This mechanism ensures that even when multiple sets of data change simultaneously, they can still be processed in an orderly manner according to the importance of their data types, avoiding transmission chaos caused by multiple data changes. By sorting the changed data packets through preset priority rules, it is ensured that all change information is responded to in a timely manner, and the processing order between different changed data is clearly defined, allowing more critical data types (such as emergency stop signals related to safety or handle action signals that directly affect device movement) to be transmitted and processed first. This design further improves the reliability and response efficiency of the remote control in complex operating scenarios, ensuring that the system can accurately and efficiently handle situations where multiple data changes simultaneously, providing users with a stable, safe, and real-time remote control experience.

[0058] According to one embodiment of this application, the control method of the remote controller further includes: when sending data packets based on priority order, sending a preset number of data packets to the receiver, wherein the preset number of data packets is greater than the number of response data packets sent by the receiver to the data packets. The preset number of data packets can be determined according to actual needs.

[0059] Specifically, in the communication between the remote controller and the receiver, to ensure fast data transmission and efficient system response, it is necessary to optimize the data packet sending and receiving mechanism. Currently, when the remote controller sends data to the receiver, it sends one data packet and then waits for the receiver to send a response data packet in return. For example, after sending one data packet, the remote controller needs to wait for the receiver to return a response data packet before it can send the next data packet. This "question and answer" single send-response mode will reduce the overall communication efficiency in scenarios with large data volumes or high real-time requirements due to the frequent waiting for responses, and cannot meet the data transmission speed requirements of complex operations. To address this, this embodiment proposes an optimized data packet sending strategy. Specifically, when the remote controller sends data packets based on priority order, it sends a preset number of data packets to the receiver at once. This preset number of packets is greater than the number of response data packets sent by the receiver. For example, if the preset number of packets is set to 2, and the receiver sends 1 response data packet, then the remote controller will send 2 data packets to the receiver consecutively, and the receiver only needs to return 1 response data packet to the remote controller after receiving these 2 data packets. This method reduces the number of response data packets sent, lowers communication latency caused by waiting for responses, and enables the transmission of more effective data per unit time. This significantly improves the communication throughput and real-time response speed between the remote controller and the receiver, and better adapts to complex application scenarios with concurrent transmission of multiple data.

[0060] Assume that in each transmission window, the remote control sends a preset number of data packets according to priority. For example, assuming the preset number of packets is two, after detecting a data change, the remote control will send two sets of data packets. The first set contains critical control signals (such as handle action signals), and the second set contains other important data (such as button status signals). After receiving the data packets sent by the remote control, the receiver returns a certain number of response data packets as needed. That is, the number of response data packets returned by the receiver is less than the preset number sent by the remote control. This asymmetrical transmission mode can effectively save bandwidth resources and improve the system's transmission efficiency. For example, the receiver may only return one set of response data packets, containing confirmation information and device status feedback.

[0061] Therefore, by sending a preset number of data packets, critical data can be quickly transmitted to the receiver, which returns fewer response data packets, saving wireless bandwidth resources and improving the overall transmission efficiency of the system. This ensures rapid data transmission and reduces latency in scenarios with high real-time requirements.

[0062] According to one embodiment of this application, the control method of the remote controller further includes: storing data packets in a buffer when sending data packets based on priority order.

[0063] Specifically, when sending data packets based on priority, the data packets are stored in a buffer. That is, when the remote control needs to send a data packet, it first determines the priority of each data packet to be sent, for example, based on its data type (such as controller action signals, button status signals, sensor data, etc.) or preset rules. Then, according to the determined priority order, these data packets are stored sequentially in the buffer.

[0064] The buffer temporarily stores data packets to be sent, ensuring that packets are sent in an orderly manner according to priority. When the wireless channel between the remote controller and the receiver experiences brief congestion or interference, the buffer can temporarily store data packets, preventing data loss due to channel issues. Simultaneously, through centralized management of data packets via the buffer, the remote controller can dynamically adjust its transmission rhythm based on channel conditions. For example, it can quickly send high-priority data from the buffer when the channel is idle, and postpone the transmission of low-priority data when the channel is busy, thereby further improving the stability and reliability of data transmission.

[0065] It should be noted that the buffer has a preset storage capacity for temporarily storing data packets to be sent, and this buffer supports dynamic sorting of the internally stored data packets according to their priority. When a new data packet needs to enter the buffer, if the buffer is not full, it is directly stored and inserted into the appropriate position according to its priority; if the buffer is full, a priority comparison mechanism is triggered, comparing the priority of the new data packet with the lowest priority data packet in the current buffer. If the new data packet has a higher priority, it replaces the lowest priority data packet, ensuring that the buffer always prioritizes storing high-priority data packets. This ensures that critical data transmission order and timeliness are prioritized during subsequent priority-based transmission.

[0066] Therefore, when sending data packets based on priority, the packets are stored in a buffer. This mechanism ensures that packets can be quickly accessed and processed before transmission, while also supporting dynamic priority adjustment. By optimizing the efficiency and reliability of data transmission, it can better adapt to different application scenarios and needs, improving overall performance.

[0067] According to one embodiment of this application, the control method of the remote controller further includes: determining that there is a data change when the data information of at least one data packet in the current data packet is different from the data information in the data packet in the buffer of the previous time.

[0068] Specifically, the remote controller's microcontroller periodically collects various types of data to be sent. This data may include handle action signals, button status signals, emergency stop signals, and device status information. The collected data is grouped according to its data type, with each group containing one type of data. After each data acquisition, the grouped data packets are stored in a buffer, a temporary storage area for the data packets to be sent. To determine if there has been a data change, the data information in the current data packet is compared with the data information in the buffer from the previous moment. For example, for analog data (such as handle position), the value is checked for changes. For digital data (such as button status or emergency stop signals), the state is checked for changes. For auxiliary data (such as device status information), the relevant parameters are checked for changes.

[0069] If the data in any data packet at the current moment differs from the corresponding data packet in the buffer at the previous moment, a data change is determined. For example, if data packet A at the current moment (handle position = 65%) differs from data packet A in the buffer at the previous moment (handle position = 60%), a data change is determined. Similarly, if data packet B at the current moment (button A = 0, button B = 0) differs from data packet B in the buffer at the previous moment (button A = 1, button B = 0), a data change is determined. This data comparison mechanism accurately captures real-time changes in various input and status data of the remote control, providing a reliable basis for subsequent data transmission decisions. It ensures that the transmission process is triggered only when there is a valid data change, thereby optimizing data transmission efficiency and reducing unnecessary communication resource consumption.

[0070] Therefore, by detecting changes in data, it is possible to promptly identify changes in operator actions or equipment status and immediately adjust priorities to ensure that critical data can be quickly transmitted to the receiving end.

[0071] In another embodiment of this application, the same logic is used when transmitting CAN (Controller Area Network) data. CAN data is transmitted through data frames, each containing the following parts: a frame header, including frame type (e.g., data frame, control frame), priority, source address, destination address, etc.; a data payload, containing the actual transmitted data content, such as control commands, sensor data, etc.; and a frame trailer, containing checksum information used to detect errors in data transmission. For example, in an industrial automation scenario, a robotic arm can communicate with a receiver via a CAN bus.

[0072] Wireless transmission refers to data transmission between the remote control and the receiver, using the method described above. CAN data transmission, on the other hand, is data interaction between the receiver and other devices (such as actuators and sensors) via the CAN bus, and similarly does not require following the traditional queuing transmission mechanism. Specifically, when the receiver receives changed data transmitted wirelessly by the remote control, it parses and processes this data to generate a corresponding CAN data frame. When sending this CAN data frame to the CAN bus, it first checks whether there is a difference between the CAN data to be sent and the corresponding CAN data sent on the CAN bus at the previous moment. For example, if the currently generated CAN data frame contains "Actuator X Action Command = Start", while the corresponding command in the previously sent CAN data frame was "Stop", then a data change is determined, and the CAN data transmission process is immediately triggered; if the data is completely identical, no transmission occurs. This optimized logic for CAN data transmission further extends the data transmission strategy in the wireless transmission phase, ensuring that both the wireless link from the remote control to the receiver and the CAN bus link from the receiver to other devices can achieve a highly efficient "transmission upon change" mode. This reduces redundant data transmission in the entire control system, lowers the bus load, and improves the system response speed, making it particularly suitable for industrial control or intelligent device control scenarios with high real-time requirements.

[0073] The following is combined Figure 2 The method described in this application is as follows.

[0074] As a specific example, the control method of the remote control in this application may include the following steps: S101, group the data to be sent from the remote control based on the data type to obtain multiple data packets.

[0075] S102, determine whether there is at least one data packet in the current data packet whose data information is different from the data information in the data packet in the buffer at the previous time. If yes, proceed to step S103; if no, proceed to step S104.

[0076] S103, There is a change in the data in one of the multiple data packets. If yes, proceed to step S105; otherwise, proceed to step S106.

[0077] S105, the data packet corresponding to the changed data is taken as the first data packet to be sent.

[0078] S106. Are there any data changes in at least two of the multiple data packets? If yes, proceed to step S107; if no, proceed to step S101.

[0079] S107, determine the priority order of the data packets corresponding to the changed data based on the priority order of the data types, and send the data packets based on the priority order.

[0080] In summary, the remote control method according to the embodiments of this application groups the data to be transmitted by the remote control based on data type to obtain multiple groups of data packets. When data changes, the priority order of the data packets corresponding to the changed data is determined based on the data type of the changed data, and the data packets are transmitted according to the priority order. Therefore, this method can effectively improve the response speed to changed data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote control.

[0081] Corresponding to the above embodiments, this application also proposes a remote control.

[0082] like Figure 3 As shown, the remote controller 200 of this application embodiment may include: a memory 210, a processor 220, and a program stored in the memory 210 and executable on the processor 220. When the processor 220 executes the program, it implements the above-described remote controller control method.

[0083] The remote controller according to the embodiments of this application, by executing the above-described remote controller control method, can effectively improve the response speed of changing data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0084] Corresponding to the above embodiments, this application also proposes a control device for a remote controller.

[0085] like Figure 4 As shown, the control device 100 of the remote controller in this embodiment includes: a grouping module 110 and a determination module 120.

[0086] The grouping module 110 is used to group the data to be sent from the remote control based on the data type to obtain multiple data packets. The determining module 120 is used to determine the priority order of the data packets corresponding to the changed data based on the data type of the changed data when there is a data change, and send the data packets according to the priority order.

[0087] According to one embodiment of this application, the determining module 120 is further configured to: send data packets based on a preset priority order when there is no data change, wherein the preset priority order is a fixed order pre-set according to the degree of influence of different data types on remote control operation.

[0088] According to one embodiment of this application, the determining module 120 is further configured to: when there is a change in the data in one of the multiple sets of data packets, take the data packet corresponding to the changed data as the first data packet to be sent.

[0089] According to one embodiment of this application, the determining module 120 is further configured to: determine the priority order of the data packets corresponding to the changed data based on the priority order of the data types when there are data changes in at least two of the multiple data packets.

[0090] According to one embodiment of this application, the determining module 120 is further configured to: send a preset number of data packets to the receiver when sending data packets based on priority order, wherein the preset number of data packets is greater than the number of response data packets sent by the receiver to the data packets.

[0091] According to one embodiment of this application, the determining module 120 is further configured to: store data packets in a buffer when sending data packets based on priority order.

[0092] According to one embodiment of this application, the determining module 120 is further configured to: determine that there is a data change when the data information of at least one data packet in the current data packet is different from the data information in the data packet in the buffer of the previous time.

[0093] It should be noted that for details not disclosed in the remote control method of the embodiments of this application, please refer to the details disclosed in the remote control method of the embodiments of this application, which will not be repeated here.

[0094] According to the control device of the remote controller according to the embodiments of this application, the grouping module is used to group the data to be transmitted by the remote controller based on the data type to obtain multiple groups of data packets, and the determining module is used to determine the priority order of the data packets corresponding to the changed data based on the data type of the changed data when there is a data change, and send the data packets according to the priority order. Therefore, this device can effectively improve the response speed to changed data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0095] Corresponding to the above embodiments, this application also proposes an engineering machinery.

[0096] like Figure 5 As shown, the engineering machinery 300 in this embodiment of the application includes a control device 100.

[0097] According to the embodiments of this application, the engineering machinery, by including a control device, can effectively improve the response speed of changing data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0098] Corresponding to the above embodiments, this application also proposes an engineering machinery.

[0099] like Figure 6 As shown, the engineering machinery 300 in this embodiment includes a remote controller 200.

[0100] According to the embodiments of this application, the engineering machinery, by including a remote controller, can effectively improve the response speed of changing data, reduce wireless bandwidth waste, and optimize the overall control performance of the remote controller.

[0101] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0102] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0103] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0104] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0106] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A control method for a remote control, characterized in that, The method includes: The data to be sent from the remote control is grouped according to the data type to obtain multiple data packets; In the event of data changes, the priority order of the data packets corresponding to the changed data is determined based on the data type of the changed data, and the data packets are sent according to the priority order.

2. The control method of the remote controller according to claim 1, characterized in that, The method further includes: In the absence of data changes, the data packets are sent according to a preset priority order, wherein the preset priority order is a fixed order pre-set according to the degree of influence of different data types on remote control operation.

3. The control method for the remote control according to claim 1, characterized in that, The method further includes: If there is a change in the data in one of the multiple sets of data packets, the data packet corresponding to the changed data will be the first data packet to be sent.

4. The control method of the remote controller according to claim 1, characterized in that, The method further includes: When there are data changes in at least two of the multiple sets of data packets, the priority order of the data packets corresponding to the changed data is determined based on the priority order of the data types.

5. The control method of the remote controller according to claim 1, characterized in that, The method further includes: When sending the data packets according to the priority order, a preset number of data packets are sent to the receiver, wherein the preset number of data packets is greater than the number of response data packets sent by the receiver to the data packets.

6. The control method for the remote control according to claim 5, characterized in that, The method further includes: When sending the data packets based on the priority order, the data packets are stored in a buffer.

7. The control method for the remote control according to claim 6, characterized in that, The method further includes: If at least one data packet in the current data packet contains data information that differs from the data information in the data packet in the buffer at the previous time, it is determined that there is a data change.

8. A remote control, characterized in that, include: A memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the control method of the remote controller according to any one of claims 1-7.

9. A control device for a remote control, characterized in that, The device includes: A grouping module is used to group the data to be sent by the remote control based on the data type; The determination module is used to determine the priority order of data packets corresponding to the changed data based on the data type of the changed data when data changes occur, and to send the data packets according to the priority order.

10. An engineering machinery, characterized in that, include: The control device of the remote control as described in claim 8 or the remote control as described in claim 9.

Images