A distributed remote control method and remote control system

Abstract

The present application provides a distributed remote control method and remote control system, characterized in that it is applied to a distributed remote control system composed of multiple remote control stations and multiple cranes, and the method includes: the crane determines the connection status with other remote control stations when other remote control stations send connection requests based on the remote control status between itself and the remote control station, and the connection status includes a connection-allowed status and a connection-forbidden status; the remote control station establishes a connection with the crane in the connection-allowed status according to the connection status, so as to establish a distributed system in which multiple remote control stations control any crane. The present application realizes the distributed control of cranes and effectively improves the stability of the control system.

Description

Technical Field

[0001] The present application relates to the field of terminal automation control, and in particular to a distributed remote control method and a remote control system. Background Art

[0002] In the original remote control system solution for dock cranes, the ROCS software system is responsible for collecting the status of each crane requiring manual intervention, as well as the usage of the operating console, and assigning the cranes requiring manual intervention to a certain idle operating console through reasonable strategies; the RCCS control system is responsible for connecting each operating console slave station and each crane, and receiving the allocation of ROCS to bind the idle operating console to the crane requiring manual intervention.

[0003] Such a remote control architecture has two central units, the ROCS system and the RCCS system. The system has disadvantages, such as capacity expansion bottlenecks that cannot meet the access of a large number of slave stations, and hidden dangers of major production accidents at the terminal. Even if the probability is extremely small, if a single central node crashes for unknown reasons, the entire remote control system will be paralyzed and unable to operate normally. If the cause cannot be quickly found and cannot be restored in time, it will cause great economic losses to the terminal.

[0004] Application Contents

[0005] In view of this, the present application provides a distributed remote control method and a remote control system to solve the problem of centralization of the remote control system.

[0006] In order to solve the above technical problems, this application adopts the following technical solutions:

[0007] A distributed remote control method according to an embodiment of the present application is applied to a distributed remote control system including multiple remote control stations and multiple cranes. The method includes:

[0008] The crane determines the connection status with other remote control stations when other remote control stations send connection requests based on the remote control status between itself and the remote control station. The connection status includes the connection permission status and the connection prohibition status.

[0009] The remote control station establishes a connection with the crane in the connection-allowed state according to the connection state, so as to establish a distributed system in which multiple remote control stations control any one crane.

[0010] In one embodiment of the present application, the remote control state includes an idle state, a state waiting for manual intervention, a state waiting for connection, a pre-connection state or a connection state;

[0011] When the remote control status between the crane and the remote control console is idle or waiting for manual intervention, the corresponding connection status of the crane is connection allowed;

[0012] When the remote control state between the crane and the remote control console is the waiting connection state, the pre-connection state or the connection state, the corresponding connection state of the crane is the prohibited connection state.

[0013] In one embodiment of the present application, the remote control console includes an operating unit, and the operating unit is used to send an active request to the crane, and actively connect to the crane when the crane is in a connection-allowed state.

[0014] In one embodiment of the present application, the crane includes a stand-alone remote control unit and an automated remote control unit, the automated remote control unit being used to respond to active requests according to a connection state and to establish a connection with the remote control console when the crane is in an idle state; and / or,

[0015] When the crane is in a state of waiting for manual intervention, a passive request for establishing a connection with the operating unit is sent in response to the intervention information of the stand-alone remote control unit.

[0016] In one embodiment of the present application, the automated remote control unit is used to respond to an active request according to a connection state, and further includes:

[0017] After receiving the active request, the automation remote control unit enters the waiting state for connection;

[0018] When the remote control state is the waiting connection state, the automation remote control unit notifies the stand-alone remote control unit to connect with the operation unit.

[0019] In one embodiment of the present application, the automated remote control unit is used to respond to an active request according to a connection state, and further includes:

[0020] The stand-alone remote control unit enters the pre-connection state after receiving the notification from the automation remote control unit;

[0021] When the remote control state is the pre-connection state, the stand-alone remote control unit initiates a connection to the operation unit.

[0022] In one embodiment of the present application, the stand-alone remote control unit initiates a connection to the operating unit, including:

[0023] The operating unit confirms the connection and enters the connection state, and the stand-alone remote control unit is connected to the operating unit.

[0024] In one embodiment of the present application, in response to the intervention information of the stand-alone remote control unit, sending a passive request to the operating unit for establishing a connection therewith includes:

[0025] When the remote control state is in the state of waiting for manual intervention, the single-machine remote control unit sends out intervention information;

[0026] The automation remote control unit responds to the intervention information of the stand-alone remote control unit and issues a passive request to poll multiple operating units.

[0027] In one embodiment of the present application, polling multiple operation units includes:

[0028] The automation remote control unit sends a passive request to poll multiple operation units to find an idle operation unit;

[0029] After finding an idle operating unit, the automated remote control unit connects the idle operating unit to the stand-alone remote control unit and enters a connection-forbidden state to reject connections from other operating units.

[0030] The present application also provides a distributed remote control system, comprising a plurality of remote control consoles and a plurality of cranes, wherein:

[0031] The crane is used to determine the connection status with other remote control stations when other remote control stations send connection requests based on the remote control status between itself and the remote control station. The connection status includes the connection permission status and the connection prohibition status;

[0032] The remote control console is used to establish a connection with a crane in a connection-allowed state according to the connection state, so as to establish a distributed system in which multiple remote control consoles control any one crane.

[0033] In one embodiment of the present application, the remote control state includes an idle state, a state waiting for manual intervention, a state waiting for connection, a pre-connection state or a connection state;

[0034] When the remote control status between the crane and the remote control console is idle or waiting for manual intervention, the corresponding connection status of the crane is connection allowed;

[0035] When the remote control state between the crane and the remote control console is the waiting connection state, the pre-connection state or the connection state, the corresponding connection state of the crane is the prohibited connection state.

[0036] In one embodiment of the present application, the remote control console includes an operating unit, and the operating unit is used to send an active request to the crane, and actively connect to the crane when the crane is in a connection-allowed state.

[0037] In one embodiment of the present application, the crane includes a stand-alone remote control unit and an automated remote control unit, the automated remote control unit being used to respond to active requests according to a connection state and to establish a connection with the remote control console when the crane is in an idle state; and / or,

[0038] When the crane is in a state of waiting for manual intervention, a passive request for establishing a connection with the operating unit is sent in response to the intervention information of the stand-alone remote control unit.

[0039] In one embodiment of the present application, the operating unit includes:

[0040] The first control module is used to send an active request to the automation remote control unit to connect to the stand-alone remote control unit.

[0041] In one embodiment of the present application, the first control module is further configured to receive a passive request from the automated remote control unit to connect to the stand-alone remote control unit.

[0042] In one embodiment of the present application, a stand-alone remote control unit includes:

[0043] A first communication module, used to connect the operation unit and the automation remote control unit respectively;

[0044] The second control module is used to connect with the first control module through the first communication module after the automation remote control unit responds to the active request, so that the first control module monitors or controls the crane.

[0045] In one embodiment of the present application, the second control module is further used to output intervention information to the automation remote control unit through the first communication module, so that the automation remote control unit sends a passive request to poll the first control modules of the multiple operating units.

[0046] In one embodiment of the present application, the second control module is further configured to connect to the first control module through the first communication module after the first control module responds to the passive request, so that the first control module monitors or controls the crane.

[0047] In one embodiment of the present application, the automated remote control unit comprises:

[0048] A second communication module, used to listen to the active request sent by the first control module and the intervention information sent by the second control module, and detect the current remote control state;

[0049] A monitoring forwarding module, used for responding to an active request and sending monitoring camera data to the first control module;

[0050] The jump platform module is used to respond to the intervention information of the single-machine remote control unit and send passive requests to the first control modules of multiple operating units in sequence to poll the multiple first control modules.

[0051] In one embodiment of the present application, the first control module communicates with the first communication module via industrial Ethernet, the first control module communicates with the second communication module via Ethernet, and the first communication module communicates with the second communication module via industrial Ethernet.

[0052] The above technical solution of the present application has at least one of the following beneficial effects:

[0053] 1. The distributed remote control method and remote control system of the present application effectively improve the stability of the system by setting up multiple remote control consoles and cranes and distributing the remote control functions;

[0054] 2. The distributed remote control method and remote control system of the present application effectively improve safety by informing each automated remote control unit of the position and speed of each trolley, so that a single remote control unit can perform anti-collision protection according to the position and speed of adjacent trolleys. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is an architecture diagram of a distributed remote control system according to an embodiment of the present application;

[0056] Figure 2 A flowchart of a distributed remote control method according to an embodiment of the present application;

[0057] Figure 3 This is a schematic diagram of the structure of an operating unit in a distributed remote control system according to an embodiment of the present application;

[0058] Figure 4 This is a schematic diagram of the structure of a single remote control unit in a distributed remote control system according to an embodiment of the present application;

[0059] Figure 5 This is a schematic diagram of the structure of the automated remote control unit in the distributed remote control system of an embodiment of the present application;.

[0060] Figure 6 A flow chart of an operating unit viewing surveillance camera data in a distributed remote control method according to an embodiment of the present application;

[0061] Figure 7 A flow chart of active connection of an operating unit in a distributed remote control method according to an embodiment of the present application;

[0062] Figure 8 A flow chart of the operation unit transfer in the distributed remote control method according to an embodiment of the present application;

[0063] Fig. 9 This is a flowchart of task jumping in the distributed remote control method of an embodiment of the present application.

[0064] Figure numerals: 100, remote control console; 110, operating unit; 111, first control module; 200, crane; 211, first communication module; 212, second control module; 210, single-machine remote control unit; 220, automated remote control unit; 221, second communication module; 222, monitoring forwarding module; 223, platform module. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme of the embodiment of the present application will be clearly and completely described below in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0066] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0067] The existing dock crane remote control system architecture uses a central node to control and regulate the crane. The control system of the central node has a capacity expansion bottleneck and cannot meet the access of a large number of slave stations. At the same time, after the central node fails, the slave stations connected to the central node will not work. If the cause cannot be quickly found and cannot be restored in time, it will cause great economic losses to the dock. In addition, the increasing number of single-machine equipment and remote control consoles will also cause overload access to the central unit, resulting in failure to communicate normally, affecting the normal operation of the entire remote control system. In order to solve the above problems, the present application provides a distributed remote control method and a remote control system.

[0068] A distributed remote control method and a remote control system according to the present application will first be described in detail below with reference to the accompanying drawings.

[0069] like Figure 1 and Figure 2 As shown, a distributed remote control method according to an embodiment of the present application is applied to a distributed remote control system including multiple remote control stations and multiple cranes, and the method includes:

[0070] S100, the crane determines the connection status with other remote control stations when other remote control stations send connection requests based on the remote control status between the crane and the remote control station, and the connection status includes a connection permission status and a connection prohibition status;

[0071] S200: The remote control station establishes a connection with a crane in a connection-allowed state according to the connection state, so as to establish a distributed system in which multiple remote control stations control any one crane.

[0072] That is to say, the crane can detect the remote control state between itself and the remote control station, such as idle state, waiting for manual intervention state, waiting for connection state, pre-connection state or connection state. When the crane is not connected to the remote control station, it is in idle state; when the crane fails or is in semi-automatic working condition and is not connected to the remote control station, it is in waiting for manual intervention state; when the crane is connected to the remote control station, it is in connection state, pre-connection state or connection state; when the remote control state between the crane and the remote control station is idle state or waiting for manual intervention state, the corresponding connection state of the crane is connection allowed state; when the remote control state between the crane and the remote control station is waiting for connection state, pre-connection state or connection state, the corresponding connection state of the crane is connection prohibited state.

[0073] In one embodiment of the present application, the remote control console includes an operating unit, and the operating unit is used to send an active request to the crane, and actively connect to the crane when the crane is in a connection-allowed state.

[0074] In one embodiment of the present application, the crane includes a stand-alone remote control unit and an automated remote control unit, the automated remote control unit being used to respond to active requests according to a connection status, and to establish a connection between the stand-alone remote control unit and a remote control console when the crane is in an idle state, i.e., in a state allowing connection; and / or, when the crane is in a state waiting for manual intervention, respond to the intervention information of the stand-alone remote control unit and send a passive request to the operating unit to establish a connection therewith.

[0075] Specifically, when the crane is in a state of waiting for manual intervention, the stand-alone remote control unit will send intervention information to the automated remote control unit, and the automated remote control unit will send passive requests to multiple operating units in turn in response to the intervention information, so that the operating units can establish connections with the stand-alone remote control unit.

[0076] In one embodiment of the present application, the automated remote control unit is used to respond to an active request according to a connection state, and further includes:

[0077] After receiving the active request, the automation remote control unit enters the waiting state for connection;

[0078] When the remote control state is the waiting connection state, the automation remote control unit notifies the stand-alone remote control unit to connect with the operation unit.

[0079] In one embodiment of the present application, the automated remote control unit is used to respond to an active request according to a connection state, and further includes:

[0080] The stand-alone remote control unit enters the pre-connection state after receiving the notification from the automation remote control unit;

[0081] When the remote control state is the pre-connection state, the stand-alone remote control unit initiates a connection to the operation unit.

[0082] In one embodiment of the present application, the stand-alone remote control unit initiates a connection to the operating unit, including:

[0083] The operating unit confirms the connection and enters the connection state, and the stand-alone remote control unit is connected to the operating unit.

[0084] In one embodiment of the present application, in response to the intervention information of the stand-alone remote control unit, sending a passive request to the operating unit for establishing a connection therewith includes:

[0085] When the remote control state is in the state of waiting for manual intervention, the single-machine remote control unit sends out intervention information;

[0086] The automation remote control unit responds to the intervention information of the stand-alone remote control unit and issues a passive request to poll multiple operating units.

[0087] In one embodiment of the present application, polling multiple operation units includes:

[0088] The automation remote control unit sends a passive request to poll multiple operation units to find an idle operation unit;

[0089] After finding an idle operating unit, the automated remote control unit connects the idle operating unit to the stand-alone remote control unit and enters a connection-forbidden state to reject connections from other operating units.

[0090] The present application also provides a distributed remote control system, such as Figure 1 As shown, Figure 1 This is an architecture diagram of the distributed remote control system of the present application. The control system includes multiple remote control stations 100 and multiple cranes 200. The crane 200 is provided with at least one monitoring camera. The crane 200 is used to determine the connection status with other remote control stations 100 when sending a connection request based on the remote control status between itself and the remote control station 100; the remote control station 100 establishes a connection with the crane 200 in the connection-allowed state according to the connection status, so as to establish a distributed system in which multiple remote control stations 100 control any crane 200; the connection status includes a connection-allowed state and a connection-prohibited state.

[0091] In one embodiment of the present application, the remote control state includes an idle state, a state waiting for manual intervention, a state waiting for connection, a pre-connection state or a connection state; when the remote control state of the crane 200 and the remote control station 100 is an idle state or a state waiting for manual intervention, the corresponding connection state of the crane 200 is a connection allowed state; when the remote control state of the crane 200 and the remote control station 100 is a state waiting for connection, a pre-connection state or a connection state, the corresponding connection state of the crane 200 is a connection prohibited state.

[0092] In one embodiment of the present application, the remote control station 100 includes an operation unit 110, which is used to send an active request to the crane 200, and actively connect to the crane 200 when the crane 200 is in a connection-allowed state. The crane 200 includes a stand-alone remote control unit 210 and an automated remote control unit 220, and the automated remote control unit 220 is used to respond to the active request according to the connection state, and establish a connection with the remote control station 100 when the crane 200 is in an idle state; and / or, when the crane 200 is in a state of waiting for manual intervention, respond to the intervention information of the stand-alone remote control unit 210 and send a passive request to the operation unit 110 for establishing a connection with it.

[0093] That is, a plurality of remote control stations 100 and a plurality of cranes 200 can be connected to each other so that the remote control station 100 controls the crane 200; the remote control station 100 includes an operation unit 110, and the operation unit 110 is used to issue an active request to control the crane 200, or receive a passive request to control the crane 200; the crane 200 includes a stand-alone remote control unit 210 and an automated remote control unit 220, and the automated remote control unit 220 is connected to the stand-alone remote control unit 210, and is used to receive an active request issued by the operation unit 110, and according to the connection state of the operation unit 110 at this time, the operation unit 110 is connected to the stand-alone remote control unit 210 to control the crane 200, for example, when the connection state of the stand-alone remote control unit 210 is in the connection-allowed state, the operation unit 110 is connected to the stand-alone remote control unit 210, otherwise, the operation unit 110 is prohibited from connecting to the stand-alone remote control unit 210. In addition, the automated remote control unit 220 is also used to respond to the intervention information of the single-machine remote control unit 210 when the single-machine remote control unit 210 detects a fault or issues intervention information in a semi-automatic working condition, and issues a passive request to poll multiple operating units 110, so that the operating units 110 are connected to the single-machine remote control unit 210 to control the crane 200.

[0094] In a preferred embodiment of the present application, the automated remote control unit 220 may also be used to respond to an active request and control the monitoring server to send monitoring camera data to the operating unit 110 so that the operating unit 110 can monitor the construction status of the crane 200 .

[0095] Specifically, the stand-alone remote control unit 210 and the automated remote control unit 220 run on each crane 200, and the operating unit 110 runs on each remote control console 100 in the remote control room. More specifically, the stand-alone remote control unit 210 and the operating unit 110 can be a programmable logic controller (PLC). PLC has high reliability, strong anti-interference ability, and strong applicability. It is suitable for dock environments with strong interference signals, which effectively improves the anti-interference ability of the system.

[0096] In addition, in the system, the single-machine remote control unit 210 serves as the master station and the operating unit 110 serves as the slave station. At the same time, the single-machine remote control unit 210 adds all the operating units 110 as slave stations to the configuration. Thus, each remote control station 100 is a separate control unit. The crane 200 can be connected to any remote control station 100 separately according to working conditions, and each remote control station 100 can also actively connect to any crane 200.

[0097] Therefore, through the distributed layout, the fault resistance and redundancy capabilities of the remote control system are effectively improved, and the reliability of the system is improved.

[0098] At the same time, when the remote control task is not performed, the stand-alone remote control unit 210 does not activate the slave station communication, thereby effectively saving bandwidth and improving the redundancy of the system. In the remote control task, the stand-alone remote control unit 210 and the operating unit 110 accept the scheduling of the automated remote control unit 220 for connection. For example, the automated remote control unit 220 can be used to respond to the active request of the operating unit 110, control the monitoring server to send monitoring camera data to the operating unit 110, or connect with the stand-alone remote control unit 210, so that the operating unit 110 is connected to the stand-alone remote control unit 210 to control the crane 200, and\or, to respond to the intervention information of the stand-alone remote control unit 210, issue a passive request to poll multiple operating units 110, so that the operating unit 110 is connected to the stand-alone remote control unit 210 to control the crane 200. In this way, the stability and scalability of the system are improved. Of course, it can be understood that the system involves distributed remote control of the dock crane 200, but the system can also be applied to other scenarios, which are not limited here.

[0099] like Figure 3 As shown, in one embodiment of the present application, the operating unit 110 includes: a first control module 111. The first control module 111 is used to send an active request to the automation remote control unit 220 to connect to the stand-alone remote control unit 210 to monitor or control the crane 200, and / or, to receive a passive request sent by the automation remote control unit 220 to connect to the stand-alone remote control unit 210 to monitor or control the crane 200.

[0100] Specifically, the active request includes a viewing request, an active connection request, and a processing transfer request. More specifically, the first control module 111 can send a viewing request to request the automated remote control unit 220 for the surveillance camera data on the crane 200. If the request is successful, the first control module 111 can view the surveillance camera screen and switch the surveillance camera screen; the first control module 111 can send an active connection request to request the automated remote control unit 220 to connect with the stand-alone remote control unit 210 to control the crane 200; the first control module 111 sends a processing transfer request. If the request is successful, the bound stand-alone remote control unit 210 can be unbound. At this time, the automated remote control unit 220 can bind the stand-alone remote control unit 210 to another idle operation unit 110. As a result, the first control module 111 in each operation console has a separate control function, realizing the distributed control of the crane 200, which can effectively improve the stability of the system and improve the system efficiency.

[0101] like Figure 4 As shown, in one embodiment of the present application, the stand-alone remote control unit 210 includes: a first communication module 211 and a second control module 212. The first communication module 211 is used to communicate with the operating unit 110 and the automated remote control unit 220 respectively; the second control module 212 is used to connect with the first control module 111 through the first communication module 211 after the automated remote control unit 220 responds to an active request, so that the first control module 111 monitors or controls the crane 200, and / or, is used to output intervention information to the automated remote control unit 220 through the first communication module 211, so that the automated remote control unit 220 issues a passive request to poll the first control modules 111 of multiple operating units 110.

[0102] Specifically, the second control module 212 can be connected to the first control module 111 through the first communication module 211 after the automated remote control unit 220 responds to the active request. At this time, the operating unit 110 can issue a control command to the crane 200 through the first control module 111, and the second control module 212 can execute the corresponding control command to control the crane 200. At the same time, when a special working condition occurs, such as when the crane 200 fails or performs a semi-automatic task, the second control module 212 can output intervention information to the automated remote control unit 220 through the first communication module 211, so that the automated remote control unit 220 issues a passive request to poll the first control modules 111 of multiple operating units 110. In addition, when remote control is not performed, the second control module 212 can run automatically to control the crane 200 to perform an automatic task. As a result, there is no need for the operating unit 110 to intervene in the control in real time, which effectively improves the efficiency of the system and saves manpower.

[0103] In one embodiment of the present application, the second control module 212 is further used to connect with the first control module 111 through the first communication module 211 after the first control module 111 responds to the passive request, so that the first control module 111 monitors or controls the crane 200. Specifically, after the automation remote control unit 220 sends a passive request to the first control module 111 of the operating unit 110 and receives a response, the second control module 212 can be directly connected with the first control module 111 through the first communication module 211, so that the first control module 111 monitors or controls the crane 200. The efficiency of the system is effectively improved.

[0104] like Figure 5 As shown, in one embodiment of the present application, the automation remote control unit 220 includes: a second communication module 221, a monitoring forwarding module 222 and a jump module 223. Among them, the second communication module 221 is used to listen to the active request sent by the first control module 111 and the intervention information sent by the second control module 212; the monitoring forwarding module 222 is used to respond to the active request and control the monitoring server to send the monitoring camera data to the first control module 111; the jump module 223 is used to respond to the intervention information of the stand-alone remote control unit 210, and send passive requests to the first control modules 111 of multiple operating units 110 in turn to poll multiple first control modules 111.

[0105] Specifically, for example, the second communication module 221 is provided with three fixed TCP ports for listening to active requests issued by the first control module 111 and intervention information issued by the second control module 212. When the operating unit 110 has an active request, the operating unit 110 can connect to the IP of the second communication module 221 according to the crane 200 number, and open the corresponding TCP port to send an active request. At this time, the second communication module 221 can listen to the active request.

[0106] When the monitoring forwarding module 222 responds to the viewing request, the monitoring camera data can be obtained from the monitoring server and sent to the operating unit 110. In addition, after the stand-alone remote control unit 210 sends the intervention information, it will enter the connection state of manual intervention. At this time, the jump module 223 can reasonably select the operating unit 110 according to the state of the operating unit 110 so that the operating unit 110 intervenes in the control and completes the task jump operation. That is, the jump module 223 can send passive requests to the first control modules 111 of multiple operating units 110 in sequence to poll multiple first control modules 111. When the first control module 111 is idle and available, the jump module 223 sends a connection command to connect the stand-alone remote control unit 210 with the operating unit 110. At this time, the operating unit 110 can intervene in the control of the stand-alone remote control unit 210.

[0107] In one embodiment of the present application, the first control module 111 communicates with the first communication module 211 via industrial Ethernet, the first control module 111 communicates with the second communication module 221 via Ethernet, and the first communication module 211 communicates with the second communication module 221 via industrial Ethernet.

[0108] Specifically, the first control module 111 of the operation unit 110 communicates with the first communication module 211 of the stand-alone remote control unit 210 via industrial Ethernet (Profinet), the first control module 111 of the operation unit 110 communicates with the second communication module 221 of the automation remote control unit 220 via Ethernet (Ethernet), and the first communication module 211 of the stand-alone remote control unit 210 communicates with the second communication module 221 of the automation remote control unit 220 via industrial Ethernet. Industrial Ethernet has good anti-interference performance, can effectively adapt to the strong interference environment of the terminal, and effectively improves the stability of the system.

[0109] The distributed remote control method and remote control system of the present application are described in detail below in conjunction with specific scenarios.

[0110] like Figure 6 As shown, in one embodiment of the present application, the automated remote control unit responds to an active request from the operating unit and sends surveillance camera data to the operating unit, including:

[0111] When the operating unit needs to view the surveillance camera data, it sends a viewing request to the automated remote control unit; after the automated remote control unit intercepts the viewing request, it detects the occupancy status of the stand-alone remote control unit. When the stand-alone remote control unit determines that it is not occupied or is occupied and not viewing, it controls the monitoring server to send the surveillance camera data to the operating unit.

[0112] Specifically, an interactive interface (Dataview) is deployed in the operation unit, and a viewing command can be sent to the operation unit through Dataview. At this time, the operation unit can send a viewing request to the automated remote control unit, and the automated remote control unit can judge the binding status of the operation unit. When the stand-alone remote control unit is not bound or bound and not viewed, the automated remote control unit replies to the operation unit to allow viewing, and sets the viewing status to viewing, and then sends the monitoring camera data and screen switching strategy to the operation unit. At this time, the Dataview of the operation unit can successfully view the monitoring camera (CCTV) data in the monitoring camera server and switch the screen of CCTV. CCTV can display the corresponding screen according to the screen switching mode. Otherwise, the automated remote control unit replies to the operation unit to refuse to view and end the viewing. When Dataview chooses to end viewing, the operation unit sends an end viewing command to the automated remote control unit. After detecting the end viewing command or detecting that the Profinet connection is disconnected, the automated remote control unit replies to the operation unit to end viewing, and the operation unit replies to Dataview that the viewing is over.

[0113] like Figure 7 As shown, in one embodiment of the present application, the automated remote control unit responds to an active request from the operating unit, sends surveillance camera data to the operating unit, or connects the operating unit to a stand-alone remote control unit to control the crane, including: when the operating unit needs to control the crane, sending a connection request to the automated remote control unit; after the automated remote control unit detects the occupancy status of the stand-alone remote control unit after hearing the connection request, when the stand-alone remote control unit is not occupied, connecting the stand-alone remote control unit to the operating unit so that the operating unit controls the crane.

[0114] Specifically, Dataview can send an active connection command to the operating unit. After receiving the command, the operating unit sends a connection request to the automated remote control unit. After the automated remote control unit intercepts the connection request, it detects the occupancy status of the stand-alone remote control unit. When the stand-alone remote control unit is not occupied, the automated remote control unit replies to the operating unit to allow the connection and sends a command to bind the stand-alone remote control unit to the operating unit. Otherwise, it replies that the operating unit has been bound, and Dataview's active connection ends. When the stand-alone remote control unit binds the operating unit, the operating unit can determine whether the binding is successful. If successful, the operating unit and the automated remote control unit become pre-connected. At this time, Dataview can cancel the pre-connection or connection. For example, if the pre-connection is canceled, the operating unit notifies the automated remote control unit to cancel the connection, and the automated remote control unit notifies the stand-alone remote control unit to unbind the operating unit. After the stand-alone remote control unit unbinds the operating unit, the operating unit enters the idle state. At the same time, the automated remote control unit determines whether there is a fault. If there is no fault, the stand-alone remote control unit enters the automatic operation mode, otherwise it enters the jump process.

[0115] If Dataview continues to pre-connect, the operation unit and the automated remote control unit enter the connection state. The automated remote control unit determines whether to jump the platform. If jumping the platform is not necessary, it determines whether remote monitoring is required. If remote monitoring is required, it determines whether manual control is required or the automatic operation fails. If any of the above is judged as no, the operation unit will enter manual control. When the operation unit is manually controlled, the screen can be displayed according to the CCTV screen switching mode, or the crane can be controlled by the stand-alone remote control unit. After the task is completed, the control unit can release the control, and the stand-alone remote control unit can forward the release command to the automated remote control unit, and the automated remote control unit controls the stand-alone remote control unit to unbind the operation unit. In addition, the successful active connection of the operation unit does not affect the automatic operation of the stand-alone remote control unit. After the operation unit is released, if the automated remote control unit has no fault, the automated remote control unit will change the connection state to idle; if a fault occurs, the connection state will change to waiting for manual intervention. At this time, the automated remote control unit responds to the intervention information of the stand-alone remote control unit and sends a passive request to poll multiple operation units.

[0116] like Figure 8 As shown, in one embodiment of the present application, the automated remote control unit responds to an active request from the operating unit, sends monitoring camera data to the operating unit, or connects the operating unit to a stand-alone remote control unit to control the crane, including: when the operating unit needs to transfer the occupied stand-alone remote control unit to another operating unit, a transfer request is sent to the automated remote control unit; after the automated remote control unit detects the transfer request, it queries the occupancy status of the other operating unit; when the other operating unit is not occupied, the stand-alone remote control unit is unbound from the current operating unit and connected to the other operating unit.

[0117] Specifically, when operation unit A is bound to a stand-alone remote control unit, the Dataview of operation unit A can send a transfer command to operation unit A. Operation unit A sends a transfer request to the automated remote control unit. The automated remote control unit sends a query command to operation unit B. If operation unit B allows the transfer, the stand-alone remote control unit is notified to unbind operation unit A. After the stand-alone remote control unit unbinds operation unit A, operation unit A determines whether the unbinding is successful. If successful, the stand-alone remote control unit is notified to bind operation unit B. The stand-alone remote control unit binds operation unit B so that operation unit B determines whether the binding is successful, and it is displayed in the Dataview if successful.

[0118] like Fig. 9As shown, in one embodiment of the present application, in response to intervention information of a stand-alone remote control unit, a passive request is issued to poll multiple operating units so that the operating units are connected to the stand-alone remote control unit to control the crane, including: when the stand-alone remote control unit encounters a special working condition, the intervention information is sent to the automated remote control unit; after the automated remote control unit detects the intervention information, the passive request is randomly sent to multiple operating units in sequence until an idle operating unit is queried; after the automated remote control unit queries an idle operating unit, the stand-alone remote control unit is connected to the operating unit.

[0119] Specifically, when a stand-alone remote control unit fails or performs a semi-automatic task, it enters the state of waiting for manual intervention and sends intervention information. After the automated remote control unit hears the intervention information, it randomly sends passive requests to multiple operation units in sequence until an idle operation unit is found, and records the state of the operation unit when the operation unit is accessed. If no idle operation unit is found after traversal, the traversal is repeated three times. If no idle operation unit is found, the operation unit is randomly polled until an idle operation unit is found.

[0120] In addition, if the stand-alone remote control unit has been connected to an operating unit before, and the automated remote control unit fails after the operating unit releases control, the automated remote control unit will give priority to querying the previously connected operating unit when sending a passive request. If it is idle, the stand-alone remote control unit will be connected to the operating unit, otherwise it will randomly poll other operating units.

[0121] When a stand-alone remote control unit is in a connected state or a pre-connected state, when an operating unit connected or pre-connected to the stand-alone remote control unit cancels the connection, the automation remote control unit avoids the operating unit during the next polling. When no idle operating unit is found after completing a round of polling, the operating unit is added to the next polling sequence.

[0122] After stopping polling, the binding process between the stand-alone remote control unit and the operating unit is entered. This process is the same as the binding process in the active connection process and will not be described here.

[0123] In one embodiment of the present application, the terminal crane equipment management center can send crane information to the automated remote control unit of each crane to inform the automated remote control unit of the information of the cranes adjacent to the crane on the left and right. Then the automated remote control unit can send the position and speed of the trolleys of the left and right adjacent cranes to the single-machine remote control unit, and the single-machine remote control unit can perform anti-collision protection based on the position and speed of the adjacent trolleys.

[0124] The distributed remote control method and remote control system of the present application effectively improve the stability of the system by setting up multiple remote control consoles and cranes and distributing the remote control functions; in addition, the distributed remote control method and remote control system of the present application effectively improve the safety by informing each automated remote control unit of the position and speed of each trolley, so that a single remote control unit can perform anti-collision protection according to the position and speed of adjacent trolleys.

[0125] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A distributed remote control method, characterized in that: Applied to a distributed remote control system comprising a plurality of remote control consoles and a plurality of cranes, the method comprises: The crane determines the connection status with other remote control stations when other remote control stations send connection requests based on the remote control status between the crane and the remote control station, wherein the connection status includes a connection permission status and a connection prohibition status; The remote control station establishes a connection with the crane in the connection-allowed state according to the connection state, so as to establish a distributed system in which a plurality of remote control stations control any one of the cranes; The remote control state includes an idle state, a state waiting for manual intervention, a state waiting for connection, a pre-connection state or a connection state; When the remote control state between the crane and the remote control console is an idle state or a state waiting for manual intervention, the connection state corresponding to the crane is the connection allowed state; When the remote control state between the crane and the remote control station is a waiting connection state, a pre-connection state or a connection state, the connection state corresponding to the crane is a prohibited connection state.

2. The distributed remote control method according to claim 1, characterized in that: The remote control console includes an operating unit, and the operating unit is used to send an active request to the crane, and actively connect to the crane when the crane is in the connection-allowed state.

3. The distributed remote control method according to claim 2, characterized in that: The crane comprises a stand-alone remote control unit and an automated remote control unit, wherein the automated remote control unit is used to respond to the active request according to a connection state and to establish a connection with the remote control station when the crane is in the idle state; and / or, When the crane is in a state of waiting for manual intervention, a passive request for establishing a connection with the operating unit is sent to the operating unit in response to intervention information of the stand-alone remote control unit.

4. The distributed remote control method according to claim 3, characterized in that: The automated remote control unit is used to respond to the active request according to the connection state, and establish a connection with the remote control station when the crane is in the idle state, and further includes: After receiving the active request, the automated remote control unit enters a waiting state for connection; When the remote control state is the waiting connection state, the automated remote control unit notifies the stand-alone remote control unit to connect with the operating unit.

5. The distributed remote control method according to claim 4, characterized in that: The automated remote control unit is used to respond to the active request according to the connection status, and further includes: The stand-alone remote control unit enters a pre-connection state after receiving a notification from the automated remote control unit; When the remote control state is a pre-connection state, the stand-alone remote control unit initiates a connection to the operating unit.

6. The distributed remote control method according to claim 5, characterized in that: The stand-alone remote control unit initiates a connection to the operation unit, including: The operating unit confirms the connection and enters a connection state, and the stand-alone remote control unit is connected to the operating unit.

7. The distributed remote control method according to claim 6, characterized in that: In response to the intervention information of the stand-alone remote control unit, a passive request for establishing a connection with the operating unit is sent to the operating unit, comprising: When the remote control state is a state of waiting for manual intervention, the single-machine remote control unit sends intervention information; The automated remote control unit responds to the intervention information of the stand-alone remote control unit and issues the passive request to poll the plurality of operating units.

8. The distributed remote control method according to claim 7, characterized in that: The polling of the plurality of operation units comprises: The automated remote control unit sends the passive request to poll the plurality of operating units to find an idle operating unit; After finding the idle operating unit, the automated remote control unit connects the idle operating unit to the stand-alone remote control unit, and enters a connection-forbidden state to reject connections from other operating units.

9. A distributed remote control system, characterized in that: The distributed remote control method is applied to any one of claims 1 to 8.

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