A remote control system and control method for an empty rail vehicle

Abstract

The present invention discloses a remote control system and control method for an aerial rail vehicle. The system comprises a control signal access module, a signal conditioning module, a PLC module and a logic check processing module connected in sequence. The input end of the PLC module is also connected to a remote interactive end. The control signal access module accesses control signals for driving and loading and unloading slings of the controlled aerial rail vehicle. After signal conditioning by the signal conditioning module, the conditioned control signal is output. The PLC module respectively accesses the control signal received by the remote interactive end and the conditioned control signal, performs data conversion processing and sends them to the logic check processing module. The logic check processing module performs a logic check and outputs the control signal after the check to the control device of the controlled aerial rail vehicle to control the driving and loading and unloading operations of the vehicle. The present invention has the advantages of simple structure, low cost, high intelligence, high control efficiency, safety and reliability, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of aerial rail vehicle control, and particularly to a remote control system and control method for an aerial rail vehicle. Background Art

[0002] An aerial rail vehicle (aerial rail train) is a suspended monorail transit system with its track above the train. By moving ground transportation into the air, the aerial rail can overcome the problems existing in traditional rail transit systems and relieve urban traffic pressure. There has been little research on the remote control of aerial rail vehicles in the prior art. Most solutions are for the remote control of railway locomotives (such as railway shunting locomotives, industrial and mining operation locomotives), etc. Such solutions are mainly realized through portable remote controllers, and the operation personnel conduct remote control operations on-site. Not only is the degree of control intelligence and efficiency low, but also the control operation range is limited, which is not suitable for the remote train operation and operation control of vehicles on long lines, and there is also a risk of accidents caused by non-compliance with operating procedures.

[0003] Some practitioners have proposed to realize the remote control of aerial rail vehicles through vehicle-ground wireless network communication, that is, the aerial rail vehicle is connected to the ground control station through the vehicle-ground wireless network, and the running control instructions sent to the aerial rail vehicle are transmitted through this vehicle-ground wireless network to control the vehicle running. However, such solutions have the following problems:

[0004] 1. Since the control of the aerial rail vehicle is only for running control, all the signals sent through the vehicle-ground wireless network are aerial rail running control signals. However, during the operation of the aerial rail vehicle, loading and unloading spreader operations are also required. Therefore, the above remote control solution does not have the function of remotely loading and unloading the spreader of the aerial rail vehicle, and the spreader loading and unloading still need to be carried out on-site at the loading and unloading site of the aerial rail vehicle, and the integrated operation of the aerial rail vehicle in the control center still cannot be realized;

[0005] 2. Since the control instructions are directly transmitted to the aerial rail vehicle through the vehicle-ground wireless network, there may very likely be instructions that do not conform to the operating procedures in the transmitted control instructions. If the aerial rail vehicle operates according to such instructions that do not conform to the operating procedures, it will affect the train operation and operation safety of the vehicle. Summary of the Invention

[0006] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the present invention provides a remote control system and control method for an aerial rail vehicle with a simple structure, low cost, high degree of intelligence, high control efficiency, safety and reliability.

[0007] To solve the above technical problems, the technical solution proposed by the present invention is:

[0008] A remote control system for an aerial rail vehicle, comprising a control signal access module, a signal conditioning module, a PLC module, and a logic check and processing module that are connected in sequence. The input end of the PLC module is also connected to a remote interaction end. The control signal access module accesses the control signals for the driving of the controlled aerial rail vehicle and the loading and unloading spreader. After signal conditioning by the signal conditioning module, the conditioned control signals are output. The PLC module accesses the control signals received by the remote interaction end and the conditioned control signals respectively, performs data conversion processing, and then sends them to the logic check and processing module. The logic check and processing module performs a logic check on the received control data according to the vehicle state feedback by the controlled aerial rail vehicle, and outputs the control signals that pass the check to the control equipment of the controlled aerial rail vehicle to control the vehicle driving and loading and unloading operations.

[0009] Further, the control signal access module is respectively connected to a controller, a control switch for controlling start / stop and mode switching, and a control operation component for controlling the loading and unloading spreader.

[0010] Further, the control signal access module is a connecting device, and multiple interface ends for connecting master devices are provided at the input end of the connecting device.

[0011] Further, an alarm module connected to the logic check and processing module is also included, which is used to send an alarm signal when a control signal that does not meet the preset requirements is detected.

[0012] Further, the signal conditioning module is a current amplification component.

[0013] Further, a display module respectively connected to the PLC module and the controlled aerial rail vehicle is also included, which is used to receive the control signals output by the PLC module and / or the state data of the controlled aerial rail vehicle for display.

[0014] A remote control method for an aerial rail vehicle, the steps including:

[0015] S1. Access the control signals for the driving of the controlled aerial rail vehicle and the loading and unloading spreader;

[0016] S2. Control the PLC module to collect the control signals received by the remote interaction end and the conditioned control signals, perform byte conversion and data packet encapsulation according to a preset format, and then output a control signal data packet;

[0017] S3. Analyze the control signal data packet, and perform a logic check on the analyzed control signals according to the vehicle state feedback by the controlled aerial rail vehicle, and retain the control signals that meet the preset operation requirements;

[0018] S4. Send the retained control signals that meet the preset operation requirements to the control device of the controlled suspended monorail vehicle to control the vehicle's driving and loading / unloading operations.

[0019] Further, when performing data packet assembly in step S2, if the control signal is a digital quantity signal and a level signal, it is directly assembled according to the bit status. If the control signal is a digital quantity signal and a pulse signal, after maintaining a preset level for a preset time, the level is converted and then assembled. If the control signal is an analog quantity signal, it is converted and then assembled.

[0020] Further, the control signals include digital quantity signals output by a controller, control switches, and control operation devices, as well as voltage analog quantity signals output by a controller and control operation components.

[0021] Further, the digital quantity signals of the controller include switch signals of any one or more of the start switch, control operation bit, and commutation operation bit in the controller; the digital quantity signals of the control switch include switch signals of any one or more of the mode switching switch, sleep / wake-up switch, emergency stop switch, emergency braking switch, and spare switch; the digital quantity signals of the control operation components include switch signals of the loading / unloading spreader direction switch and / or the loading / unloading instruction switch, and the voltage analog quantity signals include signals of the traction braking force of the controller and the lifting speed regulation of the control operation components.

[0022] Further, after step S4, it further includes receiving the control signals output by the PLC module and / or the status data of the controlled suspended monorail vehicle, and displaying the received data in the required form.

[0023] Compared with the prior art, the advantages of the present invention are as follows:

[0024] 1. The remote control system and control method for the suspended monorail vehicle of the present invention can transmit the manipulation control signals of the remote control terminal, send driving and loading / unloading operation instructions to the controlled suspended monorail vehicle, not only can realize the running control of the suspended monorail vehicle, but also can control the spreader of the suspended monorail vehicle to perform loading / unloading operations, realizing the integrated control of the running and loading / unloading operations of the suspended monorail vehicle in the non-full-automatic driving mode, which can greatly facilitate the transportation and lifting operations and effectively reduce the implementation cost.

[0025] 2. The remote control system and control method for the suspended monorail vehicle of the present invention, by judging the legality and compliance of the complex logic operation of the control signal according to the status feedback of the suspended monorail vehicle and performing protection control processing, for the collected control signals that do not meet the operating procedures, they are not sent to the suspended monorail vehicle, which can shield the control signals that do not meet the operation specifications, greatly improving the safety and reliability of driving and operations and ensuring the safety of the running and loading / unloading operations of the suspended monorail vehicle.

[0026] 3. The remote control system and control method for the aerial rail vehicle of the present invention condition the control signal through the signal conditioning module, so that it can meet the on-current requirements of the switching device, and can avoid the problem of remote control failure caused by insufficient on-current due to oxidation of the switch contacts after long-term use, thereby further improving the overall reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural diagram of the remote control system for the aerial rail vehicle in this embodiment.

[0028] Figure 2 is a schematic principle diagram for realizing the preprocessing of the control signal in this embodiment.

[0029] Figure 3 is a schematic flowchart for realizing the remote control method of the aerial rail vehicle in this embodiment.

[0030] Figure 4 is a schematic flowchart for realizing the acquisition and processing of the PLC in the specific embodiment of the present invention.

[0031] Figure 5 is a schematic flowchart for the processing of the industrial control computer in the specific application embodiment of the present invention.

[0032] Legend: 1. Control signal access module; 2. Signal conditioning module; 3. PLC module; 4. Logic check and processing module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The present invention will be further described below in conjunction with the accompanying drawings of the specification and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0034] As Figure 1 shown, the remote control system for the aerial rail vehicle in this embodiment includes a control signal access module 1, a signal conditioning module 2, a PLC module 3, and a logic check and processing module 4 that are connected in sequence. The input end of the PLC module 3 is also connected to the remote interaction end. The control signal access module 1 accesses the control signals for the driving of the controlled aerial rail vehicle and the loading and unloading spreader. After being conditioned by the signal conditioning module 2, the conditioned control signal is output. The PLC module 3 accesses the control signals received from the remote interaction end and the conditioned control signal respectively, performs data conversion processing, and then sends them to the logic check and processing module 4. The logic check and processing module 4 performs a logic check on the received control data according to the vehicle state feedback by the controlled aerial rail vehicle, and outputs the control signal that passes the check to the control device of the controlled aerial rail vehicle to control the vehicle driving and loading and unloading operations.

[0035] Through the above remote control system, this embodiment can transmit the manipulation control signals of the remote control terminal and send driving and loading / unloading operation instructions to the controlled aerial rail vehicle. It can not only achieve the running control of the aerial rail vehicle, but also control the spreader of the aerial rail vehicle to perform loading and unloading operations, realizing the integrated control of the running and loading / unloading operations of the aerial rail vehicle in the non-full-automatic driving mode. This can greatly facilitate the transportation and hoisting operations, effectively reduce the implementation cost. At the same time, the control signals sent to the aerial rail vehicle have all passed logical checks, and can also shield the control signals that do not conform to the operation specifications, ensuring the safety of the running and loading / unloading operations of the aerial rail vehicle and reducing risks.

[0036] In this embodiment, the master control devices specifically include a controller, a control switch for controlling start / stop and mode switching, and a control operation component (such as a control lever) for controlling the loading / unloading spreader. Then, the control signal access module 1 needs to collect and transmit the control signals of the master control devices, including the switch signals output by the driver controller, the control switch, and the control operation lever, as well as the voltage analog signals output by the driver controller and the control operation lever.

[0037] In this embodiment, the control signal access module 1 is a connecting device. The input end of the connecting device is provided with a plurality of interface ends for connecting the master control devices, that is, each master control device such as the controller, the control switch, and the control operation component is connected through a connector to access the control signals of the controller, the control switch, and the control operation component.

[0038] This embodiment also includes a DC power supply component to provide power and signal direct current for the signal conditioning module, the PLC module 3, the remote interaction module, and the master control devices respectively. When collecting the control signals of each master control device, the switch signals are collected by connecting to the DC power supply component to form a collection circuit. At the same time, the DC power supply component supplies power to the built-in potentiometers of each device connected to the DC power supply to realize the sampling of voltage analog signals. Based on the requirements of the component power supply voltage level and operation safety requirements, this embodiment specifically selects a DC24V low-voltage DC power supply module.

[0039] In this embodiment, the signal conditioning module 2 is specifically a current amplification component, which is used to amplify the current in the switch device loop to meet the on-current requirements of the switch device, and can avoid the problem of remote control failure caused by insufficient on-current due to oxidation of the switch contacts after long-term use, thereby further improving the overall reliability of the system.

[0040] Such as Figure 2As shown, in this embodiment, the control signal access module 1 accesses the control signal of the master device. After being conditioned by the signal conditioning module 2, it accesses the corresponding input acquisition port of the PLC module 3. Among them, the DC24V digital quantity signals include signals such as the key, control handle position, reversing handle position, and vigilance in the driver controller. The control switches include mode switching switches, sleep wake-up switches, emergency stop switches, emergency braking switches, and spare switches. The control operation components include the loading and unloading spreader direction switch, loading and unloading instruction pushbutton switch, etc. After the above digital quantity signals are conditioned, they access the corresponding DI (digital input) ports of the PLC; the analog quantity signals such as the traction braking force of the driver controller and the lifting and speed regulation of the control operating lever access the DC0V~DC10V voltage analog quantity terminal. The above digital quantity signals and analog quantity signals are sampled by the PLC into the memory.

[0041] In this embodiment, an alarm module connected to the logic check and processing module 4 is further included, which is used to send an alarm signal when a control signal that does not meet the preset requirements is detected, so that an alarm prompt can be given in time when a control signal that does not meet the preset requirements (such as not meeting the operation specifications) is detected.

[0042] In a specific application embodiment, the logic check and processing module 4 can be implemented by an industrial control computer. That is, the industrial control computer accesses the control signal output by the PLC module 3 for logic check and judgment, and finally sends the checked control signal to the control equipment of the monorail vehicle. The CPU module of the PLC module 3 establishes network communication with the industrial control computer through the Ethernet interface, and is configured with a function of reconnecting in case of disconnection. If the number of disconnections and reconnections exceeds the set number, the industrial control computer will give an audible and visual alarm prompt; the CPU of the PLC module 3 runs the program to summarize the signal values of the master device and the control signal data bytes of the remote interaction end, performs byte conversion and data packet encapsulation according to the preset format, and sends them to the industrial control computer through the Ethernet interface. After receiving the byte data of the manipulation control signal sent by the PLC, the industrial control computer software first parses it, performs control signal logic check and judgment according to the application requirements such as vehicle control and protection, retains the normal control signals that meet the operating procedures, intercepts the control signals that do not meet the operating procedures, avoids the transmission of such illegal operation instructions to the vehicle, and at the same time gives an audible and visual alarm and records through the industrial control computer software interface and audio; the industrial control computer accesses the network switch and establishes a communication link with the vehicle system through the ground communication network and the secure communication protocol.

[0043] The above control signal logic check includes but is not limited to: ① It is not allowed to operate the spreader for loading and unloading when the vehicle is not at zero speed; ② It is not allowed to operate the spreader for loading and unloading in the traction position; ③ It is not allowed to perform sleep wake-up in the non-remote control mode. The specific logic check conditions can be configured according to the actual protection requirements.

[0044] In this embodiment, based on the status feedback from the suspended monorail vehicle, complex logical operation legal compliance judgment and protection control processing are performed on the control signal. For the collected control signals that do not conform to the operating procedures, they are not sent to the suspended monorail vehicle (for example, no traction level command is sent when speeding, and no loading and unloading command is allowed while running, etc.), which can greatly improve the safety and reliability of train operation and operation.

[0045] In this embodiment, a display module is further included, which is respectively connected to the PLC module 3 and the controlled suspended monorail vehicle, and is used to receive the control signal output by the PLC module 3 and display the status data of the controlled suspended monorail vehicle. In a specific application embodiment, the display module can also be implemented by an industrial control computer. That is, on the basis of the logical check of the control signal by the industrial control computer, it can also receive the control signal output by the PLC module 3 and the status data of the controlled suspended monorail vehicle for various required forms of display, so as to facilitate the user to intuitively obtain the control signal and the status of the controlled suspended monorail vehicle. For example, the industrial control computer software sends the received byte data of the manipulation control signal from the PLC to the vehicle system for execution through the communication link with the vehicle system. This communication link has a link layer check function. The industrial control computer software monitors and displays the status of the communication link with the vehicle system in real time, and gives an audible and visual alarm prompt when the communication link fails; the industrial control computer software also displays the received and parsed manipulation control signal from the PLC in the form of graphics and numbers on the display through the human-machine interface.

[0046] In a specific application embodiment, the remote interaction terminal is implemented by a touch screen, and is used to generate and transmit the byte data of other control signals except the control electrical signal of the master device on the remote console, such as providing a human-machine interface for the control signal and generating the control signal. The master device connector is composed of an external signal socket of the master device and a corresponding mounting plate, and is used to realize the mechanical interface and electrical connection with the master device on the table. The signal conditioning module 2 is composed of a signal conditioning circuit board and a corresponding mounting plate, and is mainly used to increase the current in the switch device loop to meet the on-current requirement of the switch device. The control signal is connected to the corresponding communication interface of the PLC through a serial communication interface (such as RS485), and its data byte is put into the memory. The PLC samples the conditioned control electrical signal of the master device and converts it into byte data, and transmits it to the industrial control computer for processing together with the obtained touch screen control byte data. The industrial control computer then establishes a communication link with the vehicle, transmits the byte data of the master device control signal and the touch screen control byte data obtained from the PLC to the vehicle after control logic check processing, and at the same time displays the status information of the suspended monorail vehicle and the spreader and the video images of the on-site train operation and loading and unloading operations fed back by the vehicle. The network switch is used as the access switch for the ground communication network and CCTV to realize network transmission and data interaction with the vehicle.

[0047] Such as Figure 3As shown in the figure, the steps of the remote control method for the aerial rail vehicle in this embodiment include:

[0048] S1. Access the control signals for the driving and loading / unloading spreader of the controlled aerial rail vehicle;

[0049] S2. Control the PLC module 3 to collect the control signals received by the remote interaction terminal and the conditioned control signals, perform byte conversion and data packet assembly according to the preset format, and then output the control signal data packet;

[0050] S3. Analyze the control signal data packet, and perform logical checks on the analyzed control signals according to the vehicle status feedback by the controlled aerial rail vehicle, and retain the control signals that meet the preset operation requirements;

[0051] S4. Send the retained control signals that meet the preset operation requirements to the control device of the controlled aerial rail vehicle to control the vehicle driving and loading / unloading operations.

[0052] The control signals of the above master control devices include the switching signals output by the controller, control switches, and control operation devices, as well as the voltage analog signals output by the controller and control operation components. The switching signals of the controller include the switching signals of the start switch, control operation position, and reversing operation position in the controller; the switching signals of the control switches include the switching signals of the mode switching switch, sleep / wake-up switch, emergency stop switch, emergency braking switch, and spare switch, etc.; the switching signals of the control operation components include the switching signals of the loading / unloading spreader direction switch, loading / unloading instruction switch, etc., and the voltage analog signals include the traction and braking force of the controller, the lifting and speed regulation of the control operation components, etc.

[0053] When performing data packet assembly in step S2 of this embodiment, if the control signal is a switching signal and a level signal, it is directly assembled according to the bit status. If the control signal is a switching signal and a pulse signal, the level is converted after maintaining the preset level for a preset time and then assembled. If the control signal is an analog signal, it is assembled after converting the analog quantity.

[0054] Switching signals can be divided into level signals and pulse signals according to their applications. In the process of data packet assembly in this embodiment, the PLC program performs different processing according to the type of switching signal. For level signals, it is directly assembled according to the bit status. For pulse signals, the high level is maintained for a preset time and then set to low level before assembly. For example, after detecting a high level, the bit status is forced to remain 1 for 2 s and then set to 0. As Figure 4As shown in the figure, when the PLC module 3 collects and processes control signals, it receives interactive data from the touch screen by opening the serial port, writes digital quantities to the register, and writes analog quantities to the register. If it is interactive data and meets the preset duration (such as 2 s), the digital quantity is maintained at 1 for 2 s and then set to 0, and then packetized according to the communication protocol and written into the send buffer. If it is a digital quantity written to the register and is a pulse signal, and a high level 1 is sampled, the digital quantity is maintained at 1 for 2 s and then set to 0, and then packetized according to the communication protocol and written into the send buffer. If it is an analog quantity, it is converted and then packetized according to the communication protocol and written into the send buffer. The PLC module 3 is also connected to the industrial control computer through the network port to monitor the connection status with the industrial control computer in real time, and continuously sends control data packets to the industrial control computer when the connection is successful.

[0055] After step S4 in this embodiment, it further includes receiving the control signals output by the PLC module 3 and the status data of the controlled suspended monorail vehicle, and displaying the received data in the required form. Specifically, the vehicle system status information data packet is dynamically obtained through the communication link between the industrial control computer and the vehicle system. The network port for video transmission is used to access the CCTV video monitoring system to receive the video signals of the driving and operation sites. When the software of the industrial control computer receives the vehicle system status information data packet and parses it, at the same time, the vehicle status data (such as driving status data, spreader status data, etc.) is dynamically displayed in the form of graphics, numbers, etc. on the display through the human-machine interface, and the real-time video signals of the driving and loading / unloading operation sites of the suspended monorail vehicle in the CCTV video monitoring system are displayed through the video window interface. The real-time status of the suspended monorail vehicle system is obtained through the communication link and displayed, and the real-time video signals can be transmitted and the on-site video monitoring screen of the suspended monorail vehicle can be displayed through the display, which can intuitively and accurately reflect the on-site scenarios of the driving and spreader loading / unloading operations of the suspended monorail vehicle, so as to achieve more intuitive and accurate control and facilitate expansion.

[0056] As Figure 5 As shown in the figure, when the industrial control computer processes and transmits control signals in this embodiment, it opens the PLC network port and starts listening. If the PLC connection is successful, it receives the control signal data packet sent by the PLC and parses it, performs logical checks on the parsed control signals, clears the control signals that do not meet the operation specifications and gives an alarm prompt, and writes the control signals that meet the operation specifications into the send vehicle buffer for sending to the controlled suspended monorail vehicle; the industrial control computer also opens the communication network port with the vehicle to monitor the link connection status in real time, and continuously sends control data to the vehicle and continuously receives the vehicle status data when the link connection is successful; the industrial control computer also dynamically displays the operation control and vehicle status through the interface.

[0057] The present invention can realize the remote control of an aerial rail vehicle when the automatic operation conditions are not met in an aerial rail transportation system. It can not only control the aerial rail vehicle to perform train operation tasks, but also remotely control the aerial rail vehicle to perform loading and unloading tasks, while ensuring the overall safety and reliability of the aerial rail collection and distribution transportation.

[0058] The above are only the preferred embodiments of the present invention and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the scope of protection of the technical solution of the present invention.

Claims

1. A remote control system for an empty rail vehicle, characterized in that: The invention comprises a control signal access module (1), a signal conditioning module (2), a PLC module (3) and a logic check processing module (4) which are connected in sequence. The input end of the PLC module (3) is also connected to a remote interaction end. The control signal access module (1) receives control signals for driving and loading and unloading a controlled aerial rail vehicle. After the signal conditioning module (2) performs signal conditioning, the conditioned control signal is output. The PLC module (3) receives the control signal received by the remote interaction end and the conditioned control signal respectively, performs data conversion processing and sends the signals to the logic check processing module (4). The logic check processing module (4) performs a logic check on the received control data according to the vehicle state fed back by the controlled aerial rail vehicle, retains the control signals that meet the preset operation requirements, shields the control signals that do not meet the operation specifications, and outputs the control signals that pass the check to the control device of the controlled aerial rail vehicle to control the vehicle driving and loading and unloading operations. The control signal access module (1) is respectively connected to the controller, a control switch for controlling start and stop and mode switching, and a control operating component for controlling the loading and unloading lifting device.

2. The remote control system for an empty rail vehicle according to claim 1, characterized in that: The control signal access module (1) is a connecting device, and the input end of the connecting device is provided with a plurality of interface ends for connecting to a master control device.

3. The remote control system for an empty rail vehicle according to claim 1, characterized in that: It also includes an alarm module connected to the logic check processing module (4) for issuing an alarm signal when a control signal that does not meet preset requirements is detected.

4. The remote control system for an empty rail vehicle according to any one of claims 1 to 3, characterized in that: The signal conditioning module (2) is a current amplifying component.

5. The remote control system for an empty rail vehicle according to any one of claims 1 to 3, characterized in that: It also comprises a display module connected to the PLC module (3) and the controlled aerial rail vehicle respectively, and is used to receive the control signal output by the PLC module (3) and / or the status data of the controlled aerial rail vehicle for display.

6. A remote control method for an empty rail vehicle, characterized in that the steps include: S1. Access the control signals for the operation of the controlled aerial rail vehicle and the loading and unloading hoist; S2. The control PLC module (3) collects the control signal received from the remote interactive terminal and the conditioned control signal, performs byte conversion and data packet grouping according to a preset format, and outputs a control signal data packet; S3. Parse the control signal data packet, and perform a logical check on the parsed control signal according to the vehicle status fed back by the controlled air rail vehicle, retain the control signal that meets the preset operation requirements, and shield the control signal that does not meet the operation specifications; S4. The retained control signal that meets the preset operation requirements is sent to the control device of the controlled ART vehicle to control the vehicle driving and loading and unloading operations.

7. The remote control method for an empty rail vehicle according to claim 6, characterized in that: When the data packets are grouped in step S2, if the control signal is a switch signal and a level signal, the data packets are grouped directly according to the bit state; if the control signal is a switch signal and a pulse signal, the level is converted after maintaining the preset level for a preset time and then grouped; if the control signal is an analog signal, the analog quantity is converted and then grouped.

8. The remote control method for an empty rail vehicle according to claim 6, characterized in that: The control signal includes a switch quantity signal output by the controller, the control switch, and the control operating device, and a voltage analog quantity signal output by the controller and the control operating component.

9. The remote control method for an empty rail vehicle according to claim 8, characterized in that: The switch signal of the controller includes any one or more switch signals of the start switch, control operation position and reversing operation position in the controller; the switch signal of the control switch includes any one or more switch signals of the mode switching switch, sleep wake-up switch, emergency stop switch, emergency brake switch and standby switch; the switch signal of the control operation component includes the switch signal of the loading and unloading hoist direction switch and / or the loading and unloading command switch, and the voltage analog signal includes the signal of the traction braking force of the controller and the lifting and lowering speed regulation of the control operation component.

10. The remote control method for an empty rail vehicle according to any one of claims 6 to 9, characterized in that: The step S4 also includes receiving the control signal output by the PLC module (3) and / or the status data of the controlled aerial rail vehicle, and displaying the received data in a desired form.

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