Remote control system and method suitable for well control emergency rescue and obstacle removal backhoe robot

Abstract

The invention discloses a remote control system and method suitable for a well control emergency rescue obstacle removal backhoe robot. A remote control end broadband ad hoc network access system is installed on a remote control end assembly; the robot body is provided with a robot broadband ad hoc network access system, a pose sensing sensor system and an environment detection sensing laser radar system. The remote control end broadband ad hoc network access system and the robot broadband ad hoc network access system are accessed to the same wireless ad hoc network, and the pose sensing sensor system and the environment detection sensing laser radar system are both connected with the robot broadband ad hoc network access system, so that the real-time position and pose of an operation robot can be mastered at a remote control end; the perception ability of a worker at the remote control end to the surrounding environment of the robot in the water mist, smoke and highlight environment is improved, the rollover risk of the robot is reduced, and meanwhile the operation difficulty of the worker at the remote control end is also reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of well control, and in particular, relates to a remote control system and method suitable for a well control emergency rescue obstacle clearing backhoe robot. Background Art

[0002] At present, backhoe excavators are widely used in the field of well control emergency rescue, such as well control long-arm robots based on long-arm excavators, rescue and demolition small excavation robots and rescue tow trucks based on excavators, which are used to perform long-distance fire-related obstacle removal, shearing, grabbing, excavation and other operations. However, due to the possibility of uncontrolled fire due to blowout, it is very dangerous to control the rescue machine in the cab, so 433HZ wireless remote control is now mostly used to achieve short-range remote control operations, but the control distance of wireless remote control is limited and cannot be operated outside the visual range of human eyes.

[0003] The existing remote control system uses a remote control terminal to display multi-source data including vehicle monitoring video, vehicle status, and collision warning data, and remotely controls the bulldozer through the remote control terminal's intelligent touch display, operating handle, etc. However, when faced with water mist, smoke, and video overexposure caused by high brightness during well site rescue, the effect of pure visual perception is not good, and pure visual perception cannot intuitively reflect the changes in the surrounding terrain and the changes in the robot's posture in real time. In areas with large terrain fluctuations such as mountainous areas, the risk of the robot rolling over is prone to occur, which also increases the difficulty of operation for the remote control terminal staff. Based on this, the present invention provides a remote control system and method suitable for a well control emergency rescue obstacle removal backhoe robot to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a remote control system and method suitable for a well control emergency rescue and obstacle clearing backhoe robot, which can grasp the real-time position and posture of the operating robot at the remote control end, improve the perception ability of the staff at the remote control end of the robot's surrounding environment in water mist, smoke, and high-light environments, reduce the risk of the robot rolling over, and also reduce the difficulty of operation for the staff at the remote control end.

[0005] The present invention is implemented by the following technical scheme: a remote control system suitable for a well control emergency rescue obstacle removal backhoe robot, comprising: Remote control end components, remote control end broadband self-organizing network access system, posture perception sensor system, environment detection perception laser radar system, robot body and robot broadband self-organizing network access system; The remote control terminal component is equipped with the remote control terminal broadband ad hoc network access system; The robot body is equipped with the robot broadband ad hoc network access system, the posture perception sensor system and the environment detection perception laser radar system; The remote control end broadband ad hoc network access system and the robot broadband ad hoc network access system are connected to the same wireless ad hoc network, and the posture perception sensor system and the environment detection perception laser radar system are both connected to the robot broadband ad hoc network access system; The posture perception sensor system is used to obtain the motion angle, position information and heading angle of the robot body, and the environment detection perception laser radar system is used to obtain the terrain information around the robot body.

[0006] Optionally, the remote control end assembly includes a remote control cabin, an operating handle box, a control panel, a display screen, a display screen bracket, an action mechanism control pedal and an information collection module; The operating handle box, the control panel, the display screen bracket, the action mechanism control pedal and the information collection module are installed inside the remote control cabin; The display screen is mounted on the display screen bracket, and the control panel is connected to the display screen; The information acquisition module is connected to the control panel, the walking mechanism control pedal, and the operating handle box respectively.

[0007] Optionally, the remote control end broadband self-organizing network access system includes a CPE host, at least two first filters, at least two first antennas and a robot industrial computer. The CPE host is installed inside the remote control cabin, the first antenna is arranged outside the remote control cabin, the first antenna is connected to the CPE host through the first filter, the host is connected to the wireless self-organizing network uplink, and the host is connected to the robot industrial computer downlink.

[0008] Optionally, the CPE host is connected to at least one remote control terminal component via a switch.

[0009] Optionally, the posture perception sensor system and the environment detection perception lidar system are both connected to the robot broadband ad hoc network access system via a switch.

[0010] Optionally, the robot body includes a vehicle turntable, a boom, a bucket and a rocker, the vehicle turntable is mounted on the robot body, the boom is connected to the vehicle turntable, the bucket is connected to the boom, and the rocker is connected to the bucket; The posture perception sensor assembly includes a first tilt sensor, a second tilt sensor, a third tilt sensor, a fourth tilt sensor, a data solution touch integrated machine, a first GNSS antenna and a second GNSS antenna, wherein the first tilt sensor is mounted on the upper vehicle turntable, the second tilt sensor is mounted on the boom, the third tilt sensor is mounted on the arm, and the fourth tilt sensor is mounted on the rocker; The data solving and touching integrated machine is installed inside the robot body, the first GNSS antenna and the second GNSS antenna are both installed outside the robot body, and the first GNSS antenna and the second GNSS antenna are connected to the data solving and touching integrated machine in parallel.

[0011] Optionally, the first inclination sensor is connected to the second inclination sensor via a wiring harness, the second inclination sensor is connected to the third inclination sensor via a wiring harness, the third inclination sensor is connected to the fourth inclination sensor via a wiring harness, the fourth inclination sensor is connected to the data solving touch all-in-one machine, and the data solving touch all-in-one machine is connected to the switch.

[0012] Optionally, the environment detection and perception laser radar component includes a first high-resolution laser radar, a second high-resolution laser radar, a wide-angle laser radar and a laser radar industrial computer. The first high-resolution laser radar, the second high-resolution laser radar and the wide-angle laser radar are all connected to the laser radar industrial computer, the laser radar industrial computer is connected to the switch, the first high-resolution laser radar, the second high-resolution laser radar and the wide-angle laser radar are all installed on the vehicle turntable, and the first high-resolution laser radar and the second high-resolution laser radar are set at the same height and are both set above the wide-angle laser radar.

[0013] Optionally, the robot broadband ad hoc network access system includes an sMesh host, at least two second filters, and at least two second antennas. The sMesh host and the second filter are installed inside the robot body, and the second antenna is installed outside the robot body. The second antenna is connected to the sMesh host through the second filter.

[0014] The present invention also provides a remote control method for a well control emergency rescue obstacle removal backhoe robot, comprising: Connecting the remote control end broadband self-organizing network access system and the robot broadband self-organizing network access system to the same wireless self-organizing network; Acquire target information through the posture perception sensor system and the environment detection perception laser radar system, wherein the target information includes the motion angle, position information, heading angle and surrounding terrain information of the robot body; Sending the target information to the robot broadband ad hoc network access system through a switch; The robot broadband ad hoc network sends the target information to the remote control end ad hoc network access system through the wireless ad hoc network, so that the remote control end ad hoc network access system remotely controls the robot body to work according to the target information.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: The remote control system provided by the present invention is suitable for a well control emergency rescue and obstacle clearing backhoe robot, and is composed of a remote control end component, a remote control end broadband self-organizing network access system, a posture perception sensor system, an environmental detection perception laser radar system, a robot body and a robot broadband self-organizing network access system, wherein the remote control end broadband self-organizing network access system and the robot broadband self-organizing network access system are connected to the same wireless self-organizing network, and the posture perception sensor system and the environmental detection perception laser radar system are both connected to the robot broadband self-organizing network access system; the posture perception sensor system is used to obtain the motion angle, position information and heading angle of the robot body, and the environmental detection perception laser radar system is used to obtain terrain information around the robot body.

[0016] It can be further known that the terrain and real-time posture around the robot body can be detected in real time through the posture perception sensor component and the environment detection perception laser radar component, and the acquired data information can be transmitted to the robot broadband self-organizing network access system. The robot broadband self-organizing network access system organizes the data and transmits it to the remote control end broadband self-organizing network access system, so that the remote control end broadband self-organizing network access system can remotely grasp the robot's real-time position posture and surrounding terrain information, and remotely control the robot to complete the work, reducing or avoiding the risk of the robot rolling over in areas with large terrain undulations such as mountainous areas, while also reducing the difficulty of operation for remote control end staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the remote control system of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the robot body of the present invention (I).

[0019] Figure 3 This is a schematic structural diagram of the robot body of the present invention (II).

[0020] Figure 4 It is a partial schematic diagram of the remote control end broadband ad hoc network access system of the present invention.

[0021] Figure 5 It is a schematic diagram of the flow chart of the remote control method of the present invention.

[0022] In the figure: 1. Remote control end component; 2. Robot body; 3. Posture perception sensor; 4. Environmental detection perception laser radar system; 5. Robot broadband self-organizing network access system; 6. Remote control end broadband self-organizing network access system; 7. Drive component; 8. Large viewing angle laser radar; 9. First GNSS antenna; 10. Second antenna; 11. On-board turntable; 12. First high-resolution laser radar; 13. First GNSS antenna; 14. Second high-resolution laser radar; 15. Boom; 16. Second tilt sensor; 17. Stick; 18. Third tilt sensor; 19. Fourth tilt sensor; 20. Joystick; 21. Data solution touch all-in-one machine; 22. CPE host; 23. sMesh host; 24. First tilt sensor; 25. Remote control cabin; 26. First filter. DETAILED DESCRIPTION

[0023] The invention objectives, technical solutions and beneficial effects of the present invention are further described in detail below.

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the claimed invention, and unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs.

[0025] When faced with water mist, smoke, and video overexposure caused by high brightness during well site rescue, pure visual perception has poor results, and pure visual perception cannot directly reflect the changes in the surrounding terrain and the robot's posture in real time. In mountainous areas with large terrain undulations, the robot is prone to rollover, which increases the difficulty of operation for the remote control end staff. Based on this, the present invention provides a remote control system and method for a well control emergency rescue obstacle removal backhoe robot, which can grasp the real-time position and posture of the operating robot at the remote control end, improve the remote control end staff's perception of the robot's surrounding environment in water mist, smoke, and high brightness environments, reduce the risk of the robot rolling over, and also reduce the difficulty of operation for the remote control end staff.

[0026] The present invention is further described in detail below in conjunction with examples, but the embodiments of the present invention are not limited thereto.

[0027] Embodiment 1: This embodiment is a remote control system suitable for a well control emergency rescue obstacle removal backhoe robot.

[0028] See also Figures 1 to 4As shown, the remote control system includes a remote control end component 1, a remote control end broadband ad hoc network access system 6, a posture perception sensor system 3, an environment detection perception laser radar system 4, a robot body 2 and a robot broadband ad hoc network access system 5. The remote control end broadband ad hoc network access system 6 is installed on the remote control end component 1, and the robot broadband ad hoc network access system 5, the posture perception sensor system 3 and the environment detection perception laser radar system 4 are installed on the robot body 2, wherein the remote control end broadband ad hoc network access system 6 and the robot broadband ad hoc network access system 5 are connected to the same wireless ad hoc network, and the posture perception sensor system 3 and the environment detection perception laser radar system 4 are both connected to the robot broadband ad hoc network access system 5; the posture perception sensor system 3 is used to obtain the motion angle, position information and heading angle of the robot body 2, and the environment detection perception laser radar system 4 is used to obtain the terrain information around the robot body 2.

[0029] In this embodiment, there is a certain distance between the remote control end component 1 and the robot body 2, and the robot body 2 can be operated to work through the remote control end component 1. The distance between the remote control end component 1 and the robot body 2 is not specifically limited in this application. Specifically, the robot body 2 preferably refers to an excavator body, and the excavator body includes a movable component and a drive component 7, wherein the movable component is installed above the excavator body, and the drive component 7 is installed below the excavator body. The drive component 7 can drive the excavator body to move, so that the excavator body can be moved to a designated area for subsequent work. Through the movable component on the excavator body, operations such as grabbing and excavating the well site can be achieved.

[0030] Among them, the posture perception sensor system 3 is installed on the movable component, and the environment detection perception laser radar system 4 is installed on the excavator body. The posture perception sensor system 3 and the environment detection perception laser radar system 4 can be used to detect the terrain and real-time posture around the robot body 2 in real time. The posture perception sensor system 3 and the environment detection perception laser radar system 4 transmit the acquired data information to the robot broadband ad hoc network access system 5 through the switch. The robot broadband ad hoc network access system 5 organizes the data. Since the robot broadband ad hoc network access system 5 and the remote control end ad hoc network access system are connected to the same Mesh wireless ad hoc network, the robot broadband ad hoc network access system 5 can send the acquired data information to the remote control end broadband ad hoc network access system 6 through the Mesh wireless ad hoc network. The remote control end broadband ad hoc network access system 6 is connected to the switch, and the switch can be connected to multiple remote control end components 1. Therefore, the staff can remotely grasp the real-time position and posture of the robot body 2 and the surrounding environmental information in the remote control end component 1, and control the robot to complete the work, thereby reducing or avoiding the risk of the robot rolling over in areas with large terrain fluctuations such as mountainous areas.

[0031] In a possible embodiment, the remote control end assembly 1 includes a remote control cabin 25, an operating handle box, a control panel, a display screen, a display screen bracket, a moving mechanism control pedal and an information collection module. The operating handle box, the control panel, the display screen bracket, the moving mechanism control pedal and the information collection module are all installed inside the remote control cabin 25. The display screen is installed on the display screen bracket, the control panel is connected to the display screen, and the information collection module is respectively connected to the control panel, the walking mechanism control pedal and the operating handle box.

[0032] In this embodiment, the remote control cabin 25 can adopt an open structure. For example, a driver's seat is installed inside the remote control cabin 25, and control handle boxes are arranged on both sides of the driver's seat. A control panel is set in front of the driver's seat. The control panel contains buttons such as switch simulation. The display screen bracket above the control panel fixes multiple display screens together. The walking mechanism control pedal is located below the control panel. The staff can control the robot body 2 through the walking mechanism control pedal. An information acquisition module is configured in the remote control cabin 25 to collect the control actions of the remote control cabin 25 and convert them into corresponding control instructions.

[0033] In a possible embodiment, the remote control end broadband self-organizing network access system 6 includes a CPE host 22, at least two first filters 26, at least two first antennas and a robot industrial computer, wherein the CPE host 22 is installed inside the remote control cabin 25, the first antenna is arranged outside the remote control cabin 25, the first antenna is connected to the CPE host 22 through the first filter 26, the host is connected to the wireless self-organizing network uplink, and the host is connected to the robot industrial computer downlink.

[0034] In this embodiment, the remote control end broadband ad hoc network access system 6 is connected to the switch, and the switch can be connected to multiple remote control end components 1. Specifically, the CPE host 22 is connected to at least one remote control cabin 25 through the switch, and at least two first antennas are located outside the remote control cabin 25 or in an area where outdoor signals are not blocked. The first antenna passes through at least two first filters 26 and then is connected to the CPE host 22. The CPE host 22 is connected to the 4G / 5G base station uplink and accesses the Mesh wireless ad hoc network, and is connected to the robot industrial computer downlink. The robot body 2 can be controlled through the robot industrial computer, so that the robot body 2 works according to the corresponding control instructions. It should be noted that the first filter 26 is used to reduce, weaken and filter out interference signals, and the first antenna is used to increase the coverage range and enhance the wireless signal reception and transmission capabilities. The number of the first filter 26 and the first antenna is not specifically limited in this application and can be set according to actual conditions.

[0035] In a possible embodiment, the robot body 2 includes a vehicle turntable 11, a boom 15, a stick 17 and a rocker 20, wherein the vehicle turntable 11 is installed on the robot body 2, wherein the boom 15 is connected to the vehicle turntable 11, the stick 17 is connected to the boom 15, and the rocker 20 is connected to the stick 17; the posture sensing sensor 3 component includes a first inclination sensor 24, a second inclination sensor 16, a third inclination sensor 18, a fourth inclination sensor 19, a data solution touch all-in-one machine 21, a first GNSS antenna 9 and a second GNSS antenna 13. When in use, the first inclination sensor 24 is installed on the upper vehicle turntable 11, the second inclination sensor 16 is installed on the boom 15, the third inclination sensor 18 is installed on the stick 17, and the fourth inclination sensor 19 is installed on the rocker 20; the data solution touch integrated machine 21 is installed inside the robot body 2, the first GNSS antenna 9 and the second GNSS antenna 13 are both installed outside the robot body 2, and the first GNSS antenna 9 and the second GNSS antenna 13 are connected in parallel to the data solution integrated machine.

[0036] In this embodiment, the upper vehicle turntable 11 can be rotatably installed on the excavator body, and the boom 15 is connected to the upper vehicle turntable 11. The boom 15 is used to provide power, and cooperates with the bucket arm 17 and the rocker arm 20, so that the excavator body can perform excavation and grabbing work on the well site. Among them, below the hydraulic cylinder of the boom 15, the first inclination sensor 24 is parallel to the side of the excavator body, and is used to collect the pitch and roll angles of the excavator body. The second inclination sensor 16 is parallel to the axis of the body-boom 15 connecting shaft and the axis of the boom 15-arm 17 connecting shaft, and collects the movement angle of the boom 15 and the body; the second inclination sensor 16 is used to collect the movement angle of the boom 15 and the excavator body; the third inclination sensor 18 is parallel to the axis of the boom 15-arm 17 connecting shaft and the axis of the arm 17-bucket connecting shaft, and the third inclination sensor 18 is used to collect the movement angle of the arm 17 and the boom 15; the fourth inclination sensor 19 is parallel to the rocker arm 20, and collects the movement angle of the rocker arm 20 and the arm 17.

[0037] Among them, the first inclination sensor 24 is connected to the second inclination sensor 16 through a wiring harness, the second inclination sensor 16 is connected to the third inclination sensor 18 through a wiring harness, the third inclination sensor 18 is connected to the fourth inclination sensor 19 through a wiring harness, and the fourth inclination sensor 19 is connected to the data solving touch all-in-one machine 21, so that after the first inclination sensor 24, the second inclination sensor 16, the third inclination sensor 18 and the fourth inclination sensor 19 detect and obtain the motion angle values ​​of each component, they are transmitted to the data solving touch all-in-one machine 21 through the wiring harness, and the motion angle and position information calculated by the data solving touch all-in-one machine 21 are sent to the broadband self-organizing network access system through the switch.

[0038] In this embodiment, the setting height of the first GNSS antenna 9 is higher than that of the second GNSS antenna 13. The first GNSS antenna 9 is set above the second GNSS antenna 13. The first GNSS antenna 9 and the second GNSS antenna 13 are both installed on the parallel edges of the counterweight block on both sides of the rear of the excavator body, so that the connecting line between the first GNSS antenna 9 and the second GNSS antenna 13 and the central axis of the excavator body boom 15 are 90 degrees. The first GNSS antenna 9 and the second GNSS antenna 13 are used to receive GNSS satellite signals and differential signals of the ground reference station to detect the high-precision positioning of the excavator body in the well site. The heading angle is collected through the displacement deflection of the first GNSS antenna 9 and the second GNSS antenna 13. The heading angle detected by the first GNSS antenna 9 and the second GNSS antenna 13 will be transmitted to the data solution touch all-in-one machine 21, and after being solved and processed by the data solution touch all-in-one machine 21, it will be sent to the broadband self-organizing access system.

[0039] The position of the excavator in the well site area is collected with high precision. Based on the real-time dynamic positioning technology, the ground base station provides the three-dimensional positioning results of the base station in the specified coordinate system with centimeter-level accuracy based on the real-time dynamic positioning technology of the carrier phase observation value. The ground base station transmits its observation value and the station coordinate information to the excavator through the data link. By utilizing the spatial correlation of the observation error between the base station and the excavator, most of the errors in the GNSS data observed by the excavator are removed by differential means, realizing the centimeter-level positioning of the excavator.

[0040] In a possible embodiment, the environment detection perception laser radar component includes a first high-resolution laser radar 12, a second high-resolution laser radar 14, a wide-angle laser radar 8 and a laser radar industrial computer, wherein the first high-resolution laser radar 12, the second high-resolution laser radar 14, and the wide-angle laser radar 8 are all connected to the laser radar industrial computer, the laser radar industrial computer is connected to the switch, the first high-resolution laser radar 12, the second high-resolution laser radar 14 and the wide-angle laser radar 8 are all installed on the vehicle turntable 11, and the first high-resolution laser radar 12 and the second high-resolution laser radar 14 are arranged at the same height, and are both arranged above the wide-angle laser radar 8.

[0041] In this embodiment, the first high-resolution laser radar 12 is mounted on the top of the outside of the cab of the excavator body, the second high-resolution laser radar 14 is on the top of the external armor of the engine compartment on the other side of the excavator arm, the first high-resolution laser radar 12 and the second high-resolution laser radar 14 are at the same height from the ground, that is, the first high-resolution laser radar 12 and the second high-resolution laser radar 14 are at the same height, the first high-resolution laser radar 12 and the second high-resolution laser radar 14 are used for real-time detection and scanning of the environment in front and on the left and right sides, and the wide-angle laser radar 8 is vertically mounted on the counterweight of the excavator for real-time detection and scanning of the real-time picture behind. It should be noted that protective components are installed on the first high-resolution laser radar 12, the second high-resolution laser radar 14 and the wide-angle laser radar 8, and the first high-resolution laser radar 12, the second high-resolution laser radar 14 and the wide-angle laser radar 8 can be protected by the protective components, thereby extending the service life of the first high-resolution laser radar 12, the second high-resolution laser radar 14 and the wide-angle laser radar 8.

[0042] Among them, the laser radar industrial computer is installed inside the cab of the excavator body. The first high-resolution laser radar 12, the second high-resolution laser radar 14 and the wide-angle laser radar 8 can scan the surrounding environment of the excavator body in real time, generate a real-time point cloud image of the environment, and assign relative coordinates to the points scanned in real time after the laser radar industrial computer solves them, and calibrates the distance relationship between objects in the field of view in real time. The laser radar industrial computer will splice the acquired real-time point cloud image, calibrate the point cloud of the boom 15 that blocks the field of view in the point cloud image, hide it from the point cloud image, and convert the sequence frame image of the laser radar point cloud into streaming media data and connect it to the broadband self-organizing network access system through the switch.

[0043] In a possible embodiment, the robot broadband ad hoc network access system 5 includes an sMesh host 23, at least two second filters, and at least two second antennas 10, wherein the sMesh host 23 and the second filter are installed inside the robot body 2, and the second antenna 10 is installed outside the robot body 2, and the second antenna 10 is connected to the sMesh host 23 through the second filter.

[0044] In this embodiment, the status data of the excavator body is converted into Ethernet data by a CAN to Ethernet tool, including the gear data, working voltage, pump pressure, engine water temperature, fuel level, safety handle status, fault alarm, total fuel consumption, boom lifting, boom lowering, arm digging, arm unloading, bucket digging, bucket unloading, left walking, right walking, rotation signal, and vehicle rotation angle contained in the CAN bus, and connected to the robot broadband self-organizing network access system 5, and the multi-channel high-definition video image transmission signal and control data signal of the excavator body are connected to the robot broadband self-organizing network access system 5 through a switch.

[0045] Specifically, in practical applications, a surveying and mapping laser radar is used to scan the well control emergency rescue site, and after internal surveying and mapping processing, the output result is high-precision true-color point cloud data. After point cloud thinning, the true-color point cloud data is imported into the Unity 3D engine. This image contains the point cloud data of the world coordinates of all objects in the well control emergency rescue site, and the regional terrain and landforms it contains are used as the virtual model 3D base map for robot operations.

[0046] The robot boom 15, rocker 20, arm 17, tilt sensor installed on the vehicle turntable 11, laser radar, GNSS antenna and robot broadband ad hoc network access system 5 antenna installed on the top of the cockpit based on the excavator modification. The robot's real-time tilt sensor data, RTK positioning coordinate data, robot operation status data, laser radar point cloud image, robot monitoring image data can be connected to the robot broadband ad hoc network access system 5, and the above data can be transmitted to the remote control end ad hoc network access system through the Mesh wireless ad hoc network, and transmitted to the remote control cabin 25 through the switch. A 3D model is constructed based on the actual machine kinematic model and appearance structure of the excavator, and the model is placed in the virtual model 3D base map.

[0047] According to the parameters collected by the corresponding motion nodes of the inclination sensor, data is bound to the corresponding node joints of the robot's three-dimensional model. According to the offset of the GNSS antenna, the heading angle parameters of the robot are collected, and data is bound to the head orientation of the corresponding robot's three-dimensional model. According to the rotation angle parameters collected by the central rotary encoder, data is bound to the vehicle rotation parameters of the corresponding robot's three-dimensional model. Based on the obtained data, the real-time driving of the robot's 3D model animation is completed.

[0048] After entering the working environment, the robot explores the working route, and the laser radar is set to the mapping mode to map the working environment. After the mapping is completed, it is transmitted to the remote control cockpit industrial computer through the robot broadband self-organizing network. In the remote control cockpit twin system, the robot's three-dimensional model is connected to the real-time posture and placed in the environment map. The laser radar is set to the perception mode to scan the surrounding environment in real time, generate a real-time point cloud image of the scene, and mark the real-time distance between different objects on the screen based on the coordinate comparison between different objects; at the remote control cockpit end, two laser point cloud images, one presents the robot's real-time posture and surrounding environment in the well site environment, and the other presents the surrounding real-time environment. When the surrounding environment is harsh, the posture image is used to supplement the real-time environment image.

[0049] The remote control cabin 25 and the remote control end broadband self-organizing network access system 6 transmit the data sent by the robot broadband self-organizing network access system 5 to the corresponding remote control cabin industrial computer through the switch. The remote control cabin industrial computer generates the robot's three-dimensional dynamic model screen, laser point cloud screen, and video screen driven by real-time posture and status data, and uses the above screens to perform remote control.

[0050] The control quantities of the remote control cabin control panel and handle are collected by the acquisition system, summarized by the industrial computer, and sent to the robot broadband self-organizing network access system 5 through the remote control end broadband self-organizing network access system 6, so that the robot body 2 converts the Ethernet control instructions into CAN control signals and performs operations according to the control signals.

[0051] Embodiment 2: This embodiment is a remote control method for a well control emergency rescue and obstacle removal backhoe robot using the remote control system of Embodiment 1.

[0052] See also Figure 5 The process diagram shown in the figure shows that the remote control process is as follows: S1. Connect the remote control end broadband ad hoc network access system and the robot broadband ad hoc network access system to the same wireless ad hoc network; S2. Obtain target information through the posture perception sensor system and the environment detection perception laser radar system. The target information includes the movement angle, position information, heading angle and surrounding terrain information of the robot body; S3. Send the target information to the robot broadband ad hoc network access system through the switch; S4. The robot broadband ad hoc network sends the target information to the remote control end ad hoc network access system through the wireless ad hoc network, so that the remote control end ad hoc network access system remotely controls the robot body to work according to the target information.

[0053] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A remote control system suitable for a well control emergency rescue obstacle removal backhoe robot, characterized in that: include: Remote control end components, remote control end broadband self-organizing network access system, posture perception sensor system, environment detection perception laser radar system, robot body and robot broadband self-organizing network access system; The remote control terminal component is equipped with the remote control terminal broadband ad hoc network access system; The robot body is equipped with the robot broadband ad hoc network access system, the posture perception sensor system and the environment detection perception laser radar system; The remote control end broadband ad hoc network access system and the robot broadband ad hoc network access system are connected to the same wireless ad hoc network, and the posture perception sensor system and the environment detection perception laser radar system are both connected to the robot broadband ad hoc network access system; The posture perception sensor system is used to obtain the motion angle, position information and heading angle of the robot body, and the environment detection perception laser radar system is used to obtain the terrain information around the robot body.

2. The remote control system according to claim 1, characterized in that: The remote control end assembly includes a remote control cabin, an operating handle box, a control panel, a display screen, a display screen bracket, an action mechanism control pedal and an information collection module; The operating handle box, the control panel, the display screen bracket, the action mechanism control pedal and the information collection module are installed inside the remote control cabin; The display screen is mounted on the display screen bracket, and the control panel is connected to the display screen; The information acquisition module is connected to the control panel, the walking mechanism control pedal, and the operating handle box respectively.

3. The remote control system according to claim 2, characterized in that: The remote control end broadband ad hoc network access system includes a CPE host, at least two first filters, at least two first antennas and a robot industrial computer. The CPE host is installed inside the remote control cabin, the first antenna is arranged outside the remote control cabin, the first antenna is connected to the CPE host through the first filter, the host is connected to the wireless ad hoc network uplink, and the host is connected to the robot industrial computer downlink.

4. The remote control system according to claim 3, characterized in that: The CPE host is connected to at least one remote control terminal component via a switch.

5. The remote control system according to claim 1, characterized in that: The posture perception sensor system and the environment detection perception laser radar system are both connected to the robot broadband self-organizing network access system through a switch.

6. The remote control system according to claim 5, characterized in that: The robot body comprises an upper vehicle turntable, a movable arm, a bucket arm and a rocker arm, wherein the upper vehicle turntable is mounted on the robot body, the movable arm is connected to the upper vehicle turntable, the bucket arm is connected to the movable arm, and the rocker arm is connected to the bucket arm; The posture perception sensor assembly includes a first tilt sensor, a second tilt sensor, a third tilt sensor, a fourth tilt sensor, a data solution touch integrated machine, a first GNSS antenna and a second GNSS antenna, wherein the first tilt sensor is mounted on the upper vehicle turntable, the second tilt sensor is mounted on the boom, the third tilt sensor is mounted on the arm, and the fourth tilt sensor is mounted on the rocker; The data solving and touching integrated machine is installed inside the robot body, the first GNSS antenna and the second GNSS antenna are both installed outside the robot body, and the first GNSS antenna and the second GNSS antenna are connected to the data solving and touching integrated machine in parallel.

7. The remote control system according to claim 6, characterized in that: The first inclination sensor is connected to the second inclination sensor through a wiring harness, the second inclination sensor is connected to the third inclination sensor through a wiring harness, the third inclination sensor is connected to the fourth inclination sensor through a wiring harness, the fourth inclination sensor is connected to the data solving touch all-in-one machine, and the data solving touch all-in-one machine is connected to the switch.

8. The remote control system according to claim 6, characterized in that: The environment detection and perception laser radar component includes a first high-resolution laser radar, a second high-resolution laser radar, a wide-angle laser radar and a laser radar industrial computer. The first high-resolution laser radar, the second high-resolution laser radar and the wide-angle laser radar are all connected to the laser radar industrial computer, and the laser radar industrial computer is connected to the switch. The first high-resolution laser radar, the second high-resolution laser radar and the wide-angle laser radar are all installed on the vehicle turntable. The first high-resolution laser radar and the second high-resolution laser radar are arranged at the same height and are both arranged above the wide-angle laser radar.

9. The remote control system according to claim 3, characterized in that: The robot broadband ad hoc network access system includes an sMesh host, at least two second filters, and at least two second antennas. The sMesh host and the second filter are installed inside the robot body, and the second antenna is installed outside the robot body. The second antenna is connected to the sMesh host through the second filter.

10. A remote control method for a well control emergency rescue obstacle removal backhoe robot, characterized in that: include: Connecting the remote control end broadband self-organizing network access system and the robot broadband self-organizing network access system to the same wireless self-organizing network; Acquire target information through the posture perception sensor system and the environment detection perception laser radar system, wherein the target information includes the motion angle, position information, heading angle and surrounding terrain information of the robot body; Sending the target information to the robot broadband ad hoc network access system through a switch; The robot broadband ad hoc network sends the target information to the remote control end ad hoc network access system through the wireless ad hoc network, so that the remote control end ad hoc network access system remotely controls the robot body to work according to the target information.

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