One-to-many boat bridge control method and system

Abstract

The application provides a one-to-many boat bridge control method and system, relates to the technical field of electric control, and aims to solve the technical problem that one operator cannot control multiple power boat bridges simultaneously. The one-to-many boat bridge control method comprises the following steps: after obtaining splicing instructions, a target area is scanned, all boat bridges are determined, and a boat bridge stack is formed; based on position information, the boat bridge closest to the one-to-many boat bridge control device is determined and defined as a main boat bridge, a drive instruction is sent to the main boat bridge through a main controller, the main boat bridge is driven to move to a standard position, and the main boat bridge is removed from the boat bridge stack; the boat bridge closest to the one-to-many boat bridge control device is determined again from the boat bridge stack, defined as a to-be-spliced boat bridge, a drive instruction is sent to the to-be-spliced boat bridge through an auxiliary controller, the to-be-spliced boat bridge is driven to move towards the main boat bridge and complete splicing, and information interaction between the main controller and the to-be-spliced boat bridge is established. One staff member can complete the splicing of all boat bridges.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric control, in particular to a one-to-many boat bridge control method and system. BACKGROUND

[0002] The current power boat bridge is usually one-to-one control, that is, one control system controls one power boat bridge. When the boat bridge is spliced, multiple operators need to be controlled, which wastes human cost. SUMMARY

[0003] The present application aims to solve or improve the technical problem of "one operator cannot control multiple power boat bridges at the same time" in the prior art.

[0004] The first aspect of the present application is to provide a one-to-many boat bridge control method.

[0005] The second aspect of the present application is to provide a one-to-many boat bridge control system.

[0006] The one-to-many boat bridge control method provided by the present application is applied to a one-to-many boat bridge control device, the one-to-many boat bridge control device includes a main controller and an auxiliary controller, and the one-to-many boat bridge control method includes: after obtaining a splicing instruction, scanning a target area and determining all boat bridges to form a boat bridge stack; determining the position information of each boat bridge in the boat bridge stack relative to the one-to-many boat bridge control device; determining the boat bridge closest to the one-to-many boat bridge control device based on the position information and defining it as a main boat bridge; establishing information interaction between the main controller and the main boat bridge, sending a driving instruction to the main boat bridge through the main controller, and driving the main boat bridge to move to a standard position; after the main boat bridge moves to the standard position, removing the main boat bridge from the boat bridge stack; determining the boat bridge closest to the one-to-many boat bridge control device from the boat bridge stack again and defining it as a to-be-spliced boat bridge; establishing information interaction between the auxiliary controller and the to-be-spliced boat bridge; sending a driving instruction to the to-be-spliced boat bridge through the auxiliary controller and driving the to-be-spliced boat bridge to move towards the main boat bridge; controlling the main boat bridge and the to-be-spliced boat bridge to splice through the main controller and the auxiliary controller; after the main boat bridge and the to-be-spliced boat bridge are spliced, removing the information interaction between the auxiliary controller and the to-be-spliced boat bridge and establishing the information interaction between the main controller and the to-be-spliced boat bridge, and removing the to-be-spliced boat bridge from the boat bridge stack; confirming whether there is a boat bridge in the boat bridge stack, if there is, determining the boat bridge closest to the one-to-many boat bridge control device again and defining it as a to-be-spliced boat bridge, and splicing it with the main boat bridge and removing the to-be-spliced boat bridge from the boat bridge stack, if there is not, ending.

[0007] The application provides a one-to-many pontoon bridge control method applied to a one-to-many pontoon bridge control device, and the one-to-many pontoon bridge control device comprises a main controller and an auxiliary controller. The one-to-many pontoon bridge control method comprises the following steps: after a splicing instruction is acquired, a target area is scanned, all pontoon bridges in the target area are determined, and a pontoon bridge stack is formed. The splicing instruction can be an instruction issued by a user, and the target area can be a circular area formed with the one-to-many pontoon bridge control device as the center and a preset radius, for example, a radius of 10-100 nautical miles, for example, 50 nautical miles. After the pontoon bridge stack is formed, the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device is determined. In this step, a positioning device can be arranged on each pontoon bridge, and a positioning device is also arranged on the one-to-many pontoon bridge control device, so that the position information of each pontoon bridge relative to the one-to-many pontoon bridge control device can be known. Then, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined based on the position information, and is defined as a main pontoon bridge. Information interaction between the main controller and the main pontoon bridge is established, a driving instruction is sent to the main pontoon bridge by the main controller, and the main pontoon bridge is driven to move to a standard position. In this step, the user can control the main controller to drive the main pontoon bridge to move. The main controller has two degrees of freedom, i.e., forward and backward movement (control of increase and decrease of pontoon engine) and middle shaft rotation (control of pontoon moving direction). After the main pontoon bridge moves to the standard position, the main pontoon bridge is removed from the pontoon bridge stack. The standard position can be an initial position for splicing, and is preset. Then, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined again from the pontoon bridge stack, and is defined as a pontoon bridge to be spliced. Information interaction between the auxiliary controller and the pontoon bridge to be spliced is established. A driving instruction is sent to the pontoon bridge to be spliced by the auxiliary controller, and the pontoon bridge to be spliced is driven to move towards the main pontoon bridge. In this step, the user can control the auxiliary controller to drive the pontoon bridge to be spliced to move. The auxiliary controller also has two degrees of freedom. The main pontoon bridge and the pontoon bridge to be spliced are spliced by the main controller and the auxiliary controller. In this step, the user can control the main controller and the auxiliary controller respectively, so as to drive the splicing between the main pontoon bridge and the pontoon bridge to be spliced. After the main pontoon bridge and the pontoon bridge to be spliced are spliced, the information interaction between the auxiliary controller and the pontoon bridge to be spliced is released, and the information interaction between the main controller and the pontoon bridge to be spliced is established. At this time, the main pontoon bridge and the pontoon bridge that has completed splicing can be controlled simultaneously by the main controller, and the pontoon bridge that has completed splicing is removed from the pontoon bridge stack. Whether there is a pontoon bridge in the pontoon bridge stack is confirmed. If there is, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined again, and is defined as the pontoon bridge to be spliced. A driving instruction is sent to the pontoon bridge to be spliced by the auxiliary controller again, and the pontoon bridge to be spliced is driven to move towards the main pontoon bridge. Thus, the main controller can synchronously control multiple pontoon bridges that have completed splicing, and the auxiliary controller can control the pontoon bridge that needs to be spliced at present. The splicing of all pontoon bridges can be realized through the circulation. If there is no pontoon bridge in the pontoon bridge stack, it is indicated that the splicing of all pontoon bridges has been completed.The application sets two controllers on a one-to-many pontoon bridge control device, so that one main controller can synchronously drive multiple completed spliced pontoon bridges, and one auxiliary controller can control the pontoon bridge that needs to be spliced at present, thereby only one worker is needed to complete the splicing of all pontoon bridges.

[0008] In some technical solutions, optionally, each pontoon bridge comprises a splicing device for splicing two adjacent pontoon bridges, and the one-to-many pontoon bridge control method further comprises: determining a pontoon bridge to be removed from the spliced pontoon bridges based on the input removal information; establishing information interaction between the auxiliary controller and the pontoon bridge to be removed; and disconnecting the splicing device of the pontoon bridge to be removed from the splicing device of the adjacent pontoon bridge through the auxiliary controller.

[0009] In the technical solution, when the spliced pontoon bridge is to be disassembled, the pontoon bridge to be removed is first determined, then the information interaction between the auxiliary controller and the pontoon bridge to be removed is established, and then the splicing device of the pontoon bridge to be removed is disconnected from the splicing device of the adjacent pontoon bridge through the auxiliary controller, so that the pontoon bridge to be removed can be removed from the spliced pontoon bridge, thereby completing the disassembly in sequence.

[0010] It should be noted here that the splicing or disassembly of two pontoon bridges can be achieved by various methods. For example, when the splicing device is a mechanical lock, i.e., a mechanical lock is arranged on each side of each pontoon bridge, and a guide device such as a guide rail or a cam is installed on the edge of the pontoon bridge, so that the main pontoon bridge and the pontoon bridge to be spliced can be kept in correct alignment during the approaching and docking process. At this time, the mechanical locks of the main pontoon bridge and the pontoon bridge to be spliced are controlled by the main controller and the auxiliary controller to cooperate with each other, thereby achieving splicing. Of course, the splicing device can also be a magnetic connector, which can also achieve the splicing of two pontoon bridges. The disassembly process is opposite to the splicing, and the two mechanical locks are controlled to be disengaged.

[0011] In some technical solutions, before the step of determining the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device, the method further comprises: controlling the main controller to send an indication signal to each pontoon bridge in the pontoon bridge stack; and after receiving feedback signals from all pontoon bridges in the pontoon bridge stack in response to the indication signal, determining the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device.

[0012] In the technical solution, before splicing, the main controller is controlled to send an indication signal to each boat bridge in the boat bridge stack, if the boat bridge can receive the indication signal, it indicates that the boat bridge can communicate well with the main controller, otherwise, it indicates that the boat bridge has a fault or the network has a fault, after receiving the feedback signal of the indication signal sent by all the boat bridges in the boat bridge stack, it is indicated that all the boat bridges can communicate with the main controller, and all the boat bridges are ready, and then the splicing step is started.

[0013] In some technical solutions, optionally, in the step of driving the to-be-spliced boat bridge to move towards the main boat bridge, the one-to-many boat bridge control method further comprises: displaying the running information of the to-be-spliced boat bridge, the running information comprising one or a combination of the following: the rotating motor speed, the throttle motor speed, the rotation angle of the to-be-spliced boat bridge, the rotation direction of the to-be-spliced boat bridge, the advancing speed of the to-be-spliced boat bridge, and the fault signal.

[0014] In the technical solution, in the step of driving the to-be-spliced boat bridge to move towards the main boat bridge, the rotating motor speed, the throttle motor speed, the rotation angle of the to-be-spliced boat bridge, the rotation direction of the to-be-spliced boat bridge, the advancing speed of the to-be-spliced boat bridge, and the fault signal of the to-be-spliced boat bridge are displayed in real time, so that the running condition of the to-be-spliced boat bridge can be further understood.

[0015] In some technical solutions, optionally, the position information comprises one or a combination of the following: the distance between the boat bridge in the boat bridge stack and the one-to-many boat bridge control device, and the azimuth angle of the boat bridge in the boat bridge stack relative to the distance between the one-to-many boat bridge control device.

[0016] The second aspect of the present application provides a one-to-many boat bridge control system, comprising: a one-to-many boat bridge control device, which can implement the one-to-many boat bridge control method of any one of the first aspect of the present application; and a plurality of boat bridges, each boat bridge comprising an electric control component capable of information interaction with the one-to-many boat bridge control device.

[0017] In some technical solutions, optionally, each boat bridge comprises two electric control components arranged on both sides of the boat bridge, each electric control component comprising: a control box capable of information interaction with the main controller or the auxiliary controller of the one-to-many boat bridge control device; a servo driver arranged in the control box; a servo motor connected with the servo driver; and an encoder arranged on the servo motor and used for calculating the rotating speed of the servo motor; wherein the control box can convert the driving signal sent by the main controller or the auxiliary controller into an electric signal suitable for the servo motor to drive the servo motor to work.

[0018] In the technical solution, each boat bridge comprises two electric control assemblies, the two electric control assemblies are arranged on two sides of the boat bridge body, and the electric control assembly comprises a control box, a battery, a servo motor, a servo driver and an encoder, etc. A set of remote controllers (i.e. a main controller and an auxiliary controller) control multiple sets of electric control assemblies to realize the operation and navigation of the combined power boat bridge.

[0019] In some technical solutions, each boat bridge further comprises: a splicing device connected with the control box, the splicing device being capable of being spliced with or disconnected from the splicing device of an adjacent boat bridge; and an image acquisition device connected with the control box, the image acquisition device being configured to acquire image information of the splicing device.

[0020] In the technical solution, the image acquisition device is arranged on the boat bridge, so that the staff can watch the situation of the boat bridge in real time, thereby controlling the action of the splicing device to complete the splicing or disassembly of the two adjacent boat bridges.

[0021] In some technical solutions, each boat bridge further comprises a positioning device connected with the control box, the positioning device being configured to position the actual position of the boat bridge.

[0022] In the technical solution, the positioning device is arranged on the boat bridge and connected with the control box, and is configured to position the actual position of the boat bridge. The positioning device is also arranged on the one-to-many boat bridge control device, so that the distance from each boat bridge to the one-to-many boat bridge control device can be known, thereby controlling the splicing one by one.

[0023] In some technical solutions, the one-to-many boat bridge control device further comprises a display connected with the control box, the display being configured to display the running information of the boat bridge.

[0024] Additional aspects and advantages of the present application will become apparent from the following description, which is by way of illustration. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of embodiments of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A flowchart of a one-to-many boat bridge control method according to an embodiment of the present application is shown;

[0027] Figure 2 A structure diagram of multiple boat bridges after splicing according to an embodiment of the present application is shown;

[0028] Figure 3 A structure diagram of an electric control assembly of a boat bridge according to an embodiment of the present application is shown;

[0029] Figure 4A structural schematic diagram showing the information interaction between the controller of the embodiment of the application and the boat bridge is shown.

[0030] Figure 5 A structural schematic diagram showing the boat bridge of the embodiment of the application is shown.

[0031] Figure 6 A structural schematic diagram showing the main controller of the embodiment of the application is shown.

[0032] Figures 2 to 6 The correspondence between the reference signs in the drawings and the component names is as follows:

[0033] 1 one-to-many boat bridge control device, 12 display, 14 main controller, 16 auxiliary controller, 17 transmitting module, 2 boat bridge, 22 electric control assembly, 222 control box, 224 servo driver, 225 positioning device, 226 servo motor, 2262 throttle motor, 2264 rotating motor, 227 image acquisition device, 228 encoder, 23 splicing device, 240 power storage device, 241 power storage module, 242 charging coil, 2431 central processing module, 2432 power supply interface, 2434 communication interface, 2436 input / output interface, 2437 servo control module, 244 touch screen, 245 gain antenna, 246 wireless gateway module, 25 receiving module, 3 one-to-many boat bridge control system. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above aspects, features and advantages of the embodiments of the application, the embodiments of the application are further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth in order to provide a thorough understanding of the embodiments of the application, however, the embodiments of the application can also be implemented in other ways different from those described herein, therefore, the protection scope of the embodiments of the application is not limited by the specific embodiments disclosed below.

[0036] Embodiment one

[0037] As Figure 1 shown, the one-to-many boat bridge control method provided by the embodiment is applied to a one-to-many boat bridge control device, the one-to-many boat bridge control device includes a main controller and an auxiliary controller, and the one-to-many boat bridge control method includes the following steps.

[0038] S102: after the splicing instruction is acquired, the target area is scanned, all boat bridges are determined, and a boat bridge stack is formed.

[0039] S104: Determine the position information of each boat bridge in the boat bridge stack relative to the pair of multi-boat bridge control devices; based on the position information, determine the boat bridge closest to the pair of multi-boat bridge control devices and define it as the main boat bridge; establish information interaction between the main controller and the main boat bridge, send driving instructions to the main boat bridge through the main controller, and drive the main boat bridge to move to the standard position; after the main boat bridge moves to the standard position, remove the main boat bridge from the boat bridge stack;

[0040] S106: Determine again the boat bridge closest to the pair of multi-boat bridge control devices from the boat bridge stack and define it as the to-be-spliced boat bridge; establish information interaction between the auxiliary controller and the to-be-spliced boat bridge; send driving instructions to the to-be-spliced boat bridge through the auxiliary controller and drive the to-be-spliced boat bridge to move towards the main boat bridge;

[0041] S108: Control the main boat bridge and the to-be-spliced boat bridge to splice through the main controller and the auxiliary controller; after the main boat bridge and the to-be-spliced boat bridge splice, remove the information interaction between the auxiliary controller and the to-be-spliced boat bridge, establish the information interaction between the main controller and the to-be-spliced boat bridge, and remove the to-be-spliced boat bridge from the boat bridge stack;

[0042] S110: Confirm whether there is a boat bridge in the boat bridge stack; if yes, execute S112, if not, end;

[0043] S112: Determine again the boat bridge closest to the pair of multi-boat bridge control devices and define it as the to-be-spliced boat bridge, splice it with the main boat bridge, and remove the to-be-spliced boat bridge from the boat bridge stack; then, go to S110.

[0044] The application provides a one-to-many pontoon bridge control method applied to a one-to-many pontoon bridge control device, and the one-to-many pontoon bridge control device comprises a main controller and an auxiliary controller. The one-to-many pontoon bridge control method comprises the following steps: after a splicing instruction is acquired, a target area is scanned, all pontoon bridges in the target area are determined, and a pontoon bridge stack is formed. The splicing instruction can be an instruction issued by a user, and the target area can be a circular area formed with the one-to-many pontoon bridge control device as the center and a preset radius, for example, a radius of 10-100 nautical miles, for example, 50 nautical miles. After the pontoon bridge stack is formed, the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device is determined. In this step, a positioning device can be arranged on each pontoon bridge, and a positioning device is also arranged on the one-to-many pontoon bridge control device, so that the position information of each pontoon bridge relative to the one-to-many pontoon bridge control device can be known. Then, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined based on the position information, and is defined as a main pontoon bridge. Information interaction between the main controller and the main pontoon bridge is established, a driving instruction is sent to the main pontoon bridge by the main controller, and the main pontoon bridge is driven to move to a standard position. In this step, the user can control the main controller to drive the main pontoon bridge to move. The main controller has two degrees of freedom, i.e., forward and backward movement (control of increase and decrease of pontoon engine) and middle shaft rotation (control of pontoon moving direction). After the main pontoon bridge moves to the standard position, the main pontoon bridge is removed from the pontoon bridge stack. The standard position can be an initial position for splicing, and is preset. Then, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined again from the pontoon bridge stack, and is defined as a pontoon bridge to be spliced. Information interaction between the auxiliary controller and the pontoon bridge to be spliced is established. A driving instruction is sent to the pontoon bridge to be spliced by the auxiliary controller, and the pontoon bridge to be spliced is driven to move towards the main pontoon bridge. In this step, the user can control the auxiliary controller to drive the pontoon bridge to be spliced to move. The auxiliary controller also has two degrees of freedom. The main pontoon bridge and the pontoon bridge to be spliced are spliced by the main controller and the auxiliary controller. In this step, the user can control the main controller and the auxiliary controller respectively, so as to drive the splicing between the main pontoon bridge and the pontoon bridge to be spliced. After the main pontoon bridge and the pontoon bridge to be spliced are spliced, the information interaction between the auxiliary controller and the pontoon bridge to be spliced is released, and the information interaction between the main controller and the pontoon bridge to be spliced is established. At this time, the main pontoon bridge and the pontoon bridge that has completed splicing can be controlled simultaneously by the main controller, and the pontoon bridge that has completed splicing is removed from the pontoon bridge stack. Whether there is a pontoon bridge in the pontoon bridge stack is confirmed. If there is, the pontoon bridge closest to the one-to-many pontoon bridge control device is determined again, and is defined as the pontoon bridge to be spliced. A driving instruction is sent to the pontoon bridge to be spliced by the auxiliary controller again, and the pontoon bridge to be spliced is driven to move towards the main pontoon bridge. Thus, the main controller can synchronously control multiple pontoon bridges that have completed splicing, and the auxiliary controller can control the pontoon bridge that needs to be spliced at present. The splicing of all pontoon bridges can be realized through the circulation. If there is no pontoon bridge in the pontoon bridge stack, it is indicated that the splicing of all pontoon bridges has been completed.The application sets two controllers on a one-to-many pontoon bridge control device, so that one main controller can synchronously drive multiple completed spliced pontoon bridges, and one auxiliary controller can control the pontoon bridge that needs to be spliced at present, thereby only one worker is needed to complete the splicing of all pontoon bridges.

[0045] In some technical solutions, optionally, each pontoon bridge comprises a splicing device for splicing two adjacent pontoon bridges, and the one-to-many pontoon bridge control method further comprises: determining a pontoon bridge to be removed from the spliced pontoon bridges based on the input removal information; establishing information interaction between the auxiliary controller and the pontoon bridge to be removed; and disconnecting the splicing device of the pontoon bridge to be removed from the splicing device of the adjacent pontoon bridge through the auxiliary controller.

[0046] In the technical solution, when the spliced pontoon bridge is to be disassembled, the pontoon bridge to be removed is first determined, then the information interaction between the auxiliary controller and the pontoon bridge to be removed is established, and then the splicing device of the pontoon bridge to be removed is disconnected from the splicing device of the adjacent pontoon bridge through the auxiliary controller, so that the pontoon bridge to be removed can be removed from the spliced pontoon bridge, thereby completing the disassembly in sequence.

[0047] It should be noted here that the splicing or disassembly of two pontoon bridges can be achieved by various methods. For example, when the splicing device is a mechanical lock, i.e., a mechanical lock is arranged on each side of each pontoon bridge, and a guide device such as a guide rail or a cam is installed on the edge of the pontoon bridge, so that the main pontoon bridge and the pontoon bridge to be spliced can be kept in correct alignment during the approaching and docking process. At this time, the mechanical locks of the main pontoon bridge and the pontoon bridge to be spliced are controlled by the main controller and the auxiliary controller to cooperate with each other, thereby achieving splicing. Of course, the splicing device can also be a magnetic connector, which can also achieve the splicing of two pontoon bridges. The disassembly process is opposite to the splicing, and the two mechanical locks are controlled to be disengaged.

[0048] In some technical solutions, before the step of determining the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device, the method further comprises: controlling the main controller to send an indication signal to each pontoon bridge in the pontoon bridge stack; and after receiving feedback signals from all pontoon bridges in the pontoon bridge stack in response to the indication signal, determining the position information of each pontoon bridge in the pontoon bridge stack relative to the one-to-many pontoon bridge control device.

[0049] In the technical solution, before splicing, the main controller sends an indication signal to each boat bridge in the boat bridge stack, if the boat bridge can receive the indication signal, it means that the boat bridge can communicate well with the main controller, otherwise, it means that the boat bridge has a fault or the network has a fault, after receiving the feedback signal of the indication signal sent by all boat bridges in the boat bridge stack, it means that all boat bridges can communicate with the main controller, and all boat bridges are ready, then the splicing step is started.

[0050] In some technical solutions, optionally, in the step of driving the to-be-spliced boat bridge to move towards the main boat bridge, the one-to-many boat bridge control method further includes: displaying the driving information of the to-be-spliced boat bridge, the driving information including one or a combination of the following: the rotating motor speed, the throttle motor speed, the rotation angle of the to-be-spliced boat bridge, the rotation direction of the to-be-spliced boat bridge, the travel speed of the to-be-spliced boat bridge, and the fault signal.

[0051] In the technical solution, in the step of driving the to-be-spliced boat bridge to move towards the main boat bridge, the rotating motor speed, the throttle motor speed, the rotation angle of the to-be-spliced boat bridge, the rotation direction of the to-be-spliced boat bridge, the travel speed of the to-be-spliced boat bridge, and the fault signal of the to-be-spliced boat bridge are displayed in real time, so that the driving condition of the to-be-spliced boat bridge can be further understood.

[0052] In some technical solutions, optionally, the position information includes one or a combination of the following: the distance between the boat bridge in the boat bridge stack and the one-to-many boat bridge control device, and the azimuth angle of the boat bridge in the boat bridge stack relative to the distance between the one-to-many boat bridge control device.

[0053] As shown in Figure 2 and Figure 3 , the second aspect of the present application provides a one-to-many boat bridge control system 3, which includes: a one-to-many boat bridge control device 1, the one-to-many boat bridge control device 1 can implement the one-to-many boat bridge control method of any one of the first aspect of the present application; a plurality of boat bridges 2, each boat bridge 2 includes an electric control component 22, and the electric control component 22 can interact with the one-to-many boat bridge control device 1.

[0054] In some technical solutions, optionally, as shown in Figure 5 and Figure 6 , each boat bridge 2 includes two electric control components 22, and the two electric control components 22 are arranged on the two sides of the boat bridge 2, as shown in Figure 3As shown, each electric control assembly 22 comprises a control box 222 capable of interacting with the main controller 14 or the auxiliary controller 16 of the one-to-many amphibious vehicle control device 1; a servo driver 224 is arranged in the control box 222; a servo motor 226 is connected with the servo driver 224; and an encoder 228 is arranged on the servo motor 226 and used for calculating the rotating speed of the servo motor 226; wherein the control box 222 can convert the driving signal sent by the main controller 14 or the auxiliary controller 16 into an electric signal suitable for the servo motor 226 to drive the servo motor 226 to work.

[0055] In the technical scheme, each amphibious vehicle 2 comprises two electric control assemblies 22 arranged on the two sides of the amphibious vehicle 2 body, and each electric control assembly 22 comprises a control box 222, a battery, a servo motor 226, a servo driver 224 and an encoder 228. One set of remote controller (i.e. the main controller 14 and the auxiliary controller 16) controls multiple sets of electric control assemblies 22 to realize the operation and sailing of the combined amphibious vehicle 2.

[0056] In some technical schemes, optionally, as shown in Figure 2 As shown, each amphibious vehicle 2 further comprises a splicing device 23 connected with the control box 222, the splicing device 23 can be spliced or disconnected with the splicing device 23 of the adjacent amphibious vehicle 2; and an image acquisition device 227 connected with the control box 222 is used for acquiring the image information of the splicing device 23.

[0057] In the technical scheme, the image acquisition device 227 is arranged on the amphibious vehicle 2, so that the staff can watch the situation of the amphibious vehicle 2 in real time, thereby controlling the splicing device 23 to act, so as to complete the splicing or disassembly of the adjacent two amphibious vehicles 2.

[0058] In some technical schemes, optionally, as shown in Figure 2 As shown, each amphibious vehicle 2 further comprises a positioning device 225 connected with the control box 222 and used for positioning the actual position of the amphibious vehicle 2.

[0059] In the technical scheme, the positioning device 225 is arranged on the amphibious vehicle 2 and connected with the control box 222, and is used for positioning the actual position of the amphibious vehicle 2, and the positioning device is also arranged on the one-to-many amphibious vehicle control device 1, so that the distance from each amphibious vehicle 2 to the one-to-many amphibious vehicle control device 1 can be known, thereby controlling the splicing one by one.

[0060] In some technical schemes, optionally, the one-to-many amphibious vehicle control device 1 further comprises a display 12 connected with the control box 222 and used for displaying the driving information of the amphibious vehicle 2.

[0061] Another embodiment of the present application provides a one-to-many boat bridge control system 3, also called one-to-many powered boat bridge control system, because the boat bridge 2 itself is powered. The specific scheme is that there are two same electric control assemblies 22 on the left and right sides of each boat bridge 2, and each electric control assembly 22 includes a rotating motor 2264, a throttle motor 2262, a control box 222, a power storage device 240, an aviation plug / socket and the like. A set of remote controller (the remote controller is also the controller of the present application, including a main controller 14 and an auxiliary controller 16) controls multiple sets of electric control assemblies 22 to realize the operation and navigation of the boat bridge 2.

[0062] As shown in Figure 2 , Figure 3 and Figure 4 , the one-to-many powered boat bridge control system includes a hardware part and a software part. The hardware part includes a control box 222, a remote controller, a servo driver 224, an encoder 228, an aviation plug / socket and the like. The software system includes a transmitting module 17, a receiving module 25, a central processing module 2431, a servo control module 2437 and the like.

[0063] The electric control assembly 22 includes a central processing module 2431, a power storage module 241, a PCB board, an aviation socket and the like. The central processing module 2431 is a PLC control module, which is used to receive the control instructions of the remote controller through the receiving module 25, receive the state information of the servo motor 226 and the servo driver 224 through the aviation socket, process the above information in the central processing module 2431, and then send it to the remote controller through the receiving module 25 and to each boat bridge 2 through the aviation socket and the cable. The power storage module 241 mainly includes a power module and a storage module. The power module is used to provide power, and the storage module can store power. In addition, the electric control assembly 22 also includes a charging coil 242, which is used to provide power for the power storage module 241. The control box 222 is also provided with a power interface 2432, a communication interface 2434 and an input / output interface 2436. The power interface 2432 is connected with the power storage module 241 to obtain the required power. The communication interface 2434 is connected with a gain antenna 245 through a wireless gateway module 246. The gain antenna 245 can enhance the receiving and / or sending ability of the wireless signal. The wireless gateway module 246 mainly includes a wireless module, a data gateway and a protocol conversion function. The wireless module can interact with the remote controller to realize the driving of the servo motor. The input / output interface 2436 is used to realize the functions of emergency stop, fault indication and reset and the like.

[0064] The remote controller is in the form of a wireless transmitter-receiver, including a transmitter and a receiver. The receiver is installed in the control box 222. The transmitter of the remote controller is provided with a handle, a switch, a button and a display 12, which are mainly used to drive the rotating motor 2264, the throttle motor 2262 and the like. The display 12 feeds back the rotating speed, fault signal, rotating angle, rotating direction and rotating speed of the rotating motor in real time. The servo driver 224 and the encoder 228 are devices matched with the rotating motor 2264 and the throttle motor 2262. The servo driver 224 is mainly used to drive the rotating motor 2264 and the throttle motor 2262. The encoder 228 is used to record the rotating position and direction.

[0065] Each set of hardware includes one remote controller, a plurality of control boxes 222, a plurality of sets of servo drivers 224 and encoders 228.

[0066] The receiving module 25 of the software system mainly converts the signal sent by the receiver of the remote controller, and then sends it to the central processing module 2431. The transmitting module 17 converts the signals of the handle, switch, button and the like into signals that can be processed by the receiver.

[0067] The central processing module 2431 combines the signals of the receiving module 25 and the servo control module 2437, converts the operator's instructions into the action of the servo motor 226, judges and processes the information such as the battery voltage, transmission strength, battery capacity of the remote controller, rotating speed, current, rotating direction of the servo motor 226, position of the encoder 228 and rotating speed in the PLC program, forms a signal and sends it to each of the boat bridges 2, and at the same time, transmits it to the transmitting module 17, sends it to the remote controller and displays it through the display 12.

[0068] Further, a touch screen 244 can be arranged on the remote controller. In this way, the user can generate the separation information by touching the touch screen 244, so as to complete the separation between the boat bridges.

[0069] Under the premise that the whole combined power boat bridge has been placed on the water surface, in the one-to-many control, specifically, the power of the control boxes 1A, 1B to nA, nB is turned on first, and whether the power indicator of the control box is normally lit is observed. Then, the switch of the remote controller is turned on, and whether the power indicator and the communication indicator of the remote controller are normal is observed. The touch screen of the remote controller is operated, and whether the feedback signals of the plurality of receivers are received at the same time is observed. In the case that it is confirmed that the plurality of receivers are normally connected, the remote controller multi-connection function control can be enabled, the plurality of receivers can be communicated at the same time, and the plurality of boat bridges can be operated by the remote controller, so as to sail the whole combined power boat bridge.

[0070] Among them, the remote controller has two operation handles left and right. Each handle has two degrees of freedom, forward and backward movement (add or subtract throttle control), middle shaft rotation (rudder direction control), the operation handle on the left side of the hand is named AZ, and the operation handle on the right side of the hand is named BZ.

[0071] One pontoon bridge has two slave units, if it is a plurality of pontoon bridges in series, the first pontoon bridge slave is named A1, B1, the second pontoon bridge slave is named A2, B2, and so on. Among them, the slave unit of the pontoon bridge is also the above-mentioned electric control assembly of the pontoon bridge.

[0072] The main controller starts the automatic search function, searches for available slaves within a certain range, determines the relative positions of each slave and the main station, automatically allocates addresses for each slave and displays the positions and addresses on the screen of the main controller, and after the operator sets the networking parameters and selects the functions, the main controller can be used to control multiple pontoon bridges synchronously.

[0073] When the pontoon bridges are spliced, two remote controllers A (main controller) and B (auxiliary controller) control two pontoon bridges 1 and 2 to splice, after splicing, the control right is transferred on the B remote controller, at this time, the A remote controller takes over the No. 2 pontoon bridge, and the A remote controller controls the rudders and throttles of the No. 1 and No. 2 pontoon bridges to run synchronously.

[0074] When the pontoon bridges are spliced, two remote controllers A (main controller) and B (auxiliary controller) control two pontoon bridges 1 and 2 to splice, after splicing, the control right is transferred on the B remote controller, at this time, the A remote controller takes over the No. 2 pontoon bridge, and the A remote controller controls the rudders and throttles of the No. 1 and No. 2 pontoon bridges to run synchronously.

[0075] The control method of the application can finally realize synchronous control of 16 rudders and throttles of 8 pontoon bridges by the A remote controller.

[0076] Although this specification contains many specific implementation details, these should not be construed as limiting the scope or the scope of protection of any invention, but mainly for describing the features of the specific embodiments of the particular invention. Some features described in this specification in multiple embodiments can also be implemented in a single embodiment. On the other hand, various features described in a single embodiment can also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although the features can function in some combinations as described above and even initially claimed, one or more features from the claimed combination can be removed from the combination in some cases, and the claimed combination can be directed to a sub-combination or a variation of a sub-combination.

[0077] Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring such order nor that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system modules and components in the embodiments described above should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0078] Accordingly, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the following claims. In some cases, actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0079] It is noted that, in this document, phrases such as "first" and "second," etc. can be used merely as label to distinguish between entities or actions from one another without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0080] The above description is that of current embodiments of the application. Various modifications and changes can be made thereto without departing from the spirit and scope of the application as set forth. The scope of the application is not to be limited to the embodi ments disclosed in this release and extending only to the scope of the patentized claim or the extent of statutory equivalents thereof.

Claims

1. A one-to-many drawbridge control method, characterized by, The application is applied to a one-to-many bridge control device (1) comprising a main controller (14) and an auxiliary controller (16), and the one-to-many bridge control method comprises the following steps: After obtaining the splicing instruction, the target area is scanned, and all the bridges are determined and formed into a bridge stack; The position information of each bridge in the bridge stack relative to the one-to-many bridge control device is determined; The bridge closest to the one-to-many bridge control device is determined based on the position information and defined as the main bridge; Information interaction is established between the main controller and the main bridge, the main controller sends a driving instruction to the main bridge, and the main bridge is driven to move to a standard position; After the main bridge moves to the standard position, the main bridge is removed from the bridge stack; The bridge closest to the one-to-many bridge control device is determined again from the bridge stack and defined as the to-be-spliced bridge; Information interaction is established between the auxiliary controller and the to-be-spliced bridge; The auxiliary controller sends a driving instruction to the to-be-spliced bridge, and drives the to-be-spliced bridge to move towards the main bridge; The main controller and the auxiliary controller control the main bridge and the to-be-spliced bridge to splice; After the main bridge and the to-be-spliced bridge are spliced, the information interaction between the auxiliary controller and the to-be-spliced bridge is released, the information interaction between the main controller and the to-be-spliced bridge is established, and the to-be-spliced bridge is removed from the bridge stack; If there is a bridge in the bridge stack, the bridge closest to the one-to-many bridge control device is determined again and defined as the to-be-spliced bridge, and spliced with the main bridge, and the to-be-spliced bridge is removed from the bridge stack, and if there is no bridge, the process is ended.

2. The one-to-many bridge control method of claim 1, wherein Each bridge (2) comprises a splicing device (23) for splicing two adjacent bridges (2), and the one-to-many bridge control method further comprises the following steps: Based on the input removal information, the to-be-removed bridge is determined from the spliced bridge; Information interaction is established between the auxiliary controller and the to-be-removed bridge; The auxiliary controller controls the splicing device of the to-be-removed bridge to disconnect with the splicing device of the adjacent bridge.

3. The one-to-many bridge control method of claim 1, wherein Before the step of determining the position information of each bridge in the bridge stack relative to the one-to-many bridge control device, the following steps are further included: The main controller sends an indication signal to each bridge in the bridge stack; After receiving the feedback signal of all bridges in the bridge stack to the indication signal, the position information of each bridge in the bridge stack relative to the one-to-many bridge control device is determined.

4. The one-to-many bridge control method of claim 1, wherein In the step of driving the to-be-spliced bridge to move towards the main bridge, the one-to-many bridge control method further comprises the following steps: The driving information of the to-be-spliced bridge is displayed, and the driving information comprises one or a combination of the following: the rotating motor speed, the throttle motor speed, the rotation angle of the to-be-spliced bridge, the rotation direction of the to-be-spliced bridge, the travel speed of the to-be-spliced bridge, and the fault signal.

5. The one-to-many bridge control method of claim 1, wherein The position information includes one or a combination of the following: distance between the boat bridge in the boat bridge stack and the one-to-many boat bridge control device, and azimuth angle of the boat bridge in the boat bridge stack relative to the distance between the one-to-many boat bridge control device.

6. A one-to-many drawbridge control system, characterized by The one-to-many boat bridge control method comprises the following steps: The one-to-many boat bridge control device (1) can realize the one-to-many boat bridge control method as claimed in any one of claims 1 to 5; A plurality of boat bridges (2), each of which comprises an electric control assembly (22) capable of information interaction with the one-to-many boat bridge control device (1).

7. A one-to-many axle control system according to claim 6, wherein, Each of the boat bridges (2) comprises two electric control assemblies (22) arranged on both sides of the boat bridge (2), and each of the electric control assemblies (22) comprises: A control box (222) capable of information interaction with the main controller (14) or the auxiliary controller (16) of the one-to-many boat bridge control device (1); A servo driver (224) arranged in the control box (222); A servo motor (226) connected with the servo driver (224); An encoder (228) arranged on the servo motor (226) for calculating the rotating speed of the servo motor (226); Wherein, the control box (222) can convert the driving signal sent by the main controller (14) or the auxiliary controller (16) into an electric signal suitable for the servo motor (226) to drive the servo motor (226) to work.

8. A one-to-many axle control system according to claim 7, wherein, Each of the boat bridges (2) further comprises: A splicing device (23) connected with the control box (222), which can splice or disconnect with the splicing device (23) of the adjacent boat bridge (2); An image acquisition device (227) connected with the control box (222) for acquiring image information of the splicing device (23).

9. A one-to-many axle control system according to claim 7, wherein, Each of the boat bridges (2) further comprises: A positioning device (225) connected with the control box (222) for positioning the actual position of the boat bridge (2).

10. A one-to-many axle control system according to claim 7, wherein, The one-to-many boat bridge control device (1) further comprises: A display (12) connected with the control box (222) for displaying the driving information of the boat bridge (2).

Images