Communication method, system and device suitable for smoke exhaust primary and secondary vehicles

Abstract

The invention discloses a communication method, system and device suitable for smoke exhaust primary and secondary vehicles, and belongs to the technical field of smoke exhaust vehicle communication. The method aims at solving the communication problem of the smoke exhaust primary and secondary vehicles, and comprises the steps that a secondary vehicle heartbeat packet and a secondary vehicle wireless signal are received in real time; the communication state between the child vehicle and the mother vehicle is judged according to the received child vehicle heartbeat packet and the child vehicle wireless signal; when the wired channel or the wireless channel is established successfully, the primary vehicle and the secondary vehicle carry out single link communication; when the wired channel and the wireless channel are established successfully, the mother vehicle and the son vehicle perform double-link channel communication, and data analysis is performed on real-time data of the double-link communication to obtain effective data; and generating a corresponding control signal according to the effective data, and sending the control signal to the sub-vehicle to control the sub-vehicle to operate. According to the invention, the communication stability of the smoke exhaust primary-secondary vehicle can be ensured, the working efficiency of the secondary vehicle is improved, and the communication failure rate of the smoke exhaust primary-secondary vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to a communication method, system and device applicable to a smoke exhaust mother - son vehicle, belonging to the technical field of communication of smoke exhaust vehicles. Background Art

[0002] A smoke exhaust mother - son vehicle is a combination of fire - fighting vehicles designed specifically for fire - fighting and rescue scenarios. It consists of a mother vehicle and a son vehicle. The mother vehicle usually has strong power and load - bearing capacity to ensure that it can tow and carry the son vehicle and the required smoke exhaust equipment. The son vehicle is the core part of the smoke exhaust operation and can enter the fire scene for negative - pressure or positive - pressure smoke exhaust operations. The mainstream control methods of its communication include: First, install a wireless remote - control receiver on the son vehicle. The wireless remote - control transmitter emits a control signal. When the wireless receiver receives the signal, it transmits the control signal to the son - vehicle controller through the CAN bus. The son - vehicle controller transmits the son - vehicle working information and the remote - control information of the remote controller to the mother - vehicle controller through the communication cable between the mother and son vehicles. The mother - vehicle controller transmits the information to the mother - vehicle display for the operator to view the real - time information of the vehicle. Second, install a wireless remote - control receiver on the mother vehicle. The wireless remote - control transmitter emits a control signal. When the wireless receiver receives the signal, it transmits the control signal to the mother - vehicle controller through the CAN bus. The mother - vehicle controller transmits the control information to the son - vehicle controller through the communication cable between the mother and son vehicles. The son - vehicle controller transmits the son - vehicle working information to the mother - vehicle controller through the communication cable between the mother and son vehicles. The mother - vehicle controller transmits the information to the mother - vehicle display for the operator to view the real - time information of the vehicle.

[0003] However, in underground and enclosed spaces, the existing smoke exhaust mother - son vehicles have the following problems: 1. The smoke exhaust mother - son vehicle uses wireless communication. When the son vehicle enters an underground or other enclosed space, the wireless communication is extremely vulnerable to signal weakening and disconnection due to obstacle blockage, while wired communication is not affected by enclosure. Therefore, in conventional mother - son vehicles, a wired communication method using the CAN bus is usually adopted between the mother vehicle and the son vehicle, and the distance is relatively short (usually less than 100m).

[0004] 2. The communication cable distance between the existing smoke exhaust mother - son vehicles is relatively short (usually less than 100m), so the son vehicle cannot operate at a long distance from the mother vehicle. Especially when exhausting smoke, the mother vehicle cannot enter deep into the fire - fighting scene, further limiting the smoke exhaust range of the son vehicle.

[0005] 3. The single communication cable used for communication between the mother and son vehicles of the existing smoke exhaust mother - son vehicles is prone to increased risk of communication cable damage due to dragging, friction, high - temperature environment and terrain at the fire - fighting scene, and the reliability is poor.

[0006] 4. The wireless remote controller in the existing smoke exhaust mother - son vehicles only establishes communication with a single receiver, and thus communicates with only one of the son - vehicle or mother - vehicle controllers. When environmental factors affect wireless communication, the vehicle cannot be effectively controlled.

[0007] Therefore, improving the communication method of the existing mother - son vehicle is a technical problem that urgently needs to be solved to ensure the working stability, working efficiency of the smoke - exhaust mother - son vehicle and reduce the failure rate. Summary of the Invention

[0008] The purpose of the present invention is to provide a communication method, system and device applicable to a smoke - exhaust mother - son vehicle, which can solve the problems in the background technology to ensure the stability during the communication of the smoke - exhaust mother - son vehicle, improve the working efficiency of the son vehicle and reduce the communication failure rate of the smoke - exhaust mother - son vehicle.

[0009] To solve the above - mentioned technical problems, the present invention is implemented by the following technical solutions.

[0010] In a first aspect, the present invention provides a communication method applicable to a smoke - exhaust mother - son vehicle, including: Receiving the son - vehicle heartbeat packet and the son - vehicle wireless signal in real time; Judging the communication state between the son vehicle and the mother vehicle according to the received son - vehicle heartbeat packet and son - vehicle wireless signal; if only the son - vehicle heartbeat packet is received, the wired communication channel between the son vehicle and the mother vehicle is successfully established, and the wireless communication channel is failed to be established; If only the son - vehicle wireless signal is received, the wired communication channel between the son vehicle and the mother vehicle is failed to be established, and the wireless communication channel is successfully established; If both the son - vehicle heartbeat packet and the son - vehicle wireless signal are received, both the wired communication channel and the wireless channel between the son vehicle and the mother vehicle are successfully established; When the wired channel or the wireless channel is successfully established, the mother vehicle communicates with the son vehicle through a single - link communication and uses the directly obtained data as valid data; When both the wired channel and the wireless channel are successfully established, the mother vehicle communicates with the son vehicle through a dual - link channel communication, and analyzes the real - time data of the dual - link communication to obtain valid data; Generating corresponding control signals according to the valid data and sending them to the son vehicle to control the operation of the son vehicle.

[0011] Optionally, analyzing the real - time data of the dual - link communication to obtain valid data includes: Reading the content of the wired transmission data and the wireless transmission data uploaded by the son vehicle respectively to obtain the time stamps of the data; Performing data verification on the wired transmission data and the wireless transmission data with the same time stamp. If the data content is consistent, it is determined that the data transmitted through both the wired channel and the wireless channel are valid data; If the data content does not match, parsing the numerical values of the relevant parameters in the data content; Calculating the difference between the wired transmission data and the wireless transmission data by calculating the numerical values of the relevant parameters of the wired channel data and the wireless channel data; Compare the difference between the wired transmission data and the wireless transmission data according to a preset reasonable range to determine the valid data; if the difference between the wired transmission data and the wireless transmission data is within the reasonable range, then the wired transmission data or the wireless transmission data is the valid data; If the difference between the wired transmission data and the wireless transmission data is not within the reasonable range, it is determined that there are problems with both the wired transmission data and the wireless transmission data, and the data is invalid at this time.

[0012] Optionally, judge the communication status between the slave vehicle and the master vehicle according to the received slave vehicle heartbeat packet and the slave vehicle wireless signal. It also includes that if neither the slave vehicle heartbeat packet nor the slave vehicle wireless signal sent by the wireless remote control transmitter is received, the communication between the master vehicle and the slave vehicle fails; When the communication between the master vehicle and the slave vehicle fails, the master vehicle generates a fault message for communicating with the slave vehicle and outputs it to the master vehicle display to remind the operator that the slave vehicle cannot be controlled.

[0013] Optionally, when the communication between the master vehicle and the slave vehicle fails, it also includes: the slave vehicle continuously detects the communication status of the wired channel and the wireless channel, and generates an automatic shutdown instruction until both the wired channel and the wireless channel are interrupted to control the slave vehicle to shut down automatically.

[0014] In a second aspect, the present invention provides a communication system applicable to a smoke exhaust master-slave vehicle, including: a master vehicle controller, a wireless communication unit, and a wired communication unit; The master vehicle controller communicates with the slave vehicle through the wireless communication unit and the wired communication unit respectively to execute the steps of the above method; The wireless communication unit is used for wireless communication between the master vehicle and the slave vehicle; The wired communication unit is used for wired communication between the master vehicle and the slave vehicle.

[0015] Optionally, the wired communication unit includes a master vehicle communication terminal, a slave vehicle communication terminal, and a wired communication link connected between the master vehicle communication terminal and the slave vehicle communication terminal; The wired communication link includes an outer sheath, a power supply cable and a communication cable provided in the outer sheath; The communication cable is composed of a PVC sheath, twisted pairs, and a shielding layer.

[0016] Optionally, the sheath of the communication cable abuts against the sheath of the power supply cable; The diameter of the communication cable is smaller than the diameter of the power supply cable; The sheath of the communication cable is made of PVC material.

[0017] Optionally, the shielding layer of the communication cable is provided inside the sheath, and twisted pairs are provided inside the shielding layer; One end of the twisted pair is connected to the wired communication terminal resistor of the mother vehicle, and the other end is connected to the wired communication terminal resistor of the child vehicle.

[0018] Optionally, the wireless communication unit consists of a wireless remote control transmitter, a mother vehicle wireless remote control receiver, and a child vehicle wireless remote control receiver; among them, the wireless remote control transmitter is modulated to communicate with the mother vehicle wireless remote control receiver and the child vehicle wireless remote control receiver simultaneously; The child vehicle wireless remote control receiver is connected to the child vehicle controller, and is used to convert the operation information of the child vehicle and the environmental information collected by the child vehicle into radio signals, and forward the radio signals of the child vehicle to the mother vehicle through the wireless remote control transmitter; The mother vehicle wireless remote control receiver is electrically connected to the mother vehicle controller, and is used to receive the radio signals of the child vehicle forwarded by the wireless remote control transmitter, and at the same time send control signals to the child vehicle through the wireless remote control transmitter.

[0019] In a third aspect, the present invention provides a communication device applicable to a smoke exhaust mother-child vehicle, including: A data acquisition module, a communication status analysis module, a valid data screening module, and an application module; The data acquisition module is used to receive the heartbeat packet of the child vehicle and the wireless signal of the child vehicle in real time; The communication status analysis module is used to judge the communication status between the child vehicle and the mother vehicle according to the received heartbeat packet of the child vehicle and the wireless signal of the child vehicle; if only the heartbeat packet of the child vehicle is received, the wired communication channel between the child vehicle and the mother vehicle is successfully established, and the wireless communication channel is established failed; If only the wireless signal of the child vehicle is received, the wired communication channel between the child vehicle and the mother vehicle is established failed, and the wireless communication channel is successfully established; If both the heartbeat packet of the child vehicle and the wireless signal of the child vehicle are received, both the wired communication channel and the wireless channel between the child vehicle and the mother vehicle are successfully established; The valid data screening module is used to perform single-link communication between the mother vehicle and the child vehicle when the wired channel or the wireless channel is successfully established; when both the wired channel and the wireless channel are successfully established, the mother vehicle and the child vehicle perform dual-link channel communication, and perform data analysis on the real-time data of the dual-link communication to obtain valid data; The application module is used to generate corresponding control signals according to the valid data and send them to the child vehicle to control the operation of the child vehicle.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention: 1. Simultaneously construct two communication methods, wireless communication and wired communication, between the smoke exhaust mother-child vehicles; it can enable the smoke exhaust child vehicle to be applied to a variety of fire fighting scenarios, and is not restricted by various factors such as environment, distance, terrain, and high temperature, making the applicable range of the child vehicle wider; at the same time, the dual-link communication ensures the accuracy of communication between the child vehicles.

[0021] 2. By means of the heartbeat detection mechanism, the master-slave vehicle controller can be kept responding regularly, enabling the master vehicle to detect and handle problems in a timely manner in real time; the wireless remote control transmitter being paired with the wireless remote control receivers associated with two different controllers simultaneously is a flexible and powerful remote control method that can meet the requirements of various application scenarios, further ensuring the reliability of communication between the master and slave vehicles.

[0022] 3. When the communication of the slave vehicle fails, the slave vehicle can automatically shut down in a timely manner to avoid causing greater failures and losses.

[0023] 4. Since the fire protection scenario is highly affected by the environment, data attenuation, loss or error is very likely to occur during the data transmission process. Therefore, the present invention can perform real-time data verification on the data transmitted in dual paths and effectively correct errors when the data transmitted by wire or wireless is inconsistent, ensuring the working stability of the smoke exhaust master-slave vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure shows a flowchart of the communication method applicable to the smoke exhaust master-slave vehicle of the present invention; Figure 2 The figure shows an architecture diagram of the system applicable to the smoke exhaust master-slave vehicle of the present invention; Figure 3 The figure shows a structure diagram of the wired communication unit of the present invention; Figure 4 The figure shows a structure diagram of the communication cable of the present invention; Figure 5 The figure shows a structure diagram of the twisted pair of the present invention; Figure 6 The figure shows a structure diagram of the wireless communication unit of the present invention.

[0025] In the figure: 1 master vehicle controller, 2 slave vehicle controller, 3 wired communication link, 30 outer sheath, 31 power supply cable, 32 communication cable, 320 PVC sheath, 321 twisted pair, 322 shielding layer, 33 master vehicle wired communication terminal resistor, 34 slave vehicle wired communication terminal resistor, 40 wireless remote control transmitter, 41 master vehicle wireless remote control receiver, 42 slave vehicle wireless remote control receiver, 5 master vehicle display. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention. Embodiment

[0027] This embodiment provides a communication method applicable to the smoke exhaust master-slave vehicle, as Figure 1 shown including: Step 1: Receive the heartbeat packet of the sub-vehicle and the wireless signal of the sub-vehicle sent by the wireless remote control transmitter in real time; Step 2: Determine the communication status between the sub-vehicle and the mother vehicle according to the received heartbeat packet of the sub-vehicle and the wireless signal of the sub-vehicle sent by the wireless remote control transmitter; if only the heartbeat packet of the sub-vehicle is received, the wired communication channel between the sub-vehicle and the mother vehicle is successfully established, and the wireless communication channel is established unsuccessfully; If only the wireless signal of the sub-vehicle sent by the wireless remote control transmitter is received, the wired communication channel between the sub-vehicle and the mother vehicle is established unsuccessfully, and the wireless communication channel is successfully established; If both the heartbeat packet of the sub-vehicle and the wireless signal of the sub-vehicle sent by the wireless remote control transmitter are received, both the wired communication channel and the wireless channel between the sub-vehicle and the mother vehicle are successfully established; Step 3: When the wired channel or the wireless channel is successfully established, the mother vehicle communicates with the sub-vehicle through a single-link, and uses the directly obtained data as valid data; Step 4: When the wired channel and the wireless channel are successfully established, the mother vehicle communicates with the sub-vehicle through a dual-link channel, and analyzes the real-time data of the dual-link communication to obtain valid data; Step 5: Generate corresponding control signals according to the valid data and send them to the sub-vehicle to control the operation of the sub-vehicle.

[0028] The smoke exhaust sub-vehicle includes but is not limited to the following three major functions: smoke exhaust function, chassis movement function, and fire extinguishing function. Under various working conditions, the sub-vehicle needs to collect its own external data and internal data in real time, including but not limited to: First, the sub-vehicle chassis data, including: power (chassis motor drive current), speed (chassis motor speed), direction (chassis forward angle). Second, the sub-vehicle's own operation data, including: smoke exhaust work data (motor current, speed, temperature), fan operation angle data (encoder), fire extinguishing module work data. Third, the sub-vehicle external environment data, including: environmental gas data (toxic gas detector), environmental temperature data (temperature sensor), obstacle distance data (ultrasonic sensor). The sub-vehicle transmits the relevant data to the mother vehicle and the operation terminal through wired and wireless communication functions. After the operation terminal processes and analyzes the data, it manually operates the sub-vehicle to perform operations.

[0029] Optionally, in Step 4, the real-time data of the dual-link communication is analyzed to obtain valid data, including: Step 4.1: Read the content of the wired transmission data and the wireless transmission data uploaded by the sub-vehicle respectively to obtain the time stamps of the data; Step 4.2: Perform data verification on the wired transmission data and the wireless transmission data with the same time stamp. If the data content is consistent, it is determined that the data transmitted by both the wired channel and the wireless channel are valid data; Step 4.3: If the data content does not match, parse the numerical values of relevant parameters in the data content. Step 4.4: Calculate the numerical values of relevant parameters for the wired channel data and the wireless channel data to obtain the difference between the wired transmission data and the wireless transmission data. Step 4.5: Compare the difference between the wired transmission data and the wireless transmission data according to a preset reasonable range to determine the valid data. Among them, if the difference between the wired transmission data and the wireless transmission data is within the reasonable range, the wired transmission data or the wireless transmission data is valid data. If the difference between the wired transmission data and the wireless transmission data is not within the reasonable range, it is determined that there are problems with both the wired transmission data and the wireless transmission data, and the data is invalid at this time.

[0030] In this embodiment, when performing the smoke exhaust work, chassis movement, and fire extinguishing operations in sequence, the data analysis needs to be combined with the vehicle's own data and environmental data for joint analysis, including but not limited to: 1. Judge the smoke exhaust working state: The smoke exhaust working state is divided into two parts. One is the position of the smoke exhaust fan, and the position of the fan is determined by the rotary encoder data of the boom and the chassis direction. The other is the operation of the smoke exhaust fan, and the fan state is judged by the rotational speed data of the fan.

[0031] Supplement the data analysis method for the fan rotational speed 1. The control end gives the target rotational speed of the fan as A revolutions per minute.

[0032] 2. The fan transmits its actual rotational speed to the control end through the established communication link. The actual rotational speed transmitted through the wired communication link is B1 revolutions per minute, and the actual rotational speed transmitted through the wireless communication link is B2 revolutions per minute.

[0033] 3. Compare the values of B1 and B2 (1) If the difference between the two is less than X revolutions per minute (X is the reasonable error), then take B1 as the valid value. If B1 is greater than A, the control end reduces the target rotational speed to obtain the desired actual rotational speed. If B1 is less than A, the control end increases the target rotational speed to obtain the desired actual rotational speed.

[0034] (2) If the difference between the two is greater than X revolutions per minute, it is determined that there are problems with the two-way data, and an alarm is popped up at the control end at this time. At this time, the control end can take measures such as stopping the machine or other processing.

[0035] Similar data analysis methods are used for other data, but there will be differences in the specific analysis process and calculation methods.

[0036] 2. Judge the chassis working state: The current passing through the chassis (motor drive current), speed (chassis motor speed), temperature (motor drive temperature), and effective data are obtained based on the relevant theoretical values defined in step 4. Then, the effective data is further judged to determine whether it is within a reasonable range. The operation terminal combines other received data, including the chassis direction (chassis forward angle) and the obstacle distance (ultrasonic sensor), to control the movement of the chassis (including speed and direction). Its effective data and judgment process are similar to the analysis process of the fan working state.

[0037] 3. Fire extinguishing working state: It mainly judges whether fire extinguishing work needs to be carried out by receiving toxic gas detection data, environmental temperature data, etc. The operation terminal is designed to process and analyze the toxic gas detection data and environmental temperature data. Its effective data and judgment process are similar to the analysis process of the fan working state.

[0038] Optionally, in step 2, the communication status between the slave vehicle and the master vehicle is judged according to the received slave vehicle heartbeat packet and the slave vehicle wireless signal sent by the wireless remote control transmitter. It also includes that if neither the slave vehicle heartbeat packet nor the slave vehicle wireless signal sent by the wireless remote control transmitter is received, the communication between the master vehicle and the slave vehicle fails; When the communication between the master vehicle and the slave vehicle fails, the master vehicle generates a fault message for communicating with the slave vehicle and outputs it to the master vehicle display to remind the operator that the slave vehicle cannot be controlled.

[0039] Optionally, when the communication between the master vehicle and the slave vehicle fails, it also includes: the slave vehicle continuously detects the communication status of the wired channel and the wireless channel until an automatic shutdown instruction is generated when both the wired channel and the wireless channel are interrupted, so as to control the slave vehicle to shut down automatically. It can mark possible communication faults before the slave vehicle executes tasks, and timely replace other slave vehicles or communication hardware to avoid interfering with the fire fighting and smoke exhaust processes.

[0040] Optionally, when the communication between the master vehicle and the slave vehicle fails, it also includes: the slave vehicle continuously detects the communication status of the wired channel and the wireless channel until an automatic return instruction is generated when both the wired channel and the wireless channel are interrupted, so as to control the slave vehicle to return automatically. Since the slave vehicle may penetrate different fire fighting scenarios during smoke exhaust and is affected by obstacles and temperature, both the wired communication link and the wireless communication link may be interrupted. If the slave vehicle waits for instructions in place when the communication is interrupted, it will increase the fire fighting cost and risk additionally. Therefore, when both the wired channel and the wireless channel are interrupted, the slave vehicle generates an automatic return instruction to control the slave vehicle to return along the original route, reducing the fire fighting cost and equipment loss. Embodiment

[0041] A communication system applicable to a smoke exhaust master-slave vehicle in this embodiment, as Figure 2 shown, includes: a master vehicle controller 1, a wireless communication unit, and a wired communication unit; The master vehicle controller 1 communicates with the slave vehicle through a wireless communication unit and a wired communication unit respectively to execute the steps of the above method; The wireless communication unit is used for wireless communication between the master vehicle and the slave vehicle; The wired communication unit is used for wired communication between the master vehicle and the slave vehicle.

[0042] Optionally, the wired communication unit includes a master vehicle communication terminal, a slave vehicle communication terminal, and a wired communication link 3 connected between the master vehicle communication terminal and the slave vehicle communication terminal; As Figure 3 shown, the wired communication link 3 includes an outer sheath 30, a power supply cable 31 and a communication cable 32 provided in the outer sheath 30; As Figure 4 shown, the communication cable 32 is composed of a PVC sheath 320, twisted pairs 321, and a shielding layer 322.

[0043] In this embodiment, the length of the wired communication link 3 can be replaced according to the fire fighting and smoke exhaust scenarios; the power supply cable 31 in the wired communication link 3 is a 300m high-voltage power supply cable 31, which can be combined with different types of cables according to the power of the slave vehicle. The power supply cable 31 and the communication cable 32 are placed together in the outer sheath 30, which can avoid the entanglement and friction between different cables to a certain extent; at the same time, the strength and toughness of the communication cable 32 are increased, and the phenomenon of easy damage when being dragged is reduced.

[0044] Optionally, as Figure 3 and Figure 4 shown, the PVC sheath 320 of the communication cable 32 abuts against the PVC sheath 320 of the power supply cable 31; The diameter of the communication cable 32 is smaller than the diameter of the power supply cable 31; The PVC sheath 320 of the communication cable 32 is made of PVC material.

[0045] In this embodiment, the PVC sheath 320 provides protection for the communication cable 32. The twisted pairs 321 transmit signals between the master vehicle and the slave vehicle, and the shielding layer 322 can shield external interference. Among them, the twisted pairs 321 can effectively reduce external electromagnetic interference through the close winding design of two cables, and the shielding layer 322 can effectively reflect external electromagnetic waves and reduce external communication interference.

[0046] In addition, the power supply cable 31 limits the communication cable 32. During smoke exhaust, the sub-vehicle enters the room deeply, and the wired communication link 3 is extended. When the sub-vehicle switches at different slopes or in different directions, the wired communication link 3 will be twisted and bent due to the torque force in different directions. The ultimate bending degree of the wired communication link 3 is closely related to the diameter. The existing communication cable 32 has a small diameter, and a single communication cable 32 is extremely prone to excessive bending and repeated bending as the sub-vehicle advances. Excessive bending will cause uneven distribution of the electromagnetic field of the line, thereby affecting the signal transmission quality. Especially during high-speed data transmission, the communication cable 32 with excessive bending will cause signal distortion, resulting in a decline in communication quality. On the other hand, the sub-vehicle is applied to a fire-fighting site. Using a single communication cable 32 in a high-temperature environment will not only affect the mechanical performance of the communication cable 32, but also the high temperature will affect its signal transmission efficiency and quality, resulting in signal attenuation and distortion.

[0047] Therefore, in this embodiment, the communication cable 32 and the power supply cable 31 are combined together by the outer sheath 30. With the help of the power supply cable 31 with a larger diameter, not only does it provide bending limit for the communication cable 32, but also it tightly limits the surface of the communication cable 32 through the power supply cable 31 to increase the torque stress of the communication cable 32 to counteract the torsional force exerted by the sub-vehicle on the communication cable 32. Finally, to a certain extent, it avoids the communication cable 32 from being excessively bent and stretched and deformed, achieving a dual effect of physical protection and signal protection for the communication cable 32, ensuring its stable transmission performance, and being applicable to a variety of complex fire-fighting sites.

[0048] Optionally, the shielding layer 322 of the communication cable 32 is arranged inside the PVC sheath 320, and twisted pairs 321 are arranged inside the shielding layer 322; As Figure 5 shown, one end of the twisted pair 321 is connected to the master vehicle wired communication terminal resistor 33, and the other end is connected to the sub-vehicle wired communication terminal resistor 34.

[0049] In this embodiment, the master vehicle controller 1 and the R01 master vehicle wired communication terminal resistor 33 are installed on the master vehicle, the sub-vehicle controller 2 and the R02 sub-vehicle wired communication terminal resistor 34 are installed on the sub-vehicle, the communication cable 32 directly connects the master and sub-vehicles, and a wired communication is established between the master vehicle controller 1 and the sub-vehicle controller 2. R01 and R02 are used as the terminal resistors of the wired communication link 3, which can effectively prevent signal reflection and ensure the stability of communication. This wired communication link 3 uses the twisted pairs 321 to establish communication and uses the shielding layer 322 to shield external interference, establishing a stable and reliable communication between the master and sub-vehicles.

[0050] Optionally, as Figure 1 and Figure 6The described wireless communication unit consists of a wireless remote control transmitter 40, a master vehicle wireless remote control receiver 41, and a slave vehicle wireless remote control receiver 42. Among them, the wireless remote control transmitter 40 is modulated to communicate with the master vehicle wireless remote control receiver 41 and the slave vehicle wireless remote control receiver 42 simultaneously. The slave vehicle wireless remote control receiver is connected to the slave vehicle controller 2 and is used to convert the operation information of the slave vehicle and the environmental information collected by the slave vehicle into radio signals, and forward the slave vehicle radio signals to the master vehicle through the wireless remote control transmitter 40. The master vehicle wireless remote control receiver 41 is electrically connected to the master vehicle controller 1 and is used to receive the slave vehicle radio signals forwarded by the wireless remote control transmitter 40, and at the same time send control signals to the slave vehicle through the wireless remote control transmitter 40.

[0051] Optionally, the master vehicle controller 1 is also connected to the master vehicle display 5. When the communication between the master vehicle and the slave vehicle fails, the master vehicle generates a fault message for communicating with the slave vehicle and outputs it to the master vehicle display 5 to remind the operator that the slave vehicle cannot be controlled.

[0052] In this embodiment, the wireless remote control transmitter 40 communicates with the master vehicle remote control receiver and the slave vehicle remote control receiver simultaneously. In this wireless communication link, the slave vehicle controller 2 converts the collected operation information of the slave vehicle and the surrounding environmental information, and sends it to the sub-B2 slave vehicle wireless remote control receiver 42 through the CAN bus after conversion. Then, the slave vehicle wireless remote control receiver 42 sends it to the wireless remote control transmitter 40 through radio. After being relayed by the wireless remote control transmitter 40, it is sent to the master vehicle wireless remote control receiver 41 through radio, and then the information is transmitted to the master vehicle controller 1 through the CAN bus. In this wireless communication link: the wireless remote control transmitter 40 serves as a communication transfer station to transfer information between the two wireless remote control receivers of the slave vehicle and the master vehicle, and the signal is converted through the two wireless remote control receivers to establish wireless communication between the master vehicle controller 1 and the slave vehicle controller 2. Embodiment

[0053] This embodiment provides a communication device applicable to a smoke exhaust master-slave vehicle, including: A data acquisition module, a communication status analysis module, a valid data screening module, and an application module; The data acquisition module is used to receive the slave vehicle heartbeat packet and the slave vehicle wireless signal in real time. The communication status analysis module is used to judge the communication status between the slave vehicle and the master vehicle according to the received slave vehicle heartbeat packet and the slave vehicle wireless signal. If only the slave vehicle heartbeat packet is received, the wired communication channel between the slave vehicle and the master vehicle is successfully established, and the wireless communication channel is established unsuccessfully. If only the slave vehicle wireless signal is received, the wired communication channel between the slave vehicle and the master vehicle is established unsuccessfully, and the wireless communication channel is successfully established. If both the heartbeat packet of the sub-vehicle and the wireless signal of the sub-vehicle are received, both the wired communication channel and the wireless channel between the sub-vehicle and the mother vehicle are successfully established; The valid data screening module is used for when the wired channel or the wireless channel is successfully established, the mother vehicle and the sub-vehicle conduct single-link communication; when both the wired channel and the wireless channel are successfully established, the mother vehicle and the sub-vehicle conduct dual-link channel communication, and analyze the real-time data of the dual-link communication to obtain valid data; The application module is used to generate corresponding control signals according to the valid data and send them to the sub-vehicle to control the operation of the sub-vehicle.

[0054] In summary, the present invention simultaneously constructs two communication methods, wireless communication and wired communication, between the smoke exhaust mother vehicle and the sub-vehicle; it can enable the smoke exhaust sub-vehicle to be applied to a variety of fire-fighting scenarios, and is not restricted by various factors such as environment, distance, terrain, and high temperature, making the sub-vehicle have a wider scope of application; at the same time, the dual-link communication ensures the accuracy of communication between the sub-vehicles. With the help of the heartbeat detection mechanism, the mother vehicle and sub-vehicle controllers maintain regular responses, enabling the mother vehicle to discover and handle problems in a timely manner; the wireless remote control transmitter being paired with the wireless remote control receivers associated with two different controllers simultaneously is a flexible and powerful remote control method that can meet the requirements of various application scenarios. It further guarantees the reliability of communication between the mother vehicle and the sub-vehicle. When the communication of the sub-vehicle fails, the sub-vehicle can automatically stop, avoiding greater failures and losses. Since the fire-fighting scenario is highly affected by the environment, data attenuation, loss, or errors are very likely to occur during the data transmission process. Therefore, the present invention can perform real-time data verification on the data transmitted in both paths and effectively correct errors when the data transmitted via wire or wireless is inconsistent, ensuring the working stability of the smoke exhaust mother vehicle and sub-vehicle.

[0055] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0056] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0057] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0059] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All of these fall within the protection scope of the present invention.

Claims

1. A communication method applicable to a smoke exhaust vehicle, characterized in that: include: Receive sub-vehicle heartbeat packets and sub-vehicle wireless signals in real time; The communication status between the child vehicle and the mother vehicle is determined based on the received child vehicle heartbeat packet and the child vehicle wireless signal; if only the child vehicle heartbeat packet is received, the wired communication channel between the child vehicle and the mother vehicle is established successfully, and the wireless communication channel fails to be established; If only the wireless signal of the sub-car is received, the wired communication channel between the sub-car and the mother car fails to be established, and the wireless communication channel is established successfully; If both the child vehicle heartbeat packet and the child vehicle wireless signal are received, the wired communication channel and the wireless channel between the child vehicle and the mother vehicle are successfully established; When the wired channel or wireless channel is successfully established, the mother vehicle and the child vehicle communicate in a single link and use the directly acquired data as valid data; When the wired channel and the wireless channel are successfully established, the mother vehicle and the child vehicle communicate via the dual-link channel, and analyze the real-time data of the dual-link communication to obtain valid data; Generate corresponding control signals based on valid data and send them to the sub-vehicle to control its operation.

2. The communication method applicable to the smoke exhaust vehicle according to claim 1 is characterized in that: Analyze the real-time data of dual-link communication to obtain valid data, including: Read the contents of wired transmission data and wireless transmission data uploaded by the sub-vehicle respectively to obtain the timestamp of the data; Perform data verification on the wired transmission data and wireless transmission data with the same timestamp. If the data contents are consistent, it is determined that the data transmitted by the wired channel and the wireless channel are both valid data; If the data content does not match, the values ​​of the relevant parameters in the data content are parsed; Calculating the values ​​of relevant parameters of the wired channel data and the wireless channel data to obtain the difference between the wired transmission data and the wireless transmission data; Compare the difference between the wired transmission data and the wireless transmission data according to a preset reasonable range to determine the valid data; if the difference between the wired transmission data and the wireless transmission data is within a reasonable range, the wired transmission data or the wireless transmission data is valid data; If the difference between the wired transmission data and the wireless transmission data is not within a reasonable range, it is determined that there are problems with both the wired transmission data and the wireless transmission data, and the data is invalid.

3. The communication method applicable to the smoke exhaust vehicle according to claim 1, characterized in that: The communication status between the sub-car and the mother car is determined based on the received sub-car heartbeat packet and the sub-car wireless signal, and also includes that if both the sub-car heartbeat packet and the sub-car wireless signal sent by the wireless remote control transmitter are not received, the mother car and the sub-car communication fails; When the mother vehicle fails to communicate with the sub-vehicle, the mother vehicle generates a fault message for communicating with the sub-vehicle and outputs it to the mother vehicle display to remind the operator that the sub-vehicle cannot be controlled.

4. The communication method applicable to the smoke exhaust vehicle according to claim 3 is characterized in that: When the communication between the mother vehicle and the child vehicle fails, the child vehicle also includes: the child vehicle detects the communication status of the wired channel and the wireless channel in real time until both the wired channel and the wireless channel are interrupted, and then generates an automatic shutdown instruction to control the child vehicle to automatically stop.

5. A communication system suitable for a smoke exhaust vehicle, characterized in that: include: A mother vehicle controller, a wireless communication unit and a wired communication unit; The mother vehicle controller maintains communication with the child vehicle through the wireless communication unit and the wired communication unit respectively to perform the steps of the method as claimed in claim 1; The wireless communication unit is used for wireless communication between the mother vehicle and the child vehicle; The wired communication unit is used for wired communication between the mother vehicle and the child vehicle.

6. The communication system for smoke exhaust vehicle according to claim 5, characterized in that: The wired communication unit includes a mother vehicle communication terminal, a sub-vehicle communication terminal and a wired communication link connected between the mother vehicle communication terminal and the sub-vehicle communication terminal; wherein the wired communication link is composed of an outer sheath, a power supply cable and a communication cable arranged in the outer sheath; and the communication cable is composed of a sheath, a twisted pair and a shielding layer.

7. The communication system for smoke exhaust vehicle according to claim 6, characterized in that: The sheath of the communication cable abuts against the sheath of the power supply cable; The diameter of the communication cable is smaller than the diameter of the power supply cable; The sheath of the communication cable is made of PVC material.

8. The communication system for smoke exhaust vehicle according to claim 6, characterized in that: The shielding layer of the communication cable is arranged in the sheath, and a twisted pair is arranged in the shielding layer; One end of the twisted pair is connected to the wired communication terminal resistor of the mother vehicle, and the other end is connected to the wired communication terminal resistor of the child vehicle.

9. The communication system for smoke exhaust vehicle according to claim 5, characterized in that: The wireless communication unit is composed of a wireless remote control transmitter, a mother vehicle wireless remote control receiver, and a child vehicle wireless remote control receiver; wherein the wireless remote control transmitter is modulated to communicate with the mother vehicle wireless remote control receiver and the child vehicle wireless remote control receiver simultaneously; The sub-vehicle wireless remote control receiver is connected to the sub-vehicle controller, and is used to convert the sub-vehicle operation information and the environmental information collected by the sub-vehicle into radio signals, and forward the sub-vehicle radio signals to the mother vehicle through the wireless remote control transmitter; The mother vehicle wireless remote control receiver is electrically connected to the mother vehicle controller and is used to receive the sub-vehicle radio signal forwarded by the wireless remote control transmitter and send a control signal to the sub-vehicle through the wireless remote control transmitter.

10. A communication device suitable for a smoke exhaust vehicle, characterized in that: include: Data acquisition module, communication status analysis module, effective data screening module, application module; The data acquisition module is used to receive the sub-vehicle heartbeat packet and the sub-vehicle wireless signal in real time; The communication status analysis module is used to determine the communication status between the sub-car and the mother car according to the received sub-car heartbeat packet and the sub-car wireless signal; if only the sub-car heartbeat packet is received, the wired communication channel between the sub-car and the mother car is successfully established, and the wireless communication channel fails to be established; If only the wireless signal of the sub-car is received, the wired communication channel between the sub-car and the mother car fails to be established, and the wireless communication channel is established successfully; If both the child vehicle heartbeat packet and the child vehicle wireless signal are received, the wired communication channel and the wireless channel between the child vehicle and the mother vehicle are successfully established; The effective data screening module is used for the mother vehicle to perform single-link communication with the child vehicle when the wired channel or the wireless channel is successfully established; when the wired channel and the wireless channel are successfully established, the mother vehicle and the child vehicle perform dual-link channel communication, and perform data analysis on the real-time data of the dual-link communication to obtain effective data; The application module is used to generate corresponding control signals according to the effective data, and send them to the sub-vehicle to control the operation of the sub-vehicle.

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