A remote control system and control method for implementing multi-control multi-type construction machinery

Abstract

This invention relates to the field of remote control technology for construction machinery, and more particularly to a remote control system and method for controlling multiple types of construction machinery. The system includes at least two remote control stations and at least two types of construction machinery remote control kits, each of which is communicatively connected to its respective remote control station. Each construction machinery remote control kit receives operation commands, determines the current system status, and if locked, rejects new connection requests and maintains the current control process. If idle, it matches the operation commands with a preset command set; if a match is successful, it executes the corresponding operation and maintains the locked state during task execution until the control process is released. The remote control stations collect analog operation commands and convert them into digital operation signals, generating standardized control commands by calling the control logic program according to the current machine model. This invention improves the flexibility, safety, and control logic compatibility of remote control of construction machinery.

Description

Technical Field

[0001] This invention relates to the field of remote control technology for construction machinery, and in particular to a remote control system and control method for controlling multiple types of construction machinery. Background Technology

[0002] With the aging population in China, labor shortages are becoming a growing challenge for the construction machinery industry. Therefore, there is an urgent need to improve driver efficiency and reduce customer demand for highly skilled labor. However, related technologies have the following shortcomings: The relevant technologies are concentrated on multiple remote control stations controlling multiple construction machinery products (such as multiple remote control stations controlling multiple loaders or excavators), which limits the application scenarios.

[0003] The relevant technologies are concentrated on construction machinery products that can be controlled by a single remote control (such as a remote control that can control both loaders and excavators), which limits the application scenarios.

[0004] None of the aforementioned technical solutions can achieve flexible combination remote control of multiple types of machinery, that is, the coordinated remote control of multiple remote control stations on various types of construction machinery, which is difficult to meet the high-efficiency operation requirements of one person controlling multiple types of machinery in complex operation scenarios.

[0005] In addition, the control logic processing of existing remote control consoles is usually configured independently for a single model. The control logic programs of different models of remote control consoles are incompatible with each other, which makes it impossible for the same remote control console to adapt to the control needs of multiple models, thus limiting the versatility and economy of the remote control console. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides a remote control system and method for controlling multiple types of engineering machinery, thereby resolving one or more technical problems existing in the prior art and at least providing a beneficial option or creating conditions.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A remote control system for controlling multiple types of construction machinery includes: At least two remote control units; At least two types of remote control kits for construction machinery, each of which is communicatively connected to each of which is a remote control station; Each of the aforementioned remote control units is used to send operation commands; Each of the aforementioned engineering machinery remote control kits is used to: receive the operation command, determine the current system state, if the current system state is locked, reject new connection requests and maintain the current control process, if the current system state is idle, match the received operation command with a preset command set; when the match is successful, execute the corresponding operation according to the matched command type, and maintain the current system state as locked during the task execution process until the current control process is released and the system state is restored to idle state.

[0008] Furthermore, when the first remote controller establishes a connection with the construction machinery remote control kit and begins control, the construction machinery remote control kit marks the current state as locked. When the second remote controller sends an operation command, the construction machinery remote control kit determines the current state. If the current state is locked, it returns a busy status message to the second remote controller and rejects the connection request from the second remote controller.

[0009] Furthermore, each of the remote control consoles includes an instruction acquisition unit, which acquires the analog operation instructions input by the operator and converts the analog operation instructions into digital operation signals; the remote control console, according to the type of engineering machinery currently being controlled, calls the corresponding control logic program to process the digital operation signals and generate standardized control instructions.

[0010] Furthermore, each of the aforementioned engineering machinery remote control kits includes a screen acquisition unit, which acquires on-site images of the engineering machinery, compresses and encodes the on-site images into a digital video stream, encapsulates the digital video stream into network data frames, and transmits the network data frames to the remote control station via a network; the remote control station decodes the received network data frames to reconstruct the on-site images.

[0011] Furthermore, when a model switching command is received, the construction machinery remote control kit parses the target model identifier in the model switching command, calls the corresponding model's communication protocol parameters according to the target model identifier, establishes a communication link with the target construction machinery based on the called communication protocol parameters, and switches the current control logic to the control logic program corresponding to the target model.

[0012] Furthermore, after establishing a communication link with the target construction machinery, the construction machinery remote control kit generates a status message containing the number of the currently connected construction machinery and sends the status message to the remote control station; the remote control station parses the status message, extracts the construction machinery number, and displays it.

[0013] Furthermore, the preset instruction set includes channel opening instructions, scene switching instructions, and model switching instructions; the engineering machinery remote control kit extracts the instruction codes of the operation instructions, compares the instruction codes with the instruction codes of each instruction in the preset instruction set one by one, and determines that the match is successful only when the instruction code matches the instruction code of any instruction in the preset instruction set.

[0014] This invention also provides a remote control method for multi-control, multi-type engineering machinery, applied to the above-mentioned system, comprising the following steps: S100: Receive the operation command sent by the remote control and determine the current system status; if the current system status is locked, reject the new connection request and maintain the current control process; if the current system status is idle, execute step S200. S200: Match the received operation instruction with a preset instruction set; if the match fails, ignore the operation instruction; if the match succeeds, proceed to step S300. S300: Execute the corresponding operation according to the successfully matched instruction type: when the instruction type is a channel opening instruction, establish a communication link with the target remote control; when the instruction type is a scene switching instruction, switch the current control scene; when the instruction type is a machine type switching instruction, switch the currently controlled construction machinery type and establish a communication link with the target construction machinery. S400: During task execution, the current system state is kept locked until the current control process releases the lock, at which point the system state is restored to idle.

[0015] Furthermore, maintaining the current system state as a locked state includes: periodically detecting the execution state of the current control process; when the current control process is detected to have exceeded a preset time threshold for an extended period, determining that the current control process is abnormal; forcibly releasing the current control process and restoring the system state to an idle state.

[0016] Furthermore, the switching of the currently controlled construction machinery type includes: storing control logic programs for different machine models in the program memory; determining the control logic program corresponding to the target based on the current machine model identifier, reading the corresponding control logic program and loading and executing it; the control logic program maps digital operation signals to standardized control instructions corresponding to the target machine model.

[0017] The beneficial effects of this invention are as follows: This invention provides a remote control system and method for controlling multiple types of construction machinery. Through the system status judgment mechanism, preset instruction set matching mechanism, and lock status management mechanism of the construction machinery remote control kit, it achieves safe scheduling of multiple remote control stations and avoids control conflicts. Through the dynamic calling mechanism of the remote control station's control logic program, it achieves standardized processing of control logic for different models, eliminating differences in control logic between different models. Through the status message generation and parsing mechanism, it achieves real-time transmission and display of status information. Through the video stream compression encoding, encapsulation transmission, and decoding restoration mechanism, it achieves real-time feedback of on-site images. Through the dynamic calling mechanism of communication protocol parameters during model switching, it achieves rapid remote control switching across models, thus realizing remote control of multiple types of machinery. This invention has the advantages of strong scene adaptability, high future expandability, high security, and good control logic compatibility. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall architecture of the remote control system in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the composition of the remote control station in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the composition of the engineering machinery remote control kit in an embodiment of the present invention.

[0022] Figure 4 This is a flowchart of the remote control method in an embodiment of the present invention. Detailed Implementation

[0023] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0024] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0025] In the description of this invention, if there are several such words, their meanings are one or more, multiple means two or more, greater than, less than, and exceeding are understood to exclude the number itself, and above, below, and within are understood to include the number itself.

[0026] In the description of this invention, unless otherwise explicitly defined, terms such as setting, installing, and connecting should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0027] The limitations and shortcomings of existing technologies, and the reasons for these shortcomings, are as follows: the control logic of remote control consoles in related technologies is usually designed independently for a single machine model, and the control logic programs for different machine models (such as loaders, excavators, and skid steer loaders) are incompatible. Loader remote control consoles use a specific control logic program, while excavator remote control consoles use a different set of control logic programs; the software logic of the two cannot be used interchangeably. Existing remote control consoles cannot adapt to the control requirements of multiple machine models, resulting in the need for a dedicated remote control console for each machine model in multi-control, multi-model remote control systems. This leads to high development costs and poor system compatibility, limiting the economy and practicality of multi-control, multi-model remote control systems.

[0028] Reference Figure 1 This invention provides a remote control system for controlling multiple types of engineering machinery, comprising: At least two remote control units; At least two types of remote control kits for construction machinery, each of which is communicatively connected to each of which is a remote control station; Each of the aforementioned remote control units is used to send operation commands; Each of the aforementioned engineering machinery remote control kits is used to: receive the operation command, determine the current system state, if the current system state is locked, reject new connection requests and maintain the current control process, if the current system state is idle, match the received operation command with a preset command set; when the match is successful, execute the corresponding operation according to the matched command type, and maintain the current system state as locked during the task execution process until the current control process is released and the system state is restored to idle state.

[0029] In this embodiment, the system adopts a distributed architecture design, with each remote control station and each construction machinery remote control kit establishing a communication connection via a network. The remote control station, acting as the operating terminal, is responsible for collecting the operating commands input by the operator and sending them to the construction machinery remote control kit; the construction machinery remote control kit, acting as the control terminal, is responsible for receiving and processing the operating commands to achieve remote control of the target construction machinery. Each remote control station can independently send operating commands to each construction machinery remote control kit, and each construction machinery remote control kit decides whether to respond to the operating commands based on the current system status.

[0030] In some embodiments, when the first remote controller establishes a connection with the construction machinery remote control kit and begins control, the construction machinery remote control kit marks the current state as locked. When the second remote controller sends an operation command, the construction machinery remote control kit determines the current state. If the current state is locked, it returns a busy status message to the second remote controller and rejects the connection request from the second remote controller.

[0031] In this embodiment, the locked state indicates that a remote control unit has already established a control connection with the construction machinery remote control kit and is executing a control task. In the locked state, the construction machinery remote control kit will not accept new connection requests, ensuring the exclusivity and integrity of the current control process. The idle state indicates that no remote control unit has established a control connection with the construction machinery remote control kit. In the idle state, the construction machinery remote control kit can accept new connection requests.

[0032] The above system configuration achieves safe scheduling of the construction machinery remote control kit by multiple remote controllers through a dynamic system status marking and judgment mechanism. When the first remote controller establishes a connection with the construction machinery remote control kit and begins control, the construction machinery remote control kit marks the system status as locked. If a second remote controller sends an operation command at this time, the construction machinery remote control kit detects that the current status is locked, returns a busy status prompt to the second remote controller, and rejects the connection request from the second remote controller. This avoids control conflicts caused by multiple remote controllers simultaneously controlling the same construction machinery remote control kit, ensuring the safety and reliability of remote control operations.

[0033] like Figure 2 As shown, each of the remote control units includes a command acquisition unit and a digital-to-graphics decoder. The command acquisition unit acquires the analog operation commands input by the operator and converts the analog operation commands into digital operation signals; the digital-to-graphics decoder decodes the returned signals.

[0034] In this embodiment, the command acquisition unit acquires analog operation commands issued by the operator via a handle, foot pedal, and switch, and converts these commands into digital operation signals through analog-to-digital conversion. The remote control includes a control system that receives the digital operation signals from the command acquisition unit, processes them according to the currently controlled machine model, and generates standardized control commands. These control commands are then sent to the engineering machinery remote control kit via a network.

[0035] The digital image decoder receives the feedback signal from the remote control kit for the construction machinery, decodes the feedback signal, and then transmits it to the display unit for display. The feedback signal includes the on-site image and status information of the construction machinery.

[0036] The above-described configuration enables real-time acquisition of operation commands, local processing of control logic, and network transmission of control commands, providing operators with a complete remote control interactive experience. Through a dynamic calling mechanism for the control logic program, the control logic programs for loaders, excavators, and skid steer loaders are stored in program memory respectively. The control system calls the corresponding program for execution based on the machine model switching command, adapting to different machine models without requiring hardware replacement.

[0037] like Figure 3 As shown, each of the aforementioned engineering machinery remote control kits includes a video acquisition unit. The video acquisition unit acquires on-site images of the engineering machinery, compresses and encodes the on-site images into a digital video stream, encapsulates the digital video stream into network data frames, and transmits the network data frames to the remote control station via the network; the remote control station decodes the received network data frames to reconstruct the on-site images.

[0038] In this embodiment, the image acquisition unit includes four cameras, which are respectively positioned on top of the cab, at the base of the boom, behind the bucket, and at the rear of the construction machinery. The image acquisition unit compresses and encodes the four video signals into H.264 format digital video streams, encapsulates these digital video streams into network data frames, and transmits these network data frames to the remote control station via a network. The remote control station decodes the network data frames to reconstruct the scene for real-time display.

[0039] The above method, through the layout of multi-directional cameras and video compression encoding mechanism, realizes the real-time acquisition and efficient transmission of 360-degree panoramic images of the work site, meeting the video transmission needs of engineering machinery under harsh working conditions.

[0040] The remote control console is equipped with a control system and a first communication device. The control system is communicatively connected to the command acquisition unit, and receives digital operation signals from the command acquisition unit and executes control logic processing. The first communication device establishes a data communication link with the engineering machinery remote control kit via a network.

[0041] In this embodiment, the control system includes a central processing unit (CPU), a program memory, and a data memory. The program memory stores the control logic programs for each machine model. The CPU, based on the currently controlled machine model, calls the corresponding control logic program to process the digital operation signals and generate standardized control commands. The first communication device sends the control commands to the engineering machinery remote control kit via a network.

[0042] The method configuration in this embodiment achieves software-level switching of control logic for different machine models through a dynamic calling mechanism of control logic program. The control logic programs of loaders, excavators and skid steer loaders are all stored in the program memory. The central processing unit calls the corresponding program to execute according to the machine model switching instruction, so as to adapt to different machine models without changing the hardware.

[0043] When it is necessary to adapt to a new model, only the control logic program corresponding to the new model needs to be written into the program memory. There is no need to replace the hardware, which significantly reduces product development costs and cycle, and improves the product's future scalability and market competitiveness.

[0044] Within the same network environment, communication between the image transmission system and the control system is established via the network. The operator issues a switching command on the remote control console. The control system receives the command and transmits it to the construction machinery remote control kit through the first communication device. The construction machinery remote control kit establishes a communication link with the loader / skid steer loader / excavator based on the command, enabling cross-model remote control.

[0045] In this embodiment, when a machine model switching command is received, the construction machinery remote control kit parses the target machine model identifier in the command, calls the corresponding communication protocol parameters based on the identifier, establishes a communication link with the target construction machinery based on these parameters, and switches the current control logic to the control logic program corresponding to the target machine model. When the operator needs to switch from controlling a loader to controlling an excavator, they only need to issue a machine model switching command from the remote control station, and the remote control kit automatically completes the calling of communication protocol parameters and the establishment of the communication link. This method, through a dynamic calling mechanism of network communication protocol parameters, enables rapid switching of the control link. The operator can quickly switch between different machine models without leaving the remote control station, meeting the practical needs of one person controlling multiple machine models in complex work scenarios, and significantly improving work efficiency and equipment utilization.

[0046] The construction machinery remote control kit implements a status display mechanism. After establishing a communication link with the target construction machinery, the construction machinery remote control kit generates a status message containing the currently connected construction machinery number and sends the status message to the remote control station; the remote control station parses the status message, extracts the construction machinery number, and displays it.

[0047] In this embodiment, the construction machinery remote control kit generates a UDP status message containing the currently connected construction machinery number and transmits the UDP status message to the remote control station via the network. The remote control station extracts the construction machinery number from the UDP status message and displays the construction machinery number in a designated area on the screen. This method, through the generation and parsing mechanism of status messages, enables real-time display of the construction machinery number. Operators can identify the currently controlled object without additional querying. In work scenarios with multiple remote control stations and multiple machine models, this effectively avoids the risk of control object confusion and improves the safety and accuracy of operations.

[0048] The digital image decoder receives the encoded feedback signal from the remote control kit of the construction machinery, decodes the encoded feedback signal to form a video data stream and status information, and transmits it to the display unit for real-time display, providing the operator with complete remote control visual feedback.

[0049] The construction machinery remote control kit has a built-in preset instruction set, which includes channel opening instructions, scene switching instructions, and machine model switching instructions. The construction machinery remote control kit extracts the instruction codes of the operation instructions and compares the instruction codes with the instruction codes of each instruction in the preset instruction set one by one. A successful match is determined only when the instruction code matches the instruction code of any instruction in the preset instruction set.

[0050] In this embodiment, the preset instruction set is divided into three categories: channel opening instructions, scene switching instructions, and machine model switching instructions. The engineering machinery remote control kit extracts the instruction codes of the received operation instructions, compares the instruction codes with the instruction codes of each instruction in the preset instruction set, and executes only the successfully matched instructions. This method, through the comparison mechanism of the preset instruction set, filters out illegal operation instructions, improving the security and reliability of the system.

[0051] The remote control console is equipped with a display unit, which is communicatively connected to the digital image decoder. The display unit is used to display the on-site images and status information of the construction machinery.

[0052] In this embodiment, the digital image decoder receives the encoded feedback signal from the remote control kit of the construction machinery, and decodes the signal to form a video data stream and status information. The video data stream and status information are then transmitted to the display unit. The display unit converts the decoded raw video frame data into a display signal and outputs it, while simultaneously displaying the construction machinery's serial number, connection status, and operating mode information in a designated area of ​​the screen. This method, through the decoding processing of the digital image decoder and the display output mechanism of the display unit, achieves real-time display of the on-site scene and status information, providing operators with ample visual information and ensuring operational safety and efficiency.

[0053] Reference Figure 4 The present invention also provides a remote control method for realizing multi-control and multi-type engineering machinery, applied to the above-mentioned system, comprising the following steps: S100: Receive the operation command sent by the remote control and determine the current system status; if the current system status is locked, reject the new connection request and maintain the current control process; if the current system status is idle, execute step S200. S200: Match the received operation instruction with a preset instruction set; if the match fails, ignore the operation instruction; if the match succeeds, proceed to step S300. S300: Execute the corresponding operation according to the successfully matched instruction type: when the instruction type is a channel opening instruction, establish a communication link with the target remote control; when the instruction type is a scene switching instruction, switch the current control scene; when the instruction type is a machine type switching instruction, switch the currently controlled construction machinery type and establish a communication link with the target construction machinery. S400: During task execution, the current system state is kept locked until the current control process releases the lock, at which point the system state is restored to idle.

[0054] In some embodiments, the method further includes: when the first remote controller establishes a connection with the system and begins control, the system marks the current state as a locked state; when the second remote controller sends an operation command, the system determines the current state, and if the current state is a locked state, it returns a busy state prompt message to the second remote controller and rejects the connection request of the second remote controller.

[0055] In some embodiments, the preset instruction set includes channel opening instruction, scene switching instruction, and model switching instruction; the system extracts the instruction code of the operation instruction, compares the instruction code with the instruction code of each instruction in the preset instruction set, and determines that the match is successful only when the instruction code matches the instruction code of any instruction in the preset instruction set.

[0056] In some embodiments, when the instruction type is a machine type switching instruction, switching the type of the currently controlled construction machinery includes: parsing the target machine type identifier in the machine type switching instruction; calling the communication protocol parameters of the corresponding machine type according to the target machine type identifier; establishing a communication link with the target construction machinery based on the called communication protocol parameters; and switching the current control logic to the control logic program corresponding to the target machine type.

[0057] In some embodiments, maintaining the current system state as a locked state includes: periodically detecting the execution state of the current control process; when the current control process is detected to have exceeded a preset time threshold for an extended period, determining that the current control process is abnormal; forcibly releasing the current control process and restoring the system state to an idle state.

[0058] In some embodiments, switching the type of engineering machinery currently being controlled includes: pre-designing multiple equipment control logics in a program memory; determining a target machine model based on the current machine model identifier; selecting a corresponding control logic program from the target machine model and loading and executing it; the control logic program mapping digital operation signals to standardized control instructions corresponding to the target machine model.

[0059] In this embodiment, the method achieves orderly scheduling of multiple remote control stations through the coordinated operation of a system state judgment mechanism, a preset instruction set matching mechanism, and a locked state management mechanism. When the system state is locked, new connection requests are automatically blocked; when the current control process is released, the system state is updated to idle, allowing the next legitimate connection to be established. This configuration avoids control conflicts caused by multiple remote control stations simultaneously sending instructions, improving the security and reliability of system operation.

[0060] Through a dynamic calling mechanism for control logic programs, the control logic programs for loaders, excavators, and skid steer loaders are stored in program memory respectively. The system calls and executes the corresponding program based on the machine model switching command, adapting to different machine models without replacing hardware. When adapting to a new machine model, only the control logic program corresponding to the new machine model needs to be written into the program memory, without replacing hardware. This significantly reduces product development costs and time, and improves the product's future scalability and market competitiveness.

[0061] By using a dynamic calling mechanism for network communication protocol parameters, rapid switching of control links is achieved. Operators can quickly switch between different models without leaving the remote control console, meeting the actual needs of one person controlling multiple models in complex work scenarios and significantly improving work efficiency and equipment utilization.

[0062] Through the generation and parsing mechanism of status messages, the real-time display of the engineering machinery number is realized. Operators can know the current controlled object without additional querying. In working scenarios with multiple remote control stations and multiple machine models, the risk of control object confusion is effectively avoided, and the safety and accuracy of operation are improved.

[0063] The digital image decoder receives the encoded feedback signal from the remote control kit of the construction machinery, decodes the encoded feedback signal to form a video data stream and status information, and transmits it to the display unit for real-time display, providing the operator with complete remote control visual feedback.

[0064] By using a pre-defined instruction set comparison mechanism, illegal operation instructions are filtered out, thereby improving the system's security and reliability.

[0065] Through a busy-time protection mechanism, when the system is in a locked state, it automatically maintains the locked state of the current control process to prevent other connection requests from interrupting the current task. The system periodically checks the execution status of the current control process. When it detects that the current control command has been interrupted and continues for more than a preset time threshold, it determines that the current control process is abnormal, forcibly releases the current control process, and restores the system state to an idle state. Only after the current control process is released normally will the system return to an idle state, allowing the next connection to enter.

[0066] The working principle of this invention: The core of this system lies in the scheduling and management of the construction machinery remote control kit. When a remote controller establishes a connection with the construction machinery remote control kit and begins operation, the construction machinery remote control kit marks the system status as locked. At this time, if another remote controller sends a command, the construction machinery remote control kit determines the current status: if it is in an idle state, it allows the connection to be established; if it is in a locked state, it rejects the connection request and must wait for the current control process to be released before the next connection can be established.

[0067] During the command processing phase, the construction machinery remote control kit internally executes a command comparison program, only executing commands that match the preset command set. If the command comparison fails, the program performs no operation and directly ignores the command; if the comparison succeeds, it executes the corresponding operation according to the command type. When a valid command is received, the construction machinery remote control kit opens the audio / video channel and network communication channel to establish a communication link with the corresponding remote control, while ignoring other invalid commands.

[0068] The system also features a busy-time protection mechanism, implemented through the construction machinery remote control kit. When the remote control kit is locked, it automatically maintains the locked state of the current control process, preventing other connection requests from interrupting the current task. The system periodically checks the execution status of the current control process. If an interruption of the current control command is detected and continues for more than a preset time threshold, the system determines that the current control process is abnormal, forcibly releases the current control process, and restores the system state to an idle state. Only after the current control process is released normally does the system return to an idle state, allowing the next connection to enter.

[0069] In addition, the system implements a status display mechanism. After establishing a communication link with the target construction machinery, the construction machinery remote control kit generates a status message containing the number of the currently connected construction machinery and sends it to the remote control console for display, making it easy for operators to identify the currently controlled object in real time.

[0070] In the control signal processing stage, the operator generates simulated operation commands via a handle and foot pedal. The command acquisition unit acquires these simulated operation commands and converts them into digital operation signals, which are then transmitted to the control system. The control system, based on the currently controlled machine model, invokes the corresponding control logic program to process the digital operation signals and generate standardized control commands. These control commands are then sent via network to the construction machinery remote control kit, which verifies them and forwards them to the target construction machinery for execution.

[0071] In the video display stage, the image acquisition unit captures on-site footage of the construction machinery, compresses and encodes it into a digital video stream, encapsulates it into network data frames, and transmits it to the remote control station via the network. The remote control station decodes the network data frames to reconstruct the on-site footage for real-time display.

[0072] In the status display stage, the construction machinery remote control kit generates a status message containing the construction machinery's serial number and transmits it to the remote control station via the network. The remote control station extracts the construction machinery's serial number from the status message and displays it in a designated area on the screen, allowing the operator to identify the currently controlled object in real time.

[0073] The entire workflow is as follows: the remote control sends a command, and the engineering machinery remote control kit receives it and first determines whether the system is in a locked state; if locked, the connection is rejected; if idle, it enters the command comparison stage; if the command comparison is successful, the corresponding operation is executed; if the comparison fails, it is ignored; the system remains locked during task execution until the current control process releases the lock; finally, the system returns to an idle state, waiting for the next connection. Simultaneously, the operation commands are processed in real time by the control system, the on-site image is decoded and displayed in real time, the status information is parsed and displayed in real time, and the data is stably transmitted via the network.

[0074] The present invention provides a remote control system and method for controlling multiple types of construction machinery. It achieves safe scheduling of multiple remote control stations through a system status judgment mechanism, a preset instruction set matching mechanism, and a lock status management mechanism for the construction machinery remote control kit; it achieves standardized processing of control logic for different models through a dynamic calling mechanism for the control logic programs of the remote control stations; it achieves real-time transmission and display of status information through a status message generation and parsing mechanism; it achieves real-time feedback of on-site images through a video stream compression encoding, encapsulation transmission, and decoding restoration mechanism; and it achieves rapid remote control switching across models through a dynamic calling mechanism for communication protocol parameters during model switching. Thus, it realizes remote control of multiple types of construction machinery, and has the following beneficial effects: High adaptability to various scenarios: Within the same network environment, this remote control system can control three machine types—loaders, skid steer loaders, and excavators—from a single remote control station. The control system's program memory stores the control logic programs for different machine types, and the central processing unit calls and executes the corresponding program based on the machine type switching instruction. Through network transmission, control commands and video data for different machine types are transmitted in a unified network data frame format. This configuration breaks down machine type barriers, allowing operators to flexibly select the controlled object according to operational needs, resulting in a wide range of application scenarios.

[0075] High scalability: Because the design incorporates future compatibility with bulldozers, road rollers, and graders, and features modular control logic and reserved communication interfaces, adaptation can be rapid. Adding a new model only requires writing the corresponding control logic program into the program memory; no changes to the communication hardware are necessary. This configuration reduces the adaptation cycle for new models from weeks to days, significantly improving product competitiveness.

[0076] High safety: Because personnel remotely control the device from a relatively safe location, it significantly enhances driver safety and improves the working environment. Simultaneously, the system's status judgment and lockout management mechanisms fundamentally eliminate the risk of multiple remote controllers simultaneously controlling the same device; the preset instruction set comparison mechanism filters out illegal operation commands; and the busy-hour protection mechanism provides timeout protection. These multi-layered safety strategies work together to ensure the safety of remote control operations.

[0077] Excellent control logic compatibility: The operating signals of loaders, excavators, and skid steer loaders are uniformly converted into digital signals by the command acquisition unit. The control system then processes these signals by calling the corresponding control logic program based on the current machine model, generating standardized control commands, which are then sent to the construction machinery remote control kit via the network. The differences in control logic between different machine models are masked by the software logic of the control system. The same remote control can seamlessly adapt to multiple machine models, reducing development costs and improving the system's versatility and economy.

[0078] High-quality video transmission: The image acquisition unit compresses and encodes multiple video signals into H.264 format and transmits them at high speed to the remote control station via the network; the remote control station decodes and restores the video data frames, displaying the scene in real time. End-to-end video processing ensures the real-time performance, clarity, and stability of the scene, providing remote operators with ample visual information and guaranteeing operational safety and efficiency.

[0079] It should be understood that in this invention, "at least one (item)" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0080] Although the description of this invention has been quite detailed and particularly focused on several of the described embodiments, it is not intended to limit it to any of these details or embodiments or any particular embodiment. Rather, it should be considered as effectively covering the intended scope of this disclosure by referring to the appended claims and taking into account the broad possible interpretations of these claims provided by the prior art. Furthermore, the invention has been described above with regard to embodiments foreseeable by the inventors in order to provide a useful description, and non-substantial modifications to the invention that have not yet been foreseen may still represent equivalent modifications to this disclosure.

Claims

1. A remote control system for multiple types of engineering machinery, characterized in that, include: At least two remote control units; At least two types of remote control kits for construction machinery, each of which is communicatively connected to each of which is a remote control station; Each of the aforementioned remote control units is used to send operation commands; Each of the aforementioned engineering machinery remote control kits is used to: receive the operation command, determine the current system state, if the current system state is locked, reject new connection requests and maintain the current control process, if the current system state is idle, match the received operation command with a preset command set; when the match is successful, execute the corresponding operation according to the matched command type, and maintain the current system state as locked during the task execution process until the current control process is released and the system state is restored to idle state.

2. The system according to claim 1, characterized in that, When the first remote control establishes a connection with the construction machinery remote control kit and begins control, the construction machinery remote control kit marks the current state as locked. When the second remote control sends an operation command, the engineering machinery remote control kit determines the current status. If the current status is locked, it returns a busy status message to the second remote control and rejects the connection request from the second remote control.

3. The system according to claim 1, characterized in that, Each of the remote control units includes an instruction acquisition unit, which acquires analog operation instructions input by the operator and converts the analog operation instructions into digital operation signals; The remote control console, based on the type of engineering machinery currently being controlled, calls the corresponding control logic program to process the digital operation signals and generate standardized control commands.

4. The system according to claim 1, characterized in that, Each of the aforementioned engineering machinery remote control kits includes a screen acquisition unit, which acquires on-site images of the engineering machinery, compresses and encodes the on-site images into a digital video stream, encapsulates the digital video stream into a network data frame, and transmits the network data frame to the remote control station via a network. The remote control decodes the received network data frames to reconstruct the scene.

5. The system according to claim 1, characterized in that, When a model switching command is received, the construction machinery remote control kit parses the target model identifier in the model switching command, calls the corresponding model's communication protocol parameters according to the target model identifier, establishes a communication link with the target construction machinery based on the called communication protocol parameters, and switches the current control logic to the control logic program corresponding to the target model.

6. The system according to claim 1, characterized in that, Once a communication link is established with the target construction machinery, the construction machinery remote control kit generates a status message containing the number of the currently connected construction machinery and sends the status message to the remote control station. The remote control console parses the status message, extracts the construction machinery number, and displays it.

7. The system according to claim 1, characterized in that, The preset instruction set includes channel activation instructions, scene switching instructions, and device switching instructions; The remote control kit for construction machinery extracts the instruction code of the operation command, compares the instruction code with the instruction codes of each instruction in the preset instruction set, and determines that the match is successful only when the instruction code matches the instruction code of any instruction in the preset instruction set.

8. A remote control method for realizing multi-control and multi-type engineering machinery, applied to the system described in any one of claims 1 to 7, characterized in that, Includes the following steps: S100: Receive the operation command sent by the remote control and determine the current system status; if the current system status is locked, reject the new connection request and maintain the current control process; if the current system status is idle, execute step S200. S200: Match the received operation command with a preset command set; if the match fails, ignore the operation command; If the match is successful, proceed to step S300; S300: Execute the corresponding operation according to the successfully matched instruction type: when the instruction type is a channel opening instruction, establish a communication link with the target remote control; when the instruction type is a scene switching instruction, switch the current control scene; when the instruction type is a machine type switching instruction, switch the currently controlled construction machinery type and establish a communication link with the target construction machinery. S400: During task execution, the current system state is kept locked until the current control process releases the lock, at which point the system state is restored to idle.

9. The method according to claim 8, characterized in that, Maintaining the current system state as locked includes: Periodically check the execution status of the current control process; When the current control process is detected to have exceeded a preset time threshold for an extended period, the current control process is determined to be abnormal. Forcefully release the current controlling process and restore the system state to an idle state.

10. The method according to claim 8, characterized in that, The switching of the currently controlled type of construction machinery includes: The control logic programs for different models are stored in the program memory; Determine the corresponding control logic program based on the current model identifier, read the corresponding control logic program, and load and execute it. The control logic program maps digital operation signals into standardized control commands corresponding to the target model.

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