Falling simulation mechanism for line walking training and power transmission line walking high falling experience device

Abstract

The utility model provides a falling simulation mechanism for line walking training and a power transmission line walking high falling experience device. The falling simulation mechanism comprises a simulation mechanism shell, a falling simulation assembly used for simulating falling of trainees, a limiting guide assembly used for limiting the movement range of the falling simulation assembly, a reset assembly used for achieving position recovery of the falling simulation assembly and the like. The power transmission line walking high falling experience device comprises the falling simulation mechanism for line walking training, and further comprises a power transmission line simulation mechanism. According to the utility model, the falling simulation assembly assists in simulating falling of trainees so as to ensure the safety of the trainees; the limiting and guiding assembly is used for guiding the falling direction of the falling simulation assembly, so that it is guaranteed that falling simulation of the falling simulation assembly is real and within a controllable range. And the reset assembly is adopted to realize the recovery of the falling simulation assembly, so that the requirement of the next trainee for experiencing high falling simulation can be quickly met subsequently, and the training efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to a simulation training device, in particular to a fall simulation mechanism for line walking training and a high-fall experience device for walking on a power transmission line. Background Art

[0002] Transmission line patrol training is a professional skills training for transmission line patrol personnel, aiming to improve the comprehensive quality and professional skills of line patrol personnel and ensure the safe and reliable operation of transmission lines. The content of the training usually includes the following aspects: (1) Safety protection knowledge: explaining the selection, wearing and use of safety protection equipment, as well as measures to deal with emergencies; (2) Walking skills training: training trainees' transmission line walking skills through field operations, simulated practices, etc. It should be noted that traditional transmission line patrol training is usually conducted at a transmission training base in the form of real transmission line tower operations. The training function is relatively simple and cannot be expanded, let alone simulate risk accidents during the line patrol process. In addition, real transmission line towers require a high investment in construction and occupy a large area. There are also safety hazards in the training process. If you are not careful, it may cause a real high-fall accident, which poses a great safety hazard.

[0003] It should also be noted that in the walking skills training phase of power transmission line patrol training, high-fall accidents are a potential and serious safety risk, and accidents may be caused by a variety of factors. In order to prevent high-fall accidents, it is necessary to start from management, technology, training and other aspects, and take a series of comprehensive measures to ensure the safety of operators and the stable operation of power transmission lines. For this reason, there is an urgent need for a device that allows trainees to experience the high-altitude patrol environment of power transmission lines.

[0004] Although the Chinese patent with application number 202123326516.X discloses a high-altitude line walking experience device, the experiencer wears a head-mounted display device and a bracelet, walks on the transmission line, and uses a fan to simulate high-altitude strong winds, allowing the experiencer to fully experience various scenarios of high-altitude line walking; but the equipment does not have a line walking and falling simulation function, nor can it allow trainees to truly experience the "high-altitude fall accident" in the walking skills training link in the power transmission line patrol training.

[0005] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0006] The purpose of the utility model is to address the deficiencies in the prior art and to provide a fall simulation mechanism for line walking training and a transmission line walking high-fall experience device. The fall simulation mechanism for line walking training is used to assist in simulating the fall of trainees and ensure the safety of trainees. The transmission line walking high-fall experience device not only ensures the economy and safety of training, but also has the authenticity of training, reduces training costs and improves training efficiency.

[0007] In order to achieve the above-mentioned purpose, the first aspect of the utility model provides a fall simulation mechanism for line walking training, which includes a simulation mechanism housing, a fall simulation component, a limit guide component, a positioning locking component and a reset component, wherein the limit guide component, the positioning locking component and the reset component are all arranged in the simulation mechanism housing; the fall simulation component includes a wire connection plate and an indirect linkage rod vertically connected to the wire connection plate, and the positioning locking component includes an electromagnet, a fixed plate and an armature arranged on the fixed plate, which are arranged on the top of the inner wall of the simulation mechanism housing; the wire connection plate is located below the simulation mechanism housing, and the upper part of the indirect linkage rod extends to the simulation mechanism housing; a first boss is arranged on the indirect linkage rod, and the first boss extends to the gap between the fixed plate and the armature; the limit guide component is respectively connected to the inner side wall of the simulation mechanism housing and the indirect linkage rod, and is used to limit the moving range of the fall simulation component; the reset component is arranged below the fixed plate, and is used to move the fall simulation component to an initial position through the fixed plate.

[0008] In order to achieve the above-mentioned purpose, the second aspect of the utility model provides a transmission line walking high-fall experience device, which includes the above-mentioned fall simulation mechanism for line walking training, and also includes a transmission line simulation mechanism; wherein, the transmission line simulation mechanism includes two vertically arranged fixed rods and several groups of wires located between the two fixed rods, wherein one group of wires is arranged between the fixed rods and the fall simulation mechanism for line walking training.

[0009] The beneficial effects of the utility model are:

[0010] 1) The utility model proposes a fall simulation mechanism for line walking training, which simulates the fall of trainees through a fall simulation component to ensure the safety of trainees;

[0011] The utility model also uses a limit guide component to guide the falling direction of the falling simulation component to ensure that the falling simulation of the falling simulation component is both realistic and within a controllable range;

[0012] The utility model also uses a reset component to restore the fall simulation component, ensuring that the next trainee's need to experience a simulated high fall can be quickly met, greatly improving training efficiency;

[0013] 2) The utility model also proposes a device for experiencing a high fall while walking on a power transmission line. The power transmission line simulation mechanism creates a scene of walking on a split conductor, and during the fall simulation of the fall simulation component, the trainees can truly experience the feeling of falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a fall simulation mechanism for line walking training of the utility model;

[0015] Figure 2 It is a structural schematic diagram of the fall simulation component of the utility model in the fall position;

[0016] Figure 3 It is a structural schematic diagram of the fall simulation component of the utility model in the initial position (reset);

[0017] Figure 4 It is a schematic diagram of the overall structure of the power transmission line walking high fall experience device of the utility model;

[0018] Figure 5 It is a structural schematic diagram of the control box of the utility model;

[0019] Figure 6 It is a schematic diagram of the circuit structure of the utility model;

[0020] In the figure: 1. Fall simulation mechanism for line walking training;

[0021] 101. simulation mechanism housing; 102. electric push rod; 1021. push rod telescopic end; 103. electromagnet; 104. limit guide assembly; 1041. slider; 1042. guide rail; 105. suction cup; 106. buffer spring; 107. fixing plate; 108. indirect linkage rod; 109. first boss; 110. second boss; 111. reset bracket;

[0022] 2. Control box; 201. Control box body; 202. Controller; 203. Wireless communication module; 204. Power module; 205. Collection terminal;

[0023] 3. Wire connection plate; 4. Reset position detection sensor; 5. Initial position detection sensor; 6. Falling position detection sensor; 7. Falling status indicator light; 8. Recovery status indicator light; 9. Wire collection interface; 10. Fixing rod; 11. First set of wires; 12. Second set of wires; 13. Fixing piece. DETAILED DESCRIPTION

[0024] The technical solution of the utility model is further described in detail below through specific implementation methods.

[0025] Example 1

[0026] This embodiment provides a specific implementation of a fall simulation mechanism 1 for line walking training, as shown in the attached Figure 1 To Attachment Figure 3 As shown; the fall simulation mechanism 1 for line walking training includes a simulation mechanism housing 101, a fall simulation component, a limit guide component 104, a positioning locking component and a reset component, and the limit guide component 104, the positioning locking component and the reset component are all arranged in the simulation mechanism housing 101;

[0027] The falling simulation component includes a wire connection plate 3 and an indirect linkage rod 108 vertically connected to the wire connection plate 3, and the positioning locking component includes an electromagnet 103 arranged on the top of the inner wall of the simulation mechanism housing 101, a fixing plate 107 and an armature arranged on the fixing plate 107; the wire connection plate 3 is located below the simulation mechanism housing 101, and the upper part of the indirect linkage rod 108 extends to the inside of the simulation mechanism housing 101;

[0028] The indirect linkage rod 108 is provided with a first boss 109, and the first boss 109 extends to the gap between the fixing plate 107 and the armature;

[0029] The position limiting guide assembly 104 is respectively connected to the inner side wall of the simulation mechanism housing 101 and the indirect linkage rod 108, and is used to limit the movement range of the fall simulation assembly;

[0030] The resetting assembly is disposed below the fixing plate 107 and is used to move the fall simulation assembly to an initial position through the fixing plate 107 .

[0031] It should be noted that the fall simulation mechanism 1 for line walking training includes a simulation mechanism shell 101, a fall simulation component, a limit guide component 104, a reset component and a positioning locking component; therefore, the utility model can use the fall simulation component to assist in simulating the fall of trainees, and use the limit guide component 104 to guide the falling direction and range of the fall simulation component to ensure that the trainees experience the high-fall process realistically and safely within a controllable range; the utility model also uses the positioning locking component to hover the fall simulation component so that the fall simulation component stays in the initial position; the fall simulation component is restored through the reset component to ensure that the next trainee's need to experience simulated high falls can be quickly met later, greatly improving the training efficiency.

[0032] It should also be noted that the wire connecting plate 3, the two indirect linkage rods 108, the fixing plate 107, the armature, etc. form a whole, and fall down or rise up to recover as a whole. Figure 1 and attached Figure 3 As shown, the fall simulation assembly is in the initial position; as shown in the attached Figure 2 As shown, the fall simulation assembly is in a fall position.

[0033] It should also be noted that the lower end of the wire connection plate 3 is used to connect with the wire of the power transmission line simulation mechanism, and the wire is connected to the fixed plate 107 through the wire connection plate 3 and the indirect linkage rod 108;

[0034] When the wire and the wire connecting plate 3 fall due to gravity, they can drive the two indirect linkage rods 108 to fall, and the first bosses 109 of the two indirect linkage rods 108 contact the fixed plate 107, and then pull the fixed plate 107 and the armature to fall together, so as to help trainees experience the instantaneous fall and weightlessness.

[0035] When the fixed plate 107 and the armature rise through the reset assembly, the first boss 109 of the two indirect linkage rods 108 can drive the indirect linkage rods 108 and the wire connecting plate 3 to move upward. The wire connecting plate 3 can drive the wires to move upward to assist in realizing the function of restoring the fall simulation assembly.

[0036] In some embodiments, the limiting guide assembly 104 uses a ball linear guide rail, and the ball linear guide rail is set close to the inner surface of the side plate of the simulation mechanism housing 101. The slider 1041 of the ball linear guide rail is also connected to the indirect linkage rod 108.

[0037] It should be noted that the slider 1041 is connected to the side wall of the indirect linkage rod 108. When the wire and the wire connecting plate 3 fall due to gravity, the wire connecting plate 3 can drive the two indirect linkage rods 108 to fall, and the two indirect linkage rods 108 can drive the slider 1041 to fall; when the fixed plate 107 and the armature rise through the reset assembly, the slider 1041 can be driven to rise through the first bosses 109 of the two indirect linkage rods 108;

[0038] It should also be noted that the position limiting guide assembly 104 is used to limit the range of motion of the fall simulation assembly, forming a smooth upper and lower interval with low resistance, and assisting in the process of simulating an instantaneous fall. During the falling or rising process of the slider 1041, the slider 1041 moves along the guide rail 1042, which can limit the vertical movement of the fall simulation assembly; by setting the ball linear guide rail, the length of the two indirect linkage rods 108, etc., the falling height of the fall simulation assembly in the vertical direction can also be limited, thereby limiting the moving range of the fall simulation assembly.

[0039] Example 2

[0040] Based on Example 1, this example provides another specific implementation of a fall simulation mechanism 1 for line walking training;

[0041] In some embodiments, the reset assembly includes a lifting component located below the fixing plate 107, a through hole formed on the fixing plate 107 matches the upper size of the lifting component, and a reset bracket 111 in contact with the lifting component is provided above the through hole of the fixing plate 107.

[0042] In some embodiments, a connecting rod is further provided between the armature on the fixing plate 107 and the fixing plate 107 , and a buffer spring 106 is sleeved on the connecting rod. The buffer spring 106 plays a buffering role when the suction cup 105 contacts the electromagnet 103 .

[0043] It should be noted that the connecting rod and the buffer spring 106 are arranged between the armature and the fixed plate 107, which can reserve a certain buffer space for the telescopic end action of the lifting component to prevent the lifting component from being blocked and damaged.

[0044] In a specific embodiment, the lifting component is an electric push rod 102, and the armature is a suction cup 105. Figure 1 To Attachment Figure 3 As shown;

[0045] It should be noted that when the wire and the wire connecting plate 3 fall due to gravity, the power supply of the electromagnet 103 is disconnected, the magnetic force between the electromagnet 103 and the suction cup 105 disappears, and the wire connecting plate 3, the two indirect linkage rods 108, the fixed plate 107, the suction cup 105, etc. fall downward together; when recovery is required, the telescopic end 1021 of the push rod extends through the through hole provided on the fixed plate 107, pushing the reset bracket 111 to rise, and the reset bracket 111 drives the fixed plate 107, the suction cup 105, etc. to rise together, as shown in the attached figure. Figure 3 shown.

[0046] In other embodiments, the lifting component may also adopt other devices that can achieve the above functions, such as electric hydraulic push rods, hydraulic cylinders, air cylinders, etc.

[0047] Example 3

[0048] Based on Example 1, this example provides another specific implementation of a fall simulation mechanism 1 for line walking training;

[0049] In some embodiments, the fall simulation mechanism 1 for line walking training further comprises a reset position detection sensor 4 located on the lifting component, and the reset position detection sensor 4 is used to detect the state of the lifting component, such as extension or retraction.

[0050] It should be noted that the reset position detection sensor 4 is a Hall sensor. When the lifting component is extended, the Hall sensor detects the magnetic ring inside the telescopic end 1021 of the push rod, causing the induction signal output by the reset position detection sensor 4 to change; therefore, this embodiment can detect the state of the lifting component through the induction signal output by the reset position detection sensor 4.

[0051] Example 4

[0052] Based on the above embodiments, this embodiment provides a specific implementation of a transmission line walking high fall experience device, as shown in the attached Figure 4 As shown;

[0053] The transmission line walking high-fall experience device includes the fall simulation mechanism 1 for line walking training in Example 1, 2 or 3, and also includes a transmission line simulation mechanism; wherein, the transmission line simulation mechanism includes two vertically arranged fixed rods 10 and several groups of wires located between the two fixed rods 10, wherein one group of wires is arranged between the fixed rods 10 and the fall simulation mechanism 1 for line walking training.

[0054] It should be noted that the transmission line simulation mechanism performs simulation and restoration based on the layout of the split conductors of the transmission line to create a scene where the split conductors are running.

[0055] It should be noted that one end of one set of wires is connected to the wire connecting plate 3 of the fall simulation assembly, and the other end of one set of wires is connected to the fixing rod 10 via a fixing member 13 .

[0056] When the trainees experience falling from a height, they actually walk on the split conductors of the power transmission line simulation mechanism; the conductor connecting plate 3 of the fall simulation assembly drives the conductors of the power transmission line simulation mechanism to fall, so that the trainees walking on the conductors can truly experience the feeling of falling.

[0057] It can be understood that three groups of wires are arranged between the two fixing rods 10, each group having two wires; Figure 4 The first group of wires 11 in the apparatus is used to hang the safety rope on the trainee. Figure 4 The second set of wires 12 in the apparatus is used for the trainee to walk. Figure 4 The third set of wires is used to facilitate the trainee to maintain his own balance;

[0058] Connected to the fixing rod 10 is Figure 4The second group of wires 12 are connected to the wire connection plate 3 of the fall simulation mechanism 1 for line walking training.

[0059] In some embodiments, as shown in the attached Figure 5 As shown, the transmission line walking high fall experience device also includes a control box 2, and the control box 2 includes a controller 202 arranged in a control box body 201 and a relay board connected to the controller 202; wherein, the relays on the relay board are also respectively connected to the power supply of the electromagnet 103 and the power supply of the lifting component.

[0060] In a specific implementation, the controller 202 may be a PLC. In other implementations, the controller 202 may be other devices that can implement the above functions.

[0061] It should be noted that the relay board is used to drive the electric mechanism to operate; for example, the relay board is connected to the power supply of the electromagnet 103, controls the power supply of the electromagnet 103 to be disconnected or closed, and then controls the magnetism of the electromagnet 103 to make the electromagnet 103 and the suction cup 105 attracted or released; the relay board is connected to the power supply of the lifting component, and controls the lifting component to move the fall simulation component to the initial position.

[0062] It can be understood that the specific circuit of the relay board is prior art and will not be described in detail here.

[0063] Example 5

[0064] Based on the above embodiment, this embodiment provides another specific implementation of the transmission line walking high fall experience device;

[0065] In some embodiments, the transmission line walking high fall experience device further includes an initial position detection sensor 5 and a fall position detection sensor 6 respectively connected to the controller 202;

[0066] Among them, the initial position detection sensor 5 is arranged on the upper part of the sensor mounting plate, and the falling position detection sensor 6 is arranged on the lower part of the sensor mounting plate, which are used to detect the position of the falling simulation component; the sensor mounting plate is installed on the bottom plate of the simulation mechanism housing 101.

[0067] Specifically, the initial position detection sensor 5 and the falling position detection sensor 6 are both through-beam photoelectric sensors.

[0068] It should be noted that, as attached Figure 1 and attached Figure 3As shown in FIG. 1 , when the fall simulation assembly is in the initial position, the second boss 110 on the indirect linkage rod 108 blocks the corresponding signal of the initial position detection sensor 5, causing the induction signal output by the initial position detection sensor 5 to change; as shown in FIG. Figure 2 As shown, when the fall simulation component is in the falling position, the second boss 110 on the indirect linkage rod 108 will block the corresponding signal of the fall position detection sensor 6, causing the sensing signal output by the fall position detection sensor 6 to change; therefore, the initial position detection sensor 5 and the fall position detection sensor 6 can detect whether the fall simulation component is in the initial position or in the falling position, providing reference data for subsequent operations.

[0069] Example 6

[0070] Based on the above embodiment, this embodiment provides another specific implementation of the transmission line walking high fall experience device;

[0071] In some embodiments, the power line walking high fall experience device further includes a falling state indicator light 7 and a recovery state indicator light 8 respectively connected to the controller 202 in the control box 2, and the falling state indicator light 7 and the recovery state indicator light 8 are arranged on the simulation mechanism housing 101, as shown in the attached Figure 3 As shown;

[0072] It can be understood that the controller 202 changes the state of the indicator light according to the sensing signals of the initial position detection sensor 5 and the fall position detection sensor 6. For example, when the fall simulation component is in a falling state, the fall state indicator light 7 is lit; when the fall simulation component is in a recovery state, the recovery state indicator light 8 is lit.

[0073] In some embodiments, as shown in the attached Figure 5 and attached Figure 6 As shown, the control box 2 also includes a power supply module 204, which adopts a switching power supply form to convert AC220V into DC24V and DC12V, providing reliable working power for other modules in the control box 2 and the fall simulation mechanism 1 used for line walking training.

[0074] In some embodiments, as shown in the attached Figure 5 As shown, the control box 2 further includes a collection terminal 205, and the collection terminal 205 is used to connect the wires in the control box 2, such as power lines, etc.

[0075] In some embodiments, as shown in the attached Figure 3 As shown, a line collection interface 9 is also provided on the simulation mechanism housing 101, and the line collection interface 9 is used to lead out the power lines of the electromagnet 103 and the lifting components in the fall simulation mechanism 1 for line walking training.

[0076] Example 7

[0077] Based on the above embodiment, this embodiment provides another specific implementation of the transmission line walking high fall experience device;

[0078] In some embodiments, the control box 2 of the power transmission line walking and falling experience device also includes a wireless communication module 203 connected to the controller 202, which is used to communicate and interconnect with external devices (remote control or mobile terminal, etc.).

[0079] It should be noted that the wireless communication module 203 is used to remotely control the actions of the fall simulation mechanism 1 for line walking training, specifically including fall control and recovery control.

[0080] Specifically, the wireless communication module 203 can be one or more of a 2G wireless communication module, a 3G wireless communication module, a 4G wireless communication module, a 5G wireless communication module, a narrowband Internet of Things, a Bluetooth wireless communication module, a WIFI, a ZigBee wireless communication module, a LoRa wireless communication module, etc.

[0081] Example 8

[0082] Based on the above embodiment, this embodiment provides another specific implementation of the transmission line walking high fall experience device;

[0083] In order to further ensure that the trainees' experience of walking and falling on power lines is both realistic and within a controllable range, the transmission line walking and falling experience device also includes a VR device and a host computer. The VR device communicates and is interconnected with the host computer, and the host computer communicates and is interconnected with the controller.

[0084] It should be noted that the VR device is used to present virtual wire walking scenes and virtual falling scenes to the trainees. When the risk of falling from a high place occurs during walking, the VR device will present the falling scene and simulate the falling of the high-fall device, so that the trainees can fully experience the horror brought by the fall from multiple dimensions of vision, hearing and feeling.

[0085] Specifically, the VR device includes but is not limited to VR glasses or VR helmets.

[0086] It can be understood that the host computer uses existing 3DMAX and other modeling software based on real split wire scenes, such as transmission line scenes such as mountains, canyons, and cross-river scenes, to restore 1:1 environmental information such as transmission line towers, wires, mountains, rivers, trees, and wind sounds, and create a virtual high-altitude line walking operation scene as a virtual wire walking scene and a virtual falling scene, achieving the same effect as the real world.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the utility model, which should be included in the scope of the technical solution for protection of the utility model.

Claims

1. A fall simulation mechanism for line walking training, characterized in that: It includes a simulation mechanism housing, a fall simulation component, a limit guide component, a positioning locking component and a reset component, wherein the limit guide component, the positioning locking component and the reset component are all arranged in the simulation mechanism housing; The falling simulation assembly includes a wire connection plate and an indirect linkage rod vertically connected to the wire connection plate, and the positioning locking assembly includes an electromagnet arranged on the top of the inner wall of the simulation mechanism housing, a fixing plate and an armature arranged on the fixing plate; The wire connection plate is located below the simulation mechanism housing, and the upper portion of the indirect linkage rod extends into the simulation mechanism housing; The indirect linkage rod is provided with a first boss, and the first boss extends to the gap between the fixing plate and the armature; The position limiting guide assembly is respectively connected to the inner side wall of the simulation mechanism housing and the indirect linkage rod, and is used to limit the movement range of the fall simulation assembly; The resetting assembly is arranged below the fixing plate, and is used for moving the falling simulation assembly to an initial position through the fixing plate.

2. The fall simulation mechanism for line walking training according to claim 1, characterized in that: The position limiting guide assembly adopts a ball linear guide rail.

3. The fall simulation mechanism for line walking training according to claim 1 or 2, characterized in that: The reset assembly includes a lifting component located below the fixing plate, a through hole provided on the fixing plate matches the upper size of the lifting component, and a reset bracket adapted to the end of the lifting component is arranged above the through hole of the fixing plate.

4. The fall simulation mechanism for line walking training according to claim 3, characterized in that: A reset position detection sensor located on the lifting component is also included.

5. A device for experiencing falling from a height while walking on a power transmission line, characterized in that: It comprises the fall simulation mechanism for line walking training as described in any one of claims 1 to 4, and also comprises a power transmission line simulation mechanism; wherein, The power transmission line simulation mechanism comprises two vertically arranged fixing rods and a plurality of groups of conducting wires located between the two fixing rods, wherein one group of conducting wires is arranged between the fixing rods and the falling simulation mechanism for line walking training.

6. The transmission line walking and falling experience device according to claim 5, characterized in that: Also included is a control box, the control box including a controller and a relay board connected to the controller; Wherein, the relay board is also connected to the positioning locking component and the reset component respectively.

7. The transmission line walking and falling experience device according to claim 6, characterized in that: It also includes an initial position detection sensor and a falling position detection sensor respectively connected to the controller.

8. The transmission line walking and falling experience device according to claim 6 is characterized by: It also includes a falling state indicator light and a recovery state indicator light which are respectively connected to the controller.

9. The transmission line walking and falling experience device according to claim 6, characterized in that: It also includes a wireless communication module connected to the controller, which is used for communicating and interconnecting with external devices.

10. The transmission line walking and falling experience device according to claim 6, characterized in that: It also includes a VR device and a host computer, wherein the VR device is interconnected with the host computer in communication, and the host computer is interconnected with the controller in communication.

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