Control system for child-mother type drainage vehicle and child-mother type drainage vehicle

Abstract

The utility model belongs to the technical field of water pumping and draining equipment, and particularly relates to a control system for a child-mother type drainage vehicle and the child-mother type drainage vehicle, the child-mother type drainage vehicle comprises a child vehicle and a mother vehicle, and the control system comprises a child vehicle controller, a child vehicle controller, a child vehicle controller and a mother vehicle controller, the mother vehicle controller is arranged on the mother vehicle and used for controlling the mother vehicle and / or sending a control signal to the son vehicle; the two ends of the control cable are electrically connected with the mother vehicle controller and the son vehicle controller respectively, and the control cable is used for transmitting control signals. According to the control system for the child-mother type flood drainage vehicle, the child vehicle controller and the mother vehicle controller can be electrically connected through the control cable, the mother vehicle controller can conveniently send a control signal to the child vehicle controller, and the child vehicle can keep normal communication and work in a complex and severe environment.

Description

Technical Field

[0001] The utility model belongs to the technical field of drainage equipment, and particularly relates to a control system for a mother - son type drainage vehicle and a mother - son type drainage vehicle. Background Art

[0002] The drainage vehicle can quickly reach the emergency site to perform tasks and is convenient to enter some dangerous occasions. It is one of the indispensable equipment for disaster - resistant drainage emergency rescue. In order to cope with complex environments, the existing drainage vehicles have appeared in a mother - son type control mode. The mother vehicle controls the smaller - sized son vehicle to enter areas with low height and narrow width for drainage, and the drained accumulated water is transmitted to the external rivers through pipelines.

[0003] The son vehicle and the mother vehicle of the existing mother - son type drainage vehicle are both controlled by a wireless remote control device operated by an operator. However, in an environment with accumulated water, the wireless communication signal is weak, often resulting in communication interruption between the son vehicle controller and the wireless remote control device, causing the mother - son type drainage vehicle to malfunction. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a control system for a mother - son type drainage vehicle and a mother - son type drainage vehicle to ensure normal communication between the son vehicle controller and the mother vehicle controller of the mother - son type drainage vehicle.

[0005] To achieve the above purpose, on the one hand, the utility model provides a control system for a mother - son type drainage vehicle. The mother - son type drainage vehicle includes a son vehicle and a mother vehicle. The control system includes:

[0006] A son vehicle controller, which is arranged on the son vehicle and used to control the son vehicle;

[0007] A mother vehicle controller, which is arranged on the mother vehicle and used to control the mother vehicle and / or send control signals to the son vehicle controller;

[0008] A control cable, the two ends of which are electrically connected to the mother vehicle controller and the son vehicle controller respectively and used to transmit control signals.

[0009] In some embodiments, a first CAN bus is provided on the mother vehicle controller, a second CAN bus is provided on the son vehicle controller, and the two ends of the control cable are respectively connected to the first CAN bus and the second CAN bus.

[0010] In some embodiments, a protective layer is provided on the outer peripheral side of the control cable, and the protective layer is made of a polyether - type polyurethane material.

[0011] In some embodiments, the control system further includes a cable reel for contracting or extending the control cable, wherein the cable reel is arranged on the mother vehicle or on the son vehicle.

[0012] In some embodiments, the control system further includes: a master vehicle wireless receiver electrically connected to the master vehicle controller; a slave vehicle wireless receiver electrically connected to the slave vehicle controller; and a remote controller wirelessly communicating with the master vehicle wireless receiver and the slave vehicle wireless receiver and capable of sending wireless control signals.

[0013] In some embodiments, the control system further includes a man-machine interaction device electrically connected to the master vehicle controller and configured to transmit an external control instruction to the master vehicle controller or receive an acquisition signal transmitted by the master vehicle controller.

[0014] In some embodiments, the man-machine interaction device is further provided with an electrical switch for connecting or disconnecting the electrical connection between the control cable and the master vehicle controller.

[0015] In some embodiments, the control system further includes a buzzer electrically connected to the master vehicle controller and configured to emit an alarm signal when signal transmission fails between the master vehicle controller and the slave vehicle controller and wireless communication fails between the remote controller and the slave vehicle controller.

[0016] In some embodiments, the control system further includes a protective box disposed on the slave vehicle, and both the slave vehicle wireless receiver and the slave vehicle controller are disposed inside the protective box.

[0017] A second aspect of the present utility model provides a master-slave type drainage vehicle, including the control system for the master-slave type drainage vehicle described above.

[0018] In the above technical solution, the master-slave type drainage vehicle includes a slave vehicle and a master vehicle. The control system for the master-slave type drainage vehicle includes: a slave vehicle controller disposed on the slave vehicle and configured to control the slave vehicle; a master vehicle controller disposed on the master vehicle and configured to control the master vehicle and / or send a control signal to the slave vehicle; and a control cable, with both ends of the control cable electrically connected to the master vehicle controller and the slave vehicle controller respectively and configured to transmit a control signal. In the prior art, the slave vehicle is mostly controlled by a wireless remote control device. In a complex environment, the slave vehicle has weak wireless signal reception ability, which easily causes the situation of slave vehicle control failure. The slave vehicle controller and the master vehicle controller of the present utility model can transmit a control signal through the control cable. An operator can control the slave vehicle by controlling the master vehicle. Compared with controlling the slave vehicle to work by using a wireless control remote controller, the present application can more stably control the slave vehicle to work through the control cable, avoiding the situation of slave vehicle control failure in a complex environment.

[0019] Other features and advantages of the embodiments of the present utility model will be described in detail in the subsequent specific embodiments section. Description of the Drawings

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present utility model and form a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present utility model, but do not constitute a limitation to the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the structures shown in these drawings. In the drawings:

[0021] Figure 1 is a schematic structural diagram of a mother - son type drainage vehicle according to an embodiment of the present utility model;

[0022] Figure 2 is a block diagram of the control system for a mother - son type drainage vehicle according to an embodiment of the present utility model.

[0023] Explanation of reference numerals in the drawings

[0024] 10 Son vehicle 40 Cable reel

[0025] 20 Mother vehicle 50 Protection box

[0026] 30 Control cable Specific embodiments

[0027] The following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and illustrating the present utility model and are not used to limit the present utility model.

[0028] The following describes the control system for a mother - son type drainage vehicle according to the present utility model with reference to the drawings. As Figure 1 shown, it is a schematic structural diagram of a mother - son type drainage vehicle according to an embodiment of the present utility model; as Figure 2 shown, it is a block diagram of the control system for a mother - son type drainage vehicle according to an embodiment of the present utility model. The mother - son type drainage vehicle includes a son vehicle 10 and a mother vehicle 20, and the control system includes:

[0029] A son vehicle controller (not shown in the figure), which is arranged on the son vehicle 10 and is used to control the son vehicle 10;

[0030] A mother vehicle controller (not shown in the figure), which is arranged on the mother vehicle 20 and is used to control the mother vehicle 20 and / or send control signals to the son vehicle controller;

[0031] A control cable 30, the two ends of the control cable 30 are respectively electrically connected to the mother vehicle controller and the son vehicle controller and are used to transmit control signals.

[0032] The mother - son type drainage vehicle is such that the son vehicle 10 enters the area to be drained. There is a hydraulic system connected between the son vehicle 10 and the mother vehicle 20. The son vehicle 10 pumps the water it draws to the outside. The mother vehicle 20 provides hydraulic power and electricity for the son vehicle. The mother vehicle 20 and the son vehicle 10 cooperate with each other to complete the drainage work in the area to be drained. A son vehicle controller is provided on the son vehicle 10, and the son vehicle controller can control the son vehicle 10 to perform operations such as water pump operation, water pump lifting, water pump flipping, and tracked vehicle forward / backward movement. A mother vehicle controller is provided on the mother vehicle 20, and the mother vehicle controller can control the mother vehicle 20 to start, stop, automatically engage the power take - off, retract / extend the oil pipe winch, retract / extend the water hose winch, start / stop the vehicle air conditioner, automatically start / stop the cooling fan, turn on / off the mother vehicle lamps, and data collection. The mother vehicle controller can also send control signals to the son vehicle controller through the control cable 30. The son vehicle controller controls the son vehicle 10 to perform operations such as straight - line running, steering, pumping water, starting, and stopping according to the control signals.

[0033] In a specific embodiment, the operator manipulates the mother vehicle 20 to reach near the area to be drained. The operator issues a control instruction to the mother vehicle controller, causing the mother vehicle controller to transmit the control signal through the control cable 30 to the son vehicle controller. The son vehicle controller controls the son vehicle to move to the area to be drained and perform the drainage work according to the control instruction.

[0034] In the above - mentioned control system for the mother - son type drainage vehicle, the son vehicle controller and the mother vehicle controller transmit control signals through the control cable 30. Compared with the traditional method of using a remote control handle to manipulate the mother vehicle 20 and the son vehicle 10 for drainage, the method of transmitting control signals by wire provided in the embodiment of the present utility model has a more stable signal transmission. It can avoid the situation where when the son vehicle 10 enters an environment with weak signals, the son vehicle controller loses contact with the outside world and the manipulation of the son vehicle fails, which is beneficial for the son vehicle 10 to perform drainage work in more harsh and complex environments.

[0035] In one embodiment, a first CAN bus is provided on the master vehicle controller, and a second CAN bus is provided on the slave vehicle controller. Both ends of the control cable 30 are respectively connected to the first CAN bus and the second CAN bus. The CAN bus is a serial communication protocol bus for real-time applications. It uses twisted pair, coaxial cable or optical fiber for connection, and the communication rate can reach 1 Mbps. In the embodiment of the present utility model, a first CAN bus is provided on the master vehicle controller. Each control unit on the master vehicle controller can transmit signals through the first CAN bus. Each control unit on the master vehicle controller can also send control signals to the outside world or receive control signals from the outside world through the first CAN bus. A second CAN bus is provided on the slave vehicle controller. Each control unit on the slave vehicle controller can transmit signals through the second CAN bus. Each control unit on the slave vehicle controller can also send control signals to the outside world or receive control signals from the outside world through the second CAN bus. Both ends of the control cable 30 are respectively connected to the first CAN bus and the second CAN bus. The control unit of the master vehicle controller can transmit the control signal to the control cable 30 through the first CAN bus. The control cable 30 transmits the control signal to the second CAN bus and further transmits it to the control unit on the slave vehicle controller. By adopting the above control system, it is convenient for the control unit of the master vehicle controller to transmit the control signal to the slave vehicle controller, so that the slave vehicle controller can perform corresponding operations according to the instructions corresponding to the control signal.

[0036] In one embodiment, a protective layer is provided on the outer peripheral side of the control cable 30. The protective layer is made of polyether-type polyurethane. The master-slave type drainage vehicle is mostly used in complex and harsh disaster environments. Therefore, a protective layer needs to be provided on the outer peripheral side of the control cable 30 for protection. The polyether-type polyurethane material is heat-resistant, waterproof and wear-resistant, which can meet the working needs of the master-slave type drainage vehicle and is conducive to the long-term stable signal transmission between the slave vehicle controller and the master vehicle controller of the master-slave type drainage vehicle through the control cable 30.

[0037] In one embodiment, the control system further includes a cable reel 40 for contracting or extending the control cable 30. Among them, the cable reel 40 is provided on the master vehicle 20 or on the slave vehicle 10. The slave vehicle 10 can move. Therefore, the distance between the slave vehicle 10 and the master vehicle 20 will change. The cable reel 40 is provided on the master vehicle 20 or the slave vehicle 10. When the slave vehicle 10 moves away from the master vehicle 20, the cable reel 40 rotates to extend the control cable 30 to facilitate the movement of the slave vehicle 10. When the slave vehicle 10 approaches the master vehicle 20, the cable reel 40 rotates to contract the control cable 30 to store and protect the control cable 30.

[0038] In one embodiment, the control system further includes: a master vehicle wireless receiver electrically connected to the master vehicle controller; a slave vehicle wireless receiver electrically connected to the slave vehicle controller; and a remote controller wirelessly communicating with the master vehicle wireless receiver and the slave vehicle wireless receiver and capable of sending wireless control signals. The control cable 30 may cause communication interruption due to mechanical failures. The control system in the embodiment of the present invention further includes a master vehicle wireless receiver, a slave vehicle wireless receiver, and a remote operation module. Among them, the remote operation module may be a wireless remote control. The remote operation module can send control instructions to the slave vehicle wireless receiver and the master vehicle wireless receiver. When the slave vehicle wireless receiver receives the control instructions sent by the remote operation module, it will transmit the control instructions to the slave vehicle controller, so that the slave vehicle controller controls the slave vehicle 10 to perform the operations corresponding to the control instructions. When the master vehicle wireless receiver receives the control instructions sent by the remote operation module, it will transmit the control instructions to the master vehicle controller, so that the master vehicle controller controls the master vehicle 20 to perform the operations corresponding to the control instructions. With the above control system, the master-slave type drainage vehicle can not only transmit control signals between the master vehicle controller and the slave vehicle controller through the control cable 30 to control the slave vehicle 10, but also use the remote control module to control the slave vehicle 10 or the master vehicle 20. When any one of the control lines fails, another control line can be used to control the slave vehicle 10 to perform drainage work, which is beneficial for the master-slave type drainage vehicle to perform drainage and flood control work stably for a long time and can reduce the losses caused by communication failures.

[0039] In one embodiment, the control system further includes a human-machine interaction device electrically connected to the master vehicle controller and used to transmit external control instructions to the master vehicle controller or receive the acquisition signals transmitted by the master vehicle controller. The human-machine interaction device can be manipulated by the user. Subsequently, the human-machine interaction device converts the user's manipulation into control instructions and transmits them. The human-machine interaction device is electrically connected to the master vehicle controller. The user can transmit control instructions to the master vehicle controller by manipulating the human-machine interaction device. The master vehicle controller controls the master vehicle 20 to perform operations according to the control instructions or transmits control signals to the slave vehicle controller, so that the slave vehicle 10 performs corresponding operations. The human-machine interaction device can also receive the acquisition signals transmitted by the master vehicle controller. For example, when the master vehicle controller detects a control cable failure, it feeds back a failure signal to the human-machine interaction device to remind the staff to repair or replace the control cable in time. The above human-machine interaction device facilitates the user to transmit instructions to the master vehicle controller and facilitates the manipulation of the master vehicle 20 and the slave vehicle 10. Among them, the human-machine interaction device may be selected from: a touch screen, a computer with a mouse and keyboard, a console with knobs, buttons, and handles, etc. Specifically, the human-machine interaction device is electrically connected to the CAN bus of the master vehicle controller.

[0040] In one embodiment, an electric switch is further provided on the human-machine interaction device for connecting or disconnecting the electrical connection between the control cable 30 and the mother vehicle controller. In the embodiment of the present utility model, the control of the sub-vehicle 10 can be carried out by means of a wired connection or a wireless communication method. When the sub-vehicle 10 receives the wireless communication signal normally, the remote control module can be used to control the sub-vehicle controller and the mother vehicle controller. When it is difficult for the sub-vehicle controller to receive the wireless communication signal, the user can control the electric switch to connect the control cable 30 to the mother vehicle controller. Subsequently, the user transmits the control instruction to the mother vehicle controller by controlling the remote controller or the human-machine interaction device, and the mother vehicle controller transmits the control instruction to the sub-vehicle controller through the control cable 30 to control the sub-vehicle 10.

[0041] In one embodiment, the control system further includes a buzzer electrically connected to the mother vehicle controller and used for emitting an alarm signal when the signal transmission between the mother vehicle controller and the sub-vehicle controller fails and the wireless communication between the remote controller and the sub-vehicle controller fails. In the wireless communication mode, the sub-vehicle controller is wirelessly communicatively connected to the remote controller. When the sub-vehicle controller cannot be wirelessly communicatively connected to the remote controller, the sub-vehicle controller automatically switches to the wired communication mode, and the sub-vehicle controller and the mother vehicle controller are communicatively connected through the control cable 30. When the control cable 30 fails, the mother vehicle controller cannot transmit the control signal to the sub-vehicle controller, and the buzzer will start to alarm to prompt the user to repair the fault in time.

[0042] In one embodiment, a power supply line (not shown in the figure) is further connected between the sub-vehicle controller and the mother vehicle controller. The power supply on the mother vehicle can supply power to the mother vehicle controller and the sub-vehicle controller, and the mother vehicle controller can turn on and off the power supply of the sub-vehicle controller.

[0043] In one embodiment, the control system further includes a protective box 50 provided on the sub-vehicle 10, and both the sub-vehicle wireless receiver and the sub-vehicle controller are arranged inside the protective box 50. Since the working environment of the sub-vehicle 10 is harsh, there is often accumulated water and sundries, etc., which are likely to damage the sub-vehicle controller and the sub-vehicle wireless receiver on the sub-vehicle 10. Therefore, in the embodiment of the present utility model, the protective box 50 is provided to protect the sub-vehicle wireless receiver and the sub-vehicle controller, so that the sub-vehicle 10 can work in a more harsh and complex environment.

[0044] In one embodiment, the protection level of the protective box 50 is higher than or equal to the IP68 requirement. The sub-vehicle controller of the mother-and-sub drainage vehicle cannot get wet. Therefore, most of the existing sub-vehicles perform drainage work in areas with relatively shallow water depth. And in this application, the protective box 50 with a waterproof level higher than or equal to the IP68 requirement is added, which can prevent the sub-vehicle controller from getting water, so that the sub-vehicle can enter an area with deeper water depth to work.

[0045] In a specific embodiment, the user controls the sub-vehicle 10 and the mother vehicle 20 through a remote control handle. The remote control handle sends a wireless signal to the sub-vehicle controller or the mother vehicle controller. The sub-vehicle controller controls the sub-vehicle 10 to perform operations such as drainage and movement, and the mother vehicle controller controls the mother vehicle 20 to perform operations such as movement, drainage, and water storage. When the sub-vehicle 10 enters the deep water with weak wireless signals, the remote control handle cannot communicate with the sub-vehicle wireless receiver on the sub-vehicle 10. The user turns on the power switch on the human-computer interaction device, so that the mother vehicle controller and the sub-vehicle controller transmit control signals through the control cable 30. The user can transmit control instructions to the mother vehicle controller through the remote control handle or the human-computer interaction device and further transmit them to the sub-vehicle controller to control the sub-vehicle 10. When the control cable 30 fails, the mother vehicle controller cannot transmit the control signal to the sub-vehicle controller, and the buzzer emits an alarm signal to remind the user to repair the fault.

[0046] By using the above control system for the mother-child type drainage vehicle, the sub-vehicle 10 can be controlled through two communication methods. When one communication method fails, the communication method can be switched to prevent the sub-vehicle controller from being unable to work properly due to poor signal or line failure in a harsh environment, so that the mother-child type drainage vehicle can adapt to more harsh and complex working environments and enhance the stability of the control of the mother-child type drainage vehicle.

[0047] In an embodiment, a mother-child type drainage vehicle is provided, including the above control system for the mother-child type drainage vehicle.

[0048] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0049] In the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0051] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present utility model.

Claims

1. A control system for a mother-and-child type flood drainage vehicle, characterized in that: The parent-child type flood drainage vehicle comprises a child vehicle (10) and a parent vehicle (20), and the control system comprises: A sub-vehicle controller, arranged on the sub-vehicle (10) and used to control the sub-vehicle (10); A mother vehicle controller, arranged on the mother vehicle (20) and used to control the mother vehicle (20) and / or send a control signal to the sub-vehicle controller; A control cable (30), two ends of which are electrically connected to the mother vehicle controller and the child vehicle controller respectively and are used to transmit the control signal.

2. The control system for the mother-and-child type flood drainage vehicle according to claim 1, characterized in that: The mother vehicle controller is provided with a first CAN bus, the child vehicle controller is provided with a second CAN bus, and the two ends of the control cable (30) are respectively connected to the first CAN bus and the second CAN bus.

3. The control system for the mother-and-child type flood drainage vehicle according to claim 1, characterized in that: A protective layer is provided on the outer peripheral side of the control cable (30), and the protective layer is made of polyether polyurethane material.

4. The control system for the mother-and-child type flood drainage vehicle according to claim 1, characterized in that: The control system further comprises a cable reel (40) for contracting or extending the control cable (30), wherein the cable reel (40) is arranged on the mother vehicle (20) or on the sub-vehicle (10).

5. The control system for a mother-and-child type flood drainage vehicle according to any one of claims 1 to 4, characterized in that: The control system further comprises: A mother vehicle wireless receiver, electrically connected to the mother vehicle controller; A sub-vehicle wireless receiver, electrically connected to the sub-vehicle controller; The remote controller is wirelessly connected with the mother vehicle wireless receiver and the child vehicle wireless receiver and can send out wireless control signals.

6. The control system for the mother-and-child type flood drainage vehicle according to claim 5, characterized in that: The control system also includes a human-computer interaction device which is electrically connected to the mother vehicle controller and is used to transmit external control instructions to the mother vehicle controller or receive a collection signal transmitted by the mother vehicle controller.

7. The control system for the mother-and-child type flood drainage vehicle according to claim 6, characterized in that: The human-machine interaction device is also provided with an electric switch for connecting or disconnecting the electrical connection between the control cable (30) and the mother vehicle controller.

8. The control system for the mother-and-child type flood drainage vehicle according to claim 5, characterized in that: The control system also includes a buzzer electrically connected to the mother vehicle controller and used to send out an alarm signal when signal transmission between the mother vehicle controller and the child vehicle controller fails and wireless communication between the remote controller and the child vehicle controller fails.

9. The control system for the mother-and-child type flood drainage vehicle according to claim 5, characterized in that: The control system further comprises a protection box (50) arranged on the sub-vehicle (10), and the sub-vehicle wireless receiver and the sub-vehicle controller are both arranged inside the protection box (50).

10. A mother-and-child type flood drainage vehicle, characterized in that: It comprises a control system for a mother-and-child type flood drainage vehicle according to any one of claims 1 to 9.

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