1. A system for remotely controlling a crane, comprising:

a crane operating end comprising:

the first controller is used for acquiring the working condition information of the crane and sending the working condition information to the first wireless transmission device;

the image acquisition device is used for acquiring environmental information around the crane and sending the environmental information to the second wireless transmission device;

the first wireless transmission device is used for sending the working condition information to a third wireless transmission device of a remote control end;

the second wireless transmission device is used for sending the environment information to a fourth wireless transmission device of a remote control end;

remote control end, includes:

the third wireless transmission device is used for receiving the working condition information and sending the working condition information to the second controller;

the fourth wireless transmission device is used for receiving the environment information and sending the environment information to the second controller;

and the second controller is used for displaying the working condition information and the environment information, wherein a user can issue a control instruction for remotely controlling the crane according to the working condition information and the environment information.

2. The system of claim 1, wherein the first wireless transmission device and the third wireless transmission device are wireless signal transceiving devices using a 5.8G band.

3. The system according to claim 1, wherein the second wireless transmission device and the fourth wireless transmission device are wireless signal transceiving devices using 433MHz band.

4. The system of claim 1, wherein the first wireless transmission device is connected to the first controller via a CAN line.

5. The system for remotely controlling a crane according to claim 1, wherein the second wireless transmission device is connected with the image acquisition device by a wire.

6. The system of claim 1, wherein the image capture device comprises a hoist surveillance camera, a hanging point surveillance camera, and a slewing surveillance camera.

7. The system for remotely controlling a crane according to claim 1, wherein the crane operation end further comprises a hoist encoder, a slewing encoder, a moment limiter and/or a main arm tilt sensor;

the first controller is further used for acquiring the working condition information according to the winch encoder, the rotary encoder, the moment limiter and/or the main arm inclination angle sensor.

8. The system for remotely controlling a crane according to claim 1, wherein the crane operation end further comprises a display device for displaying the working condition information and the environment information.

9. A method for remotely controlling a crane, applied to a crane operation end in the system for remotely controlling a crane according to any one of claims 1 to 8, wherein the method comprises:

acquiring working condition information of the crane by using a first controller;

acquiring environmental information around the crane by using an image acquisition device;

the working condition information is sent to a third wireless transmission device in a remote control end through a first wireless transmission device;

and sending the environment information to a fourth wireless transmission device in the remote control end through a second wireless transmission device, so that a second controller in the remote control end receives a control instruction for remotely controlling the crane, which is issued by a user according to the working condition information acquired by the third wireless transmission device and the environment information acquired by the fourth wireless transmission device.

10. A method for remotely controlling a crane, applied to a remote control terminal in the system for remotely controlling a crane according to any one of claims 1 to 8, wherein the method comprises:

receiving working condition information sent by a first wireless transmission device in the crane operation end by using a third wireless transmission device;

receiving environmental information sent by a second wireless transmission device in the crane operation end by using a fourth wireless transmission device;

and displaying the working condition information received by the third wireless transmission device and the environment information received by the fourth wireless transmission device by using the second controller, and receiving a control instruction for remotely controlling the crane, which is issued by a user according to the working condition information and the environment information.

11. The method for remotely controlling a crane of claim 10, further comprising:

after receiving a control instruction, sending the control instruction to a first wireless transmission device in the crane operation end by using the third wireless transmission device, so that a first controller in the crane operation end executes the control instruction.

12. The method for remotely controlling a crane according to claim 11, wherein when the control command is a configuration condition information command, it is determined whether the crane is in a remote mode and in an action state, and the control command is executed only in a case where the crane is in the remote mode and is not in the action state.

Background

The crane is a key device for modern construction, and along with the development of PC construction buildings, the crane is provided with an operating system. Particularly, with the development of remote control and the demand for crane operation, a remote operation system is applied to a crane.

At present, a remote control operation system configured for a crane can only remotely control and operate the action of the crane, can not remotely configure the vehicle-mounted working condition of the crane, and can not display fault information, running speed and surrounding environment information of the crane. When the constructor is configuring the working condition, the constructor needs to go to the operation room on the crane repeatedly to change the working condition information, and after the change is completed, the constructor returns to the remote control room to carry out remote control operation on the crane. In addition, during remote control, the constructor can not remotely and comprehensively know the working state of the crane and the surrounding construction environment, so that the constructor has limitation on the remote control of the crane.

Disclosure of Invention

The embodiment of the invention aims to provide a system and a method for remotely controlling a crane, which can improve the accuracy and the safety of remote control of the crane.

In order to achieve the above object, a first aspect of the present invention provides a system for remotely controlling a crane, comprising:

a crane operating end comprising:

the first controller is used for acquiring the working condition information of the crane and sending the working condition information to the first wireless transmission device;

the image acquisition device is used for acquiring the environmental information around the crane and sending the environmental information to the second wireless transmission device;

the first wireless transmission device is used for sending the working condition information to a third wireless transmission device of the remote control end;

the second wireless transmission device is used for sending the environment information to a fourth wireless transmission device of the remote control end;

remote control end, includes:

the third wireless transmission device is used for receiving the working condition information and sending the working condition information to the second controller;

the fourth wireless transmission device is used for receiving the environment information and sending the environment information to the second controller;

and the second controller is used for displaying the working condition information and the environment information, wherein a user can issue a control instruction for remotely controlling the crane according to the working condition information and the environment information.

In the embodiment of the present invention, the first wireless transmission device and the third wireless transmission device are wireless signal transceiving devices using a 5.8G frequency band.

In the embodiment of the present invention, the second wireless transmission device and the fourth wireless transmission device are wireless signal transceiving devices using a 433MHz frequency band.

In the embodiment of the invention, the first wireless transmission device is connected with the first controller through a CAN line.

In the embodiment of the invention, the second wireless transmission device is connected with the image acquisition device through a wire.

In the embodiment of the invention, the image acquisition device comprises a hoisting monitoring camera, a hanging point monitoring camera and a rotary monitoring camera.

In the embodiment of the invention, the crane operation end further comprises a winch encoder, a rotary encoder, a moment limiter and/or a main arm inclination angle sensor;

the first controller is further used for acquiring working condition information according to the winch encoder, the rotary encoder, the moment limiter and/or the main arm inclination angle sensor.

In the embodiment of the invention, the crane operation end further comprises a display device, and the display device is used for displaying the working condition information and the environment information.

The invention provides a method for remotely controlling a crane, which is applied to a crane operating end in the system for remotely controlling the crane, and comprises the following steps:

acquiring working condition information of the crane by using a first controller;

acquiring environmental information around the crane by using an image acquisition device;

the working condition information is sent to a third wireless transmission device in the remote control end through the first wireless transmission device;

and sending the environment information to a fourth wireless transmission device in the remote control end through the second wireless transmission device, so that a second controller in the remote control end receives a control instruction for remotely controlling the crane, which is issued by a user according to the working condition information acquired by the third wireless transmission device and the environment information acquired by the fourth wireless transmission device.

The third aspect of the present invention provides another method for remotely controlling a crane, which is applied to a remote control terminal in the above system for remotely controlling a crane, and comprises:

receiving working condition information sent by a first wireless transmission device in the crane operation end by using a third wireless transmission device;

receiving environmental information sent by a second wireless transmission device in the crane operation end by using a fourth wireless transmission device;

and the second controller is used for displaying the working condition information received by the third wireless transmission device and the environment information received by the fourth wireless transmission device and receiving a control instruction issued by a user according to the working condition information and the environment information for remotely controlling the crane.

In an embodiment of the present invention, the method further comprises:

after the control instruction is received, the third wireless transmission device is used for sending the control instruction to the first wireless transmission device in the crane operation end, so that the first controller in the crane operation end executes the control instruction.

In the embodiment of the invention, when the control command is a configuration working condition information command, the first controller is further used for judging whether the crane is in a remote mode or not and whether the crane is in an action state or not, and executing the control command only under the condition that the crane is in the remote mode and is not in the action state.

Through the technical scheme, the embodiment of the invention can send the working condition information and the ambient environment information of the crane to the remote control end, thereby enhancing the mastery degree of the remote control end on the crane and improving the accuracy and the safety of remote control; in addition, the working condition information and the surrounding environment information are transmitted separately, and the condition information is prevented from losing packets due to the influence of the transmission of the environment information.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a schematic block diagram of a system for remotely controlling a crane according to an embodiment of the present invention;

FIG. 2 is a schematic flow diagram of a method for remotely controlling a crane according to an embodiment of the present invention;

FIG. 3 is a schematic flow chart of a method for remotely controlling a crane according to another embodiment of the present invention;

FIG. 4 is a block diagram of a crane according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a crane control process according to an embodiment of the present invention;

fig. 6 is an internal structural diagram of a computer device according to an embodiment of the present invention.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

An embodiment of the present invention provides a system for remotely controlling a crane, as shown in fig. 1, the system including:

a crane operating end 100 comprising:

the first controller 101 is configured to obtain working condition information of the crane, and send the working condition information to the first wireless transmission device 103;

the image acquisition device 102 is used for acquiring environmental information around the crane and sending the environmental information to the second wireless transmission device 104;

the first wireless transmission device 103 is used for transmitting the working condition information to the third wireless transmission device 201 of the remote control end 200;

a second wireless transmission means 104 for transmitting the environment information to a fourth wireless transmission means 202 of the remote control terminal 200;

the remote control terminal 200 includes:

the third wireless transmission device 201 is used for receiving the working condition information and sending the working condition information to the second controller 203;

a fourth wireless transmission device 202, configured to receive the environment information and send the environment information to the second controller 203;

and the second controller 203 is used for displaying the working condition information and the environment information, wherein the user can issue a control instruction for remotely controlling the crane according to the working condition information and the environment information.

Specifically, the crane operation end 100 is disposed on the crane, and is configured to perform related operations according to a control command issued by a remote end. The remote control end 200 is disposed at a remote end and is used for remotely controlling the crane.

Here, the operating condition information of the crane includes information about the crane performing an operation, including: suspension arm working conditions, support leg working conditions and counterweight working conditions. The hoisting device comprises hoisting amplitude, hoisting height, rotation angle and the like. In practical application, the first controller 101 may obtain the working condition information of the crane through a sensor. For example, the hoisting amplitude is obtained by an amplitude sensor; obtaining the hoisting height through a height sensor; the rotation angle and the like are obtained by an angle sensor.

Specifically, in one embodiment, the crane operation end 100 further includes a hoisting encoder, a rotary encoder, a moment limiter and/or a main arm tilt sensor;

the first controller 101 is further configured to obtain operating condition information according to the winch encoder, the rotary encoder, the moment limiter, and/or the main arm tilt sensor.

The winding encoder is used for acquiring the number of rotation turns of the winding drum in the working condition information; the rotary encoder is used for acquiring a rotary angle in the working condition information; the moment limiter is used for acquiring a moment limit value in the working condition information; the main arm inclination angle sensor is used for acquiring the inclination angle of the main arm in the working condition information.

After obtaining the working condition information of the crane, the first controller 101 sends the obtained working condition information to the first wireless transmission device 103 at the crane operation end.

Further, the image capture device 102 may be a camera (e.g., a high definition camera or a super definition camera), including a hoist surveillance camera, a hanging point surveillance camera, and a slewing surveillance camera. Specifically, the quantity of camera can be a plurality of, sets up to a plurality of positions of hoist to comprehensively acquire the image information in a plurality of positions of hoist, in time monitor the all around environment of hoist comprehensively. The environmental information collected by the image collection device 102 may be a picture or a video clip; which may be a black and white picture or a color picture. After the image acquisition device 102 obtains the environmental information, the environmental information is sent to the second wireless transmission device 104 at the crane operation end.

Here, the first wireless transmission device 103 of the crane operation end 100 is connected in pair with the third wireless transmission device 201 of the remote control end 200; the second wireless transmission device 104 of the crane operation end 100 is connected with the fourth wireless transmission device 202 of the remote control end 200 in a pairing mode.

In practical application, the wireless connection mode between the first wireless transmission device 103 and the third wireless transmission device 201 may be bluetooth connection or WIFI connection. The wireless connection mode between the second wireless transmission device 104 and the fourth wireless transmission device 202 may be bluetooth connection or WIFI connection.

Further, the first wireless transmission device 103 and the third wireless transmission device 201 may be wireless signal transceiving devices using a 5.8G frequency band. The second wireless transmission device 104 and the fourth wireless transmission device 202 are wireless signal transceiving devices using 433MHz frequency band.

Data transmission between the first wireless transmission device 103 and the third wireless transmission device 201 and data transmission between the second wireless transmission device 104 and the fourth wireless transmission device 202 are respectively transmitted by adopting two different frequency bands, so that interference between the two data transmissions can be reduced, and therefore important data such as working condition data transmitted between the first wireless transmission device 103 and the third wireless transmission device 201 cannot be subjected to transmission interference due to data such as large-flow pictures or videos transmitted between the second wireless transmission device 104 and the fourth wireless transmission device 202, and packet loss of the important data such as the working condition data occurs, so that the crane works abnormally or the crane execution related operations are influenced.

In addition, the first wireless transmission device 103 and the third wireless transmission device 201 may use a 5.8G transmission band through an RTSP (Real Time Streaming Protocol) application Protocol. The second wireless transmitting device 104 and the fourth wireless transmitting device 202 use the 433MHz transmission band by the user-defined application layer protocol.

Here, data transmission is performed between the first wireless transmission device 103 and the third wireless transmission device 201, and between the second wireless transmission device 104 and the fourth wireless transmission device 202 through different protocols, so that reliability and safety of data transmission can be further ensured, and data transmission interference or data packet loss can be avoided.

In addition, to further enhance the data transmission, the following setting may be further performed:

in one embodiment, the first wireless transmission device 103 is connected to the first controller 101 through a CAN line.

Here, since the first wireless transmission device 103 and the first controller 101 transmit important information such as operating condition information; therefore, in order to ensure the safety and reliability of the transmission of the operating condition information when the operating condition information is transmitted between the first wireless transmission device 103 and the first controller 101, the first wireless transmission device 103 and the first controller 101 may be connected through a CAN line. Compared with wired connection, the CAN bus connection has higher safety, stability and anti-interference capability. And the CAN bus has lower power consumption when transmitting data, so that the power consumption of the crane during data transmission CAN be reduced by using the CAN bus to transmit data.

In addition, in an embodiment, the second wireless transmission device 104 is connected to the image capturing device 102 by a wire.

Here, the environment information is transmitted between the second wireless transmission device 104 and the image capturing device 102. The data volume of the environment information is large, so that the wire line which can transmit large data volume quickly and has low requirement on interference resistance can be selected for transmission.

In addition, in order to better display the operating condition information and the environmental information, a display device may be disposed on the crane operating end 100, and the display device is used for displaying the operating condition information and the environmental information.

Further, in order to better complete the control operation of the crane, after the second controller 203 receives the control command issued by the user, the control command may also be transmitted through the third wireless transmission device 201. Specifically, in an embodiment, the third wireless transmission device 201 is further configured to send a control instruction to the first wireless transmission device 103; the first wireless transmission device 103 is further configured to send a control instruction to the first controller 101; the first controller 101 is also used to execute control instructions.

In addition, in an embodiment, when the control command is a configuration condition information command, the first controller 101 is further configured to determine whether the crane is in the remote mode and in the operating state, and execute the control command only when the crane is in the remote mode and not in the operating state.

Here, when the crane is not in the remote mode or the crane is in the action state, the operation of the crane is influenced by updating the working condition information of the crane, so that potential safety hazards are caused, and the wrong configuration of the working condition information caused by wrong operation is avoided.

In addition, it should be noted that, besides the transmission of the operating condition information, the first controller 101 and the first wireless transmission device 103 may also transmit other important information of the crane, such as fault information, safety information, 360-degree view, hook monitoring, winch monitoring, and the like. The information can be obtained through a remote working condition synchronization system.

Through the technical scheme, the embodiment of the invention can send the working condition information and the ambient environment information of the crane to the remote control end, thereby enhancing the mastery degree of the remote control end on the crane and improving the accuracy and the safety of remote control; in addition, the working condition information and the surrounding environment information are transmitted separately, and the condition information is prevented from losing packets due to the influence of the transmission of the environment information.

In addition, based on the above system for remotely controlling a crane, an embodiment of the present invention further provides a method for remotely controlling a crane, as shown in fig. 2, the method including:

step 201: acquiring working condition information of the crane by using a first controller;

step 202: acquiring environmental information around the crane by using an image acquisition device;

step 203: the working condition information is sent to a third wireless transmission device in the remote control end through the first wireless transmission device;

step 204: and sending the environment information to a fourth wireless transmission device in the remote control end through the second wireless transmission device, so that a second controller in the remote control end receives a control instruction for remotely controlling the crane, which is issued by a user according to the working condition information acquired by the third wireless transmission device and the environment information acquired by the fourth wireless transmission device.

Specifically, the crane operation end is arranged on the crane and used for executing related operations according to a control command sent by a remote end. The remote control end is arranged at the far end and used for remotely controlling the crane.

Here, the operating condition information of the crane includes information about the crane performing an operation, including: suspension arm working conditions, support leg working conditions and counterweight working conditions. The hoisting device comprises hoisting amplitude, hoisting height, rotation angle and the like. In practical application, the first controller can obtain the working condition information of the crane through the sensor. For example, the hoisting amplitude is obtained by an amplitude sensor; obtaining the hoisting height through a height sensor; the rotation angle and the like are obtained by an angle sensor.

Further, the image acquisition device may be a camera (e.g., a high definition camera or a super definition camera), including a hoist surveillance camera, a hanging point surveillance camera, and a swivel surveillance camera. Specifically, the quantity of camera can be a plurality of, sets up to a plurality of positions of hoist to comprehensively acquire the image information in a plurality of positions of hoist, in time monitor the all around environment of hoist comprehensively. The environmental information collected by the image collecting device can be pictures or video clips; which may be a black and white picture or a color picture. And after the image acquisition device acquires the environmental information, the environmental information is sent to a second wireless transmission device at the crane operation end.

Here, the first wireless transmission device of the crane operation end is connected with the third wireless transmission device of the remote control end in a pairing mode; and the second wireless transmission device of the crane operation end is connected with the fourth wireless transmission device of the remote control end in a matching way.

Further, the first wireless transmission device and the third wireless transmission device may be wireless signal transceiving devices using a 5.8G frequency band. The second wireless transmission device and the fourth wireless transmission device are wireless signal transceiving devices using a 433MHz frequency band.

Data transmission between the first wireless transmission device and the third wireless transmission device and data transmission between the second wireless transmission device and the fourth wireless transmission device are respectively transmitted by adopting two different frequency bands, so that interference between the data transmission of the first wireless transmission device and the fourth wireless transmission device can be reduced, and important data such as working condition data transmitted between the first wireless transmission device and the third wireless transmission device cannot be subjected to transmission interference due to data such as large-flow pictures or videos transmitted between the second wireless transmission device and the fourth wireless transmission device, and packet loss of the important data such as the working condition data occurs, so that the crane works abnormally or the crane execution related operation is influenced.

Through the technical scheme, the embodiment of the invention can send the working condition information and the ambient environment information of the crane to the remote control end, thereby enhancing the mastery degree of the remote control end on the crane and improving the accuracy and the safety of remote control; in addition, the working condition information and the surrounding environment information are transmitted separately, and the condition information is prevented from losing packets due to the influence of the transmission of the environment information.

Further, another method for remotely controlling a crane is provided in an embodiment of the present invention, as shown in fig. 3, the method includes:

step 301: receiving working condition information sent by a first wireless transmission device in the crane operation end by using a third wireless transmission device;

step 302: receiving environmental information sent by a second wireless transmission device in the crane operation end by using a fourth wireless transmission device;

step 303: and the second controller is used for displaying the working condition information received by the third wireless transmission device and the environment information received by the fourth wireless transmission device and receiving a control instruction issued by a user according to the working condition information and the environment information for remotely controlling the crane.

Specifically, the crane operation end is arranged on the crane and used for executing related operations according to a control command sent by a remote end. The remote control end is arranged at the far end and used for remotely controlling the crane.

Here, the operating condition information of the crane includes information about the crane performing an operation, including: suspension arm working conditions, support leg working conditions and counterweight working conditions. The hoisting device comprises hoisting amplitude, hoisting height, rotation angle and the like. In practical application, the first controller can obtain the working condition information of the crane through the sensor. For example, the hoisting amplitude is obtained by an amplitude sensor; obtaining the hoisting height through a height sensor; the rotation angle and the like are obtained by an angle sensor.

Specifically, a first wireless transmission device of the crane operation end is connected with a third wireless transmission device of the remote control end in a pairing manner; and the second wireless transmission device of the crane operation end is connected with the fourth wireless transmission device of the remote control end in a matching way.

Further, the first wireless transmission device and the third wireless transmission device may be wireless signal transceiving devices using a 5.8G frequency band. The second wireless transmission device and the fourth wireless transmission device are wireless signal transceiving devices using a 433MHz frequency band.

Data transmission between the first wireless transmission device and the third wireless transmission device and data transmission between the second wireless transmission device and the fourth wireless transmission device are respectively transmitted by adopting two different frequency bands, so that interference between the data transmission of the first wireless transmission device and the fourth wireless transmission device can be reduced, and important data such as working condition data transmitted between the first wireless transmission device and the third wireless transmission device cannot be subjected to transmission interference due to data such as large-flow pictures or videos transmitted between the second wireless transmission device and the fourth wireless transmission device, and packet loss of the important data such as the working condition data occurs, so that the crane works abnormally or the crane execution related operation is influenced.

Further, to better accomplish the control operation of the crane, in one embodiment, the method further comprises:

after the control instruction is received, the third wireless transmission device is used for sending the control instruction to the first wireless transmission device in the crane operation end, so that the first controller in the crane operation end executes the control instruction.

In addition, in an embodiment, when the control command is the configuration condition information command, it is determined whether the crane is in the remote mode and in the operating state, and the control command is executed only when the crane is in the remote mode and not in the operating state.

Here, when the crane is not in the remote mode or the crane is in the action state, the operation of the crane is influenced by updating the working condition information of the crane, so that potential safety hazards are caused, and the wrong configuration of the working condition information caused by wrong operation is avoided.

Through the technical scheme, the embodiment of the invention can send the working condition information and the ambient environment information of the crane to the remote control end, thereby enhancing the mastery degree of the remote control end on the crane and improving the accuracy and the safety of remote control; in addition, the working condition information and the surrounding environment information are transmitted separately, and the condition information is prevented from losing packets due to the influence of the transmission of the environment information.

The present invention will be described in further detail with reference to the following application examples.

The application embodiment provides a remote control system of the crane for realizing the improvement of the monitoring capability of the working condition configuration function and the action control function of the crane, the self state of the crane and the real-time state of the surrounding environment in a remote control mode. The problem that when the crane is remotely controlled, the inconvenience is brought because an operator cannot configure working conditions is solved; meanwhile, the problem that the information of the crane acquired by an operator during remote control is too little, and the safety use of the crane is not facilitated is solved. In addition, this application embodiment can realize effectively synchronizing the on-vehicle computer of hoist with the hoist operating mode information that remote equipment configured under remote mode, reduces the degree of frequency that operating personnel went to the control room on the car, improves the convenience.

Referring to fig. 4, fig. 4 is a diagram illustrating a crane remote control system according to the present embodiment. The system comprises a visual sensor (which can be understood as an image acquisition device in the embodiment), a wireless AP (which can be understood as a second wireless transmission device in the embodiment), a crane vehicle-mounted display device (which can be understood as a display device in the embodiment), a sensor and a crane vehicle-mounted controller (which can be understood as a first controller in the embodiment) which are arranged on a crane; further comprising a remote signal transceiver (which may be understood as the third wireless transmission means in the above-described embodiment), a remote control and display device (which may be understood as the second controller in the above-described embodiment) arranged at a remote end. The visual sensor is connected with the wireless AP through a network cable, the wireless AP is connected with the crane vehicle-mounted display equipment through the network cable, the crane vehicle-mounted display equipment is connected with the crane vehicle-mounted controller through a CAN bus, and the crane vehicle-mounted controller is connected with the sensor. In addition, the crane vehicle-mounted controller is also connected with the remote signal transceiver through a CAN bus and is used for transmitting control instructions, configuration instructions, working condition information, fault information and the like between the crane and a remote end. The remote signal transceiver is further connected with the remote control and display device through a wireless 433MHz frequency band, and the remote control and display device is further connected with the wireless AP through a wireless 5.8G frequency band.

The large-flow video information collected by the vision sensor and transmitted to the far end is wirelessly transmitted through 5.8G with large high-frequency-section current-carrying capacity, and the small-flow data such as control instructions, configuration instructions, working condition information, fault information and the like are wirelessly transmitted through 433MHz with small low-frequency-section current-carrying capacity and strong anti-interference capacity. The crane vehicle-mounted controller receives the control information sent back to the crane local receiver from the remote end through the CAN bus, and processes the control information according to the mode state set by the user. If in the remote mode, the remote controller CAN also send the control instruction, the configuration instruction and the working condition information to the crane vehicle-mounted display equipment and the crane vehicle-mounted controller through the CAN bus, so that a user CAN complete a series of operations such as crane working condition configuration, crane action operation, crane state inquiry, crane fault inquiry, crane video monitoring and the like in the remote mode.

In addition, it should be noted that the vision sensor in the above embodiment includes a hoisting monitoring camera, a hanging point monitoring camera, and a rotation monitoring camera. The sensors in the above embodiments include a hoist encoder, a rotary encoder, a moment limiter, a main arm tilt sensor, and the like. The wireless AP includes a transmitting device for 5.8G wireless signals. The crane vehicle-mounted display equipment comprises a main control screen and an auxiliary monitoring display screen. The remote signal transceiver comprises a 433MHz wireless signal transceiver and can be installed on a crane.

In addition, referring to fig. 5, the remote control process of the present application embodiment may be as follows:

step 10: the remote working condition synchronization system synchronizes the working conditions of the vehicle-mounted display, and then step 20 is executed;

step 20: a user inputs a working condition setting instruction at an input unit of the remote synchronization system, and then step 30 is executed;

step 30: the instruction is sent to the vehicle-mounted transceiver through wireless, and then step 40 is executed;

step 40: the controller judges whether the remote mode is in the remote mode;

if the controller determines not to be in the remote mode, then step 50 is executed; if the controller determines that it is in the remote mode, go to step 60;

step 50: setting fails;

step 60: sending the instruction to the vehicle-mounted computer, and then executing step 70;

step 70: the vehicle-mounted computer judges whether the vehicle-mounted computer is in an action state;

if the vehicle-mounted computer judges that the vehicle-mounted computer is in the action state, executing the step 50; if the vehicle-mounted computer judges that the vehicle-mounted computer is not in the working state, executing the step 80;

step 80: the vehicle-mounted computer is successfully changed, and the new working condition after the vehicle-mounted computer is successfully changed is returned to the remote system.

In the remote control process, a user can input a working condition setting instruction at a far end through the remote control system, after the crane onboard controller receives the working condition setting instruction, whether the crane is in a remote mode or not is judged, if the crane is judged to be in the remote mode, the crane onboard controller can continuously judge whether the crane has actions in the aspects of winding, rotation, amplitude variation or stretching, if the crane does not have the actions, the crane onboard controller can store the information set by the working condition into an onboard display and modify the information, and after the modification is successful, a success instruction is returned.

In addition, the remote control and display device is a human-computer interaction terminal of the system, the system remotely synchronizes the working condition information, the fault information and the state information of the crane to a remote display end, the display displays corresponding key information according to the choice of a user, and meanwhile, the remote display end can also display a crane arm end video, a hoisting video and a 360-degree panoramic video so as to meet the monitoring requirement of the user and improve the control degree of a crane by a manipulator when the crane is operated.

The application embodiment can feed back equipment data recorded by the crane vehicle-mounted computer, including working condition information, fault information, safety information and the like, to an operator on the remote equipment in a remote mode; meanwhile, information such as 360-degree look-around, lifting hook monitoring, winch monitoring and the like can be fed back to an operator, the control degree of the operator on the crane is enhanced, and safety is improved. The remote control system in this embodiment can synchronize the information of the crane to the remote operation platform, wherein the information includes the working condition information, the fault information and the safety information of the crane, and further includes 360-degree look-around, lifting hook monitoring, hoisting monitoring and other information, and the operator operates the crane according to the feedback information, so that the control degree of the operator on the crane is enhanced, and the safety is improved.

In addition, this embodiment can also make the operator set up hoist operating mode information through remote operation platform to effectively synchronize the on-vehicle computer to the hoist with the hoist operating mode information that disposes, thereby effectively reduce the degree of frequency that operating personnel went to the last control room of hoist, improve the convenience.

Further, the second controller may be a computer device.

In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) connected through a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a 06. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement the method of any of the above embodiments. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a casing of the computer device, or an external keyboard, a touch pad or a mouse.

Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

An embodiment of the present invention provides an apparatus, where the apparatus includes a processor, a memory, and a program stored in the memory and capable of being executed on the processor, and the processor implements the method according to any one of the above embodiments when executing the program.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer readable media (transmyedia) such as modulated data signals and carrier waves.

It will be appreciated that the memory of embodiments of the invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The described memory for embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.