CN105589459A - Unmanned vehicle semi-autonomous remote control method - Google Patents
Unmanned vehicle semi-autonomous remote control method Download PDFInfo
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Abstract
An embodiment of the invention discloses an unmanned vehicle semi-autonomous remote control method, which comprises the steps that: an unmanned vehicle on-site control platform acquires on-side road condition images in real time, generates an autonomous guiding point, and sends the acquired on-side road condition images, the autonomous guiding point and a current motion state of an unmanned vehicle to a remote control platform; the remote control platform generates a manual guiding point according to the on-side road condition images, the autonomous guiding point and the current motion state of the unmanned vehicle, and sends the manual guiding point to the unmanned vehicle on-site control platform; the unmanned vehicle on-site control platform generates an unmanned vehicle control target according to the guidance of the manual guiding point, and controls operation of the unmanned vehicle according to the unmanned vehicle control target. By adopting the unmanned vehicle semi-autonomous remote control method, the inaccurate control over the unmanned vehicle caused by limited shooting range of the unmanned vehicle in the autonomous operation process of the unmanned vehicle is avoided, and thus the unmanned vehicle can avoid obstacles effectively and the flexibility of the unmanned vehicle is increased.
Description
Technical field
The present invention relates to automatic driving vehicle telecontrol engineering field, particularly relate to the autonomous remote control thereof of a kind of unmanned vehicle half.
Background technology
Unmanned on automatic driving vehicle general reference car, to possess certain autonomous driving ability ground automatic driving vehicle system, is called for short unmanned vehicle, has both comprised pilotless automobile, also comprises Small Ground Mobile Robot. Unmanned vehicle has broad application prospects in the various fields such as military, and meanwhile, unmanned vehicle telecontrol engineering belongs to the core technology of unmanned vehicle navigation and control technology.
At present, unmanned vehicle telecontrol engineering is from being broadly mainly divided into principal and subordinate's remote control and autonomous monitoring. Wherein, principal and subordinate's remote control refers to that operator sends directly manipulation instruction by simulating manipulation device continuously to unmanned vehicle, and directly manipulating instruction is mainly the control instruction (as front wheel angle, accelerator open degree, brake pedal position etc.) of the direct bottom servo control mechanism for unmanned vehicle; In principal and subordinate's remote control process, operator is by observing the raw video image that is gathered road conditions by unmanned vehicle, according to operator's perception and Decision Control ability to simulation operator acts, produce servo manipulation instruction and be sent to the bottom servo control mechanism of unmanned vehicle by simulation manipulation device, thereby the servo manipulation instruction being received according to bottom servo control mechanism by unmanned vehicle is moved, and completes the movement of unmanned vehicle. Autonomous monitoring refers to that unmanned vehicle moves according to set automated navigation system control unmanned vehicle, the running status of operator monitor unmanned vehicle, only send discrete task level monitored instruction to unmanned vehicle quarter (as unmanned vehicle need to start navigation feature etc.) where necessary and intervene unmanned vehicle operation, wherein, task level monitored instruction is the monitored instruction (as instructions such as loading tasks path data, startup navigation task, termination navigation task) in mission planning, decision-making level; In autonomous remote control process, unmanned vehicle moves in the mode of full automatic navigation control, without operator's concrete intervention (as the travel route by operator's control break unmanned vehicle etc.), the navigation map operation that makes unmanned vehicle completely gather the raw video image of road conditions according to this unmanned vehicle and set.
For the mode of autonomous monitoring unmanned vehicle, the original image information that unmanned vehicle collects by autonomous navigation system, basis moves from this unmanned vehicle of main control, the operation of not direct intervention of operator unmanned vehicle, in unmanned vehicle running, mainly by unmanned vehicle, the original image information obtaining is processed, and moved according to autonomous navigation system control unmanned vehicle; For the mode of principal and subordinate's remotely pilotless car, because unmanned vehicle only gathers the original image information of road conditions by picture pick-up device, and original image information is sent to remote control station, operating personnel directly move, also send if the SERVO CONTROL instructions such as front wheel angle are to unmanned vehicle according to original image information control simulation actuation means, the bottom servo-control mechanism of unmanned vehicle moves according to SERVO CONTROL instruction control unmanned vehicle, in principal and subordinate's remote control process, unmanned vehicle is only manipulated it by operating personnel as remotely-controlled object.
But, the mode of no matter moving for autonomous monitoring unmanned vehicle or the mode of principal and subordinate's remotely pilotless car, due to the limitation of unmanned vehicle photographs device, may due to unmanned vehicle because of the limitation of coverage causes unmanned vehicle cannot high-speed cruising, effective avoiding barrier and cause unmanned vehicle flexibility to reduce.
Summary of the invention
In the embodiment of the present invention, provide a kind of unmanned vehicle half autonomous remote control thereof, to solve the limitation due to unmanned vehicle photographs device in prior art, may due to unmanned vehicle because of the limitation of coverage causes unmanned vehicle cannot high-speed cruising, effective avoiding barrier and cause the problems such as unmanned vehicle flexibility reduction.
In order to solve the problems of the technologies described above, the embodiment of the invention discloses following technical scheme:
First aspect, the embodiment of the present invention provides a kind of unmanned vehicle half autonomous remote control thereof, and the autonomous remote control thereof of this unmanned vehicle half comprises:
The on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generates autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
Described remote control table generates artificial guiding point according to the motion state of described on-the-spot road conditions image, autonomous guiding point and unmanned vehicle, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Described unmanned vehicle field control platform generates unmanned vehicle control target according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control target control.
In conjunction with first aspect, in the possible implementation of first aspect the first, unmanned vehicle field control platform generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, and described video image is sent to remote control table; And,
Described remote control table generates artificial guiding point according to the motion state of described video image and unmanned vehicle.
In conjunction with first aspect, in the possible implementation of first aspect the second, remote control table generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, and described remote control table generates artificial guiding point according to the motion state of described video image and unmanned vehicle.
In conjunction with the possible implementation of first aspect the first or the possible implementation of first aspect the second, in the third possible implementation of first aspect, the autonomous remote control thereof of this unmanned vehicle half also comprises:
Comprise that by described the video image of on-the-spot road conditions image and autonomous guiding point converts the video image of enhancing to.
In conjunction with first aspect or the third possible implementation of first aspect, in the 4th kind of possible implementation of first aspect, the autonomous remote control thereof of this unmanned vehicle half also comprises:
Remote control table generates the video image that comprises artificial guiding point.
In conjunction with the 4th kind of possible implementation of first aspect, in the 5th kind of possible implementation of first aspect, the autonomous remote control thereof of this unmanned vehicle half also comprises:
The described video image that comprises autonomous guiding point and the video image that comprises artificial guiding point superpose mutually, the synthetic video image that comprises described autonomous guiding point and artificial guiding point.
In conjunction with first aspect, in the 6th kind of possible implementation of first aspect,
Remote control table sends the control instruction that comprises artificial guiding point to unmanned vehicle field control platform; And,
Unmanned vehicle field control platform is resolved described control instruction, and according to the operation of unmanned vehicle described in the control instruction control after resolving.
In conjunction with first aspect, in the 7th kind of possible implementation of first aspect,
Unmanned vehicle field control platform generates the control instruction that comprises artificial guiding point, and, according to the operation of unmanned vehicle described in described control instruction control.
In conjunction with the 6th kind of possible implementation of first aspect, in the 8th kind of possible implementation of first aspect, described control instruction is sent to described unmanned vehicle field control platform with fixed frequency.
In conjunction with first aspect, in the 9th kind of possible implementation of first aspect,
Described remote control table receives according to the analog manipulation data of described on-the-spot road conditions image and autonomous guiding point control simulation actuation means action generation;
Generate artificial guiding point according to the motion state of described analog manipulation data and unmanned vehicle.
From above technical scheme, the autonomous remote control thereof of the unmanned vehicle that the embodiment of the present invention provides half, by the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and the on-the-spot road conditions image gathering, autonomous guiding point or the video image that comprises autonomous guiding point of generation and the current motion state of unmanned vehicle are sent to remote control table, generate artificial guiding point by remote control table and be sent to unmanned vehicle field control platform, make unmanned vehicle field control platform according to the operation of the instruction control unmanned vehicle of artificial guiding point. the autonomous guiding point generating in real time by the unmanned vehicle field control platform self of this unmanned vehicle end is sent to remote control table, according to this autonomous guiding point, the motion state of on-the-spot road conditions image and unmanned vehicle generates artificial guiding point in remote control table, thereby make unmanned vehicle in the situation that of autonomous guiding point controlling run, can be according to the guiding control unmanned vehicle operation of artificial guiding point, avoid unmanned vehicle in autonomous operation process, cause unmanned vehicle control inaccurate because the coverage of unmanned vehicle is limited, cannot Accurate Prediction running orbit or the speed of service when higher, can be by remote control table by Artificial Control analog manipulation device, running status to unmanned vehicle is controlled, thereby make unmanned vehicle effectively keep away barrier and improve the problems such as flexibility.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The independently schematic flow sheet of remote control thereof of a kind of unmanned vehicle half that Fig. 1 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another kind of unmanned vehicle half that Fig. 2 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another unmanned vehicle half that Fig. 3 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another unmanned vehicle half that Fig. 4 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another kind of unmanned vehicle half that Fig. 5 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another unmanned vehicle half that Fig. 6 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another kind of unmanned vehicle half that Fig. 7 provides for the embodiment of the present invention;
The independently schematic flow sheet of remote control thereof of another unmanned vehicle half that Fig. 8 provides for the embodiment of the present invention.
Detailed description of the invention
In order to make those skilled in the art person understand better the technical scheme in the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, should belong to the scope of protection of the invention.
Referring to Fig. 1, the schematic flow sheet of a kind of unmanned vehicle providing for the embodiment of the present invention half autonomous remote control thereof, in the autonomous remote control thereof of the unmanned vehicle providing in the embodiment of the present invention half, field control platform is arranged on unmanned vehicle end, remote control table is arranged on Remote station end, thereby by Remote station end, unmanned vehicle end is carried out to long-range half autonomous remote control, control unmanned vehicle operation.
As shown in Figure 1, the autonomous remote control thereof of the unmanned vehicle that the embodiment of the present invention provides half comprises:
Step S10: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
In the autonomous remote control thereof of the unmanned vehicle proposing at the present embodiment half, unmanned vehicle field control platform is and is arranged on the control terminal of unmanned vehicle end and is arranged on the image capture device on unmanned vehicle, by the front of this image capture device Real-time Collection unmanned vehicle unmanned vehicle in running and/or the on-the-spot traffic information at rear, unmanned vehicle field control platform generates autonomous guiding point according to on-the-spot road conditions image, and the trajectory control unmanned vehicle forming by autonomous guiding point or by autonomous guiding point moves.
Meanwhile, this unmanned vehicle field control platform is also sent to remote control table by the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle; When the current motion state of this unmanned vehicle is unmanned vehicle field control platform and sends on-the-spot road conditions image and autonomous guiding point, the motion state data of this unmanned vehicle, wherein, motion state data include but not limited to the data such as speed, acceleration and steering angle of unmanned vehicle operation.
In the autonomous remote control thereof of the unmanned vehicle providing at the present embodiment half, unmanned vehicle field control platform calculates the autonomous guiding point of unmanned vehicle according to kinematics model and the kinetic model etc. of unmanned vehicle, thereby unmanned vehicle is not being had in manually operated situation, can on road surface, travel according to the autonomous guiding point of unmanned vehicle; Concrete, the computational methods of this autonomous guiding point with its other application documents of applying on the same day in open, in the application and be no longer described in detail.
Step S20: described remote control table generates artificial guiding point according to the motion state of described on-the-spot road conditions image, autonomous guiding point and unmanned vehicle, and described artificial guiding point is sent to this unmanned vehicle field control platform;
In the autonomous remote control thereof of the unmanned vehicle providing in the present embodiment half, this step S20 medium-long range control platform generates artificial guiding point according to the motion state of on-the-spot road conditions image, autonomous guiding point and unmanned vehicle:
When the unmanned vehicle field control platform of step S10 is sent to the current motion state of the on-the-spot road conditions image for unmanned vehicle collection of remote control table, autonomous guiding point and unmanned vehicle, this remote control table receives the current motion state of the on-the-spot road conditions image of this unmanned vehicle collection, autonomous guiding point and unmanned vehicle, and generates artificial guiding point according to the motion state of on-the-spot road conditions image, autonomous guiding point and unmanned vehicle; Wherein, this artificial guiding point is that the unmanned vehicle expection generating by staff's control simulation actuation means and according to remote control table arrives impact point or the control point that target location generates. This artificial guiding point is mainly controlled man-machine interactively equipment (being analog manipulation device) by operating personnel and is provided the desired motion control signal to unmanned vehicle control, and calculate this artificial guiding point according to the autonomous control method of kinematics model, kinetic model and unmanned vehicle, coordinate the autonomous guiding point control unmanned vehicle operation of unmanned vehicle by this artificial guiding point. Open in other application documents that the computational methods of this artificial guiding point can be applied on the same day at it, in this not go into detail. Concrete, the method that generates this artificial guiding point can, referring to the schematic flow sheet of the half autonomous remote control thereof of the unmanned vehicle shown in Fig. 2, as shown in Figure 2, generate artificial guiding point and comprise:
S201: described remote control table receives according to the analog manipulation data of described on-the-spot road conditions image and autonomous guiding point control simulation actuation means action generation;
Wherein, in this step S201, operating personnel, according to this scene road conditions image and autonomous guiding point control simulation actuation means action, by analog manipulation device action, unmanned vehicle is carried out to Artificial Control, and then this remote control table receive the analog manipulation data that analog manipulation device action produces; Wherein, this analog manipulation device be with natural way provide unmanned vehicle continuous turn to, accelerate, the equipment of the simulated maneuver manipulation signal such as deceleration, in the present embodiment, this analog manipulation device includes but not limited to simulate steering wheel, control crank and simulation pedal etc.
Step S202: generate artificial guiding point according to the motion state of described analog manipulation data and unmanned vehicle;
Wherein, in step S201 according to on-the-spot road conditions image and autonomous guiding point control simulation actuation means, receive by remote control table the analog manipulation data that this analog manipulation device produces, and then this remote control table generates artificial guiding point according to the motion state data of analog manipulation data and unmanned vehicle. Concrete, the generation method of artificial guiding point is no longer described in detail in the present embodiment.
Certainly, be not limited in above embodiment for the embodiment that generates artificial guiding point, the data that can be sent to remote control table according to unmanned vehicle field control platform are carried out adaptability revision and calculating, thereby the embodiment that generates artificial guiding point is adjusted, and related content no longer elaborates at this.
Concrete, shown in Figure 3, the embodiment of the present invention provides the schematic flow sheet of step S20 in the autonomous remote control thereof of unmanned vehicle half, specifically comprises:
Step S211: remote control table generates artificial guiding point;
Wherein, the video image that comprises autonomous guiding point that the on-the-spot road conditions image that remote control table sends according to the on-the-spot platform of unmanned vehicle, autonomous guiding point or the on-the-spot platform of unmanned vehicle generate, and generate artificial guiding point according to the motion state of unmanned vehicle; Or the motion state of the on-the-spot road conditions image that remote control table sends according to the on-the-spot platform of unmanned vehicle, autonomous guiding point and unmanned vehicle generates artificial guiding point, in the time generating artificial guiding point, in conjunction with kinematics model or the kinetic model of unmanned vehicle, concrete generating mode does not elaborate in the present embodiment.
Step S212: judge whether artificial guiding point changes;
Because remote control table sends artificial guiding point for sending in real time, need to judge by a judging unit whether artificial guiding point changes, concrete, can contrast the artificial guiding point of current expection by this judging unit whether identical with the artificial guiding point in a upper moment (wherein, can be according to artificial guiding point the steering angle of the position coordinates on video image and the artificial guiding point unmanned vehicle that can represent, the data such as acceleration and speed), if the artificial guiding point of current expection is different from the artificial guiding point in a upper moment, need Artificial Control unmanned vehicle to move, regenerate artificial guiding point by remote control table, if both are identical, turn to step S213.
Step S213: artificial guiding point is sent to unmanned vehicle field control platform;
Wherein, when artificial guiding point is sent to unmanned vehicle field control platform, can be directly the relevant information of artificial guiding point (as artificial guiding point concrete position coordinates etc. on road conditions image at the scene) be directly sent to unmanned vehicle field control platform; Or remote control table generates the control instruction of relevant control unmanned vehicle according to artificial guiding point, as control the steering angle of unmanned vehicle or the instruction of acceleration magnitude, then, remote control table is sent to unmanned vehicle field control platform by controlling the steering angle of unmanned vehicle or the instruction of acceleration magnitude.
In the autonomous remote control thereof of unmanned vehicle half of the step S20 that employing the present embodiment provides, the autonomous guiding point producing by unmanned vehicle self, by autonomous guiding point guiding unmanned vehicle autonomous operation, the autonomous guiding point and the on-the-spot road conditions image that generate are in real time sent to remote control table simultaneously, so that remote control table generates artificial guiding point according to the running status of unmanned vehicle and autonomous guiding point, by artificial guiding point, unmanned vehicle is accurately controlled.
Step S30: described unmanned vehicle field control platform generates unmanned vehicle control target according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control target control;
Wherein, in the autonomous remote control thereof of the unmanned vehicle proposing at the present embodiment half, if remote control table generates after artificial guiding point, directly the information of artificial guiding point is sent to unmanned vehicle field control platform, unmanned vehicle field control platform receives the information of this artificial guiding point, and generating unmanned vehicle control target according to the instruction of artificial guiding point, unmanned vehicle field control platform is according to the operation of controlling target control unmanned vehicle; Concrete, this unmanned vehicle field control platform generates for the direct control instruction of control unmanned vehicle bottom servo control mechanism according to artificial guiding point, and is sent to unmanned vehicle bottom servo control mechanism, by bottom servo control mechanism according to the operation of control instruction control unmanned vehicle. Wherein, the method that unmanned vehicle field control platform generates control instruction according to artificial guiding point does not elaborate in the present embodiment.
If remote control table generates artificial guiding point, generate the control instruction for controlling unmanned vehicle operation according to artificial guiding point, and control instruction is sent to unmanned vehicle field control platform; Now, unmanned vehicle field control platform receives the control instruction of this artificial guiding point, and resolves control instruction and (resolve to the control instruction of the bottom servo control mechanism that is directly used in unmanned vehicle; Comprise the control instruction such as steering angle, acceleration of unmanned vehicle), unmanned vehicle field control platform sends to the control instruction after resolving the bottom servo control mechanism of unmanned vehicle, by the bottom servo control mechanism of unmanned vehicle according to the operation of the control instruction control unmanned vehicle after resolving, thereby make unmanned vehicle under the autonomous operation effect of autonomous guiding point, then the control to running orbit in unmanned vehicle running according to the control of artificial guiding point.
The autonomous remote control thereof of unmanned vehicle half that adopts the present embodiment to provide, mutually mutual by carrying out between unmanned vehicle field control platform and remote control table, generate artificial guiding point by remote control table according to the autonomous guiding point of the on-the-spot road conditions of unmanned vehicle field control platform collection and unmanned vehicle self generation, and moved by unmanned vehicle field control platform control unmanned vehicle according to the instruction of artificial guiding point, not only effectively avoid unmanned vehicle to cause the lower situation of the speed of service of unmanned vehicle because of the limitation of coverage, and, make effectively avoiding obstacles and improve the flexibility of unmanned vehicle of unmanned vehicle, make unmanned vehicle increase Artificial Control on the basis of main control, thereby improve the accuracy to unmanned vehicle straighforward operation, improve the control performance of unmanned vehicle.
Referring to Fig. 4, be depicted as the embodiment of the present invention schematic flow sheet of another kind of unmanned vehicle half autonomous remote control thereof is provided, as shown in Figure 4, the autonomous remote control thereof of the unmanned vehicle that the present embodiment provides half comprises:
Step S10: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
Step S20: described remote control table generates artificial guiding point according to the motion state of described on-the-spot road conditions image, autonomous guiding point and unmanned vehicle, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Step S30: described unmanned vehicle field control platform generates unmanned vehicle control target according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control target control.
Step S40: remote control table generates the video image that comprises artificial guiding point;
Wherein, in step S40, this remote control table can generate the video image that only comprises artificial guiding point according to on-the-spot road conditions image and artificial guiding point, and can show the video image that this comprises artificial guiding point by display device, can intuitively know the expection travel route of unmanned vehicle by the video image that comprises artificial guiding point; And, can adjust artificial guiding point by this video image that comprises artificial guiding point. In implementation process, can convert by the artificial synthetic video image that comprises artificial guiding point the video image of enhancing to, make image information more clear, make to adjust artificial guiding point or unmanned vehicle and move more accurate.
The autonomous remote control thereof of unmanned vehicle half that adopts the present embodiment to provide, generate by increasing remote control table the video image that comprises artificial guiding point, can adjust and change artificial guiding point by this video image, thereby realize the Artificial Control to unmanned vehicle by artificial guiding point, improve unmanned vehicle operation stability.
Referring to Fig. 5, be depicted as the embodiment of the present invention schematic flow sheet of another unmanned vehicle half autonomous remote control thereof is provided, the autonomous remote control thereof of the unmanned vehicle that the present embodiment provides half comprises:
Step S10: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
Step S20: described remote control table generates artificial guiding point according to the motion state of described on-the-spot road conditions image, autonomous guiding point and unmanned vehicle, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Step S30: described unmanned vehicle field control platform generates unmanned vehicle control target according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control target control.
Step S40: remote control table generates the video image that comprises artificial guiding point;
Step S50: described in comprise autonomous guiding point video image and the video image that comprises artificial guiding point mutually superpose, the synthetic video image that comprises described autonomous guiding point and artificial guiding point.
Wherein, the video image that the step S50 providing at the present embodiment generates is the distant aobvious view that comprises autonomous guiding point and artificial guiding point, and the on-the-spot road conditions image that this distant aobvious view is the picture pick-up device Real-time Collection of unmanned vehicle combines with autonomous guiding point and artificial guiding point; Concrete, by autonomous guiding point according to the coordinate position on the on-the-spot road conditions image of unmanned vehicle collection, road conditions image at the scene overlaps, the video image that formation comprises autonomous guiding point, if no longer, in the situation of manual intervention, unmanned vehicle will be advanced according to the position of autonomous guiding point according to autonomous navigation system; Then, remote control table is according to the coordinate position of artificial guiding point, and this artificial guiding point is superimposed upon and on the video image that comprises autonomous guiding point, forms this distant aobvious view.
It should be noted that, in the time forming distant aobvious view, the artificial guiding point showing on video image or autonomous guiding point are not merely limited to a coordinate position point, can be including but not limited to by an artificial guiding point, autonomous guiding point and comprise the expected trajectory line of artificial guiding point and comprise the autonomous trajectory of autonomous guiding point, on this distant aobvious view, include but not limited to discrete guiding point and continuous prediction driving trace line etc. And the form of synthetic this distant aobvious view is to form in real time, and shows by display device, and convenient operation personnel can be by the distant aobvious view driving trace of anticipation unmanned vehicle intuitively.
In addition, can be referring to the schematic flow sheet to unmanned vehicle half autonomous remote control thereof in other accompanying drawings, thus the autonomous remote control thereof of the unmanned vehicle of the different situations to the embodiment of the present invention half is simply described.
Referring to Fig. 6, be depicted as the independently schematic flow sheet of remote control thereof of a kind of unmanned vehicle half that the embodiment of the present invention provides, as shown in Figure 6, the autonomous remote control thereof of the unmanned vehicle that the embodiment of the present invention provides half comprises:
Step S100: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state that comprises autonomous guiding point video image and unmanned vehicle generating is sent to remote control table;
Step S200: described remote control table generates artificial guiding point according to the motion state of described video image and unmanned vehicle, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Step S300: described unmanned vehicle field control platform generates unmanned vehicle control instruction according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control instruction control.
Wherein, in the autonomous remote control thereof of the unmanned vehicle providing at the present embodiment half, this unmanned vehicle field control platform is after collection site road conditions image and the autonomous guiding point of generation, can generate the video image that comprises autonomous guiding point according to on-the-spot road conditions image and autonomous guiding point, and the current motion state of this video image that comprises autonomous guiding point and unmanned vehicle is sent to remote control table; Received the current motion state of this video image that comprises autonomous guiding point and unmanned vehicle by remote control table, and then remote control table generates artificial guiding point according to the motion state of this video image and unmanned vehicle.
Further, in specific implementation process, in order to ensure to include the remote control table that transfers to that the video image of autonomous guiding point can be quick, complete, and can in remote control table, directly show or further process according to video image, in the present embodiment, this unmanned vehicle field control platform converts the video image that comprises autonomous guiding point to the video image of enhancing. Wherein, the video image of this enhancing is the video image directly gathering for unmanned vehicle and carries out denoising, be specially the noise of removing the video image that comprises autonomous guiding point, as remove trees shade in video image or the removal of other barrier shades, thereby avoid video image to send to after remote control table, affect the generation of artificial guiding point, thereby can ensure that artificial guiding point is more accurate.
And, in the present embodiment, the video image that comprises autonomous guiding point is changed in the process of video image of enhancing, the video image that also step S100 can be generated directly sends to remote control table, by this remote control table, video image is converted to the video image of enhancing, thereby be convenient to the video image control simulation actuation means action by strengthening, make the artificial guiding point of generation more accurate, be convenient to unmanned vehicle operation.
At the video image that comprises autonomous guiding point that the present embodiment is proposed, can be directly show the video image that this comprises autonomous guiding point by display device as LCDs, operator can be moved according to video image control simulation actuation means intuitively, thereby improve the accuracy of the analog manipulation data of analog manipulation device generation, and then improve the quality that generates artificial guiding point. About generating the method for artificial guiding point, in this not go into detail, can be referring to other related embodiment.
The autonomous remote control thereof of unmanned vehicle half that adopts the present embodiment to provide, arranges respectively field control platform and remote control table on this unmanned vehicle and remote control station; And pass through unmanned vehicle field control platform by the on-the-spot road conditions image gathering and autonomous guiding point, the video image that generation comprises autonomous guiding point, video image is sent to remote control table, thereby avoid in on-the-spot road conditions image and autonomous guiding point process of transmitting, may occur that communication link postpones or network problem, and then cause the situation of shortage of data, effectively improve data transmission bauds and data transmission quality between unmanned vehicle and remote control station. Wherein, correlation step S100 to the content of step S300 can be referring to other related embodiment.
Referring to Fig. 7, be depicted as the schematic flow sheet of the autonomous remote control thereof of another kind of unmanned vehicle that the embodiment of the present invention provides, as shown in Figure 7, the autonomous remote control thereof of the unmanned vehicle of the present embodiment comprises:
Step S1000: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
Step S2000: described remote control table generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, and generate artificial guiding point according to the motion state of described video image and unmanned vehicle, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Step S3000: described unmanned vehicle field control platform generates unmanned vehicle control instruction according to the instruction of described artificial guiding point, according to the operation of unmanned vehicle described in described control instruction control.
In the autonomous remote control thereof of the unmanned vehicle providing at the present embodiment half, unmanned vehicle field control platform is sent to the current motion state of the on-the-spot road conditions image for unmanned vehicle collection of remote control table, autonomous guiding point and unmanned vehicle, and this remote control table receives the current motion state of the on-the-spot road conditions image of this unmanned vehicle collection, autonomous guiding point and unmanned vehicle.
Remote control table generates according to the on-the-spot road conditions image receiving and autonomous guiding point the video image that comprises autonomous guiding point, be synthesized on on-the-spot road conditions image by this autonomous guiding point, concrete, autonomous guiding point on synthetic road conditions image is at the scene the geographical coordinate on on-the-spot road conditions image etc., and unmanned vehicle can be advanced automatically along the autonomous guiding point shown on video image; And then remote control table forms artificial guiding point according to the motion state of video image and unmanned vehicle, and artificial guiding point is sent to unmanned vehicle field control platform. In the present embodiment about the mode of generating video image and artificial guiding point does not repeat them here, can be referring to other related embodiment.
Simultaneously, in the present embodiment, remote control table can also be removed the noise in the video image that comprises autonomous guiding point of generation, as remove leaf shade larger in video image or barrier shade, thereby convert the video image of enhancing to, make the video image of enhancing more clear, be not only convenient to unmanned vehicle and successfully keep away in the process of moving barrier, and be convenient to the accurate judgement of remote control station end to barrier, reach accurate operation.
The autonomous remote control thereof of unmanned vehicle half that adopts the present embodiment to provide, by remote control table by the on-the-spot road conditions image receiving and autonomous guiding point, the video image that generation comprises autonomous guiding point, thereby avoid the processing of unmanned vehicle field control platform to data, thereby can ensure the integration of equipments of unmanned vehicle end, reduce electric energy loss and the size of unmanned vehicle, thereby improve the flexibility of unmanned vehicle. Wherein, correlation step S1000 to the content of step S3000 can be referring to other related embodiment.
Referring to Fig. 8, be depicted as the independently schematic flow sheet of remote control thereof of another unmanned vehicle half that the embodiment of the present invention provides, as shown in Figure 8, the autonomous remote control thereof of the unmanned vehicle that the present embodiment provides half comprises:
Step S1001: the on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generate autonomous guiding point, and, the current motion state of the on-the-spot road conditions image gathering, autonomous guiding point and unmanned vehicle is sent to remote control table;
Step S2001: described remote control table generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, and generates artificial guiding point according to the motion state of described video image and unmanned vehicle; Generate control instruction according to described artificial guiding point, and control instruction is sent to described unmanned vehicle field control platform;
Step S3001: described unmanned vehicle field control platform is resolved described control instruction, according to the operation of unmanned vehicle described in the control instruction control after resolving.
Wherein, in the unmanned vehicle field control platform providing at the present embodiment, remote control table generates after artificial guiding point, need this guiding point to be sent to unmanned vehicle field control platform, by unmanned vehicle field control platform according to the operation of the instruction control unmanned vehicle of artificial guiding point, concrete, the embodiment that described artificial guiding point is sent to unmanned vehicle field control platform comprises:
The first embodiment: remote control table generates after artificial guiding point, remote control table is directly sent to artificial guiding point unmanned vehicle field control platform, wherein, this artificial guiding point is that manually operated unmanned vehicle is expected the impact point (concrete, the artificial guiding point that is sent to unmanned vehicle field control platform can be position coordinates point on road conditions image at the scene etc.) of the target location that reaches; Thereby directly receive this artificial guiding point by unmanned vehicle field control platform; This unmanned vehicle field control platform can generate according to artificial guiding point the control instruction of the bottom servo control mechanism of corresponding unmanned vehicle, then moves according to control instruction control unmanned vehicle.
The second embodiment: remote control table generates after artificial guiding point, remote control table, taking artificial guiding point as controlling parameter, generates control instruction, and this control instruction is the half autonomous control instruction for controlling unmanned vehicle operation; After unmanned vehicle field control platform receives, resolve and be somebody's turn to do half autonomous control instruction, and according to independently control instruction control unmanned vehicle operation of half after resolving.
It should be noted that, the form of the control instruction producing determines according to concrete underwater acoustic remote control agreement, wherein, control instruction can be towards the serial port protocol form of RS232 interface or towards procotol form of Ethernet interface etc., thereby make this remote control table be sent to unmanned vehicle field control platform with fixed frequency, and the frequency of remote control table sending controling instruction is taking the control cycle of unmanned vehicle as standard.
Adopt the autonomous remote control thereof of unmanned vehicle half of the embodiment of the present invention, by directly generate control instruction according to artificial guiding point in remote control table, and control instruction is sent to unmanned vehicle field control platform, unmanned vehicle field control platform can directly be resolved control instruction, and according to the control instruction control unmanned vehicle operation after resolving; Artificial guiding point is directly changed into control instruction, thereby has effectively reduced volume of transmitted data, improved transmission speed, effectively avoid transmission speed to cause slowly unmanned vehicle control lag.
These are only the illustrative embodiments that the present embodiment proposes, also have other related embodiment in description of the present invention, all not describe, and in above each embodiment, the part that partial content mutually repeats, wherein do not describe each other can be referring to the description of related embodiment, at this and be not described in detail. And the concrete generation method of the concrete generation method of relevant artificial guiding point or autonomous guiding point does not elaborate in this application.
By the description of above embodiment of the method, those skilled in the art can be well understood to the mode that the present invention can add essential general hardware platform by software and realize, can certainly pass through hardware, but in a lot of situation, the former is better embodiment. Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product is stored in a storage medium, comprise that some instructions (can be personal computers in order to make a computer equipment, server, or the network equipment etc.) carry out all or part of step of method described in each embodiment of the present invention. And aforesaid storage medium comprises: various media that can be program code stored such as read-only storage (ROM), random access memory (RAM), magnetic disc or CDs.
Each embodiment in this description all adopts the mode of going forward one by one to describe, between each embodiment identical similar part mutually referring to, what each embodiment stressed is and the difference of other embodiment. Embodiment described above is only schematically, can select according to the actual needs some or all of module wherein to realize the object of the present embodiment scheme. Those of ordinary skill in the art, in the situation that not paying creative work, are appreciated that and implement.
Be understandable that, the present invention can be used in numerous general or special purpose computing system environment or configuration. For example: personal computer, server computer, handheld device or portable set, laptop device, multicomputer system, system based on microprocessor, set top box, programmable consumer-elcetronics devices, network PC, minicom, mainframe computer, the DCE that comprises above any system or equipment etc.
It should be noted that, in this article, such as term " comprise ", " comprising " or its any other variant be intended to contain comprising of nonexcludability, thereby the process, method, article or the equipment that make to comprise a series of key elements not only comprise those key elements, but also comprise other key elements of clearly not listing, or be also included as the intrinsic key element of this process, method, article or equipment. The in the situation that of more restrictions not, the key element being limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises described key element and also have other identical element.
The above is only the specific embodiment of the present invention, makes those skilled in the art can understand or realize the present invention. To be apparent to one skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from the spirit or scope of the present invention, realize in other embodiments. Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the autonomous remote control thereof of unmanned vehicle half, is characterized in that, comprising:
The on-the-spot road conditions image of unmanned vehicle field control platform Real-time Collection, generates autonomous guiding point, and, by showing of gatheringThe current motion state of field road conditions image, autonomous guiding point and unmanned vehicle is sent to remote control table;
Described remote control table generates people according to the motion state of described on-the-spot road conditions image, autonomous guiding point and unmanned vehicleWork guiding point, and described artificial guiding point is sent to described unmanned vehicle field control platform;
Described unmanned vehicle field control platform generates unmanned vehicle control target according to the instruction of described artificial guiding point, according to instituteState the operation of controlling unmanned vehicle described in target control.
2. the autonomous remote control thereof of unmanned vehicle according to claim 1 half, is characterized in that,
Unmanned vehicle field control platform generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, by described videoImage is sent to remote control table; And,
Described remote control table generates artificial guiding point according to the motion state of described video image and unmanned vehicle.
3. the autonomous remote control thereof of unmanned vehicle according to claim 1 half, is characterized in that,
Remote control table generates the video image that comprises on-the-spot road conditions image and autonomous guiding point, and described Long-distance ControlPlatform generates artificial guiding point according to the motion state of described video image and unmanned vehicle.
4. according to the autonomous remote control thereof of the unmanned vehicle described in claim 2 or 3 half, it is characterized in that, also comprise:
Comprise that by described the video image of on-the-spot road conditions image and autonomous guiding point converts the video image of enhancing to.
5. according to the autonomous remote control thereof of the unmanned vehicle described in claim 1 or 3 half, it is characterized in that, also comprise:
Remote control table generates the video image that comprises artificial guiding point.
6. the autonomous remote control thereof of unmanned vehicle according to claim 5 half, is characterized in that, also comprises:
The described video image that comprises autonomous guiding point and the video image that comprises artificial guiding point superpose mutually, synthetic comprisingThe video image of described autonomous guiding point and artificial guiding point.
7. the autonomous remote control thereof of unmanned vehicle according to claim 1 half, is characterized in that,
Remote control table sends the control instruction that comprises artificial guiding point to unmanned vehicle field control platform; And,
Unmanned vehicle field control platform is resolved described control instruction, and according to unmanned vehicle described in the control instruction control after resolvingOperation.
8. the autonomous remote control thereof of unmanned vehicle according to claim 1 half, is characterized in that,
Unmanned vehicle field control platform generates the control instruction that comprises artificial guiding point, and, according to described control instruction controlMake the operation of described unmanned vehicle.
9. the autonomous remote control thereof of unmanned vehicle according to claim 7, is characterized in that, described control instruction is to fixFrequency is sent to described unmanned vehicle field control platform.
10. the autonomous remote control thereof of unmanned vehicle according to claim 1, is characterized in that,
Described remote control table receives according to described on-the-spot road conditions image and autonomous guiding point control simulation actuation means actionThe analog manipulation data that produce;
Generate artificial guiding point according to the motion state of described analog manipulation data and unmanned vehicle.
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Address after: 410073 Hunan province Changsha Kaifu District, Deya Road No. 109 Patentee after: National University of Defense Technology Address before: 410073 Hunan province Changsha Kaifu District, Deya Road No. 109 Patentee before: NATIONAL University OF DEFENSE TECHNOLOGY |
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Application publication date: 20160518 Assignee: HUNAN HANGTIAN CHENGYUAN PRECISION MACHINERY Co.,Ltd. Assignor: National University of Defense Technology Contract record no.: X2023980042939 Denomination of invention: Semiautonomous remote control method for unmanned vehicles Granted publication date: 20190712 License type: Common License Record date: 20231009 |