CN113971877A - Remote control system and remote control method for unmanned vehicle - Google Patents
Remote control system and remote control method for unmanned vehicle Download PDFInfo
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Abstract
The invention discloses a remote control system of an unmanned vehicle, which comprises a wireless remote controller and a control terminal; the wireless remote controller comprises a wireless remote controller MCU, a first wireless transceiving module, a first redundant wireless transceiving module, a liquid crystal display and a radio detection module which are all connected with the wireless remote controller MCU; the control terminal comprises a second wireless transceiving module, a second redundant wireless transceiving module, a gyroscope, a control terminal MCU, a first isolation CAN communication module and a second isolation CAN communication module, wherein the control terminal MCU is respectively connected with the second wireless transceiving module, the second redundant wireless transceiving module, the gyroscope, the first isolation CAN communication module and the second isolation CAN communication module. The invention can control the vehicle by using the remote control mode, and can also solve the problems of unstable communication in the remote control process and abnormal motion state in the vehicle running process, thereby protecting the safety of personnel and property.
Description
Technical Field
The invention relates to the field of data processing, in particular to a remote control system and a remote control method for an unmanned vehicle.
Background
In recent years, there has been an increasing interest in unmanned technology, wherein a large number of application scenarios such as low-speed unmanned cleaning vehicles, logistics vehicles and the like are owned in low-speed automatic driving, and the unmanned technology is gradually put into commercial use on a large scale. However, the existing unmanned technology is not mature enough, the unmanned vehicle is required to be taken over manually and restarted manually, a wireless remote control system is generally required to perform auxiliary control on the unmanned vehicle without an actual vehicle driving function, and corresponding business functions are required to be realized on the unmanned vehicle, such as a cleaning function of the unmanned sweeper and a cargo loading and unloading function of a logistics vehicle.
Disclosure of Invention
In order to solve the technical problems, the invention provides a remote control system of an unmanned vehicle, which has a simple structure and works reliably, and provides a corresponding remote control method.
The technical scheme for solving the technical problems is as follows: a remote control system of an unmanned vehicle comprises a wireless remote controller and a control terminal;
the wireless remote controller comprises a wireless remote controller MCU, a first wireless transceiving module, a first redundant wireless transceiving module, a liquid crystal display and a radio detection module, wherein the wireless remote controller MCU is respectively connected with the first wireless transceiving module, the first redundant wireless transceiving module, the liquid crystal display and the radio detection module;
the wireless remote controller MCU is internally provided with a digital-analog acquisition module which is used for acquiring electric signals generated when a remote controller switch and a deflector rod are operated, the wireless remote controller MCU generates a control data packet according to the electric signals, sends the control data packet to the first wireless transceiving module and the first redundant wireless transceiving module, analyzes return data packets received from the first wireless transceiving module and the first redundant wireless transceiving module at the same time, and controls the liquid crystal display to display corresponding information; the wireless remote control MCU controls the radio detection module to detect the use condition of a wireless frequency spectrum, and adjusts the communication frequency bands of the first wireless transceiver module and the first redundant wireless transceiver module;
the first wireless transceiver module is used for receiving the control data packet sent by the wireless remote control MCU, carrying out radio frequency modulation on the control data packet to generate a radio frequency signal, analyzing the radio frequency signal sent by the second wireless transceiver module from the control terminal, generating a return data packet and sending the return data packet to the wireless remote control MCU;
the first redundant wireless transceiver module is used for realizing the same data transmission function as the first wireless transceiver module in different communication frequency bands;
the liquid crystal display is used for displaying returned data information and remote controller state information analyzed by the wireless remote controller MCU;
the radio detection module is used for detecting the use condition of the current radio frequency spectrum in real time so as to avoid the crowded frequency band;
the control terminal comprises a second wireless transceiver module, a second redundant wireless transceiver module, a gyroscope, a control terminal MCU, a first isolated CAN communication module and a second isolated CAN communication module, wherein the control terminal MCU is respectively connected with the second wireless transceiver module, the second redundant wireless transceiver module, the gyroscope, the first isolated CAN communication module and the second isolated CAN communication module;
the second wireless transceiving module is used for receiving the radio frequency signal sent by the first wireless transceiving module, filtering and demodulating the radio frequency signal, generating a control data packet and sending the control data packet to the control terminal MCU; meanwhile, modulating a return data packet sent by the MCU processor of the control terminal to generate a radio frequency signal and sending the radio frequency signal to the first wireless transceiving module;
the second redundant wireless transceiver module is used for realizing the same data transmission function as the second wireless transceiver module in different communication frequency bands;
the gyroscope is used for detecting the posture of the vehicle and acquiring all-dimensional dynamic information of left-right inclination, front-back inclination and left-right swinging of the vehicle and acceleration information in different directions of XYZ;
the control terminal MCU processor is used for controlling the second wireless transceiver module and the second redundant wireless transceiver module to establish a communication link with the wireless remote controller, receiving a control data packet, generating a logic data packet according with a protocol of a vehicle bottom controller according to the control data packet, and transmitting the logic data packet to the bottom controller through the first isolated CAN communication module; reading vehicle state information through the first isolated CAN communication module, packaging the vehicle state information into a return data packet, and sending the return data packet to the second wireless transceiving module; reading an instruction sent by the unmanned aerial vehicle upper-mounted device through the second isolated CAN communication module, analyzing and packaging the instruction into a logic data packet conforming to a protocol of a vehicle bottom controller, sending the logic data packet to the bottom controller through the first isolated CAN communication module, reading vehicle attitude data of the gyroscope at the same time, and judging whether emergency stop is needed through an intelligent protection algorithm;
the first isolated CAN communication module is used for receiving and transmitting data messages sent by the chassis;
and the second isolated CAN communication module is used for receiving and transmitting the data message sent by the unmanned upper part and is physically isolated from the first isolated CAN communication module.
In the remote control system of the unmanned vehicle, the remote controller switch comprises a transverse and longitudinal control rocker, a gear button, a service button, an emergency stop button and a right-releasing button.
In the remote control system of the unmanned vehicle, the first wireless transceiver module, the first redundant wireless transceiver module, the second wireless transceiver module and the second redundant wireless transceiver module have the same structure and respectively comprise a transmitting antenna, a receiving antenna and a modulation and demodulation chip;
the transmitting antenna is used for transmitting a radio frequency modulation signal and performing gain on the radio frequency modulation signal to enlarge a transmitting range;
the receiving antenna is used for receiving the radio frequency modulation signal and filtering the radio frequency modulation signal;
the modulation and demodulation chips of the first wireless transceiving module and the first redundant wireless transceiving module are used for demodulating the filtered radio-frequency signal, analyzing the demodulated radio-frequency signal to generate a return data packet and sending the return data packet to the wireless remote control unit MCU; the remote control MCU is used for acquiring electric signals generated when a switch and a deflector rod on the remote control are operated, packaging the electric signals into control data packets, sending the control data packets to the first wireless transceiving module and the first redundant wireless transceiving module, modulating radio frequency signals through the modulation and demodulation chip and sending the radio frequency signals through the transmitting antenna;
the modulation and demodulation chips of the second wireless transceiver module and the second redundant wireless transceiver module are used for demodulating the filtered radio-frequency signal, generating a control data packet and sending the control data packet to the control terminal MCU; and the control terminal MCU is used for modulating a return data packet, sending the return data packet to the second wireless transceiver module and the second redundant wireless transceiver module, modulating a radio frequency signal by a modulation and demodulation chip and sending the radio frequency signal through the transmitting antenna.
In the remote control system of the unmanned vehicle, the first wireless transceiver module and the first redundant wireless transceiver module are used for transmitting a first matching signal to the second wireless transceiver module and the second redundant wireless transceiver module, and the second wireless transceiver module and the second redundant wireless transceiver module receive the first matching signal for pairing; the second wireless transceiver module and the second redundant wireless transceiver module are used for transmitting a second matching signal to the first wireless transceiver module and the first redundant wireless transceiver module, and the first wireless transceiver module and the first redundant wireless transceiver module receive the second matching signal and carry out pairing; after the pairing is finished, adjusting a channel according to a frequency band result detected by the radio detection module; the first wireless transceiving module, the second wireless transceiving module, the first redundant wireless transceiving module and the second redundant wireless transceiving module are connected to different vehicles, and the vehicles are controlled through seamless switching of the vehicle switching deflector rod.
According to the remote control system of the unmanned vehicle, the first wireless transceiving module and the second wireless transceiving module communicate through any one of 433MHZ ASK modulation technology, FSK modulation technology, QFSK modulation technology, LORA and 2.4G wireless technology, and meanwhile the first wireless transceiving module, the second wireless transceiving module, the first redundant wireless transceiving module and the second redundant wireless transceiving module adopt different communication frequency bands and respectively use frequency hopping communication.
A remote control method of an unmanned vehicle, comprising the steps of:
step 101: the wireless remote controller MCU establishes connection with the control terminal through an intelligent communication algorithm;
step 102: a digital-analog acquisition module arranged in the wireless remote controller MCU acquires electric signals generated when a remote controller switch and a deflector rod are operated;
step 103: the wireless remote control MCU packs the electric signals to generate a control data packet and sends the data packet to the first wireless transceiving module and the first redundant wireless transceiving module;
step 104: the first wireless transceiver module and the first redundant wireless transceiver module receive a control data packet sent by the wireless remote control MCU, modulate the control data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal through a sending antenna;
step 105: the second wireless transceiver module and the second redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, modulate the radio frequency modulation signal into a control data packet and respectively return a signal value;
step 106: the control terminal MCU reads the second wireless transceiver module and the control data packet returned by the second redundant wireless transceiver module to carry out integrity and consistency analysis;
step 107: the control terminal MCU reads gyroscope data and reads vehicle related information through the first isolated CAN communication module;
step 108: the control terminal MCU sends gyroscope data, vehicle related information, signal strength, integrity and consistency results to an intelligent protection algorithm to comprehensively judge the vehicle running state;
step 109: judging whether the vehicle is suddenly stopped through an intelligent protection algorithm, if so, entering a step 110; otherwise, go to step 111;
step 110: stopping the vehicle suddenly, and ending the control;
step 111: the control terminal MCU analyzes the control data packet and reads the relevant information of the vehicle through the first isolated CAN communication module;
step 112: judging whether an emergency stop key is pressed down, if so, stopping the vehicle suddenly, otherwise, entering a step 113;
step 113: judging whether the permission key is pressed, if so, entering a step 115, otherwise, entering a step 114;
step 114: the control terminal MCU analyzes the control data packet, generates a logic data packet corresponding to the vehicle type, sends the logic data packet to the first isolation CAN communication module and shields data from the second isolation CAN communication module;
step 115: and the control terminal MCU issues data of the unmanned aerial vehicle upper-mounted controller and the bottom layer controller through the first isolation CAN communication module and the second isolation CAN communication module to finish data analysis, encapsulation and forwarding.
The remote control method of the unmanned vehicle further comprises:
step 116: the control terminal MCU packs the vehicle information into a return data packet and sends the return data packet to the second wireless transceiver module and the second redundant wireless transceiver module;
step 117: the second wireless transceiver module and the second redundant wireless transceiver module receive a return data packet sent by the control terminal MCU, modulate the return data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal to the national sending antenna;
step 118: the first wireless transceiver module and the first redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, demodulate the radio frequency modulation signal into a return data packet and send the return data packet to the MCU of the wireless remote control;
step 119: the wireless remote controller MCU analyzes the return data packet and sends the return data packet to the liquid crystal display;
step 120: the liquid crystal display displays the feedback information.
In the step 101, the intelligent communication algorithm realizes the functions of pairing, frequency hopping communication, redundant backup transmission and optimal channel selection between the remote controller and the terminal;
specifically, during pairing, the two groups of transceiver modules are paired in a certain fixed channel of two different frequency bands respectively, after the two groups of transceiver modules are correspondingly connected, the wireless remote control unit MCU controls the radio detection module to detect the optimal frequency band to generate a code sequence, and then the code sequence is synchronously transmitted to the control terminal through the two groups of transceiver modules to carry out frequency hopping communication; and the control terminal MCU compares and checks the two groups of data packets after receiving the data packets, so that the data integrity is ensured.
The remote control method of the unmanned vehicle further comprises:
the second wireless transceiver module and the second redundant wireless transceiver module receive an emergency stop signal from the wireless remote controller, the control terminal MCU generates a stop instruction, sends the stop instruction to the bottom controller, controls the vehicle to stop emergently, and simultaneously disconnects data forwarding between the second isolated CAN communication module and the first isolated CAN communication module and reports a take-over state to the unmanned aerial vehicle for uploading.
In the step 108, the intelligent protection algorithm uses a convolutional neural network to compose data in a certain time into a first matrix with a dimension of Wdata × Htime, the first matrix obtains a first tensor with an N × C dimension through a fully connected layer, the first tensor is subjected to convolution operation with three convolution kernels of Conv1, Conv2 and Conv3 as 3 × 3N to obtain a feature map F0, the feature map F0 is subjected to convolution operation with three convolution kernels of Conv4, Conv5 and Conv6 to obtain three feature maps F1, F2 and F3 with three dimensions of nn × N × C, the F1 is subjected to transposition operation with the F2, the obtained result is subjected to softmax and then multiplied with the F3, the final result is added with the F0 to obtain a second tensor with an N × C dimension, the second tensor is subjected to softmax operation, and the final result is simultaneously obtained as a row of Wdata matrix, and the original matrix is selected as Wdata K1, and obtaining a third matrix with the dimension of F1 after a plurality of fully-connected layers, splicing the second matrix of K1 with the third matrix of F1 to obtain a fourth matrix of (F + K) 1, obtaining a fifth matrix of 2X 1 by the fourth matrix through one fully-connected layer, namely the output of the algorithm, and corresponding to different results, namely sudden stop or no sudden stop, by judging the position of the fifth matrix as 1.
The invention has the beneficial effects that: by applying the remote control system and the remote control method of the unmanned vehicle, the vehicle can be controlled by using the remote control mode in necessary situations, if the unmanned scheme has a fault, the remote control mode can be entered to assist in controlling the vehicle to return to overhaul, or the control of the vehicle, specific service functions and the like can be manually realized by directly using the remote controller, meanwhile, the problems of unstable communication in the remote control process and abnormal motion state in the vehicle running process are solved, and the personnel and property safety is protected.
Drawings
Fig. 1 is a block diagram showing the construction of a remote control system according to the present invention.
Fig. 2 is a block diagram of the wireless remote control of fig. 1.
Fig. 3 is a block diagram of a control terminal in fig. 1.
Fig. 4 is a flow chart of the remote control method of the present invention.
Fig. 5 is a network structure diagram of the intelligent protection algorithm of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1 to 3, a remote control system for an unmanned vehicle includes a wireless remote controller 1 and a control terminal 2.
The wireless remote controller 1 comprises a wireless remote controller MCU11, a first wireless transceiver module 13, a first redundant wireless transceiver module 15, a liquid crystal display 14 and a radio detection module 16, wherein the wireless remote controller MCU11 is respectively connected with the first wireless transceiver module 13, the first redundant wireless transceiver module 15, the liquid crystal display 14 and the radio detection module 16.
The wireless remote controller MCU11 is internally provided with a digital-analog acquisition module 12, the digital-analog acquisition module 12 is used for acquiring electric signals generated when a remote controller switch and a deflector rod are operated, and the remote controller switch comprises a transverse longitudinal control rocker, a gear button, a service button, an emergency stop button and a right releasing button; the wireless remote control MCU11 generates a control data packet according to the electrical signal, sends the control data packet to the first wireless transceiving module 13 and the first redundant wireless transceiving module 15, and simultaneously parses the backhaul data packet received from the first wireless transceiving module 13 and the first redundant wireless transceiving module 15, and controls the liquid crystal display 14 to display corresponding information; the wireless remote control MCU11 controls the radio detection module 16 to detect the usage of the radio spectrum, and adjusts the communication frequency bands of the first wireless transceiver module 13 and the first redundant wireless transceiver module 15.
The first wireless transceiving module 13 is configured to receive the control data packet sent by the wireless remote control MCU11, perform radio frequency modulation on the control data packet to generate a radio frequency signal, analyze the radio frequency signal sent by the second wireless transceiving module from the control terminal 2, generate a backhaul data packet, and send the backhaul data packet to the wireless remote control MCU 11.
The first redundant wireless transceiver module 15 is configured to implement the same data transmission function as the first wireless transceiver module 13 in different communication frequency bands.
The lcd 14 is used for displaying the feedback data information and the remote controller status information analyzed by the MCU11, including but not limited to the remote controller voltage, signal strength, chassis gear, BMS information, positioning information, steering information, and vehicle body ultrasonic sensor data.
The radio detection module 16 is configured to detect a current usage of the radio spectrum in real time to avoid a congested frequency band.
The wireless remote control system has two working modes, a matching mode and a working mode. The control terminal 2 receives the matching message from the CAN bus to enter a matching mode, and the wireless remote controller 1 CAN be automatically matched with the control terminal 2 after being electrified. The matching mode indicates that the wireless remote control system is successfully matched with the vehicle, and the vehicle can be controlled in a remote mode only after the wireless remote control system enters the working mode.
Each control terminal 2 has its own ID code, the wireless remote controller 1 only acts on the control terminal 2 matching the ID, and the remote controller control terminals 2 with different IDs ignore the signal.
And the transverse and longitudinal control rocker is used for controlling the front-back movement and left-right steering of the vehicle.
The gear keys comprise a forward gear, a neutral gear and a backward gear, and the vehicle traveling direction can be switched through the gears.
The service key can control the lifting and descending of a fork when the vehicle is a logistics AGV car, and control the functions of cleaning, sprinkling, lifting of a garbage can and the like when the vehicle is an unmanned cleaning vehicle.
And the emergency stop key is used for emergently stopping the vehicle, and after the emergency stop key is pressed, the vehicle exits the unmanned driving mode and is automatically parked, and meanwhile, the service function is stopped.
The right-releasing control key is used for switching a manned mode and an unmanned mode, the vehicle can enter the unmanned mode only after the key is pressed down, if the key state is recovered in the unmanned mode, the vehicle enters the manned mode, and at the moment, the control terminal 2 reports a takeover state to the unmanned uploading.
When one of the keys on the wireless remote control system is pressed, a level signal, such as a high level signal, is generated, the digital-analog acquisition module 12 in the wireless remote control MCU11 processor acquires the signal, and then the wireless remote control MCU11 processor generates a control data packet according to the high level signal and the electrical signals of the other keys.
The action of the remote controller driving lever generates an analog signal, which is collected by the digital-analog collecting module 12 and processed by the MCU processor of the line remote controller.
The transverse and longitudinal control of the vehicle is realized by a deflector rod, wherein a left deflector rod and a right deflector rod are arranged on the remote controller, the right deflector rod controls the longitudinal function of the vehicle, and the right deflector rod corresponds to the size of an accelerator of the vehicle forwards and corresponds to the braking force backwards; the left shift lever controls the lateral function of the vehicle, the left shift lever turns left, the vehicle turns left, the left shift lever turns right, and the vehicle turns right.
The first wireless transceiving module 13 and the first redundant wireless transceiving module 15 may be wireless transceiving chips, and the signal of the wireless remote control MCU11 may be transmitted to the wireless transceiving chips through General-purpose input/output (GPIO), which includes but is not limited to serial port, SPI, and IIC.
The first wtru 13 and the first redundant wtru 15 may modulate the data packets, for example, onto 433MHZ and 2452MHZ radio frequency signals, respectively, and transmit the data packets to the control terminal 2 through a transmitting antenna. Meanwhile, the radio frequency signal transmitted by the second wireless transceiving module in the control terminal 2 is received, demodulated into a return data packet and sent to the wireless remote control MCU11 processor. The transmitting antenna can adopt a ceramic antenna, an onboard antenna or an external antenna, and the modulation mode can adopt FSK modulation and QFSK modulation.
Further, the wireless remote controller 1 further includes a battery, and the regulated power supply module 17 converts the voltage of the lithium battery into a stable system voltage to be provided to other modules.
The control terminal 2 comprises a second wireless transceiving module 22, a second redundant wireless transceiving module 23, a gyroscope 24, a control terminal MCU21, a first isolated CAN communication module 25 and a second isolated CAN communication module 26, wherein the control terminal MCU21 is respectively connected with the second wireless transceiving module 22, the second redundant wireless transceiving module 23, the gyroscope 24, the first isolated CAN communication module 25 and the second isolated CAN communication module 26.
The second wireless transceiver module 22 is configured to receive the radio frequency signal sent by the first wireless transceiver module 13, filter and demodulate the radio frequency signal, generate a control data packet, and send the control data packet to the control terminal MCU 21; meanwhile, the backhaul data packet sent by the control terminal MCU21 processor is modulated to generate a radio frequency signal, and the radio frequency signal is sent to the first wireless transceiving module 13.
The second redundant wireless transceiver module 23 is configured to implement the same data transmission function as the second wireless transceiver module 22 in different communication frequency bands.
The gyroscope 24 is used for detecting the vehicle attitude and obtaining the omnibearing dynamic information of the left-right inclination, the front-back inclination and the left-right swing of the vehicle and the acceleration information in different directions of XYZ.
The control terminal MCU21 processor is used for controlling the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 to establish a communication link with the wireless remote controller 1 and receive control data packets, and compare and check the two groups of control data packets, if the two groups of control data packets are checked to be consistent, a logic data packet conforming to the protocol of the vehicle bottom layer controller is generated and sent to the bottom layer controller through the first isolation CAN communication module 25, and if the two groups of control data packets are not consistent, the remote controller MCU resends or discards the data packet according to the setting requirement; the first isolated CAN communication module 25 reads vehicle state information, packages the vehicle state information into a return data packet and sends the return data packet to the second wireless transceiving module 22; the command sent by the unmanned upper part is read through the second isolated CAN communication module 26, analyzed and packaged into a logic data packet which accords with the protocol of the vehicle bottom layer controller, the logic data packet is sent to the bottom layer controller through the first isolated CAN communication module 25, meanwhile, the vehicle attitude data of the gyroscope 24 is read, and whether emergency stop is needed or not is judged through an intelligent protection algorithm.
The first isolated CAN communication module 25 is configured to receive and transmit a data packet sent by the chassis, and is responsible for communication with the underlying controller.
And the second isolated CAN communication module 26 is used for receiving and transmitting data messages sent by the unmanned aerial vehicle upper part and is responsible for communication with the unmanned aerial vehicle host.
The second isolated CAN communication module 26 is physically isolated from the first isolated CAN communication module 25, ensuring communication security between the vehicle chassis and the unmanned upper body.
The first wireless transceiver module 13, the first redundant wireless transceiver module 15, the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 have the same structure, and each of the first wireless transceiver module, the first redundant wireless transceiver module 15, the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 includes a transmitting antenna, a receiving antenna and a modem chip.
The transmitting antenna is used for transmitting the radio frequency modulation signal and performing gain on the radio frequency modulation signal to enlarge a transmitting range.
And the receiving antenna is used for receiving the radio frequency modulation signal and filtering the radio frequency modulation signal.
The first wireless transceiving module 13 and the modem chip of the first redundant wireless transceiving module 15 are configured to demodulate the filtered radio frequency signal, analyze the radio frequency signal to generate a backhaul data packet, and send the backhaul data packet to the wireless remote control MCU 11; and the remote control MCU is used for controlling the modulation of data packets, acquiring electric signals generated when a switch and a deflector rod on the remote control are operated, packaging the electric signals into control data packets, sending the control data packets to the first wireless transceiving module 13 and the first redundant wireless transceiving module 15, modulating radio-frequency signals by a modulation and demodulation chip, and sending the radio-frequency signals through the transmitting antenna.
The modulation and demodulation chips of the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 are configured to demodulate the filtered radio frequency signal, generate a control data packet, and send the control data packet to the control terminal MCU 21; and meanwhile, the control terminal MCU21 is used to modulate the backhaul data packet, and the backhaul data packet is sent to the second wireless transceiving module 22 and the second redundant wireless transceiving module 23, and is modulated by the modem chip to send the radio frequency signal through the transmitting antenna.
The first wireless transceiver module 13 and the first redundant wireless transceiver module 15 are configured to transmit a first matching signal to the second wireless transceiver module 22 and the second redundant wireless transceiver module 23, and the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 receive the first matching signal for pairing; the second wireless transceiver module 22 and the second redundant wireless transceiver module 23 are configured to transmit a second matching signal to the first wireless transceiver module 13 and the first redundant wireless transceiver module 15, and the first wireless transceiver module 13 and the first redundant wireless transceiver module 15 receive the second matching signal for pairing; and after the pairing is finished, adjusting the channel according to the frequency band result detected by the radio detection module 16.
The first wireless transceiver module 13, the second wireless transceiver module 22, the first redundant wireless transceiver module 15 and the second redundant wireless transceiver module 23 are connected to different vehicles, and the vehicles are controlled through seamless switching of the vehicle switching deflector rods.
The first wireless transceiving module 13 and the second wireless transceiving module 22 communicate through any one of 433MHZ ASK modulation technology, FSK modulation technology, QFSK modulation technology, LORA and 2.4G wireless technology, and meanwhile, the first wireless transceiving module 13 and the second wireless transceiving module 22 and the first redundant wireless transceiving module 15 and the second redundant wireless transceiving module 23 adopt different communication frequency bands and use frequency hopping communication respectively.
A method 100 of remotely controlling an unmanned vehicle, comprising the steps of:
step 101: the wireless remote controller MCU establishes connection with the control terminal through an intelligent communication algorithm;
step 102: a digital-analog acquisition module arranged in the wireless remote controller MCU acquires electric signals generated when a remote controller switch and a deflector rod are operated;
step 103: the wireless remote control MCU packs the electric signals to generate a control data packet and sends the data packet to the first wireless transceiving module and the first redundant wireless transceiving module;
step 104: the first wireless transceiver module and the first redundant wireless transceiver module receive a control data packet sent by the wireless remote control MCU, modulate the control data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal through a sending antenna;
step 105: the second wireless transceiver module and the second redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, modulate the radio frequency modulation signal into a control data packet and respectively return a signal value;
step 106: the control terminal MCU reads the control data packet returned by the second wireless transceiver module and the second redundant wireless transceiver module;
step 107: the control terminal MCU reads gyroscope data and reads vehicle related information through the first isolated CAN communication module;
step 108: the control terminal MCU sends gyroscope data, vehicle related information, signal strength, integrity and consistency results to an intelligent protection algorithm to comprehensively judge the vehicle running state;
step 109: judging whether the vehicle outputs an emergency stop through an intelligent protection algorithm, and if so, entering the step 110; otherwise, go to step 111;
step 110: stopping the vehicle suddenly, and ending the control;
step 111: the control terminal MCU analyzes the control data packet and reads the relevant information of the vehicle through the first isolated CAN communication module;
step 112: judging whether an emergency stop key is pressed down, if so, stopping the vehicle suddenly, otherwise, entering a step 113;
step 113: judging whether the permission key is pressed, if so, entering a step 115, otherwise, entering a step 114;
step 114: the control terminal MCU analyzes the control data packet, generates a logic data packet corresponding to the vehicle type, sends the logic data packet to the first isolation CAN communication module and shields data from the second isolation CAN communication module;
step 115: and the control terminal MCU issues data of the unmanned aerial vehicle upper-mounted controller and the bottom layer controller through the first isolation CAN communication module and the second isolation CAN communication module to finish data analysis, encapsulation and forwarding.
The remote control method of the unmanned vehicle further comprises:
step 116: the control terminal MCU packs the vehicle information into a return data packet and sends the return data packet to the second wireless transceiver module and the second redundant wireless transceiver module;
step 117: the second wireless transceiver module and the second redundant wireless transceiver module receive a return data packet sent by the control terminal MCU, modulate the return data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal to the national sending antenna;
step 118: the first wireless transceiver module and the first redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, demodulate the radio frequency modulation signal into a return data packet and send the return data packet to the MCU of the wireless remote control;
step 119: the wireless remote controller MCU analyzes the return data packet and sends the return data packet to the liquid crystal display;
step 120: the liquid crystal display displays the feedback information.
In the step 101, the intelligent communication algorithm realizes the functions of pairing, frequency hopping communication, redundant backup transmission and optimal channel selection between the remote controller and the terminal;
specifically, during pairing, the two groups of transceiver modules are paired in a certain fixed channel of two different frequency bands respectively, after the two groups of transceiver modules are correspondingly connected, the wireless remote control unit MCU controls the radio detection module 16 to detect the optimal frequency band to generate a code sequence, and then the code sequence is synchronously transmitted to the control terminal through the two groups of transceiver modules to carry out frequency hopping communication respectively; and the control terminal MCU compares and checks the two groups of data packets after receiving the data packets, so that the data integrity is ensured.
The remote control method of the unmanned vehicle further comprises:
the second wireless transceiver module and the second redundant wireless transceiver module receive an emergency stop signal from the wireless remote controller, the control terminal MCU generates a stop instruction, sends the stop instruction to the bottom controller, controls the vehicle to stop emergently, and simultaneously disconnects data forwarding between the second isolated CAN communication module and the first isolated CAN communication module and reports a take-over state to the unmanned aerial vehicle for uploading.
FIG. 5 is a network structure diagram of an intelligent protection algorithm, the intelligent protection algorithm uses a convolutional neural network to compose data in a certain time into a first matrix with a dimension Wdata Htime, the first matrix obtains a first tensor with N x C dimension through a fully connected layer, the first tensor is subjected to convolution operation with three convolution kernels of Conv1, Conv2 and Conv3 as 3 x 3N to obtain a feature map F0, the F0 is subjected to convolution layers of Conv4, Conv5 and Conv6 to obtain three feature maps F1, F2 and F3 with N x C dimensions, the F1 is subjected to multiplication with the F2 through a transition, the obtained result is subjected to multiplication with F3 after the transition max, the final result is added with the F0 to obtain a second tensor with N x C dimension, the second tensor after the second tensor is subjected to the fully connected layer, and the first tensor is connected to obtain a plurality of first full data arrays, and the first matrix is connected to obtain a plurality of Wdata arrays, the first matrix F1, and splicing the second matrix of K x 1 with the third matrix of F x 1 to obtain a fourth matrix of (F + K) x 1, wherein the fourth matrix passes through a full connection layer to obtain a fifth matrix of 2 x 1, namely the output of the algorithm, and the position of the fifth matrix is judged to be 1, so that different results are corresponding to the position, namely the scram or the non-scram.
Claims (10)
1. A remote control system of an unmanned vehicle is characterized by comprising a wireless remote controller and a control terminal;
the wireless remote controller comprises a wireless remote controller MCU, a first wireless transceiving module, a first redundant wireless transceiving module, a liquid crystal display and a radio detection module, wherein the wireless remote controller MCU is respectively connected with the first wireless transceiving module, the first redundant wireless transceiving module, the liquid crystal display and the radio detection module;
the wireless remote controller MCU is internally provided with a digital-analog acquisition module which is used for acquiring electric signals generated when a remote controller switch and a deflector rod are operated, the wireless remote controller MCU generates a control data packet according to the electric signals, sends the control data packet to the first wireless transceiving module and the first redundant wireless transceiving module, analyzes return data packets received from the first wireless transceiving module and the first redundant wireless transceiving module at the same time, and controls the liquid crystal display to display corresponding information; the wireless remote control MCU controls the radio detection module to detect the use condition of a wireless frequency spectrum, and adjusts the communication frequency bands of the first wireless transceiver module and the first redundant wireless transceiver module;
the first wireless transceiver module is used for receiving the control data packet sent by the wireless remote control MCU, carrying out radio frequency modulation on the control data packet to generate a radio frequency signal, analyzing the radio frequency signal sent by the second wireless transceiver module from the control terminal, generating a return data packet and sending the return data packet to the wireless remote control MCU;
the first redundant wireless transceiver module is used for realizing the same data transmission function as the first wireless transceiver module in different communication frequency bands;
the liquid crystal display is used for displaying returned data information and remote controller state information analyzed by the wireless remote controller MCU;
the radio detection module is used for detecting the use condition of the current radio frequency spectrum in real time so as to avoid the crowded frequency band;
the control terminal comprises a second wireless transceiver module, a second redundant wireless transceiver module, a gyroscope, a control terminal MCU, a first isolated CAN communication module and a second isolated CAN communication module, wherein the control terminal MCU is respectively connected with the second wireless transceiver module, the second redundant wireless transceiver module, the gyroscope, the first isolated CAN communication module and the second isolated CAN communication module;
the second wireless transceiving module is used for receiving the radio frequency signal sent by the first wireless transceiving module, filtering and demodulating the radio frequency signal, generating a control data packet and sending the control data packet to the control terminal MCU; meanwhile, modulating a return data packet sent by the MCU processor of the control terminal to generate a radio frequency signal and sending the radio frequency signal to the first wireless transceiving module;
the second redundant wireless transceiver module is used for realizing the same data transmission function as the second wireless transceiver module in different communication frequency bands;
the gyroscope is used for detecting the posture of the vehicle and acquiring all-dimensional dynamic information of left-right inclination, front-back inclination and left-right swinging of the vehicle and acceleration information in different directions of XYZ;
the control terminal MCU processor is used for controlling the second wireless transceiver module and the second redundant wireless transceiver module to establish a communication link with the wireless remote controller, receiving a control data packet, generating a logic data packet according with a protocol of a vehicle bottom controller according to the control data packet, and transmitting the logic data packet to the bottom controller through the first isolated CAN communication module; reading vehicle state information through the first isolated CAN communication module, packaging the vehicle state information into a return data packet, and sending the return data packet to the second wireless transceiving module; reading an instruction sent by the unmanned aerial vehicle upper-mounted device through the second isolated CAN communication module, analyzing and packaging the instruction into a logic data packet conforming to a protocol of a vehicle bottom controller, sending the logic data packet to the bottom controller through the first isolated CAN communication module, reading vehicle attitude data of the gyroscope at the same time, and judging whether emergency stop is needed through an intelligent protection algorithm;
the first isolated CAN communication module is used for receiving and transmitting data messages sent by the chassis;
and the second isolated CAN communication module is used for receiving and transmitting the data message sent by the unmanned upper part and is physically isolated from the first isolated CAN communication module.
2. The remote control system of claim 1, wherein the remote control switch comprises a lateral longitudinal control rocker, a shift button, a service button, a scram button, a let-down button.
3. The remote control system of the unmanned vehicle of claim 2, wherein the first wireless transceiver module, the first redundant wireless transceiver module, the second wireless transceiver module and the second redundant wireless transceiver module are identical in structure and each comprise a transmitting antenna, a receiving antenna and a modem chip;
the transmitting antenna is used for transmitting a radio frequency modulation signal and performing gain on the radio frequency modulation signal to enlarge a transmitting range;
the receiving antenna is used for receiving the radio frequency modulation signal and filtering the radio frequency modulation signal;
the modulation and demodulation chips of the first wireless transceiving module and the first redundant wireless transceiving module are used for demodulating the filtered radio-frequency signal, analyzing the demodulated radio-frequency signal to generate a return data packet and sending the return data packet to the wireless remote control unit MCU; the remote control MCU is used for acquiring electric signals generated when a switch and a deflector rod on the remote control are operated, packaging the electric signals into control data packets, sending the control data packets to the first wireless transceiving module and the first redundant wireless transceiving module, modulating radio frequency signals through the modulation and demodulation chip and sending the radio frequency signals through the transmitting antenna;
the modulation and demodulation chips of the second wireless transceiver module and the second redundant wireless transceiver module are used for demodulating the filtered radio-frequency signal, generating a control data packet and sending the control data packet to the control terminal MCU; and the control terminal MCU is used for modulating a return data packet, sending the return data packet to the second wireless transceiver module and the second redundant wireless transceiver module, modulating a radio frequency signal by a modulation and demodulation chip and sending the radio frequency signal through the transmitting antenna.
4. The remote control system of claim 3, wherein the first wireless transceiver module and the first redundant wireless transceiver module are configured to transmit a first matching signal to the second wireless transceiver module and the second redundant wireless transceiver module, and the second wireless transceiver module and the second redundant wireless transceiver module receive the first matching signal for pairing; the second wireless transceiver module and the second redundant wireless transceiver module are used for transmitting a second matching signal to the first wireless transceiver module and the first redundant wireless transceiver module, and the first wireless transceiver module and the first redundant wireless transceiver module receive the second matching signal and carry out pairing; after the pairing is finished, adjusting a channel according to a frequency band result detected by the radio detection module; the first wireless transceiving module, the second wireless transceiving module, the first redundant wireless transceiving module and the second redundant wireless transceiving module are connected to different vehicles, and the vehicles are controlled through seamless switching of the vehicle switching deflector rod.
5. The remote control system of claim 1, wherein the first and second transceivers communicate via any one of 433MHZ ASK modulation, FSK modulation, QFSK modulation, LORA, and 2.4G wireless technologies, and wherein the first and second transceivers and the first and second redundant transceivers use different communication frequency bands and use frequency hopping communication, respectively.
6. A remote control method of an unmanned vehicle based on the remote control system of claim 4, comprising the steps of:
step 101: the wireless remote controller MCU establishes connection with the control terminal through an intelligent communication algorithm;
step 102: a digital-analog acquisition module arranged in the wireless remote controller MCU acquires electric signals generated when a remote controller switch and a deflector rod are operated;
step 103: the wireless remote control MCU packs the electric signals to generate a control data packet and sends the data packet to the first wireless transceiving module and the first redundant wireless transceiving module;
step 104: the first wireless transceiver module and the first redundant wireless transceiver module receive a control data packet sent by the wireless remote control MCU, modulate the control data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal through a sending antenna;
step 105: the second wireless transceiver module and the second redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, modulate the radio frequency modulation signal into a control data packet and respectively return a signal value;
step 106: the control terminal MCU reads the second wireless transceiver module and the control data packet returned by the second redundant wireless transceiver module to carry out integrity and consistency analysis;
step 107: the control terminal MCU reads gyroscope data and reads vehicle related information through the first isolated CAN communication module;
step 108: the control terminal MCU sends gyroscope data, vehicle related information, signal strength, integrity and consistency results to an intelligent protection algorithm to comprehensively judge the vehicle running state;
step 109: judging whether the vehicle is suddenly stopped through an intelligent protection algorithm, if so, entering a step 110; otherwise, go to step 111;
step 110: stopping the vehicle suddenly, and ending the control;
step 111: the control terminal MCU analyzes the control data packet and reads the relevant information of the vehicle through the first isolated CAN communication module;
step 112: judging whether an emergency stop key is pressed down, if so, stopping the vehicle suddenly, otherwise, entering a step 113;
step 113: judging whether the permission key is pressed, if so, entering a step 115, otherwise, entering a step 114;
step 114: the control terminal MCU analyzes the control data packet, generates a logic data packet corresponding to the vehicle type, sends the logic data packet to the first isolation CAN communication module and shields data from the second isolation CAN communication module;
step 115: and the control terminal MCU issues data of the unmanned aerial vehicle upper-mounted controller and the bottom layer controller through the first isolation CAN communication module and the second isolation CAN communication module to finish data analysis, encapsulation and forwarding.
7. The remote control method of an unmanned vehicle of claim 6, further comprising:
step 116: the control terminal MCU packs the vehicle information into a return data packet and sends the return data packet to the second wireless transceiver module and the second redundant wireless transceiver module;
step 117: the second wireless transceiver module and the second redundant wireless transceiver module receive a return data packet sent by the control terminal MCU, modulate the return data packet, generate a radio frequency modulation signal and send the radio frequency modulation signal to the national sending antenna;
step 118: the first wireless transceiver module and the first redundant wireless transceiver module receive the radio frequency modulation signal through the receiving antenna, demodulate the radio frequency modulation signal into a return data packet and send the return data packet to the MCU of the wireless remote control;
step 119: the wireless remote controller MCU analyzes the return data packet and sends the return data packet to the liquid crystal display;
step 120: the liquid crystal display displays the feedback information.
8. The method according to claim 6, wherein in step 101, the intelligent communication algorithm implements pairing, frequency hopping communication, redundant backup transmission, and optimal channel selection functions between the remote controller and the terminal;
specifically, during pairing, the two groups of transceiver modules are paired in a certain fixed channel of two different frequency bands respectively, after the two groups of transceiver modules are correspondingly connected, the wireless remote control unit MCU controls the radio detection module to detect the optimal frequency band to generate a code sequence, and then the code sequence is synchronously transmitted to the control terminal through the two groups of transceiver modules to carry out frequency hopping communication; and the control terminal MCU compares and checks the two groups of data packets after receiving the data packets, so that the data integrity is ensured.
9. The remote control method of an unmanned vehicle of claim 6, further comprising:
the second wireless transceiver module and the second redundant wireless transceiver module receive an emergency stop signal from the wireless remote controller, the control terminal MCU generates a stop instruction, sends the stop instruction to the bottom controller, controls the vehicle to stop emergently, and simultaneously disconnects data forwarding between the second isolated CAN communication module and the first isolated CAN communication module and reports a take-over state to the unmanned aerial vehicle for uploading.
10. The method of claim 6, wherein in step 108, the intelligent protection algorithm uses a convolutional neural network to compose data in a certain time period into a first matrix with dimension Wdata Htime, the first matrix obtains a first tensor with dimension N x C through a fully connected layer, the first tensor is subjected to convolution operation with three convolution kernels Conv1, Conv2 and Conv3 as 3 x 3N to obtain an eigenmap F0, F0 is subjected to convolution layers with three convolution kernels Conv4, Conv5 and Conv6 to obtain eigenmaps F1, F2 and F3 with three dimensions N x C, F1 is subjected to transposition and F2, the obtained result is subjected to softmax and F3, and finally the multiplied result is subjected to softmax to multiplication with F0 to obtain a second tensor with dimension N x C, and a second tensor is simultaneously obtained by adding a plurality of convolution layers to obtain a second tensor K full dimensional matrix with dimension K1, selecting the last row from the original Wdata Htime array, obtaining a third matrix with the dimension of F1 after a plurality of full connection layers, splicing the second matrix of K1 with the third matrix of F1 to obtain a fourth matrix of (F + K) 1, obtaining a fifth matrix of 2X 1 from the fourth matrix through one full connection layer, namely the output of the algorithm, and corresponding to different results, namely sudden stop or no sudden stop, by judging the position of the fifth matrix as 1.
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