CN114167878A - Unmanned vehicle motion control method based on multiple threads - Google Patents
Unmanned vehicle motion control method based on multiple threads Download PDFInfo
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- CN114167878A CN114167878A CN202111550932.XA CN202111550932A CN114167878A CN 114167878 A CN114167878 A CN 114167878A CN 202111550932 A CN202111550932 A CN 202111550932A CN 114167878 A CN114167878 A CN 114167878A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 15
- 229910052744 lithium Inorganic materials 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims 1
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/38—Concurrent instruction execution, e.g. pipeline or look ahead
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Abstract
The unmanned vehicle motion control method based on multiple threads adopts an industrial personal computer main controller installed in an unmanned vehicle to obtain thread data and optimizes the data blockage problem in the thread data receiving process so as to control the unmanned vehicle to move, wherein the thread data respectively comprise: the thread data of the GNSS data thread data of the positioning acquisition module, the thread data of the sensor data module, the thread data of the remote controller data acquisition module, the thread data of the driver motor control output module, the thread data of the remote end data receiving and sending module, the thread data of the battery power supply module and the thread data of the camera video stream acquisition module. According to the invention, each data module is independent, and the mutual coupling is effectively reduced; and a multi-thread control mode is used, so that the problem of data blockage is effectively reduced, and the quality and the safety of the whole vehicle are improved.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a multithreading-based unmanned vehicle motion control method.
Background
Unmanned car belongs to the artificial intelligence field, relates to the many fusion techniques of data, thereby easily arouses the jam of data and appear whole car instability owing to too much data need be received and send, and then reduces the running quality of whole car.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an unmanned vehicle motion control method based on multiple threads, so as to solve the problems in the background art.
The technical problem solved by the invention is realized by adopting the following technical scheme:
the unmanned vehicle motion control method based on multiple threads adopts an industrial personal computer main controller installed in an unmanned vehicle to obtain thread data and optimizes the data blockage problem in the thread data receiving process so as to control the unmanned vehicle to move, wherein the thread data respectively comprise: the system comprises a GNSS data thread data of a positioning acquisition module, a sensor data module, a remote controller data acquisition module, a driver motor control output module, a remote end data receiving and sending module, a battery power supply module and a camera video stream acquisition module; the method comprises the following specific steps:
after the unmanned vehicle is powered on, the industrial personal computer main controller acquires thread data of the battery power supply module, and when the electric quantity of the lithium battery is too low or the lithium battery fails, the power supply of the unmanned vehicle is turned off and is not started; when the electric quantity of the lithium battery is normal, controlling the power supply of the unmanned vehicle to be started;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of the sensor data module so as to obtain the state information of the whole vehicle;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of a remote controller data acquisition module, wherein the thread data comprises remote controller control data, and further state information of the unmanned vehicle acquired remote controller is obtained;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires GNSS data of the positioning acquisition module, the thread data of the GNSS data comprises integral position and attitude information, the position and attitude information of the unmanned vehicle is further obtained, then the motion instruction of the current unmanned vehicle is calculated according to an algorithm, and the motion instruction acts on the unmanned vehicle through the driver motor control output module;
after the unmanned vehicle is started, the main controller of the industrial personal computer acquires thread data of the remote end data receiving and sending module so as to complete sending of normal data and analysis of a remote end control instruction, and interaction with the remote end is realized;
after the unmanned vehicle is started, the industrial personal computer main controller acquires thread data of a camera video stream acquisition module so as to acquire the peripheral environment information of the whole vehicle in real time;
the industrial personal computer main controller finishes data acquisition and sending through multiple threads, effectively optimizes the problem of data blockage in the process of receiving multiple data, and controls the unmanned vehicle to move.
In the invention, the battery power supply module data module comprises a power management board, a lithium battery power supply assembly and a charging device for charging the lithium battery power supply assembly.
In the invention, the driver motor control output module comprises two walking motor drivers for driving two walking motors and two steering motor drivers for driving two steering motors.
In the invention, the remote end data receiving and sending module comprises a remote monitoring station and a remote monitoring station radio station.
In the invention, the sensor data module comprises an acousto-optic control sensor, an obstacle avoidance sensor, a voltage sensor, a current sensor, an angle sensor and a pull rod sensor.
In the invention, the positioning acquisition module comprises a GPS base station antenna, a GPS base station receiver, a GPS base station radio station, a mobile station antenna and a mobile station receiver.
In the invention, the remote controller data module collects the data information of the remote controller received by the unmanned vehicle; the camera video data acquisition module is used for acquiring video stream data and acquiring surrounding environment information of the unmanned vehicle.
Has the advantages that:
1) the invention classifies each data module of the unmanned vehicle, which is beneficial to the acquisition and sending of data;
2) according to the invention, each data module of the unmanned vehicle is independent, so that mutual coupling is effectively reduced;
3) the invention uses a multi-thread control mode, effectively reduces the problem of data blockage and improves the quality and the safety of the whole vehicle.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned vehicle in a preferred embodiment of the invention.
Fig. 2 is a schematic diagram illustrating an interaction process of data inside the unmanned vehicle according to a preferred embodiment of the invention.
FIG. 3 is a schematic diagram of the main controller of the unmanned aerial vehicle acquiring thread data according to the preferred embodiment of the invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
The unmanned vehicle motion control method based on multithreading adopts an industrial personal computer main controller installed in an unmanned vehicle to carry out multithreading motion control on the unmanned vehicle, the whole unmanned vehicle is shown in figure 1, the internal data interaction process of the unmanned vehicle is shown in figure 2, a main program of the industrial personal computer main controller obtains 7 thread data which are shown in figure 3, and optimizes the data blockage problem in the thread data receiving process so as to control the unmanned vehicle to move, wherein the thread data are respectively as follows: the system comprises a GNSS data thread data of a positioning acquisition module, a sensor data module, a remote controller data acquisition module, a driver motor control output module, a remote end data receiving and sending module, a battery power supply module and a camera video stream acquisition module; the method comprises the following specific steps:
after the unmanned vehicle is powered on, the industrial personal computer main controller acquires thread data of the battery power supply module, and when the electric quantity of the lithium battery is too low or the lithium battery fails, the power supply of the unmanned vehicle is turned off and is not started; when the electric quantity of the lithium battery is normal, controlling the power supply of the unmanned vehicle to be started;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of the sensor data module so as to obtain the state information of the whole vehicle;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of a remote controller data acquisition module, wherein the thread data comprises remote controller control data, and further state information of the unmanned vehicle acquired remote controller is obtained;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires GNSS data of the positioning acquisition module, the thread data of the GNSS data comprises integral position and attitude information, the position and attitude information of the unmanned vehicle is further obtained, then the motion instruction of the current unmanned vehicle is calculated according to an algorithm, and the motion instruction acts on the unmanned vehicle through the driver motor control output module;
after the unmanned vehicle is started, the main controller of the industrial personal computer acquires thread data of the remote end data receiving and sending module so as to complete sending of normal data and analysis of a remote end control instruction, and interaction with the remote end is realized;
after the unmanned vehicle is started, the industrial personal computer main controller acquires thread data of a camera video stream acquisition module so as to acquire the peripheral environment information of the whole vehicle in real time;
the industrial personal computer main controller finishes data acquisition and sending through multiple threads, and effectively optimizes the problem of data blockage in the process of receiving multiple data, so that the unmanned vehicle is controlled to move, and the quality and the safety of the whole vehicle are improved.
In this embodiment, the battery power module data module includes a power management board, a lithium battery power supply module, and a charging device for charging the lithium battery power supply module.
In this embodiment, the driver motor control output module includes two traveling motor drivers for driving two traveling motors and two steering motor drivers for driving two steering motors.
In this embodiment, the remote-end data receiving and sending module includes a remote monitoring station and a remote monitoring station radio station.
In this embodiment, the sensor data module includes an acousto-optic control sensor, an obstacle avoidance sensor, a voltage sensor, a current sensor, an angle sensor and a pull rod sensor.
In this embodiment, the positioning and acquiring module includes a GPS base station antenna, a GPS base station receiver, a GPS base station radio station, a mobile station antenna, and a mobile station receiver.
In this embodiment, the remote controller data module collects data information of the remote controller received by the unmanned vehicle; the camera video data acquisition module is used for acquiring video stream data and acquiring surrounding environment information of the unmanned vehicle.
Claims (8)
1. The unmanned vehicle motion control method based on multiple threads is characterized in that an industrial personal computer main controller installed in an unmanned vehicle is adopted to obtain thread data, and the problem of data blockage in the thread data receiving process is optimized so as to control the unmanned vehicle to move, and the method specifically comprises the following steps:
after the unmanned vehicle is powered on, the industrial personal computer main controller acquires thread data of the battery power supply module, and when the electric quantity of the lithium battery is too low or the lithium battery fails, the power supply of the unmanned vehicle is turned off and is not started; when the electric quantity of the lithium battery is normal, controlling the power supply of the unmanned vehicle to be started;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of the sensor data module so as to obtain the state information of the whole vehicle;
after the unmanned vehicle is normally started, the main controller of the industrial personal computer acquires thread data of the remote controller data acquisition module, and further acquires state information of the remote controller acquired by the unmanned vehicle;
after the unmanned vehicle is normally started, the industrial personal computer main controller acquires GNSS data of the positioning acquisition module to further obtain position and attitude information of the unmanned vehicle, then calculates a motion instruction of the current unmanned vehicle according to an algorithm, and controls the output module to act on the unmanned vehicle through a driver motor;
after the unmanned vehicle is started, the main controller of the industrial personal computer acquires thread data of the remote end data receiving and sending module so as to complete sending of normal data and analysis of a remote end control instruction, and interaction with the remote end is realized;
after the unmanned vehicle is started, the industrial personal computer main controller acquires thread data of a camera video stream acquisition module so as to acquire the peripheral environment information of the whole vehicle in real time;
the industrial personal computer main controller finishes data acquisition and sending through multiple threads, effectively optimizes the problem of data blockage in the process of receiving multiple data, and controls the unmanned vehicle to move.
2. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the battery power module data module comprises a power management board, a lithium battery power supply assembly and a charging device for charging the lithium battery power supply assembly.
3. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the driver motor control output module comprises a two-way travel motor driver for driving a two-way travel motor and a two-way steering motor driver for driving a two-way steering motor.
4. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the remote-end data receiving and sending module comprises a remote monitoring station and a remote monitoring station radio.
5. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the sensor data module comprises an acousto-optic control sensor, an obstacle avoidance sensor, a voltage sensor, a current sensor, an angle sensor, and a pull rod sensor.
6. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the position location acquisition module comprises a GPS base station antenna, a GPS base station receiver, a GPS base station radio, a mobile station antenna, and a mobile station receiver.
7. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the remote control data module collects data information of a remote control received by the unmanned aerial vehicle.
8. The multithreading-based unmanned aerial vehicle motion control method of claim 1, wherein the camera video data collection module is configured to collect video stream data.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111550932.XA CN114167878A (en) | 2021-12-17 | 2021-12-17 | Unmanned vehicle motion control method based on multiple threads |
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| CN202111550932.XA CN114167878A (en) | 2021-12-17 | 2021-12-17 | Unmanned vehicle motion control method based on multiple threads |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN108934400A (en) * | 2018-07-06 | 2018-12-07 | 江西洪都航空工业集团有限责任公司 | A kind of electrical system control method based on unmanned mowing vehicle |
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- 2021-12-17 CN CN202111550932.XA patent/CN114167878A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN108934400A (en) * | 2018-07-06 | 2018-12-07 | 江西洪都航空工业集团有限责任公司 | A kind of electrical system control method based on unmanned mowing vehicle |
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