CN114281074A - Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle - Google Patents
Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle Download PDFInfo
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- CN114281074A CN114281074A CN202111382259.3A CN202111382259A CN114281074A CN 114281074 A CN114281074 A CN 114281074A CN 202111382259 A CN202111382259 A CN 202111382259A CN 114281074 A CN114281074 A CN 114281074A
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Abstract
The invention discloses an over-the-horizon unmanned vehicle remote control system and an unmanned vehicle in the technical field of unmanned vehicles. The unmanned vehicle remote control system comprises a portable remote controller transmitter and a control end radio station which are configured at a control end, wherein the portable remote controller transmitter is in communication connection with the control end radio station; the portable remote controller receiver is respectively in communication connection with the vehicle-mounted terminal radio station and the vehicle control unit; and the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode. The invention configures a portable remote controller transmitter and a control end radio station at a control end, and configures a portable remote controller receiver and a vehicle end radio station at a vehicle end; the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode, bidirectional communication between the control end and the vehicle-mounted end can be achieved, switching between over-the-horizon and in-the-horizon control can be carried out, and therefore instantaneity and reliability of data transmission are effectively improved.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and particularly relates to an over-the-horizon unmanned vehicle remote control system and an unmanned vehicle.
Background
With the rapid development of modern science and technology, the unmanned vehicle technology is more and more emphasized, and the figure of the unmanned vehicle can be often seen in some emergency rescue scenes.
Aiming at task execution in some natural disasters or battlefields, a complex environment scene under the field condition is a main working environment of the vehicle, and if unmanned realization is needed, the off-road capability and the control performance of the vehicle under the field condition are bound to be a key and bound trend of research. In some complex terrains, it is a serious test for drivers, and for vehicles, the efficiency of task execution is an important measure. The video image return of the task site and the sending of the control command of the control end have higher requirements on the real-time performance and the reliability of data transmission. If the transmission speed of the signals is correspondingly slow, a safety hazard exists for vehicles running at a high speed. Even with remote control within the line of sight, in some special cases of material transport, in many cases in hazardous areas, there is still a certain risk.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the beyond-the-horizon unmanned vehicle remote control system and the unmanned vehicle, which can effectively improve the real-time performance and reliability of data transmission.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
in a first aspect, there is provided an unmanned vehicle remote control system comprising: the portable remote controller transmitter is configured at the control end and is in communication connection with the control end radio station; the portable remote controller receiver is respectively in communication connection with the vehicle-mounted terminal radio station and the vehicle control unit; and the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode.
Further, the portable remote controller transmitter is connected with the control end terminal through a 485 serial port; the portable remote controller receiver is connected with the vehicle-mounted end electric platform through a 485 serial port, and the portable remote controller receiver is connected with the whole vehicle controller through a CAN bus.
Further, in the in-line-of-sight control mode, the portable remote controller transmitter sends a control instruction to the portable remote controller receiver, the portable remote controller receiver transmits the received control instruction to the vehicle control unit, and the vehicle control unit controls the unmanned vehicle to operate according to the received control instruction.
Further, the vehicle control unit sends the state information of the unmanned vehicle to a display panel of the handheld remote controller through the portable remote controller receiver.
Further, in the beyond-the-horizon control mode, the portable remote controller transmitter sends a control instruction to the control end radio station, the control end radio station sends the received control instruction to the vehicle-mounted end radio station, the vehicle-mounted radio station sends the received control instruction to the portable remote controller receiver, the portable remote controller receiver sends the received control instruction to the vehicle control unit, and the vehicle control unit controls the unmanned vehicle to run according to the received control instruction.
Further, the vehicle control unit sends the state information of the unmanned vehicle to the vehicle-mounted end radio station through the portable remote controller receiver, and the vehicle-mounted end radio station sends the received state information of the unmanned vehicle to the control end radio station and sends the state information of the unmanned vehicle to the display panel of the handheld remote controller through the control end radio station.
Furthermore, the vehicle-mounted terminal radio station comprises an integrated image transmission transmitter and a first data transmission radio station, wherein the image transmission transmitter transmits image information acquired by image acquisition equipment arranged on the unmanned vehicle to the control terminal radio station; the first data transmission station is used for receiving a control instruction sent by the control end station.
Further, the image acquisition equipment comprises a front-view camera arranged at the front end of the unmanned vehicle, a rear-view camera arranged at the rear end of the unmanned vehicle and first to fourth side-view cameras arranged on two sides of the unmanned vehicle.
Further, the control terminal radio station comprises a map transmission receiver and a second digital transmission radio station, the map transmission receiver is used for receiving image information acquired by image acquisition equipment on the unmanned vehicle and displaying the received image information on a display screen of the control station, and the second digital transmission radio station is used for sending a control command to the vehicle-mounted terminal radio station.
In a second aspect, there is provided an unmanned vehicle equipped with the unmanned vehicle remote control system of the first aspect.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, a portable remote controller transmitter and a control end radio station are configured at a control end, a portable remote controller receiver and a vehicle-mounted end radio station are configured at a vehicle-mounted end, and the portable remote controller receiver is respectively in communication connection with the vehicle-mounted end radio station and a vehicle control unit; the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode, so that bidirectional communication between the control end and the vehicle-mounted end can be realized, and over-the-horizon and in-the-horizon control can be switched, so that the real-time performance and the reliability of data transmission are effectively improved;
(2) the function remote control buttons of the unmanned vehicle are uniformly distributed on the portable remote controllers with lower cost, the control platform with higher cost plays a role in prolonging the communication distance and returning the video, the same control platform can be compatible with the portable remote controllers of vehicles with different function models, and the investment cost of equipment is reduced.
Drawings
Fig. 1 is a schematic diagram of a whole vehicle layout of an over-the-horizon unmanned vehicle remote control system provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of the operation of the vehicle-mounted end of the beyond-the-horizon unmanned vehicle remote control system according to the embodiment of the present invention;
fig. 3 is a schematic diagram of an operation end of an over-the-horizon unmanned vehicle remote control system according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
as shown in fig. 1 to 3, an over-the-horizon unmanned vehicle remote control system includes a portable remote controller transmitter and a control end station, which are configured at a control end, and the portable remote controller transmitter is in communication connection with the control end station; the portable remote controller receiver 6 is configured at a vehicle-mounted end, and the portable remote controller receiver 1 is configured at a vehicle-mounted end and the vehicle control unit 11, wherein the portable remote controller receiver 6 is respectively in communication connection with the vehicle-mounted end radio station 1 and the vehicle control unit 11; and the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode.
The remote control system of the whole vehicle mainly comprises a vehicle-mounted terminal radio station 1, a portable remote controller receiver 6, a whole vehicle controller 11 and a plurality of image acquisition devices.
On-vehicle end radio station 1 internal integration has first data radio and picture radio, and the signal transmission of first data radio and picture radio is realized by data antenna 2 and video transmission antenna 9 that correspond, and data antenna 2 and video transmission antenna 9 are all installed in the automobile body top, fix on lodging mechanism. The vehicle-mounted terminal station 1 and the portable remote controller receiver 6 are interconnected through a 485 data communication line 4.
Under the control mode within the visual range (within 300 meters), the vehicle-mounted end radio station 1 does not work, the control command of the unmanned vehicle CAN be sent to the vehicle control unit 11 through the portable remote controller receiver 6 through the CAN communication data line 13, and the portable remote controller receiver 6 is configured with a portable remote controller antenna 14.
Under the beyond visual range control mode, the vehicle-mounted end radio station 1 is started, a control command from a control end is received through a vehicle-mounted end radio station antenna, the received control command is sent to the portable remote controller receiver 6 through the 485 data communication line 4, a 485-CAN module is installed inside the portable remote controller receiver 6, and finally the portable remote controller receiver 6 sends the control command to the vehicle control unit 11. In the whole control process, the vehicle-mounted terminal radio station 1 is not directly communicated with the vehicle control unit 11, and a control instruction of the vehicle-mounted terminal radio station can be sent to the vehicle control unit 11 through the portable remote controller receiver 6.
The figure transmission part and the data transmission part of the vehicle-mounted terminal station 1 are integrated together in hardware, but are relatively independent in signal transmission. The image transmission part is mainly used for transmitting the video acquired by the image acquisition equipment on the unmanned vehicle to the control end. The video information collected by the image collecting equipment is mainly obtained by a six-way camera, and the six-way camera comprises a front-view camera 8 arranged at the front end of the unmanned vehicle, a rear-view camera 7 arranged at the rear end of the unmanned vehicle, and a first side-view camera 3, a second side-view camera 5, a third side-view camera 10 and a fourth side-view camera 12 arranged at two sides of the unmanned vehicle. The front camera 8 and the rear camera 7 are mainly used for acquiring the front and rear visual fields of the unmanned vehicle. The first side view camera 3, the second side view camera 5, the third side view camera 10, and the fourth side view camera 12 function two: firstly, acquiring a view around a vehicle body; and secondly, acquiring the postures of the wheels of the unmanned vehicle. The six cameras are connected to a video input port of the vehicle-mounted terminal radio station 1 through analog quantity interfaces and are sent to a remote control terminal through a picture transmission radio station.
The vehicle control unit 11 is a core of the unmanned vehicle, control commands of all the unmanned vehicles are sent to each subsystem through the vehicle control unit 11, and feedback information from each subsystem can be received through the vehicle control unit 11.
As shown in fig. 3, the console end mainly comprises a console and a portable remote control transmitter. The portable remote controller transmitter and the portable remote controller receiver of the vehicle-mounted end form a line-of-sight internal remote control system, when the remote control is carried out in the line-of-sight, the portable remote controller transmitter does not need to be communicated with an operation end electric platform, and key information parameters and vehicle state information of the unmanned vehicle can be displayed on a display screen of the portable remote controller transmitter. The console mainly comprises a display screen, a console radio station, a touch screen, video keys, an antenna and the like. When the non-line-of-sight control is carried out, the transmitter of the portable remote controller is connected with the console through a 485 data communication line, a data control command is sent to the vehicle-mounted terminal radio station through the console radio station, and meanwhile, a video signal from the vehicle-mounted terminal radio station is received and displayed on a display screen of the console. The video display format and definition can be set through the touch display screen, and corresponding pictures can be selected according to requirements through the video switching key. The console is provided with video interfaces such as HDMI and VGA, and can be externally connected with other display equipment besides displaying videos on a display screen of the console.
The remote control platform is a box type case, the box body consists of a box body and a box cover, the box cover comprises a 17-inch liquid crystal display screen, and a lithium battery, a picture power transmission platform of a control end radio station and a second digital power transmission platform are positioned below the display screen; the display screen is a six-grid display interface, and the videos can be switched in a touch screen or key mode.
The vehicle-mounted video acquisition equipment is an analog high-definition camera, can support a night vision function and is distributed around the vehicle body, so that multi-angle and multi-azimuth video monitoring is realized; the six cameras are connected with the vehicle-mounted terminal radio station according to the coding form of the 1-6 channels, and are transmitted to a liquid crystal display of the remote control station through the picture transmission station in the vehicle-mounted terminal radio station.
According to the invention, a portable remote controller transmitter and a control end radio station are configured at a control end, a portable remote controller receiver and a vehicle-mounted end radio station are configured at a vehicle-mounted end, and the portable remote controller receiver is respectively in communication connection with the vehicle-mounted end radio station and a vehicle control unit; the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode, so that bidirectional communication between the control end and the vehicle-mounted end can be realized, and over-the-horizon and in-the-horizon control can be switched, so that the real-time performance and the reliability of data transmission are effectively improved; the function remote control buttons of the unmanned vehicle are uniformly distributed on the portable remote controller with lower cost, the console with higher cost plays a role in prolonging the communication distance and returning the video, the same console can be compatible with the portable remote controllers of vehicles with different function models, and the equipment investment cost is reduced.
Example two:
the embodiment provides an unmanned vehicle based on the beyond-the-sight unmanned vehicle remote control system of the first embodiment, and the unmanned vehicle is provided with the unmanned vehicle remote control system of the first embodiment.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An unmanned vehicle remote control system is characterized by comprising:
the portable remote controller transmitter is configured at the control end and is in communication connection with the control end radio station;
the portable remote controller receiver is respectively in communication connection with the vehicle-mounted terminal radio station and the vehicle control unit;
and the control end and the vehicle-mounted end carry out information interaction in a wireless communication mode.
2. The unmanned vehicle remote control system of claim 1, wherein the portable remote controller transmitter is connected with the control end station through a 485 serial port; the portable remote controller receiver is connected with the vehicle-mounted end electric platform through a 485 serial port, and the portable remote controller receiver is connected with the whole vehicle controller through a CAN bus.
3. The remote control system of claim 1, wherein in the in-line-of-sight mode, the portable remote controller transmitter transmits a control command to the portable remote controller receiver, the portable remote controller receiver transmits the received control command to the vehicle controller, and the vehicle controller controls the operation of the unmanned vehicle according to the received control command.
4. The unmanned vehicle remote control system of claim 3, wherein the vehicle control unit transmits the state information of the unmanned vehicle to a display panel of the hand-held remote controller through the portable remote controller receiver.
5. The remote control system of claim 1, wherein in the over-the-horizon control mode, the portable remote controller transmitter transmits the control command to the control end radio station, the control end radio station transmits the received control command to the vehicle end radio station, the vehicle radio station transmits the received control command to the portable remote controller receiver, the portable remote controller receiver transmits the received control command to the vehicle controller, and the vehicle controller controls the operation of the unmanned vehicle according to the received control command.
6. The unmanned vehicle remote control system of claim 5, wherein the vehicle control unit transmits the state information of the unmanned vehicle to the vehicle-mounted terminal radio station through the portable remote controller receiver, and the vehicle-mounted terminal radio station transmits the received state information of the unmanned vehicle to the control terminal radio station and transmits the state information to the display panel of the handheld remote controller through the control terminal radio station.
7. The unmanned aerial vehicle remote control system of claim 5, wherein the vehicle-mounted terminal radio station comprises an integrated image transmission transmitter and a first data transmission radio station, and the image transmission transmitter transmits image information acquired by an image acquisition device mounted on the unmanned aerial vehicle to the control terminal radio station; the first data transmission station is used for receiving a control instruction sent by the control end station.
8. The remote control system of claim 7, wherein the image capturing device comprises a front view camera installed at a front end of the unmanned vehicle, a rear view camera installed at a rear end of the unmanned vehicle, and first to fourth side view cameras installed at both sides of the unmanned vehicle.
9. The unmanned vehicle remote control system of claim 7, wherein the control terminal radio station comprises a map-transmission receiver and a second digital transmission radio station, the map-transmission receiver is used for receiving image information acquired by an image acquisition device on the unmanned vehicle and displaying the received image information on a display screen of the control station, and the second digital transmission radio station is used for sending a control command to the vehicle-mounted terminal radio station.
10. An unmanned vehicle, wherein the unmanned vehicle is provided with the unmanned vehicle remote control system according to any one of claims 1 to 9.
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| CN202111382259.3A CN114281074A (en) | 2021-11-22 | 2021-11-22 | Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle |
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| CN202111382259.3A CN114281074A (en) | 2021-11-22 | 2021-11-22 | Beyond-the-horizon unmanned vehicle remote control system and unmanned vehicle |
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| CN116795085A (en) * | 2023-08-28 | 2023-09-22 | 北京易控智驾科技有限公司 | Remote control driving method and device of unmanned vehicle, storage medium and vehicle |
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