CN107264731A - A kind of method of high experience man-machine interaction remotely pilotless ship - Google Patents
A kind of method of high experience man-machine interaction remotely pilotless ship Download PDFInfo
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- CN107264731A CN107264731A CN201710360005.9A CN201710360005A CN107264731A CN 107264731 A CN107264731 A CN 107264731A CN 201710360005 A CN201710360005 A CN 201710360005A CN 107264731 A CN107264731 A CN 107264731A
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- 230000003993 interaction Effects 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000011521 glass Substances 0.000 claims abstract description 44
- 238000004891 communication Methods 0.000 claims abstract description 34
- 238000012546 transfer Methods 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 19
- 230000003139 buffering effect Effects 0.000 claims description 7
- 238000011161 development Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000013507 mapping Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Selective Calling Equipment (AREA)
Abstract
The present invention relates to unmanned boat field, there is provided a kind of method of high experience man-machine interaction remotely pilotless ship：Communication link is set up by bluetooth between console and Google glass, communication link is set up by ISM band module between console and unmanned boat.Operating personnel put on Google glass, and Google glass sends by video instructions are read；Video information on unmanned boat, by the transfer of console, is uploaded in Google glass, and is shown to operating personnel's viewing.When operating personnel send phonetic order, instruction is sent to unmanned boat by the transfer of console, and then unmanned boat produces corresponding action；Video information is constantly passed back in Google glass simultaneously.Not only substantially avoid in the present invention Google glass traditional consumer apply in brought high cost, reveal privacy, unsafe drawback of diverting attention but make use of Google glass various dimensions, hommization man-machine interaction mode.
Description
Technical field
The present invention relates to unmanned boat field, a kind of side of high experience man-machine interaction remotely pilotless ship is particularly related to
Method.
Background technology
China's water resource is enriched, and has the river system network of prosperity and long coastline；In order to effectively estimate water resource
Situation to waters, it is necessary to survey and draw, to calculate water surface area, maximum water depth, mean depth, waters volume and corresponding water
Domain landform etc..
Because unmanned mapping ship is relative to traditional artificial mapping method of rowing the boat, measurement accuracy is high, metrical information amount is big, flexibly
It is high performance control and reduce manpower advantage and be gradually accepted.Current unmanned mapping ship is according to mapping track profit
Line walking by path is carried out with navigation system such as GPS or the Big Dippeves, and is interacted in real time with host computer during measurement,
Realize the timely passback of measurement data.
One drawback of aforesaid way is that personnel need to be observed and control in observing and controlling room；In addition, although Ke Yikai
Send out app corresponding is shown data there is also the experience effect problem of man-machine interaction on the mobile apparatus.
With the progress of hardware integration degree and software engineering, intelligent wearable device is turned out a prestigious institution；Google is in 2012
Issued glasses --- the Google glass of a " expanding reality " in year April, this smart machine have taken pictures by sound control,
Video calling, the function of navigation, are also equipped with surfing the web in addition, handle the functions such as text information and Email.Although Google
Glasses have the advantages that it is above-mentioned many, but there is also high cost, lack Killer application APP, virtual reality and real scene
Superposition easily cause diverting attention for personnel, may result in potential danger（For example when driving）, due to the networking of Google glass
Property, the picture taken pictures may be uploaded on the net at any time, so as to bring the hidden danger that privacy is invaded.
In the application scenarios described in this patent, the advantage of Google glass can just be highlighted, while described above lacks
Point, can be evaded well.Operating personnel can to operate using the high experience man-machine interaction effect of Google glass
Cheng Gengjia hommizations；The special APP developed simultaneously based on unmanned boat can ensure the feasibility of operation；Therefore, Google's eye is utilized
Mirror height experience man-machine interaction effect, Google glass be used for unmanned boat in --- -- this be this patent basic thought.
The content of the invention
The purpose of the present invention, be for existing hydrographic survey unmanned boat man-machine interaction experience effect difference there is provided
A kind of a kind of method of high experience man-machine interaction remotely pilotless ship, it is desirable to provide man-machine interaction method of more hommization, meets
Operating personnel flexibly, comfortably monitor and controlled the work of unmanned boat.Google glass multidimensional had both been taken full advantage of in the present invention
Degree, the man-machine interaction mode of hommization, while avoiding the height that Google glass is brought in traditional consumer applies well
Cost, reveal privacy, unsafe drawback of diverting attention.The following detailed description of the method for the present invention.
The method of the present invention is such：
The schematic diagram of described high experience man-machine interaction remotely pilotless ship as shown in figure 1, figure include Google glass, console,
Unmanned boat.
Hardware modification is described：
1）Bluetooth module is installed on console, and it corresponding with the master controller progress of console part is electrically connected.
2）The transmitting-receiving communication module of ISM band is installed on console, and the master controller of itself and console part is entered
The corresponding electrical connection of row；Corresponding transmitting-receiving communication module is also installed on unmanned boat, and by itself and the main control on unmanned boat
Device is electrically connected accordingly, so as to realize the radio communication function between console and unmanned boat.
3）For the Google glass at human-computer interaction terminal, in order to extend power-on time as far as possible.Operator needs to take
Charger baby with a Large Copacity, while being attached Google glass with charger baby with charging wire.
Software description：
1）Secondary development is carried out to Google glass, corresponding APP is installed, the functions such as video playback and speech recognition controlled are realized.
The workflow of corresponding software is as shown in Figure 2.When software just starts, carry out hardware initialization first, including to micro projector,
Voice module, touch switch, bluetooth module etc. are initialized；Then bluetooth module is opened and logical between foundation and console
Letter connection（Console has already turned on, and corresponding bluetooth module also has already turned on, and carries out the preparation for setting up connection）；Then
Google glass is instructed and waited to console transmission reading unmanned boat video information, when video stream uploads to Google glass
When upper, information was projected on eyeglass by micro projector, watched for people.Then program passes through poll voice module and repetition
Reading video information instruction is sent to be circulated.When voice module detects " advance voice ", controller is by bluetooth to control
Platform processed sends " advancement commands "；Here advancement commands, including high, medium and low three gear.When voice module is detected " retrogressing voice "
When, controller is sent " retreat and instruct " by bluetooth to console；Here retrogressing instruction, including high, medium and low three gear.Work as language
When sound module detects " stopping voice ", controller is sent " halt instruction " by bluetooth to console；Here halt instruction,
Including high, medium and low three gears.When voice module detects " steering voice ", controller is sent to console by bluetooth and " turned to
And angle command "；When voice module detects " reading sensor voice ", controller is sent to console by bluetooth and " read
Take sensors command "；Now unmanned boat can be by the sensor information collected（Some hydrographic informations and corresponding voice signal）
Upload in Google glass, and shown on glasses.
2）Program in the controller of console completes the control instruction for receiving and forwarding Google glass to send, preserve and on
Pass video and sensor information that unmanned boat is beamed back.Corresponding software flow pattern is as shown in Figure 3.It is right first after console starts
Bluetooth module, ISM band communication module are initialized.Then poll detects bluetooth module, ISM band communication module.Work as inspection
Measure bluetooth module to receive when thering is the control signal to transmit in buffering area, control signal is transmitted to ISM band and led to by controller
Unmanned boat is sent in letter module buffering area；When detect ISM band module receive buffering area in there is information transfer to come when, control
Device processed forwards it to bluetooth module and sent in buffering area.
3）Program in unmanned boat controller completes to receive the control command that console is sended over, and converts it into phase
The control action answered.Gather the data of respective sensor in real time simultaneously, will when console sends over corresponding reading order
The data of sensor issue console by ISM band communication module.Corresponding software flow pattern is as shown in Figure 4.Unmanned boat is opened
After dynamic, ISM band communication module, motor driving, data sampling sensor are initialized first so that communication module can
Communicated.Then the command information in the data and polling communication module of data acquisition module is obtained.Refer to when receiving advance
When making, controller converts it into corresponding specific actuating signal, corresponding drive actions is controlled, according to different gears（Upper,
In, under）, unmanned boat is produced the action advanced；When receiving retrogressing instruction, controller converts it into corresponding specific dynamic
Make signal, corresponding drive actions are controlled, according to different gears（Upper, middle and lower）, unmanned boat is produced the action retreated；When
When receiving halt instruction, controller converts it into corresponding specific actuating signal, controls corresponding drive actions, makes nobody
Ship produces the action stopped；When receiving steering order, controller converts it into corresponding specific actuating signal, controls phase
The drive actions answered, according to different gears（Upper, middle and lower）And steering angle, unmanned boat is produced the action turned to.
The overall process of described high experience man-machine interaction remotely pilotless ship's method is described as follows：
1）First, console, unmanned boat, Google glass are started successively.And carried out Google glass and charger baby by charging wire
Connection.Now, the program in console, unmanned boat, Google glass controller brings into operation.
2）Start soon, communication link set up by bluetooth between console and Google glass, console and unmanned boat it
Between communication link is set up by ISM band module.Now, the information channel of whole system has built up.
3）Operating personnel put on Google glass, and now Google will read video instructions and sent, regarding on unmanned boat
Frequency information, by the transfer of console, is uploaded in Google glass, and is shown to operating personnel's viewing.In addition, console is preserved
The video information of transfer.
4）When operating personnel send " advance " phonetic order, instruction is sent to unmanned boat by the transfer of console, so
Unmanned boat produces the action advanced afterwards；Meanwhile, in the process, video information is constantly passed back in Google glass.Other " after
Move back ", " stopping ", " steering " instruction the course of work it is similar therewith.
Brief description of the drawings
Fig. 1 is the high schematic diagram for experiencing man-machine interaction remotely pilotless ship of the present invention.
Fig. 2 is Google glass secondary development app of the present invention software flow pattern.
Fig. 3 is the high software flow pattern for experiencing man-machine interaction remotely pilotless ship console of the present invention.
The software flow pattern of Fig. 4 height experience man-machine interaction remotely pilotless ship controllers.
Embodiment
Below in conjunction with preferred embodiment, the present invention will be described, it will be appreciated that preferred embodiment described herein is only
For instruction and explanation of the present invention, it is not intended to limit the present invention.
In Android wear versions, according to the software flow pattern worked in above-mentioned Google glass, Android is utilized
Video processing API, speech processes API, eye recognition API, Bluetooth communication API of middle offer etc., develop app, are then transported
Row is in Google glass；Described Google glass is google glass 2.
In console controller, the software flow pattern worked according to above-mentioned console controller is run real-time embedded
Under system, the Bluetooth communication API provided in an operating system, the mechanism such as multithreading, development and application program；Because ISM band is logical
Believe module, without ready-made driver, develop corresponding driver.
In unmanned boat controller, according to the software flow pattern of above-mentioned unmanned boat controller plc, Real-time embedding is run
Under formula system, the mechanism such as the multithreading provided in an operating system, development and application program；Due to ISM band communication module, various
Data acquisition module, without ready-made driver, develops corresponding driver.
In one embodiment, described bluetooth module uses 5V supply voltages, and its port current is 15-20mA；It is described
ISM band communication module use communication distance 6KM, frequency hopping communications mode.
In one embodiment, described bluetooth module uses 3.3V supply voltages, and its port current is 15-20mA；Institute
The ISM band communication module stated uses 1.9-3.6V supply voltages, and IO operating voltages are 3.3V/5V, and communication distance is 250m.
In one embodiment, described charger baby, using 20Ah battery capacity, USB charging inlets.
In another embodiment, described ISM communication modules, it would however also be possible to employ mobile 3G communication networks are led to
Letter.
Claims (8)
1. a kind of method of high experience man-machine interaction remotely pilotless ship, it is characterised in that：Including Google glass, console, nobody
Ship；
Bluetooth module is installed on the console, and it corresponding with the master controller progress of console part is electrically connected；
The transmitting-receiving communication module of ISM band is installed on the console, and the master controller of itself and console part is subjected to phase
The electrical connection answered；
Corresponding transmitting-receiving communication module is also installed on the unmanned boat, and it is corresponding with the master controller progress on unmanned boat
Electrical connection, so as to realize the radio communication function between console and unmanned boat.
2. Google glass according to claim 1, it is characterised in that secondary development is carried out to it, installs corresponding APP, real
The existing function such as video playback and speech recognition controlled；
When described software just starts, carry out hardware initialization first, including to micro projector, voice module, touch switch,
Bluetooth module etc. is initialized；
Described software and then opening bluetooth module and the communication connection between foundation and console（Console has already turned on, and
And corresponding bluetooth module also has already turned on, and carry out the preparation for setting up connection）；
Described software is then instructed and waited to console transmission reading unmanned boat video information, when video stream is uploaded
When on to Google glass, information is projected on eyeglass by micro projector, watched for people；
Described software sends reading video information instruction by poll voice module and repetition and circulated.
3. console according to claim 1, it is characterised in that the program in the console in controller completes to receive
And the control instruction for forwarding Google glass to send, preserve and upload video and sensor information that unmanned boat is beamed back.
4. unmanned boat according to claim 1, it is characterised in that the program in the unmanned boat in controller completes to receive
The control command that console is sended over, and convert it into corresponding control action；
Described unmanned boat controller gathers the data of respective sensor in real time simultaneously, when described console is sended over accordingly
Reading order when, the data of described sensor are issued to described console by ISM band communication module；
After described unmanned boat starts, described ISM band communication module, motor driving, data sampling sensor are entered first
Row initialization so that described communication module can be communicated；
Command information in described unmanned boat controller and then the data and polling communication module of acquisition data acquisition module.
5. Google glass according to claim 2, it is characterised in that when described voice module is detected " advance voice "
When, described controller sends " advancement commands " by described bluetooth to described console, described advancement commands, including
High, medium and low three gear；
When described voice module detects " retrogressing voice ", described controller is by described bluetooth to described control
Platform is sent " retreating instruction ", described retrogressing instruction, including high, medium and low three gear；
When described voice module detects " stopping voice ", described controller is by described bluetooth to described control
Platform sends " halt instruction ", described halt instruction, including high, medium and low three gear；
When described voice module detects " steering voice ", described controller is sent by described bluetooth to console
" turning to and angle command "；
When " reading sensor voice " is detected when described voice module, described controller is by described bluetooth to described
Console send " reading sensors command "；
Described unmanned boat can be by the sensor information collected（Some hydrographic informations and corresponding voice signal）Upload to institute
In the Google glass stated, and shown on glasses.
6. console according to claim 3, it is characterised in that after described console starts, first to bluetooth module,
ISM band communication module is initialized；
Described console and then poll detection bluetooth module, ISM band communication module.
7. console according to claim 3, it is characterised in that described console is slow when detecting bluetooth module reception
Rush in area when thering is the control signal to transmit, control signal is transmitted to ISM band communication module buffering area by described controller
In be sent to unmanned boat；
When described console, which is detected, has information transfer to come in ISM band module reception buffering area, described controller
Bluetooth module is forwarded it to send in buffering area.
8. unmanned boat according to claim 4, it is characterised in that described when described controller receives advancement commands
Controller convert it into corresponding specific actuating signal, corresponding drive actions are controlled, according to different gears（In above,
Under）, unmanned boat is produced the action advanced；
When described controller receives retrogressing instruction, described controller converts it into corresponding specific actuating signal,
Corresponding drive actions are controlled, according to different gears（Upper, middle and lower）, unmanned boat is produced the action retreated；
When described controller receives halt instruction, described controller converts it into corresponding specific actuating signal,
Corresponding drive actions are controlled, unmanned boat is produced the action stopped；
When described controller receives steering order, described controller converts it into corresponding specific actuating signal,
Corresponding drive actions are controlled, according to different gears（Upper, middle and lower）And steering angle, unmanned boat is produced the action turned to.
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| CN201710360005.9A CN107264731A (en) | 2017-05-20 | 2017-05-20 | A kind of method of high experience man-machine interaction remotely pilotless ship |
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