CN109521780B - Control system and control method for remote control work vehicle - Google Patents

Control system and control method for remote control work vehicle Download PDF

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Publication number
CN109521780B
CN109521780B CN201910081142.8A CN201910081142A CN109521780B CN 109521780 B CN109521780 B CN 109521780B CN 201910081142 A CN201910081142 A CN 201910081142A CN 109521780 B CN109521780 B CN 109521780B
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vehicle
information
module
remote control
positioning
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CN109521780A (en
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唐超权
李勇
胡传正
杨超
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Xuzhou Construction Machinery Group Co Ltd XCMG
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Xuzhou Construction Machinery Group Co Ltd XCMG
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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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • 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
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a control system for a remote control operation vehicle, which comprises: a vehicle movement unit for driving the vehicle to move; the first controller is in signal connection with the vehicle movement unit, can receive a remote control signal and controls the vehicle movement unit according to an instruction corresponding to the remote control signal; an information acquisition unit that acquires environmental information reflecting movement information of a vehicle and surrounding of the vehicle; and the second controller is respectively connected with the information acquisition unit, the vehicle movement unit and the first controller in a signal manner, can process the movement information of the vehicle and the environmental information around the vehicle acquired by the information acquisition unit, and can control the vehicle movement unit to automatically return the vehicle according to the processing result. The invention can enable the remote control operation vehicle to automatically return according to the processing result when the remote control signal is abnormal.

Description

Control system and control method for remote control work vehicle
Technical Field
The invention relates to the field of engineering machinery, in particular to a control system and a control method for a remote control operation vehicle.
Background
The engineering vehicle for remote control operation is increasingly widely applied to various dangerous scenes, such as areas where debris flow, earthquake disasters, mining accidents, nuclear leakage, fire disasters, military conflicts and the like occur, and related construction operations are extremely dangerous by manually operating the engineering vehicle, so that the engineering vehicle is controlled remotely by a remote control means, and the life safety of a driver is guaranteed to the greatest extent on the premise of ensuring smooth propulsion of rescue work.
However, in the dangerous scene, not only is the terrain environment complex, but also other factors which can interfere the remote control signal are filled, the remote control signal is easy to lose, and further, the communication between a control person and the engineering vehicle is lost. For example, in part of dangerous scenes, serious conditions such as signal shielding, radiation interference or full-band communication blocking exist, and in addition, operators cannot accurately evaluate the signal interference in the dangerous scenes, so that the condition that engineering vehicles are out of connection is extremely easy to occur.
After the connection is lost, operators often cannot timely and effectively treat the engineering vehicle due to lack of effective rescue means for the engineering vehicle, and often can only be left alone or found after the danger is relieved. However, the environment in the dangerous scene is often changed instantaneously, the possibility of searching the engineering vehicle after the danger is relieved is relatively low, and a great amount of search and rescue resources are wasted due to the discarded engineering vehicle, so that the service efficiency and the service life of the engineering vehicle are greatly reduced.
Disclosure of Invention
At least one object of the invention is to provide a control system for remotely controlling a working vehicle based on a dangerous environment, which can enable the working vehicle to return to the home independently under the condition that the remotely controlled working vehicle is not connected with a control signal. The preferred technical solutions of the technical solutions provided by the present invention can produce a plurality of technical effects described below.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the invention provides a control system for a remote control operation vehicle, which comprises: a vehicle movement unit for driving the vehicle to move; the first controller is in signal connection with the vehicle movement unit, can receive a remote control signal and controls the vehicle movement unit according to an instruction corresponding to the remote control signal; an information acquisition unit that acquires environmental information reflecting movement information of a vehicle and surrounding of the vehicle; and the second controller is respectively connected with the information acquisition unit, the vehicle movement unit and the first controller in a signal manner, can process the movement information of the vehicle and the environmental information around the vehicle acquired by the information acquisition unit, and can control the vehicle movement unit to automatically return the vehicle according to the processing result.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: the return module is used for controlling the vehicle movement unit to automatically return the vehicle; and the first judging module is used for judging whether the first controller can normally receive the remote control signal or not and triggering the return module when the first controller cannot normally receive the remote control signal.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: the second judging module judges whether the vehicle reaches the set position or not, closes the first judging module when the vehicle reaches the set position, and opens the first judging module when the vehicle does not reach the set position.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, the information collecting unit includes: the positioning module is used for collecting positioning information of the vehicle; the return module includes: and the first return unit is used for controlling the vehicle movement unit to automatically return the vehicle according to the positioning information of the vehicle.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, the information collecting unit includes: the scanning module is used for collecting the space position information of the surrounding environment of the vehicle through scanning; the image acquisition module is used for acquiring image information of the surrounding environment of the vehicle through shooting; the return module includes: and the second return unit is used for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle and controlling the vehicle movement unit according to the generated return path so as to automatically return the vehicle.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: the composition module can extract environment characteristic points from the image information of the periphery of the vehicle, combine the environment characteristic points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and draw an environment map of the periphery of the vehicle; the storage module is used for storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map obtained by the composition module as historical environment characteristic points and historical environment maps respectively; the path calculation module calculates the return path of the vehicle to the initial position according to the initial positioning information and the environment map; wherein the second return unit is configured to match the environmental feature points extracted by the composition module with the historical environmental feature points recorded by the storage module when the vehicle is positioned.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, the information collecting unit includes: the positioning module is used for collecting positioning information of the vehicle; the return module includes: the first return unit is used for controlling the vehicle movement unit according to the return path according to the positioning information of the vehicle so as to automatically return the vehicle; the second controller further includes: and the third judging module is used for judging whether the positioning module works normally or not, starting the first return unit when the positioning module works normally, and starting the second return unit when the positioning module works abnormally.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: and the closed loop detection module is used for comparing the environment characteristic points with the historical environment characteristic points when the first return unit or the second return unit is started, and updating the environment map recorded in the storage module when the environment characteristic points are inconsistent with the historical environment characteristic points.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: and the inertia measurement module is used for collecting the attitude information of the vehicle and enabling the composition module to update the environment map when the attitude information is changed.
As an optimization of any technical solution or any optimized technical solution provided in the foregoing or in the following, the positioning module includes: the satellite positioning device can receive satellite positioning signals and calculate the position information of the vehicle.
As an optimization of any of the technical solutions or any of the optimized technical solutions provided in the foregoing or in the following, the scanning module includes: and a laser radar for scanning the surroundings of the vehicle by emitting a laser beam and obtaining spatial position information of the surroundings of the vehicle.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the vehicle movement unit includes: the throttle control module is used for controlling the movement speed of the vehicle; a steering control module that controls a forward direction of the vehicle; and a brake control module that controls the starting or stopping of the vehicle.
The invention also provides a control method of the remote control operation vehicle, which comprises the following steps: when the vehicle normally receives the remote control signal, the vehicle is remotely controlled to move, and the movement information of the vehicle and the surrounding environment information of the vehicle are collected; when the vehicle cannot normally receive the remote control signal, the collected motion information of the vehicle and the surrounding environment information of the vehicle are processed, and the vehicle is controlled to automatically return according to the processing result.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and judging whether the vehicle reaches the initial position, stopping the vehicle to automatically return when the vehicle reaches the initial position, and continuously and automatically returning when the vehicle does not reach the initial position.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and collecting positioning information of the vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and positioning the vehicle by collecting the space position information and the image information of the surrounding environment of the vehicle, and controlling the vehicle movement unit according to the generated return path to automatically return the vehicle.
As any technical solution provided in the foregoing or the following or any optimized technical solution, the method for generating the return path includes: extracting environmental feature points from the image information of the periphery of the vehicle, combining the environmental feature points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and drawing an environmental map of the environment of the periphery of the vehicle; storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map as historical environment characteristic points and a historical environment map respectively; calculating the return path of the vehicle to the initial position according to the initial positioning information and the environment map; the method for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle comprises the following steps: and matching the extracted environmental characteristic points with the stored historical environmental characteristic points, and positioning the vehicle.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: collecting positioning information of a vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information; and judging whether the positioning information of the vehicle is normal or not, positioning the vehicle according to the positioning information when the positioning information is normal, and positioning the vehicle according to the spatial position information and the image information of the surrounding environment of the vehicle when the positioning information is abnormal.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: pose information of a vehicle is collected, and the environment map is updated when the pose information is changed.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and when the vehicle automatically returns, comparing the extracted environment characteristic points with the stored historical environment characteristic points, and updating the historical environment map when the environment characteristic points are inconsistent with the historical environment characteristic points.
The invention further provides a remotely operated vehicle comprising a control system for a remotely operated vehicle as hereinbefore described.
Based on the technical scheme, the embodiment of the invention can acquire the motion information of the vehicle and the surrounding environment information of the vehicle and process the acquired information, so that the remote control operation vehicle can automatically return according to the processing result when the remote control signal is abnormal.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic diagram of a control system of a remote control work vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system for a remotely controlled work vehicle according to another embodiment of the present invention;
fig. 3 is a schematic flow chart of a control method of a remote control operation vehicle according to an embodiment of the present invention;
Detailed Description
The following description of the invention and the differences between the present invention and the prior art will be understood with reference to the accompanying drawings and text. The following describes the invention in further detail, including preferred embodiments, by way of the accompanying drawings and by way of examples of some alternative embodiments of the invention.
It should be noted that: any technical feature and any technical solution in this embodiment are one or several of various optional technical features or optional technical solutions, and in order to describe brevity, all of the optional technical features and the optional technical solutions of the present invention cannot be exhausted in this document, and it is inconvenient for an implementation of each technical feature to emphasize that it is one of various optional implementations, so those skilled in the art should know: any one of the technical means provided by the invention can be replaced or any two or more of the technical means or technical features provided by the invention can be mutually combined to obtain a new technical scheme.
Any technical features and any technical solutions in the present embodiment do not limit the protection scope of the present invention, and the protection scope of the present invention should include any alternative technical solution that can be conceived by a person skilled in the art without performing creative efforts, and a new technical solution obtained by combining any two or more technical means or technical features provided by the present invention with each other by a person skilled in the art.
As shown in fig. 1 to 2, the control system for a remote control work vehicle according to the present invention includes: a vehicle movement unit for driving the vehicle to move; the first controller is in signal connection with the vehicle movement unit, can receive a remote control signal and controls the vehicle movement unit according to an instruction corresponding to the remote control signal; an information acquisition unit that acquires environmental information reflecting movement information of a vehicle and surrounding of the vehicle; and the second controller is respectively connected with the information acquisition unit, the vehicle movement unit and the first controller in a signal manner, can process the movement information of the vehicle and the environmental information around the vehicle acquired by the information acquisition unit, and can control the vehicle movement unit to automatically return the vehicle according to the processing result.
The remote control working vehicle is mostly applied to the unmanned operation scene of the vehicle, for example, in the search and rescue sites of natural or artificial disasters such as debris flow, earthquakes, mining accidents, nuclear leakage, fire disasters, military conflicts and the like, in order to avoid the influence of secondary disasters on the driving on the working vehicle and the life health of operators, remote control is mostly realized by adopting a remote control means. Based on this, those skilled in the art will appreciate that the remotely controlled work vehicle is not limited to a running machine that rotates on four wheels, but may be extended to crawler-type, multi-wheeled, walk-leg, or other related devices such as work aircraft.
The first controller is connected with the vehicle motion unit through signals, and comprises wired signal connection and wireless signal connection, and meanwhile comprises various communication protocols, including CAN bus connection and the like. The first controller is capable of receiving a remote control signal and controlling the vehicle movement unit in accordance with an instruction of the remote control signal. The remote control signal herein may refer to specific commands made for different vehicle movement units, for example, different targeted commands are made for each wheel movement of the remote control work vehicle to synchronously complete an overall action; or directly sending an instruction to the overall action of the remote control operation vehicle, and decomposing the overall action into the decomposable actions of different vehicle movement units by the first controller, thereby realizing the operation corresponding to the remote control instruction.
The information acquisition units are distributed on the remote control operation vehicle and are used for acquiring motion information capable of reflecting the vehicle and environmental information around the vehicle. The movement information of the vehicle may include information such as a position, a speed, a driving direction, etc. of the vehicle, and the environmental information around the vehicle includes obstacle information, road information, environmental parameter information, etc. of the surrounding environment, where the road information may include information that affects the driving of the vehicle such as road conditions, gradients, turning conditions, etc., and the environmental parameter information may include information of concentration of dust and water vapor in the air, and other factors that may affect the driving of the vehicle.
Because the environments of disaster sites or search and rescue sites are complex, the blocking and shielding phenomena of remote control signals are serious, the conditions of strong radiation interference or full-frequency-band communication blocking and the like exist, the remote control signals are easy to lose, the remote control operation vehicle and the remote control signals lose communication, the established tasks of the remote control operation vehicle cannot be completed, and due to the lack of effective disposal and rescue means, the remote control operation vehicle can be abandoned in the disaster sites, and great waste is brought to search and rescue resources. In this case, the second controller may process the information acquired by the information acquisition unit and control the vehicle traveling unit in accordance with the processing result, thereby causing the remote control work vehicle to return autonomously. Further, the loss rate of the remote control operation vehicle during search and rescue is reduced, and the service efficiency and the use cost of the remote control operation vehicle are improved.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: the return module is used for controlling the vehicle movement unit to automatically return the vehicle; and the first judging module is used for judging whether the first controller can normally receive the remote control signal or not and triggering the return module when the first controller cannot normally receive the remote control signal.
In order to control the remote control operation vehicle to automatically return and start the process thereof, the second controller comprises a return module and a first judging module. The first judging module is used for detecting whether the first controller can normally receive the remote control signal. The situation that the remote control signal cannot be normally received at least comprises two situations of abnormality of the remote control signal and abnormality of the first controller, so the first judging module is at least required to judge the two situations that the remote control operation vehicle cannot normally receive the remote control signal.
The first determination module may issue an instruction to the return module to return the remote control work vehicle based on a predetermined program or when a predetermined condition is satisfied. For example, an operator may set a determination criterion for the first determination module according to a maximum driving distance of the remote control work vehicle, and return the remote control work vehicle autonomously when the vehicle driving is close to half of the maximum driving distance; or after the remote control operation vehicle completes the established operation task, actively cutting off the control of the remote control signal and starting the autonomous return process.
In order to control the stopping process of the remote control working vehicle in the set area, as the optimization of any technical scheme or any optimized technical scheme provided in the foregoing or the following of the present invention, the second controller includes: the second judging module judges whether the vehicle reaches the set position or not, closes the first judging module when the vehicle reaches the set position, and opens the first judging module when the vehicle does not reach the set position.
The second judging module is used for judging whether the vehicle reaches a set position, wherein the set position comprises a departure point of a remote control operation vehicle, a stop point or a maintenance point of an operation area and the like, and the remote control operation vehicle can stop an autonomous return process at all the set positions. The second judging module can judge that the set position is reached in a certain area based on the comparison between the self positioning of the remote control operation vehicle and a preset positioning point; the remote control work vehicle may be relatively matched with the marking device of the set position to judge whether the remote control work vehicle reaches the vicinity of the set position.
In the above embodiment of the present invention, the second judging module is used to turn on or off the first judging module to realize the terminative control of the autonomous return process of the remote control work vehicle. It should be understood by those skilled in the art that the second judging module may also be in communication connection with the return module, so as to directly control the operation of the return module, thereby simplifying the control logic for terminating the automatic return process; correspondingly, the second judging module can also be in communication connection with the vehicle movement unit more directly, so that the remote control operation vehicle is stopped at a set position in time and directly, and further simplification of control logic of the automatic return process is realized.
In fact, the second judging module may be in communication connection with the first judging module, the returning module and the vehicle moving unit, and at this time, the priority of communication is set correspondingly to realize the stopping process of the remote control operation vehicle in the set area, and the reliability of the remote control operation vehicle is ensured through a plurality of parallel communication lines.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, the information collecting unit includes: the positioning module is used for collecting positioning information of the vehicle; the return module includes: and the first return unit is used for controlling the vehicle movement unit to automatically return the vehicle according to the positioning information of the vehicle.
The positioning module is matched with the first return module and used for guiding the remote control operation vehicle to automatically return according to the positioning information. The positioning information provided by the positioning module for the first return unit is absolute positioning information taking the earth as a reference object, namely satellite positioning information taking the earth as a reference object, or base station positioning information taking a base station around the working environment of the remote control working vehicle as a reference object. The positioning result provided by the absolute positioning mode with the earth as the reference object is more accurate and has higher reliability, and the remote control operation vehicle can automatically return according to the matching result of the map and the positioning information by matching with the map of the operation site or the path recorded in the process that the remote control operation vehicle goes to the operation site.
However, because the working environment of the remote control operation vehicle is relatively bad, the situation that the positioning signal is blocked or weakened seriously easily occurs, and it is difficult to continuously provide accurate and reliable positioning information for the remote control operation vehicle. At this time, as any technical scheme provided in the foregoing or the following description or any optimization of the optimized technical scheme, the information acquisition unit includes: the scanning module is used for collecting the space position information of the surrounding environment of the vehicle through scanning; the image acquisition module is used for acquiring image information of the surrounding environment of the vehicle through shooting; the return module includes: and the second return unit is used for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle and controlling the vehicle movement unit according to the generated return path so as to automatically return the vehicle.
The scanning module is used to scan spatial location information of the vehicle surroundings, which in some embodiments performs its function by means of a lidar. At this time, the spatial position information of the vehicle surroundings obtained via the scanning module is recorded and stored in the form of point cloud data. The point cloud data specifically refers to: the scan data is recorded in the form of dots, each dot containing three-dimensional coordinates, some of which may contain color information or reflected intensity information.
Wherein, the color information can be recorded and stored in RGB data format, and other formats can be selected, such as CMYK format or HSB format; the reflection intensity information can be used for analyzing the attribute and the state of the scanned object in the surrounding environment of the vehicle, for example, the scanning module can distinguish objects with different materials such as metal, wood, sand and the like based on the difference of the reflectivity after being scanned by different materials; the scanning module can distinguish between the temperature and the state of the scanned object based on the difference of the reflectivity of the object in different states at different temperatures. The information of the color, the material, the temperature, the state and the like is recorded together with the three-dimensional position information of the article in the form of point cloud data.
In addition, the spatial position information of the periphery of the vehicle collected by the scanning module comprises the distance and the azimuth of the peripheral object from the remote control operation vehicle, and the recording time of each piece of spatial position information. Based on this, by combining the distance difference and the azimuth difference between the same object and the remote control work vehicle between different points in time, the movement speed and movement direction of the objects around the vehicle can be calculated.
The image acquisition module is used for acquiring image information of the surrounding environment of the vehicle, and in some embodiments, the image acquisition module is a camera and is used for continuously acquiring the image information; in some embodiments, the image acquisition module is a camera and is configured to take a photograph with set rules to acquire image information, wherein the set rules include, but are not limited to: taking pictures at fixed time intervals and taking pictures when the moving speed and moving direction of the remote control operation vehicle are changed; in some embodiments, the image acquisition module may also employ a special camera, such as a night vision camera or an infrared camera, particularly for a remotely controlled work vehicle that is active at night, or that is operating in a special environment.
Furthermore, the image acquisition module may include a plurality of cameras, video cameras or special cameras, and the like, and may be set in a targeted manner according to specific working requirements of the remote control working vehicle. For example, for the normal running requirement of the remote control operation vehicle, part of the shooting devices in the image acquisition module should be arranged in the forward direction, the steering direction and the backward direction of the remote control operation vehicle, and ensure enough shooting range so as to effectively acquire the image information of the ground obstacle; for the autonomous return requirement of the remote control operation vehicle, the image information acquired by the image acquisition module is needed to be taken as the basis of autonomous return of the vehicle, so that the photographing device should pay more attention to the markers on the road so as to position the vehicle according to the markers on the road.
The second return module is matched with the scanning module and the image acquisition module, positions the vehicle according to the space position information and the image information of the surrounding environment of the vehicle, and controls the vehicle movement unit according to the generated return path to enable the vehicle to automatically return. The second return module is used for positioning the vehicle in a relative positioning mode, namely, a positioning mode which does not use the ground as a reference object, but uses information such as the shape of a road, a special marker and the like on the running path of the vehicle as a reference object, and is an imitation biochemical positioning mode which approximates to biological road finding.
The relative positioning mode of the second return module is further described as follows: and when the remote control operation vehicle drives to a second place from the first place, the scanning module obtains the space position information of the road bordered by the obstacle, the image acquisition module obtains the image information of the special marker on the road, and at the moment, the second return module records the position of the special marker relative to the road and positions the vehicle by means of the relative distance and the position of the marker and the vehicle. According to the positioning mode, the special marker with the characteristic of more distinguishing degree is selected as the reference object for relative positioning, the problem that the vehicle is not accurate enough when the space position information of the road is used as the reference object for positioning is solved, and the space position information between the special marker and the road is fused, so that the positioning relationship between the vehicle and the road is more accurate.
Further, as any one of the technical solutions provided in the foregoing or in the following or any one of the optimized technical solutions, the second controller includes: the composition module can extract environment characteristic points from the image information of the periphery of the vehicle, combine the environment characteristic points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and draw an environment map of the periphery of the vehicle; the storage module is used for storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map obtained by the composition module as historical environment characteristic points and historical environment maps respectively; the path calculation module calculates the return path of the vehicle to the initial position according to the initial positioning information and the environment map; wherein the second return unit is configured to match the environmental feature points extracted by the composition module with the historical environmental feature points recorded by the storage module when the vehicle is positioned.
The composition module can extract environmental characteristic points according to the image information acquired by the image acquisition module, and draw an environmental map of the surrounding environment of the vehicle by combining the spatial position information of the surrounding of the vehicle acquired by the scanning module. Specifically, the composition module uses the spatial position information as basic data, builds a map containing surrounding obstacles and road conditions of the vehicle by taking the acquisition area of the vehicle scanning module as a range at one moment, and continues the operation at the other moment; and then, carrying out superposition operation on the maps obtained at different moments, thereby forming an environment map which has correct azimuth and accords with the actual situation. The process of the superposition operation needs to consider the movement direction and movement speed of the vehicle at different moments, so that environmental characteristic points need to be extracted for relative positioning of the vehicle.
The following illustrates the operation of the composition module (assuming scanning and image acquisition only in the forward direction of the remotely controlled work vehicle):
at a first moment in the running process of the remote control operation vehicle, a first sector-shaped scanning image taking the remote control operation vehicle as a center and taking a set distance as a radius is acquired by the scanning module (in an ideal state, namely, in the case of no obstacle, the scanning image will show a sector, and in a practical state, the scanning rays are influenced by the obstacle and cut off, and at the moment, the scanning image will show an approximate sector image with irregular boundaries); at a second time, the above operation is repeated and a second sector-scan image is obtained.
Since the movement mode of the remote control working vehicle from the first moment to the second moment is not fixed, that is, the movement speed is not uniform, the direction is changed, and the like, the first sector scanning image and the second sector scanning image cannot be simply superimposed, that is, the second sector scanning image is naturally considered to be positioned in front of the first sector scanning image along the movement direction of the remote control working vehicle, and the environment characteristic points are taken as reference objects to superimpose the scanning images.
Specifically, at the first moment, the image information of the periphery of the vehicle acquired by the image acquisition module is analyzed to extract the environmental feature points, such as the big tree A. And calculating the relative distance and the azimuth of the vehicle and the big tree A according to the space position information obtained by the scanning module. And at the second moment, repeating the steps, and calculating the relative distance and the azimuth of the vehicle and the big tree A at the second moment by taking the same environmental characteristic point, namely the big tree A as a reference. At this time, according to the relative distance and azimuth calculated twice, vector superposition is performed on the first sector scanning image and the second sector scanning image, so as to obtain an accurate environment map.
Of course, in some embodiments, since the scanning module is configured in multiple directions of the vehicle, the scan image that is superimposed at this time is not a sector, but may be a circular image centered on the vehicle, and the superposition of the scan images also follows the principle of vector superposition.
In addition, in order to improve the accuracy of vector superposition calculation of the scanned image according to the environmental characteristic points, a plurality of environmental characteristic points can be selected in each superposition calculation process, and the vehicle can be combined and positioned.
In addition, in some embodiments, since it cannot be guaranteed that the environmental feature point selected at the previous time can be selected continuously at the next time, in the process of extracting the environmental feature point by the composition module, a plurality of environmental feature points can be selected, and the time interval for extracting the environmental feature point is not too long, so that the situation that the environmental feature point is lost is avoided.
The storage module is firstly used for recording the positioning information of the vehicle at the initial position and taking the positioning information as the basis of automatic return. The positioning information can be absolute positioning information relative to the ground provided by the positioning module, or relative positioning information relative to the environment characteristic points provided by the scanning module and the image acquisition module. The storage module is also used for storing the environment characteristic points and the environment map obtained by the composition module at each moment, and the environment characteristic points and the environment map are respectively stored as the historical environment characteristic points and the historical environment map at the moment and are used as the basis for relative positioning when the vehicle automatically returns.
The path calculation module can calculate a return path of the vehicle to the initial position according to the initial positioning information and the environment map. When calculating the return path of the vehicle, the path calculation module can return the remote control operation vehicle to the initial position from the running path under the remote control state according to the principle of returning from the original path; the return path of the vehicle can also be adaptively adjusted and optimized according to the road condition of the driving route.
And the second return unit is used for positioning the remote control operation vehicle and automatically returning the remote control operation vehicle by matching the environment characteristic points extracted by the composition module with the history environment characteristic points recorded by the storage module. The matching of the environmental feature points and the historical environmental feature points is based on the targeted setting that the photographed images of the same environmental feature points may be different in the forward travel and the return travel of the vehicle.
Specifically: when the vehicle is controlled by a normal remote control signal, the composition module selects a certain environmental characteristic point on the driving path according to the image information obtained by the image acquisition module, and stores the environmental characteristic point as a historical environmental characteristic point in the storage module. When the vehicle cannot normally receive the remote control signal, the vehicle starts an automatic return program, and at the moment, after the image information containing the environmental characteristic points is obtained through the image acquisition module again, the image capturing angle can deviate, so that the matching of the environmental characteristic points and the historical environmental characteristic points is carried out based on an approximate comparison mode. And when the second return unit completes the matching work, namely the object obtained by shooting the current vehicle is approximately successfully compared with the object recorded in the storage module, the second return module calculates the relative distance and the direction between the vehicle and the object, so that the vehicle is relatively positioned, and the vehicle is ensured not to deviate from the calculated return path.
In some embodiments, to ensure that the remotely operated vehicle is positioned accurately at all times, there may be both an absolute positioning relative to the earth and a relative positioning relative to the environmental feature points. At this time, as any technical scheme provided in the foregoing or the following description or any optimization of the optimized technical scheme, the information acquisition unit includes: the positioning module is used for collecting positioning information of the vehicle; the return module includes: the first return unit is used for controlling the vehicle movement unit according to the return path according to the positioning information of the vehicle so as to automatically return the vehicle; the second controller further includes: and the third judging module is used for judging whether the positioning module works normally or not, starting the first return unit when the positioning module works normally, and starting the second return unit when the positioning module works abnormally.
The third judging module is used for judging whether the positioning module works normally or not, and starting the second returning unit when the positioning module works abnormally, and guiding the remote control operation vehicle to automatically return in a relative positioning mode. The abnormal working state of the positioning module includes but is not limited to: the positioning module fails and cannot receive positioning signals and provide accurate positioning information for the remote control operation vehicle; and the positioning signal is interfered or blocked, so that the positioning accuracy of the positioning module can not be kept continuously.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or in the following, the second controller includes: and the closed loop detection module is used for comparing the environment characteristic points with the historical environment characteristic points when the first return unit or the second return unit is started, and updating the environment map recorded in the storage module when the environment characteristic points are inconsistent with the historical environment characteristic points.
When the closed loop detection module is started in the automatic vehicle returning process, no matter whether the remote control operation vehicle adopts an absolute positioning or relative positioning mode, the closed loop detection module updates inconsistent environment characteristic points in the process of comparing the environment characteristic points with historical environment characteristic points. The closed loop detection module is a targeted setting based on special and changeable characteristics of the working environment of the remote control working vehicle. For example, for a search and rescue scene after a earthquake disaster, the environmental characteristic points extracted by the remote control operation vehicle during the going-away process are likely to change under the influence of aftershocks or other factors, and at this time, an environmental map around the vehicle needs to be redrawn based on the changed environmental characteristic points.
In the above case, that is, when the history environmental feature points need to be updated, it is also necessary to continue to ensure accurate positioning of the remote control work vehicle. At this time, a plurality of environmental feature points need to be compared, and inconsistent historical environmental feature points are updated on the premise that the set proportion or the set number of environmental feature points meet the matching requirement.
In the process that the vehicle is controlled by a remote control signal or automatically returns, on the basis that the scanning module and the image acquisition module scan and shoot at specific time intervals, the vehicle should also be subjected to targeted adjustment when the motion state of the vehicle changes, so as to improve the timeliness and accuracy of the composition module. Based on this, as an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, the second controller includes: and the inertia measurement module is used for collecting the attitude information of the vehicle and enabling the composition module to update the environment map when the attitude information is changed.
The inertial measurement module updates the environment map as the pose information of the vehicle changes, where the scene of the pose information change includes, but is not limited to: the vehicle is accelerated, decelerated, steered, and accelerated or decelerated while steering. Under the scene, the space position information and the image information of the surrounding environment of the vehicle are continuously collected according to the original time interval or the set rule, so that the accuracy requirement of the environmental subway can not be met, and the environment map needs to be updated in time so as to ensure the accuracy of path calculation and vehicle positioning of the vehicle in the automatic returning process.
As a specific implementation manner of the positioning module, and as an optimization of any technical scheme or any optimized technical scheme provided in the foregoing or the following, the positioning module includes: the satellite positioning device can receive satellite positioning signals and calculate the position information of the vehicle.
Accordingly, as a specific implementation manner of the scanning module, and as an optimization of any technical scheme or any optimized technical scheme provided in the foregoing or the following description of the present invention, the scanning module includes: and a laser radar for scanning the surroundings of the vehicle by emitting a laser beam and obtaining spatial position information of the surroundings of the vehicle.
The laser radar comprises a single-line laser radar and a multi-line laser radar, and the single-line laser radar and the multi-line laser radar are unevenly arranged on the remote control operation vehicle according to the difference of scanning importance of the vehicle in different directions, so that the accuracy of scanning to obtain space position information in key directions is ensured as much as possible, and the scanning blind area is reduced as much as possible.
Specifically, in order to ensure accuracy of a scanning result of the vehicle in the forward direction as much as possible, a plurality of multi-line lidars may be disposed at a head position of the remote control working vehicle, and the multi-line lidars may be disposed at different heights, so as to realize targeted scanning of obstacles at different heights, and especially realize targeted scanning of road conditions through the lidars close to the ground. One or more single-line radars can be arranged on the side surface and the tail direction of the vehicle so as to reduce the production and manufacturing cost of the remote control operation vehicle.
Further, in order to effectively control the remote control working vehicle, as any technical scheme or any optimization after optimization provided in the foregoing or the following description of the present invention, the vehicle movement unit includes: the throttle control module is used for controlling the movement speed of the vehicle; a steering control module that controls a forward direction of the vehicle; and a brake control module that controls the starting or stopping of the vehicle.
Corresponding to the remote control operation vehicle, the invention also provides a control method of the remote control operation vehicle, which comprises the following steps: when the vehicle normally receives the remote control signal, the vehicle is remotely controlled to move, and the movement information of the vehicle and the surrounding environment information of the vehicle are collected; when the vehicle cannot normally receive the remote control signal, the collected motion information of the vehicle and the surrounding environment information of the vehicle are processed, and the vehicle is controlled to automatically return according to the processing result.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and judging whether the vehicle reaches the initial position, stopping the vehicle to automatically return when the vehicle reaches the initial position, and continuously and automatically returning when the vehicle does not reach the initial position.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and collecting positioning information of the vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and positioning the vehicle by collecting the space position information and the image information of the surrounding environment of the vehicle, and controlling the vehicle movement unit according to the generated return path to automatically return the vehicle.
As any technical solution provided in the foregoing or the following or any optimized technical solution, the method for generating the return path includes: extracting environmental feature points from the image information of the periphery of the vehicle, combining the environmental feature points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and drawing an environmental map of the environment of the periphery of the vehicle; storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map as historical environment characteristic points and a historical environment map respectively; calculating the return path of the vehicle to the initial position according to the initial positioning information and the environment map; the method for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle comprises the following steps: and matching the extracted environmental characteristic points with the stored historical environmental characteristic points, and positioning the vehicle.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: collecting positioning information of a vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information; and judging whether the positioning information of the vehicle is normal or not, positioning the vehicle according to the positioning information when the positioning information is normal, and positioning the vehicle according to the spatial position information and the image information of the surrounding environment of the vehicle when the positioning information is abnormal.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: pose information of a vehicle is collected, and the environment map is updated when the pose information is changed.
As an optimization of any one of the technical solutions or any one of the optimized technical solutions provided in the foregoing or the following, when the vehicle cannot normally receive the remote control signal, the control method includes: and when the vehicle automatically returns, comparing the extracted environment characteristic points with the stored historical environment characteristic points, and updating the historical environment map when the environment characteristic points are inconsistent with the historical environment characteristic points.
The control method of the remote control operation vehicle provided by the invention is described in more detail below with reference to fig. 3:
(1) In a starting state, the vehicle firstly performs state self-checking, and the electric quantity (or other forms of energy sources such as fuel oil, natural gas and the like), the positioning module, the return module, the image acquisition module, the scanning module and the inertia measurement module of the vehicle are checked;
(2) Under the condition that all inspection results in the step (1) meet the starting requirement, starting the remote control operation vehicle, enabling the vehicle to start to move under the control of a remote control signal, and recording positioning information of the initial position of the vehicle through a storage module;
(3) Because the attitude of the vehicle changes in the process from rest to movement, the composition module is controlled by the inertia measurement module, and an environment map of the vehicle in an initial state is drawn;
(4) In the process that the vehicle is normally controlled by remote control signals, continuously acquiring environmental information of the periphery of the vehicle by a scanning module and an image acquisition module according to a set rule, extracting environmental characteristic points from the environmental information by a composition module, drawing an environmental map of the periphery of the vehicle, and storing the environmental characteristic points and the environmental map by a storage module;
(5) Repeating the step (4) and updating the environment map when the inertial measurement module detects that the vehicle posture is changed;
(6) Detecting whether the first controller can normally receive a remote control signal, enabling the remote control operation vehicle to be always subjected to a remote control command under the condition that the remote control signal is detected to be normal, continuing the steps (4) and (5), and starting a path calculation module to calculate a return path of the vehicle according to an environment map and initial positioning information recorded in the storage module when the remote control signal is detected to be abnormal;
(7) Checking whether the positioning module works normally or not, wherein the first return module controls the vehicle movement unit according to absolute positioning information provided by the positioning module under the condition that the positioning module works normally so as to enable the vehicle to return automatically, and the second return module matches with environment information recorded by the storage module according to environment information of the periphery of the vehicle collected by the scanning module and the image collecting module under the condition that the positioning module works abnormally so as to enable the vehicle to return automatically;
(8) In the automatic returning process of the vehicle, when the environment characteristic points extracted by the composition module are different from the history environment characteristic points recorded in the storage module, the history environment characteristic points are updated;
(9) Repeating the step (5);
(10) Detecting whether the vehicle reaches an initial position, comparing the positioning information acquired by the positioning module with the initial positioning information recorded by the storage module under the condition that the positioning module can work normally, and comparing the environment map drawn by the composition module with the environment map obtained in the step (3) under the condition that the positioning module cannot work normally so as to judge;
(11) When the vehicle returns to the initial position, the automatic return process of the vehicle is terminated, and when the vehicle does not return to the initial position, the process returns to step (6), so that the vehicle continues the automatic return process.
In an embodiment of the method for controlling a remotely controlled work vehicle provided by the present invention, the method includes:
(1) After the vehicle is electrified, performing state self-checking; the autonomous return control system starts the camera, the inertial measurement unit, the positioning module, the laser radar and the autonomous return controller, and records the initial vehicle pose according to the data of the inertial measurement unit and the positioning module.
(2) The engineering vehicle runs according to the remote control signal; and (3) the autonomous return control system performs positioning and environment mapping after the information fusion of the camera, the inertial measurement unit, the positioning module and the laser radar in the step (1), extracts environment characteristic points, and updates the current environment map when the pose of the vehicle is changed.
(3) When the remote control signal is normal, continuing the step (2); otherwise, calculating the optimal return path at the current position according to the environment map and the initial information of the vehicle.
(4) When the signal receiving of the positioning module is normal, returning according to the positioning information and a selection path, performing closed-loop detection according to the environment characteristic point information, and updating the environment map information; otherwise, extracting the characteristic points of the return path, completing autonomous return through characteristic point matching, performing closed-loop detection according to the environment characteristic point information, and updating the environment map information.
(5) Determine if the vehicle initial position is reached? If not, returning to the step (3); if the initial position is reached, a remote control signal or manual manipulation is awaited.
The invention further provides a remotely operated vehicle comprising a control system for a remotely operated vehicle as hereinbefore described.
Any of the above-described embodiments of the present invention disclosed herein, unless otherwise stated, if they disclose a numerical range, then the disclosed numerical range is the preferred numerical range, as will be appreciated by those of skill in the art: the preferred numerical ranges are merely those of the many possible numerical values where technical effects are more pronounced or representative. Since the numerical values are more and cannot be exhausted, only a part of the numerical values are disclosed to illustrate the technical scheme of the invention, and the numerical values listed above should not limit the protection scope of the invention.
If the terms "first," "second," etc. are used herein to define a part, those skilled in the art will recognize that: the use of "first" and "second" is used merely to facilitate distinguishing between components and not otherwise stated, and does not have a special meaning.
Meanwhile, if the above invention discloses or relates to parts or structural members fixedly connected with each other, the fixed connection may be understood as follows unless otherwise stated: detachably fixed connection (e.g. using bolts or screws) can also be understood as: the non-detachable fixed connection (e.g. riveting, welding), of course, the mutual fixed connection may also be replaced by an integral structure (e.g. integrally formed using a casting process) (except for obviously being unable to use an integral forming process).
In addition, terms used in any of the above-described aspects of the present disclosure to express positional relationship or shape have meanings including a state or shape similar to, similar to or approaching thereto unless otherwise stated. Any part provided by the invention can be assembled by a plurality of independent components, or can be manufactured by an integral forming process.
In the description of the present invention, if the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are used, the above terms refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for convenience of describing the present invention and simplifying the description, and do not refer to or suggest that the apparatus, mechanism, component or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the scope of protection of the present invention.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical scheme of the present invention and are not limiting; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.

Claims (20)

1. A control system for remotely controlling a work vehicle, comprising:
A vehicle movement unit for driving the vehicle to move;
the first controller is in signal connection with the vehicle movement unit, can receive a remote control signal and controls the vehicle movement unit according to an instruction corresponding to the remote control signal;
an information acquisition unit that acquires environmental information reflecting movement information of a vehicle and surrounding of the vehicle; and
the second controller is respectively connected with the information acquisition unit, the vehicle movement unit and the first controller in a signal manner, and can process the movement information of the vehicle and the environmental information around the vehicle acquired by the information acquisition unit and control the vehicle movement unit to automatically return the vehicle according to the processing result;
wherein the second controller includes:
the return module is used for controlling the vehicle movement unit to automatically return the vehicle; and
the first judging module is used for judging whether the first controller can normally receive the remote control signal or not, and triggering the return module when the first controller cannot normally receive the remote control signal.
2. The control system of a remote control work vehicle according to claim 1, wherein the second controller includes:
the second judging module judges whether the vehicle reaches the set position or not, closes the first judging module when the vehicle reaches the set position, and opens the first judging module when the vehicle does not reach the set position.
3. The control system of a remote control work vehicle according to claim 1, wherein the information acquisition unit includes:
the positioning module is used for collecting positioning information of the vehicle;
the return module includes:
and the first return unit is used for controlling the vehicle movement unit to automatically return the vehicle according to the positioning information of the vehicle.
4. The control system of a remote control work vehicle according to claim 1, wherein the information acquisition unit includes:
the scanning module is used for collecting the space position information of the surrounding environment of the vehicle through scanning; and
the image acquisition module is used for acquiring image information of the surrounding environment of the vehicle through shooting;
the return module includes:
and the second return unit is used for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle and controlling the vehicle movement unit according to the generated return path so as to automatically return the vehicle.
5. The control system for remotely controlling a work vehicle according to claim 4, wherein the second controller comprises:
the composition module can extract environment characteristic points from the image information of the periphery of the vehicle, combine the environment characteristic points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and draw an environment map of the periphery of the vehicle;
The storage module is used for storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map obtained by the composition module as historical environment characteristic points and historical environment maps respectively; and
the path calculation module is used for calculating a return path of the vehicle to the initial position according to the initial positioning information and the environment map;
wherein the second return unit is configured to match the environmental feature points extracted by the composition module with the historical environmental feature points recorded by the storage module when the vehicle is positioned.
6. The control system of a remote control work vehicle according to claim 5, wherein the information acquisition unit includes:
the positioning module is used for collecting positioning information of the vehicle;
the return module includes:
the first return unit is used for controlling the vehicle movement unit according to the return path according to the positioning information of the vehicle so as to automatically return the vehicle;
the second controller further includes:
and the third judging module is used for judging whether the positioning module works normally or not, starting the first return unit when the positioning module works normally, and starting the second return unit when the positioning module works abnormally.
7. The control system of a remotely controlled work vehicle according to claim 6, wherein said second controller includes:
and the closed loop detection module is used for comparing the environment characteristic points with the historical environment characteristic points when the first return unit or the second return unit is started, and updating the environment map recorded in the storage module when the environment characteristic points are inconsistent with the historical environment characteristic points.
8. The control system of a remotely controlled work vehicle according to claim 5, wherein said second controller includes:
and the inertia measurement module is used for collecting the attitude information of the vehicle and enabling the composition module to update the environment map when the attitude information is changed.
9. A control system for remotely controlling a work vehicle according to claim 3, where said positioning module comprises:
the satellite positioning device can receive satellite positioning signals and calculate the position information of the vehicle.
10. The control system of a remotely controlled work vehicle of claim 4, wherein said scanning module comprises:
and a laser radar for scanning the surroundings of the vehicle by emitting a laser beam and obtaining spatial position information of the surroundings of the vehicle.
11. The control system of a remote control work vehicle according to claim 1, wherein the vehicle moving unit includes:
the throttle control module is used for controlling the movement speed of the vehicle;
a steering control module that controls a forward direction of the vehicle; and
and the braking control module is used for controlling the starting or stopping of the vehicle.
12. A control method of a remote control work vehicle based on the control system of the remote control work vehicle according to any one of claims 1 to 11, characterized by comprising:
when the vehicle normally receives the remote control signal, the vehicle is remotely controlled to move, and the movement information of the vehicle and the surrounding environment information of the vehicle are collected;
when the vehicle cannot normally receive the remote control signal, the collected motion information of the vehicle and the surrounding environment information of the vehicle are processed, and the vehicle is controlled to automatically return according to the processing result.
13. The control method of a remote control work vehicle according to claim 12, characterized in that when the vehicle cannot normally receive a remote control signal, the control method comprises:
and judging whether the vehicle reaches the initial position, stopping the vehicle to automatically return when the vehicle reaches the initial position, and continuously and automatically returning when the vehicle does not reach the initial position.
14. The control method of a remote control work vehicle according to claim 12, characterized in that when the vehicle cannot normally receive a remote control signal, the control method comprises:
and collecting positioning information of the vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information.
15. The control method of a remote control work vehicle according to claim 12, characterized in that when the vehicle cannot normally receive a remote control signal, the control method comprises:
and positioning the vehicle by collecting the space position information and the image information of the surrounding environment of the vehicle, and controlling the vehicle movement unit according to the generated return path to automatically return the vehicle.
16. The control method of a remote control work vehicle according to claim 15, characterized in that the return path generation method includes:
extracting environmental feature points from the image information of the periphery of the vehicle, combining the environmental feature points with the positioning information of the vehicle and the space position information of the periphery of the vehicle, and drawing an environmental map of the environment of the periphery of the vehicle;
storing the positioning information of the vehicle at the initial position as initial positioning information, and storing the environment characteristic points and the environment map as historical environment characteristic points and a historical environment map respectively; and
Calculating the return path of the vehicle to the initial position according to the initial positioning information and the environment map;
the method for positioning the vehicle according to the space position information and the image information of the surrounding environment of the vehicle comprises the following steps:
and matching the extracted environmental characteristic points with the stored historical environmental characteristic points, and positioning the vehicle.
17. The control method of a remote control work vehicle according to claim 15, characterized in that when the vehicle cannot normally receive the remote control signal, the control method comprises:
collecting positioning information of a vehicle, and controlling the vehicle movement unit to automatically return the vehicle according to the positioning information; and
judging whether the positioning information of the vehicle is normal or not, positioning the vehicle according to the positioning information when the positioning information is normal, and positioning the vehicle according to the spatial position information and the image information of the surrounding environment of the vehicle when the positioning information is abnormal.
18. The control method of a remote control work vehicle according to claim 16, wherein when the vehicle cannot normally receive the remote control signal, the control method comprises:
Pose information of a vehicle is collected, and the environment map is updated when the pose information is changed.
19. The control method of a remote control work vehicle according to claim 16, wherein when the vehicle cannot normally receive the remote control signal, the control method comprises:
and when the vehicle automatically returns, comparing the extracted environment characteristic points with the stored historical environment characteristic points, and updating the historical environment map when the environment characteristic points are inconsistent with the historical environment characteristic points.
20. A remotely operated vehicle, characterized in that the remotely operated vehicle comprises a control system of the remotely operated vehicle according to any one of claims 1 to 11.
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