CN206696701U - Endless-track vehicle remote control and automated driving system based on internet - Google Patents
Endless-track vehicle remote control and automated driving system based on internet Download PDFInfo
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- CN206696701U CN206696701U CN201720209389.XU CN201720209389U CN206696701U CN 206696701 U CN206696701 U CN 206696701U CN 201720209389 U CN201720209389 U CN 201720209389U CN 206696701 U CN206696701 U CN 206696701U
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Abstract
The utility model discloses a kind of endless-track vehicle remote control and automated driving system based on internet, the system is made up of monitoring modular, execution module, data processing module and remote operation module, detection data of the data processing module to monitoring modular are handled, the real-time status of vehicle is published on internet, and according to the control instruction at policer operation station or the Decision Control execution module of nerve network controller, remote control endless-track vehicle traveling.The utility model is realized in the case of internet covering, and manpower is freed to the long-range monitoring of endless-track vehicle and active control and the Function for Automatic Pilot of endless-track vehicle, realize safe driving by policer operation station.
Description
Technical field
It is specially a kind of based on internet the present invention relates to a kind of remote control of endless-track vehicle and automated driving system
Endless-track vehicle remote control and automated driving system.
Background technology
Endless track installation has the advantages that tractive force is big, cross-country ability is good, grounding pressure is small, climbing capacity is strong, so
It is widely used in complicated ground working truck, such as excavator, crawler-type loader.Endless-track vehicle works in rugged environment more
In, the problems such as noise is big, dust is more is often accompanied by, the problems such as tumbling that may be present, also the personal safety to driver produced in construction
Certain threat.
The fast development of network technology and remote control technology promotes industrial automation and vehicle is unmanned
The development of the remote monitoring system in field.Vehicle-mounted monitoring system research at present to engineering truck is more, but can't be difficult to full
The actual application demand of sufficient engineering, and the research to the remote control and automated driving system of endless-track vehicle is also present very very much not
Foot.
This remote control and automated driving system based on internet provide one to improve the intellectuality of endless-track vehicle
Kind method.This method can free human pilot from working site, reduce the amount of labour of human pilot, and protect
Personnel health and safety.The internet-based control of remote system, the use range of system is expanded, also make it that policer operation is more square
Just.
The content of the invention
The invention provides a kind of endless-track vehicle remote control and automated driving system based on internet, to solve crawler belt
Deficiency of the vehicle in terms of long-range and automatic Pilot.
The present invention includes monitoring modular, execution module, data processing module and remote operation module, described monitoring mould
Block, execution module and data processing module be arranged on endless-track vehicle relevant position on, remote operation module by internet with
Data processing module is communicated.
Described monitoring modular by ultrasonic sensor group, photoelectric encoder group, Inertial Measurement Unit, obliquity sensor and
First camera forms, and monitoring modular is used for obtaining kinematic parameter, pose parameter and the external environmental information of endless-track vehicle.
The ultrasonic sensor group of described monitoring modular is made up of nine ultrasonic sensor W40-10DT, installed in car
Front portion, for measuring the obstacle position information of vehicle both sides and front.Photoelectric encoder group is by two photoelectric encoders
ZKT-66 is formed, and is separately mounted on the left and right crawler belt of vehicle, axle center is connected with the axle center of driving wheel, for measuring driving wheel
Corner, to obtain the actual speed of crawler belt.Inertial Measurement Unit model BW-IMU200, is placed on the flat board of crawler body,
For measuring the deflection of vehicle and acceleration.Obliquity sensor model MIM20, on the flat board of crawler body, use
To measure vehicle x and the upward angle of inclination of y-axis.First camera is arranged on vehicle top end holder, can rotate 270 ° to car
Surrounding environment is imaged.
Described execution module is made up of frequency converter group, stepper motor, brake auxiliary device and second camera, is performed
Control instruction is travelled, realizes front and rear walking, steering and the braking of endless-track vehicle.
Frequency converter component of described execution module or so two, is fixed on the chassis of vehicle, input line is connected to
The delivery outlet of 9264 (AO) modules, output line are connected with left and right stepper motor respectively, control the rotating speed of stepper motor, so as to real
The front and rear walking of existing endless-track vehicle is connected with (AO) module interface of course changing control 9264 with the solenoid directional control valve of brake auxiliary device,
The switch of output control signal control valve, the control of hydraulic pressure valve outlet pressure is realized, so as to realize that the braking of endless-track vehicle fills
The control put.Second camera be arranged on vehicle front fixed support on, on the center line of vehicle body, by data wire with
Airborne computer connects, and for shooting vehicle front road surface, gained picture is passed to airborne computer.
Described data processing module is by airborne computer, slave computer cRIO9030,9220 (AI) modules and 9264 (AO)
Module is formed, and data processing module is in communication with each other with each module, and traveling decision-making is made in automatic Pilot.
The slave computer cRIO9030 of described data processing module is connected by data wire with airborne computer, slave computer
CRIO9030 handles the sensor die analog quantity of 9220 (AI) modules, finally obtains digital quantity and is transferred to airborne computer；Work as reception
The movement instruction sent to airborne computer, slave computer cRIO9030 are translated into control analog quantity and are transported to 9264 (AO) moulds
Block, otherwise labview programs can go out the driving parameters of endless-track vehicle based on Neural Network Control Algorithm automatic decision.
Described remote operation module is made up of monitoring active station, and monitoring active station is needed under the network coverage, passes through meter
The front panel of calculation machine Remote Open control system, checks the real time information of endless-track vehicle, and carry out remote control.
Described monitoring active station need to carry out authentication in opening control front panel in IE browser, checking
Information correctly could login page.
Described endless-track vehicle remote control and automated driving system, function based on internet include：Long-range monitoring work(
Energy, active control function and Function for Automatic Pilot, wherein active control function and Function for Automatic Pilot are selected by monitoring active station.
The implementation process of described remote monitoring function is：Slave computer obtains the analog data of sensor group, to data
Handled, be changed into digital data transmission to airborne computer, the real-time display on the control front panel of airborne computer；Machine
Carry computer and front panel is uploaded to internet by web server；Operating personnel can pass through the browser of Net-connected computer
Control front panel is checked, obtains the real time information of vehicle.
The implementation process of described active control function is：Active station is monitored based on the real time information of vehicle, selection
Active control subsystem, input wagon control order, including speed and direction information；Instruction is issued to airborne meter by internet
Calculation machine, then sent by airborne computer to slave computer；Slave computer is handled control instruction, and it is defeated to be changed into voltage signal difference
Enter left and right frequency converter；The rotating speed of left and right frequency converter change frequency control left and right stepping motor changes therewith, realizes endless-track vehicle
Traveling and steering.
The implementation process of described Function for Automatic Pilot is：Monitor active station selection automatic running subsystem, slave computer pair
Road surface picture is handled, and obtains line fitting curve；Neural Network Control Algorithm obtains the speed of service of left and right crawler belt, information
Left and right frequency converter is respectively transmitted to after processing；The rotating speed of left and right frequency converter change frequency control left and right stepping motor changes therewith
Become, realize the traveling and steering of endless-track vehicle.
In described Function for Automatic Pilot, when ultrasonic sensor group detects on the forward road of endless-track vehicle there is obstacle
During thing, slave computer sends barrier alarm information, control system front panel barrier alarm etc. to airborne computer and flashed, and
The distance of barrier, while endless-track vehicle stopping brake are shown on front panel.When obliquity sensor, which measures inclination angle, reaches certain value,
Endless-track vehicle has a rollover risk, and slave computer sends rollover risk alarm to airborne computer, and control system front panel is tumbled alarm
Lamp flashes, and shows inclination angle value, while endless-track vehicle stopping brake.When subsystem can not obtain travel route automatically,
Slave computer sends navigation failed-event alert information to airborne computer, and control system front panel navigation failed-event alert lamp flashes, simultaneously
Endless-track vehicle stopping brake.
Beneficial effects of the present invention：
1st, the active control and Function for Automatic Pilot of endless-track vehicle are realized.
2nd, to endless-track vehicle, a variety of danger that can be potentially encountered are monitored and handled in automatic Pilot, are improved and are driven
The security sailed.
3rd, operating personnel can carry out the control of endless-track vehicle in remote monitoring activities station operational control front panel, reduce
The amount of labour, people is freed from severe operating environment, protects the health and life security of wagon control personnel.
4th, using internet-based control, the constraint that communication equipment is controlled endless-track vehicle real time remote is reduced.
Brief description of the drawings
Fig. 1 is the system structure diagram of the present invention.
Fig. 2 is the control system hardware installation position view of the present invention.
Fig. 3 is this hair remote control and automatic running system execution flow chart.
Fig. 4 is the ANN Control block diagram of the present invention.
In figure：1- policer operations station, 2- airborne computers, 3- slave computers cRIO9030,4-9220 (AI) module, 5-
9264 (AO) modules, 6- ultrasonic sensors group, 7- photoelectric encoders group, 8- Inertial Measurement Units, 9- obliquity sensors, 10-
First camera, 11- frequency converters group, 12- stepper motors, 13- brake auxiliary devices, 14- second cameras, 15- networks,
16- computers, c- crawler bodies.
Embodiment
As shown in Fig. 1 and Fig. 2, the present invention includes monitoring modular I, execution module II, data processing module III and long-range behaviour
Make module IV, described monitoring modular I, execution module II and data processing module III are arranged on endless-track vehicle, remote operation
Module IV is communicated by internet with data processing module III.
Described monitoring modular I is sensed by ultrasonic sensor group 6, photoelectric encoder group 7, Inertial Measurement Unit 8, inclination angle
The camera 10 of device 9 and first forms；Monitoring modular I is used for measuring the posture information and external environmental information of endless-track vehicle；Ultrasound
Wave sensor group 6 is made up of nine ultrasonic sensor W40-10DTR, and ultrasonic sensor group 6 is divided to two groups to be arranged on vehicle
Front portion, for measuring the obstacle position information of vehicle front, photoelectric encoder group 7 is by two photoelectric encoder ZKT-66 groups
Into two photoelectric encoders are separately mounted on the left and right crawler belt of vehicle, and axle center is connected with the axle center of driving wheel, for measuring master
The corner of driving wheel, to obtain the actual speed of crawler belt；The model BW-IMU200 of Inertial Measurement Unit 8, is placed in crawler body c
Flat board on, for measuring the deflection of vehicle and acceleration；The model MIM20 of obliquity sensor 9, installed in crawler body c
Flat board on, for measuring vehicle x and the upward angle of inclination of y-axis.First camera 16 is arranged on vehicle top end holder, can
270 ° of rotation images to vehicle-periphery.
Described execution module II is by frequency converter group 11, stepper motor 12, brake auxiliary device 13 and second camera
14 compositions, frequency converter group 11 are divided to or so two, are fixed on the chassis of vehicle, and input line is connected to 9264 (AO) modules 5, output
Line is connected with left and right stepper motor respectively, controls the rotating speed of stepper motor 12, the interface of 9264 (AO) module 5 and braking auxiliary dress
Put 13 solenoid directional control valve to be connected, export the switch of analog signalses control valve, second camera 14 is arranged on endless-track vehicle
On fixed support above, on the center line of vehicle body, it is connected by data wire with airborne computer 2, for shooting vehicle
Road surface ahead.
Described data processing module III is by airborne computer 2, slave computer cRIO90303, the He of 9220 (AI) module 4
9264 (AO) modules 5 form；Airborne computer 2 is communicated by internet with monitoring active station 1, passes through data wire and slave computer
CRIO90303 connections, 9220 (AI) modules 4 gather the sensor die analog quantity of monitoring modular I, and slave computer cRIO90303 is to data
Changed and handled, and control signal is transferred to execution module II by 9264 (AO) modules 5.
Described remote operation module IV is made up of monitoring active station 1, and monitoring active station 1 is needed in the case where network 15 covers,
By computer 16, remote control and automated driving system are controlled.
Fig. 3 is the remote control of the endless-track vehicle based on internet and the program circuit of automated driving system of the present invention
Figure：
The remote control and automated driving system of the endless-track vehicle based on internet of the present invention use labview softwares
Data processing and control computing are carried out to endless-track vehicle.The main program of system is stored and run in airborne computer 2, shares three
Individual subroutine pack includes long-range monitoring subprogram, active control subprogram and automatic Pilot subprogram and deposited in slave computer cRIO90303
Store up and run, calling and operation by main program subroutine, realize the long-range monitoring of the system, active control and drive automatically
Sail three functions.Its medium-long range monitoring subprogram can be run parallel with active control subprogram or automatic Pilot subprogram, main
Dynamic control subprogram and automatic Pilot subprogram can real-time switchover operations.
Described monitoring active station 1 need to carry out authentication in opening control front panel in IE browser, checking
The correct ability login page of information, is monitored operation.
The operational process of described long-range monitoring subsystem includes, 9220 (AI) modules 4 collection collection sensor information,
The conversion and processing of data are carried out in slave computer cRIO90303, the information transfer after on the one hand handling to automatic Pilot subprogram,
On the one hand the information is transferred to airborne computer 2, is shown on labview front panel by data wire, labview web
Front panel is published on internet by server with embedded, and policer operation station 1 is in IE browser before opening control
Expanded metals page, after authentication, front panel is checked, obtain the real time information of vehicle.
The implementation process of described active control function：Policer operation station selects manual mode, and speed is inputted in front panel
Degree and corner information, the information are transported to slave computer cRIO90303, slave computer by airborne computer by data wire
CRIO9030 3 is handled and changed to control instruction, the correspondingly sized analog quantity letter of 9,264 5 delivery outlets of (AO) module of control
Breath.After the frequency converter group being connected with the interface of 9264 (AO) module 5 receives analog quantity information, corresponding frequency is arrived in regulation, defeated
Go out the left and right stepping motor to crawler belt, left and right stepping motor rotating speed accordingly changes.The steering of endless-track vehicle is to pass through
What the speed difference of left and right crawler belt was realized, corner information is converted into a left side by certain rule here by slave computer cRIO90303
The velocity information of right-hand track chiain is realized.
The implementation process of Function for Automatic Pilot：
Monitor active station 1 and select automatic running subsystem, second camera 14 shoots the road surface photo of vehicle front, storage
In airborne computer 2, and it is transported to slave computer cRIO90303；The vision of labview softwares in slave computer cRIO90303
Handled with motion module road pavement picture, obtain road sign signal coordinates, be fitted to navigation curve；Slave computer cRIO9030 3
Made a policy using Neural Network Control Algorithm, obtain the speed of service of left and right crawler belt, control the delivery outlet phase of 9264 (AO) module 5
Answer the analog quantity information of size；Left and right frequency converter changes output frequency according to input signal, and control left and right stepping motor turns
Speed change, realizes the traveling and steering of endless-track vehicle.
The control algolithm of described Function for Automatic Pilot is realized based on neural network algorithm, is obtained according to sensor group
Endless-track vehicle real-time pose information and navigation curvilinear coordinate obtain range deviation and angular deviation, by left and right crawler track speeds and
Distance and neuron of the angular deviation as neural network algorithm, next step movement instruction information is calculated by controller.
In described Function for Automatic Pilot, when ultrasonic sensor group 6 detects on the forward road of endless-track vehicle there is barrier
When hindering thing, slave computer cRIO9030 3 sends barrier alarm information, the police of control system front panel barrier to airborne computer 2
The flicker such as report, while endless-track vehicle stopping brake.When obliquity sensor 9, which measures inclination angle, reaches certain value, endless-track vehicle is tumbled
Danger, slave computer cRIO9030 3 send rollover risk alarm to airborne computer 2, and control system front panel is tumbled warning light sudden strain of a muscle
It is bright, and inclination angle value is shown, while endless-track vehicle stopping brake.When system can not obtain travel route automatically, slave computer
CRIO9030 3 flashes to the navigation failed-event alert information of airborne computer 2, control system front panel navigation failed-event alert lamp, simultaneously
Endless-track vehicle stopping brake.
The information of described road barrier determines to be prepared by the following:Ultrasonic sensor group measure barrier away from
From, Obstacle Position coordinate is determined by range finder module, then calculate with navigation curve distance, when distance be less than setting value
It is current that Shi Ze thinks that barrier hinders, and sends obstacle information.
Claims (10)
1. a kind of endless-track vehicle remote control and automated driving system based on internet, it is characterised in that：Including monitoring modular
(I), execution module (II), data processing module (III) and remote operation module (IV)；Monitoring modular (I), execution module (II)
Be separately mounted to data processing module (III) on the relevant position of endless-track vehicle, remote operation module (IV) by internet with
Data processing module (III) is communicated；
Described monitoring modular (I) is by ultrasonic sensor group (6), photoelectric encoder group (7), Inertial Measurement Unit (8), inclination angle
Sensor (9) and the first camera (10) composition, monitoring modular (I) are used for obtaining kinematic parameter, the pose parameter of endless-track vehicle
With external environmental information；
Described execution module (II) is taken the photograph by frequency converter group (11), stepper motor (12), brake auxiliary device (13) and second
As head (14) composition, traveling control instruction is performed, realizes front and rear walking, steering and the braking of endless-track vehicle；
Described data processing module (III) by airborne computer (2), slave computer cRIO9030 (3), 9220 (AI) modules (4) and
9264 (AO) modules (5) are formed, and data processing module (III) is in communication with each other with each module, and traveling is made in automatic Pilot
Decision-making；
Described remote operation module (IV) is made up of monitoring active station (1), and monitoring active station (1) needs to cover in network (15)
Under, by the front panel of computer (16) Remote Open control system, the real time information of endless-track vehicle is checked, and remotely controlled
System.
2. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：The ultrasonic sensor group (6) of described monitoring modular (I) is made up of nine ultrasonic sensor W40-10DTR, peace
Mounted in the front portion of vehicle, for measuring the obstacle position information of vehicle both sides and front；
The photoelectric encoder group (7) of described monitoring modular (I) is made up of two photoelectric encoder ZKT-66, is separately mounted to car
Left and right crawler belt on, axle center is connected with the axle center of driving wheel, for measuring the corner of driving wheel, to obtain the actual speed of crawler belt
Degree；
Inertial Measurement Unit (8) model BW-IMU200 of described monitoring modular (I), is placed on the flat board of crawler body,
For measuring the deflection of vehicle and acceleration；
Obliquity sensor (9) model MIM20 of described monitoring modular (I), on the flat board of crawler body, for surveying
Measure vehicle x and the upward angle of inclination of y-axis.
3. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：The frequency converter group (11) of described execution module (II) is divided to or so two, is fixed on the chassis of vehicle, and input line connects
The delivery outlet of 9264 (AO) modules (5) is connected to, output line is connected with left and right stepper motor respectively, control stepper motor (12)
Rotating speed, so as to realize the front and rear walking of endless-track vehicle and course changing control；
The solenoid directional control valve phase of 9264 (AO) module (5) interfaces and brake auxiliary device (13) of described execution module (II)
Even, the switch of output control signal control valve, so as to control the brake apparatus of endless-track vehicle；
The second camera (14) of described execution module (II) is arranged on the fixed support of vehicle front, in vehicle body
On heart line, it is connected by data wire with airborne computer (2), for shooting vehicle front road surface, gained picture is passed to airborne meter
Calculation machine (2), is handled image by labview image processing module, obtains automobile navigation curve.
4. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：The slave computer cRIO9030 (3) of described data processing module (III) is connected by data wire and airborne computer (2)
Connect, slave computer cRIO9030 (3) handles the sensor die analog quantity that 9220 (AI) modules (4) collect, and finally obtains digital quantity and passes
It is defeated to arrive airborne computer (2)；The front panel of control system is published on internet by airborne computer (2) in a manner of embedded；
Described monitoring active station (1) selection endless-track vehicle driving model, when monitoring active station (1) controls front panel line of input in system
When sailing instruction, driving instruction is sent slave computer cRIO9030 (3) by airborne computer (2), and slave computer cRIO9030 (3) is located
From 9264 (AO) module (5) output control analog signalses to execution module after reason.
5. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：With long-range monitoring function：Slave computer cRIO9030 (3) obtains the analog data of sensor group, slave computer
CRIO9030 (3) is handled data, is changed into digital data transmission to airborne computer (2), in airborne computer (2)
Real-time display on system control front panel；Front panel is uploaded to interconnection by airborne computer (2) by web server with embedded
Net；Monitor active station (1) and open webpage in IE browser, authentication is carried out, before system control is checked after checking information is correct
Panel, obtain the real time information of vehicle.
6. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：With active control function：Policer operation station (1) selects active control function based on the real time information of vehicle,
Input wagon control order, including speed and direction information；Instruction passes through the Internet transmission to airborne computer (2), then by machine
Computer (2) is carried to send to slave computer cRIO9030 (3)；Slave computer cRIO9030 (3) is handled control instruction, is changed into
Analog signalses input left and right frequency converter；The rotating speed of left and right frequency converter change frequency control left and right stepping motor changes therewith,
Realize the traveling and steering of endless-track vehicle.
7. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 1, it is special
Sign is：With Function for Automatic Pilot：Policer operation station (1) selects Function for Automatic Pilot, and second camera shoots road surface photo,
Sent through airborne computer (2) to slave computer cRIO9030 (3), the vision in slave computer cRIO9030 (3) and motion module pair
Road surface picture is handled, and obtains line fitting curve, and nerve network controller decision-making goes out the speed of service information of left and right crawler belt,
Left and right frequency converter is conveyed into after D/A switch；The rotating speed of the frequency change control left and right stepping motor of left and right frequency converter becomes
Change, realize the traveling and steering of endless-track vehicle.
8. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 7, it is special
Sign is：During with Function for Automatic Pilot, ultrasonic sensor group (6), which is detected on the forward road of endless-track vehicle, barrier
When, slave computer cRIO9030 (3) sends barrier alarm information, the police of control system front panel barrier to airborne computer (2)
The flicker such as report, and obstacle position information is shown, while endless-track vehicle stopping brake.
9. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 7, it is special
Sign is：During with Function for Automatic Pilot, when subsystem can not obtain travel route automatically, slave computer cRIO9030 (3) to
Airborne computer (2) sends navigation failed-event alert information, the navigation failed-event alert lamp flicker of control system front panel, while creeper truck
Stopping brake.
10. a kind of endless-track vehicle remote control and automated driving system based on internet according to claim 7, it is special
Sign is：During with Function for Automatic Pilot, when obliquity sensor (9), which measures inclination angle, reaches certain value, endless-track vehicle is tumbled danger
Danger, slave computer cRIO9030 (3) send rollover risk alarm to airborne computer (2), and control system front panel is tumbled warning light
Flicker, and inclination angle value is shown, while endless-track vehicle stopping brake.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045345A (en) * | 2017-03-06 | 2017-08-15 | 吉林大学 | Endless-track vehicle remote control and automated driving system based on internet |
| CN108089579A (en) * | 2017-12-13 | 2018-05-29 | 南京多伦科技股份有限公司 | A kind of intelligent robot automated driving system |
| CN108171893A (en) * | 2018-03-19 | 2018-06-15 | 厦门大学嘉庚学院 | A kind of intelligent internet of things system and its method of work of campus express delivery dispatching |
| CN110221610A (en) * | 2019-06-10 | 2019-09-10 | 吉林大学 | The intelligent operation system and operational method of unmanned engineering machinery |
| WO2020147365A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Remote control method and device for self-driving automobile |
| CN111576541A (en) * | 2020-06-10 | 2020-08-25 | 徐工集团工程机械有限公司 | Engineering machinery autonomous control system and method based on 5G network |
-
2017
- 2017-03-06 CN CN201720209389.XU patent/CN206696701U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107045345A (en) * | 2017-03-06 | 2017-08-15 | 吉林大学 | Endless-track vehicle remote control and automated driving system based on internet |
| CN108089579A (en) * | 2017-12-13 | 2018-05-29 | 南京多伦科技股份有限公司 | A kind of intelligent robot automated driving system |
| CN108171893A (en) * | 2018-03-19 | 2018-06-15 | 厦门大学嘉庚学院 | A kind of intelligent internet of things system and its method of work of campus express delivery dispatching |
| WO2020147365A1 (en) * | 2019-01-15 | 2020-07-23 | 北京百度网讯科技有限公司 | Remote control method and device for self-driving automobile |
| US11853056B2 (en) | 2019-01-15 | 2023-12-26 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Remote control method and remote control apparatus for autonomous vehicle |
| CN110221610A (en) * | 2019-06-10 | 2019-09-10 | 吉林大学 | The intelligent operation system and operational method of unmanned engineering machinery |
| CN111576541A (en) * | 2020-06-10 | 2020-08-25 | 徐工集团工程机械有限公司 | Engineering machinery autonomous control system and method based on 5G network |
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