WO1990002370A1 - Commande de vehicule a distance - Google Patents

Commande de vehicule a distance Download PDF

Info

Publication number
WO1990002370A1
WO1990002370A1 PCT/GB1989/001018 GB8901018W WO9002370A1 WO 1990002370 A1 WO1990002370 A1 WO 1990002370A1 GB 8901018 W GB8901018 W GB 8901018W WO 9002370 A1 WO9002370 A1 WO 9002370A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
video
control system
information
picture
Prior art date
Application number
PCT/GB1989/001018
Other languages
English (en)
Inventor
Rodney John Blissett
Christopher George Harris
Debra Charnley
Original Assignee
Plessey Overseas Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Plessey Overseas Limited filed Critical Plessey Overseas Limited
Publication of WO1990002370A1 publication Critical patent/WO1990002370A1/fr

Links

Classifications

    • 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
    • G05D1/0038—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 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/002—Special television systems not provided for by H04N7/007 - H04N7/18
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/20—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using video object coding

Definitions

  • This invention relates to remote operated vehicle control. It relates particularly to means for controlling a remote operated vehicle where the connecting link carries information for a picture display of the ground surface and obstacles ahead of the vehicle.
  • One type of remote operated vehicle makes use of a cable connection between the vehicle and the remotely located operator.
  • a cable can carry a wide bandwidth of information for the operator including video signals, for example from a television camera mounted on the vehicle.
  • video signals for example from a television camera mounted on the vehicle.
  • An alternative approach would be to use a high bandwidth radio link but this can also restrict the range of operations and the type of country to be driven through.
  • it may not be suitable for an application where more than one remotely controlled vehicle is to be operated together.
  • There do exist techniques for video data compression which might be helpful, but these do not have adequate compression ratios to enable low bandwidth radio links to be ⁇ sed, in order to allow the necessary sensory feedback information to be transmitted .
  • the present invention was devised to provide a method for remote vehicle control where the need for a dedicated high bandwidth radio link can be avoided.
  • a remote operated vehicle control system comprising a remotely controlled vehicle carrying a television camera, the camera and vehicle being connected by a radio link to a separate base station having a radio receiver, in which the video picture for transmission is divided into separate data sets one part of which exhibits short timescale variations and another part of which exhibits long timescale variations, the two data sets being transmitted at differing video frame rates, and means at the receiver for combining the two transmissions to give a composite picture on a video display of said receiver.
  • the said video frame rates may include a rate of thirty hertz with a second slower rate.
  • the picture information for transmission is processed to select generally static features which are used to generate a synthesized scene in the video display.
  • the selected picture information may be processed such that only edge and corner information is used for said slower frame rate transmission.
  • Tne received slower frame rate information may be converted to video frame rate for projection into the image plane of the video display.
  • Figure 1 shows the remote operated vehicle in a typical scene with a base station which accommodates a control console for a vehicle operator
  • FIG. 2 is a block diagram of the main system control units, and,
  • FIG. 3 shows the different data transformations that are necessary to provide the required picture display.
  • a remote operated vehicle 1 is shown travelling along a country road and the vehicle is under the control of an operator located at a base station 2.
  • the operator will be positioned at an operator console 3 and this makes use of a video display showing the scene in front of the vehicle.
  • a television camera 4 located on the vehicle roof transmits a picture of the ground surface ahead of the vehicle 1 to a receiver at the console 3.
  • the radio link 6 is a two-way one so that control signals from the console 3 can be used to guide the vehicle.
  • signals from sensors on the vehicle 1 can be transmitted to the console 3 so that information on the braking effect, steering movements etc. can be applied to the video display.
  • each image is broken down by an information processing stage into 'image tokens'.
  • These tokens are representative of the positions of comer and edge features present in a given video picture frame and some description of the identification of these features is given in our copending patent application No. 881123 entitled 'Digital Data Processing'.
  • the processing circuitry will be able to synthesise a skeletal representation of the scene information based on the received token data.
  • a moving (video-rate) representation of the viewed scene can be generated based on a lower frequency update (for example, at two hertz), provided that the synthesized scene is reprojected onto the image plane at the normal video frame rate (thirty hertz).
  • a lower frequency update for example, at two hertz
  • the synthesized scene is reprojected onto the image plane at the normal video frame rate (thirty hertz).
  • the vehicle motion parameters are transmitted back to the base station at video rate.
  • This arrangement ensures that a real time video display is available at the base station faithfully reproducing the short timescale variations due to the vehicle dynamics and recording at a lower rate the general terrain and evolution of objects in the field of view of the television camera.
  • the dynamically updated scene may then be viewed by the operator and used to provide the sensory feedback information to enable the vehicle to be driven.
  • the need to compress the data results in a partial loss of information in that the actual gray- levels recorded by the television camera are not reconstituted
  • the reconstruction of 3D information provides valuable additional quantitative data regarding the nature of the terrain ahead of the vehicle and the presence of obstacles.
  • This method offers the advantages of eliminating the need for cumbersome and restrictive umbilicals and does not require dedicated high bandwidth radio links. Hence, the operability of the teleoperated vehicle is enhanced accordingly.
  • FIG. 2 The main system control units required to carry out this process are depicted in Figure 2.
  • This Figure shows the television camera 4 (which uses, for preference, a non-interlaced line arrangement) which delivers analogue video data by cable to a front- end video processor 7.
  • the processor 7 digitises each captured frame to 512 by 512 eight-bit pixels and this data is held in a frame store.
  • the front-end processor is designed to decompose each digitised frame into a list of extracted image tokens and associated attributes. These tokens may be based on localised corners and/or edges.
  • the design of the processor 7 is based on the VME-bus architecture and it follows the construction disclosed in the aforementioned paten: application.
  • the data emanating from the front-end processor 7 is at a much reduced data rate (about 1.8 megabits per second).
  • This data stream is passed into a 3D geometry module 8 which may additionally accept data from auxiliary motion and attitude sensors on board the vehicle 1.
  • the 3D geometry module 8 matches image tokens from frame to frame, computes or utilises the vehicle motion parameters and, through triangulation, estimates the 3D locations of the corresponding scene tokens. These estimates are continually refined as more data is accepted from subsequent frames.
  • the outputs from the module 8 are the refined motion parameter estimates together with a list of the relevant 3D locations of scene tokens that are currently visible to the television camera 4. These outputs are transmitted to the base station 2 by means of a transmitter 9 and the low bandwidth radio link 6.
  • the motion data is sent every video frame (at thirty hertz frame rate) and the 3D data is sent at a lower rate (for example, two hertz).
  • a processor for the 3D geometry module 8 employs a parallel processing architecture.
  • the rate of data transmission through the link 6 will be about sixteen kilobits per second.
  • the 3D scene tokens are used to synthesise a 3D surface representation of the viewed scene. This is done by means of a 3D surface generator 12.
  • the method for obtaining a points-only set of scene tokens is described in the aforementioned published paper.
  • the 3D tokens are reprojected back onto the current image plane, utilising the most recent vehicle motion and attitude data.
  • a Delaunay triangulation is then performed on the image plane through the projected tokens. This triangulation ensures that a corresponding 3D surface is reconstructed that is single valued in depth.
  • the surface may then be visualised by means of an orthogonal grid of contours (formed at the intersections of the surface with an equispaced set of orthogonal vertical planes). Furthermore, potential obstacles and regions unsuitable for driving may be inferred from the 3D surface and highlighted, if required.
  • This information is then presented as a dynamic display on the operator console 3.
  • the operator is then able to drive the vehicle by using slave controls and observing the display console.
  • the Tequired vehicle steering and braking demands are transmitted back to the vehicle 1.
  • the provision of 3D information to the operator will enable the nature of the terrain ahead of the vehicle to be assessed and potential obstacles can be located and avoided.
  • Figure 3 shows the different data transformations that are necessary to obtain the required picture display.
  • the signals from the television camera produce a series of video frames 14 at a rate of thirty per second. The frames are depicted as they are spaced in sequence along the time coordinate 16. From each spaced video frame, the front end processor acts to produce sets of image tokens 17. The sets of image tokens are then delivered to the 3D geometry module to contribute towards the production of 3D scene , tokens 18.
  • the vehicle 1 is also equipped with auxiliary sensors which provide information on, for example, vehicle speed and attitude.
  • the information 19 from these auxiliary sensors is processed to form a vehicle motion vector 21 which will have characteristics that will similarly vary along the time coordinate.
  • the information in the vehicle motion vector is transmitted by means of the radio link 6 at a rate of thirty frames per second to form a received vehicle motion vector 22 at the base station.
  • the information 19 from the auxiliary sensors is also delivered to the 3D geometry module to contribute towards the production of the 3D scene tokens 18.
  • These tokens 18 are varied at a rate of thirty frames per second, they are then sampled at a rate of two frames per second and the resulting data is transmitted by means of the radio link 6 to the base station.
  • the information received at the base station consisting of the sampled 3D scene tokens 23 at a rate of two frames per second and the received vehicle motion vector 22 at thirty frames per second, is then combined to provide a series of projected image token frames 24. This is done by reprojecting the 3D tokens back onto the current image plane utilising the most recent vehicle motion and attitude data.
  • a Delaunay triangulation 26 is performed on the image plane through the projected tokens. This triangulation ensures that a corresponding 3D surface is reconstructed that is single valued in depth.
  • the surface is then visualised by means of an orthogonal grid of contours to create the 3D surface contours and navigable regions at a rate of thirty frames per second.
  • This contour information 27 can be displayed on the video screen to give a somewhat simplified view of the terrain but one that will still allow the operator to drive the vehicle.
  • the invention is not necessarily restricted to control of a road vehicle, and it could be used for other purposes such as for transmitting sensory feedback information for the control of 2 remote manipulator or for remote landing of an unmanned aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Selective Calling Equipment (AREA)

Abstract

Le système de commande de véhicule à distance décrit comprend un véhicule commandé à distance (1) qui transporte une caméra de télévision (4), la caméra (4) et le véhicule (1) étant reliés par une liaison radio (6) à une station de base séparée (2) équipée d'un récepteur radio (3), dans lequel l'image vidéo assurant la transmission est divisée en groupes de données séparés, dont une partie présente de courtes variations de l'échelle de temps et dont l'autre présente de longues variations de l'échelle de temps, les deux groupes de données étant transmis à des vitesses de blocs images vidéo différentes, ainsi qu'un organe placé dans le récepteur et servant à combiner les deux transmissions pour fournir une image composite sur un écran vidéo dudit récepteur (3). Un tel système permet d'assurer une bonne commande du véhicule sans qu'il soit nécessaire de recourir à une liaison radio à grande largeur de bande.
PCT/GB1989/001018 1988-08-27 1989-08-25 Commande de vehicule a distance WO1990002370A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8820417A GB2222338B (en) 1988-08-27 1988-08-27 Remote operated vehicle control
GB8820417.7 1988-08-27

Publications (1)

Publication Number Publication Date
WO1990002370A1 true WO1990002370A1 (fr) 1990-03-08

Family

ID=10642854

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1989/001018 WO1990002370A1 (fr) 1988-08-27 1989-08-25 Commande de vehicule a distance

Country Status (4)

Country Link
EP (1) EP0383902A1 (fr)
JP (1) JPH03501903A (fr)
GB (1) GB2222338B (fr)
WO (1) WO1990002370A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994000951A1 (fr) * 1992-06-29 1994-01-06 British Telecommunications Public Limited Company Codage et decodage de signaux video
EP0606173A1 (fr) * 1993-01-05 1994-07-13 Sfim Industries Ensemble de guidage
FR2725102A1 (fr) * 1994-09-27 1996-03-29 M5 Soc Procede de video-commande a distance d'engins en particulier de vehicules, et dispositif de mise en oeuvre
EP0781679A1 (fr) * 1995-12-27 1997-07-02 Dassault Electronique Dispositif de commande pour la sécurisation d'un véhicule rapide, notamment guidé par un opérateur embarqué ou non dans ledit véhicule

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1249907B (it) * 1991-06-11 1995-03-30 Sistema di telesorveglianza a scansione lenta utilizzante il sistema di comunicazione radiomobile cellulare.
GB2258114B (en) * 1991-07-26 1995-05-17 Rachel Mary Turner A remote baby monitoring system
SE512171C2 (sv) 1997-07-02 2000-02-07 Forskarpatent I Linkoeping Ab Videoöverföring
GB2382708B (en) 2001-11-21 2006-03-15 Roke Manor Research Detection of foreign objects on surfaces
WO2012095658A1 (fr) 2011-01-14 2012-07-19 Bae Systems Plc Système de transfert de données et procédé associé

Citations (7)

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Publication number Priority date Publication date Assignee Title
FR2310049A1 (fr) * 1975-04-30 1976-11-26 Ver Flugtechnische Werke Installation pour le traitement d'informations-images
GB2075794A (en) * 1980-05-10 1981-11-18 Deutsche Forsch Luft Raumfahrt Method for the transmission and projection of video images, in particular aerial photographs, with a reduced frequency in the image sequence
US4369464A (en) * 1979-07-09 1983-01-18 Temime Jean Pierre Digital video signal encoding and decoding system
US4405943A (en) * 1981-08-19 1983-09-20 Harris Corporation Low bandwidth closed loop imagery control and communication system for remotely piloted vehicle
US4513317A (en) * 1982-09-28 1985-04-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Retinally stabilized differential resolution television display
US4591909A (en) * 1983-04-20 1986-05-27 Nippon Telegraph & Telephone Public Corp. Interframe coding method and apparatus therefor
US4683494A (en) * 1984-08-13 1987-07-28 Nec Corporation Inter-frame predictive coding apparatus for video signal

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61267476A (ja) * 1985-05-22 1986-11-27 Nec Corp 監視システム
JPS6335094A (ja) * 1986-07-30 1988-02-15 Nec Corp 動画像信号符号化方式

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2310049A1 (fr) * 1975-04-30 1976-11-26 Ver Flugtechnische Werke Installation pour le traitement d'informations-images
US4369464A (en) * 1979-07-09 1983-01-18 Temime Jean Pierre Digital video signal encoding and decoding system
GB2075794A (en) * 1980-05-10 1981-11-18 Deutsche Forsch Luft Raumfahrt Method for the transmission and projection of video images, in particular aerial photographs, with a reduced frequency in the image sequence
US4405943A (en) * 1981-08-19 1983-09-20 Harris Corporation Low bandwidth closed loop imagery control and communication system for remotely piloted vehicle
US4513317A (en) * 1982-09-28 1985-04-23 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Retinally stabilized differential resolution television display
US4591909A (en) * 1983-04-20 1986-05-27 Nippon Telegraph & Telephone Public Corp. Interframe coding method and apparatus therefor
US4683494A (en) * 1984-08-13 1987-07-28 Nec Corporation Inter-frame predictive coding apparatus for video signal

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994000951A1 (fr) * 1992-06-29 1994-01-06 British Telecommunications Public Limited Company Codage et decodage de signaux video
GB2283636A (en) * 1992-06-29 1995-05-10 British Telecomm Coding and decoding video signals
GB2283636B (en) * 1992-06-29 1996-04-24 British Telecomm Coding and decoding video signals
US5841470A (en) * 1992-06-29 1998-11-24 British Telecommunications Public Limited Company Coding and decoding video signals
EP0606173A1 (fr) * 1993-01-05 1994-07-13 Sfim Industries Ensemble de guidage
FR2725102A1 (fr) * 1994-09-27 1996-03-29 M5 Soc Procede de video-commande a distance d'engins en particulier de vehicules, et dispositif de mise en oeuvre
EP0704782A1 (fr) * 1994-09-27 1996-04-03 Société M5 Procédé de vidéo-commande à distance d'engins en particulier de véhicules, et dispositif de mise en oeuvre
US6304290B1 (en) 1994-09-27 2001-10-16 Societe M 5 Method for the video-assisted remote control of machines, especially vehicles, and device for the implementation of this method
EP0781679A1 (fr) * 1995-12-27 1997-07-02 Dassault Electronique Dispositif de commande pour la sécurisation d'un véhicule rapide, notamment guidé par un opérateur embarqué ou non dans ledit véhicule
FR2743162A1 (fr) * 1995-12-27 1997-07-04 Dassault Electronique Dispositif de commande pour la securisation d'un vehicule rapide, notamment guide par un operateur embarque ou non dans ledit vehicule
US5987364A (en) * 1995-12-27 1999-11-16 Dassault Electronique Control device for making safe a fast vehicle, in particular guided by an operator on board the vehicle or otherwise

Also Published As

Publication number Publication date
EP0383902A1 (fr) 1990-08-29
JPH03501903A (ja) 1991-04-25
GB2222338B (en) 1992-11-04
GB8820417D0 (en) 1989-03-30
GB2222338A (en) 1990-02-28

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