CN105589459B - The semi-autonomous remote control method of unmanned vehicle - Google Patents
The semi-autonomous remote control method of unmanned vehicle Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of semi-autonomous remote control methods of unmanned vehicle, it include: the real-time collection site road conditions image of unmanned vehicle field control platform, generate autonomous guiding point, and the current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；The remote control table generates artificial guiding point according to the motion state of the live road conditions image, autonomous guiding point and unmanned vehicle, and the artificial guiding point is sent to the unmanned vehicle field control platform；The unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls target, according to the operation of unmanned vehicle described in the control target control.The semi-autonomous remote control method of unmanned vehicle through the embodiment of the present invention avoids unmanned vehicle from causing to control inaccuracy to unmanned vehicle since unmanned vehicle coverage is limited during autonomous operation, to make unmanned vehicle effectively carry out avoidance and improve the flexibility of unmanned vehicle.
Description
Technical field
The present invention relates to automatic driving vehicle remote control technologies, more particularly to a kind of semi-autonomous remote control side of unmanned vehicle
Method.
Background technique
The ground automatic driving vehicle system that automatic driving vehicle refers on vehicle nobody, has certain autonomous driving ability,
Abbreviation unmanned vehicle both includes pilotless automobile, also includes Small Ground Mobile Robot.Unmanned vehicle is in the various fields such as military
Inside have broad application prospects, meanwhile, unmanned vehicle remote control technology belongs to the core technology of unmanned vehicle navigation and control technology.
Currently, unmanned vehicle remote control technology is from being broadly broadly divided into master-slave telecontrol and autonomous monitoring.Wherein, master-slave telecontrol is
Refer to that operator continuously transmits direct manipulation instruction to unmanned vehicle by simulation manipulation device, direct manipulation instruction is mainly direct needle
To the control instruction (such as front wheel angle, accelerator open degree, brake pedal position) of the bottom servo mechanism of unmanned vehicle；It is distant in principal and subordinate
During control, operator is acquired the raw video image of road conditions by observation by unmanned vehicle, according to the perception and decision of operator
Control ability is watched simulation operator acts by the bottom that simulation manipulation device generation servo manipulation instruction is sent to unmanned vehicle
Mechanism is taken, so that the servo manipulation instruction received by unmanned vehicle according to bottom servo mechanism is moved, completes unmanned vehicle
It is mobile.Autonomous monitoring refers to that unmanned vehicle is mobile according to set automated navigation system control unmanned vehicle, operator monitor unmanned vehicle
Operating status, only carve (such as unmanned vehicle needs to start navigation feature) if necessary and send discrete task level to unmanned vehicle and supervise
Control instruction is intervened unmanned vehicle and is run, wherein task level monitoring instruction is the monitoring instruction in mission planning, decision-making level (as added
Carry the instructions such as job path data, starting navigation task, termination navigation task)；In autonomous remote control process, unmanned vehicle with it is complete from
The mode of main Navigation Control is run, and specific without operator is intervened (such as by the travel route of operator's control change unmanned vehicle
Deng), run unmanned vehicle according to the navigation map that the unmanned vehicle acquires the raw video image of road conditions and has set completely.
For independently monitoring the mode of unmanned vehicle, the original graph that unmanned vehicle is collected by autonomous navigation system, basis
It is moved as information independence controls the unmanned vehicle, the operation of operator's not direct intervention unmanned vehicle, in unmanned vehicle operational process, mainly
Obtained original image information is handled by unmanned vehicle, and unmanned vehicle movement is controlled according to autonomous navigation system；For
The mode of master-slave telecontrol unmanned vehicle, since unmanned vehicle only acquires the original image information of road conditions by picture pick-up device, and will be original
Image information is sent to remote control station, and operator directly controls analog manipulation device action according to original image information and sends
Such as front wheel angle SERVO CONTROL is instructed to unmanned vehicle, and the bottom servo-control mechanism of unmanned vehicle is instructed according to SERVO CONTROL to be controlled
Unmanned vehicle is mobile, and during master-slave telecontrol, unmanned vehicle is only used as remotely-controlled object to be manipulated by operator to it.
But no matter for independently monitoring the mode of unmanned vehicle operation or the mode of master-slave telecontrol unmanned vehicle, due to nobody
The limitation of vehicle photographs device, may due to unmanned vehicle because coverage limitation caused by unmanned vehicle can not high-speed cruising,
Effective avoiding barrier and cause unmanned vehicle flexibility reduction.
Summary of the invention
A kind of semi-autonomous remote control method of unmanned vehicle is provided in the embodiment of the present invention, to solve in the prior art due to nobody
The limitation of vehicle photographs device, may due to unmanned vehicle because coverage limitation caused by unmanned vehicle can not high-speed cruising,
Effective avoiding barrier and the problems such as cause unmanned vehicle flexibility to reduce.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
In a first aspect, the embodiment of the present invention provides a kind of semi-autonomous remote control method of unmanned vehicle, the semi-autonomous remote control of the unmanned vehicle
Method includes:
The real-time collection site road conditions image of unmanned vehicle field control platform, generates autonomous guiding point, and, by showing for acquisition
The current motion state of field road conditions image, autonomous guiding point and unmanned vehicle is sent to remote control table；
The remote control table is generated according to the motion state of the live road conditions image, autonomous guiding point and unmanned vehicle
Artificial guiding point, and the artificial guiding point is sent to the unmanned vehicle field control platform；
The unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls target, according to
The operation of unmanned vehicle described in the control target control.
With reference to first aspect, in a first possible implementation of that first aspect, unmanned vehicle field control platform generates
The video image is sent to remote control table by the video image including live road conditions image and autonomous guiding point；And
The remote control table generates artificial guiding point according to the motion state of the video image and unmanned vehicle.
With reference to first aspect, in a second possible implementation of that first aspect, it includes existing that remote control table, which generates,
The video image and the remote control table of field road conditions image and autonomous guiding point are according to the video image and unmanned vehicle
Motion state generate artificial guiding point.
The first possible implementation or second of first aspect possible implementation with reference to first aspect, first
In the third possible implementation of aspect, the semi-autonomous remote control method of the unmanned vehicle further include:
The video image including live road conditions image and autonomous guiding point is converted into the video image of enhancing.
With reference to first aspect or first aspect the third possible implementation, in the 4th kind of possible realization of first aspect
In mode, the semi-autonomous remote control method of the unmanned vehicle further include:
Remote control table generates the video image comprising artificial guiding point.
4th kind of possible implementation with reference to first aspect should in the 5th kind of possible implementation of first aspect
The semi-autonomous remote control method of unmanned vehicle further include:
The video image comprising autonomous guiding point and the video image comprising artificial guiding point are overlapped mutually, synthesis packet
Video image containing the autonomous guiding point and artificial guiding point.
With reference to first aspect, in the 6th kind of possible implementation of first aspect,
Remote control table sends the control instruction comprising artificial guiding point to unmanned vehicle field control platform；And
Unmanned vehicle field control platform parses the control instruction, and according to the control instruction after parsing control it is described nobody
The operation of vehicle.
With reference to first aspect, in the 7th kind of possible implementation of first aspect,
Unmanned vehicle field control platform generates the control instruction comprising artificial guiding point, and, according to the control instruction
Control the operation of the unmanned vehicle.
6th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation of first aspect, institute
It states control instruction and the unmanned vehicle field control platform is sent to fixed frequency.
With reference to first aspect, in the 9th kind of possible implementation of first aspect,
The remote control table, which is received, controls analog manipulation device according to the live road conditions image and autonomous guiding point
Act the analog manipulation data generated；
Artificial guiding point is generated according to the analog manipulation data and the motion state of unmanned vehicle.
By above technical scheme as it can be seen that the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention, passes through unmanned vehicle
The real-time collection site road conditions image of field control platform, generates autonomous guiding point, and by the live road conditions image of acquisition, autonomous
The current motion state of the video image comprising autonomous guiding point and unmanned vehicle of guiding point or generation is sent to long-range control
Platform；Artificial guiding point is generated by remote control table and is sent to unmanned vehicle field control platform, keeps unmanned vehicle field control flat
Platform controls the operation of unmanned vehicle according to the instruction of artificial guiding point.Pass through the unmanned vehicle field control platform itself at the unmanned vehicle end
The autonomous guiding point generated in real time is sent to remote control table, according to the autonomous guiding point, live road conditions image and unmanned vehicle
Motion state generate artificial guiding point in remote control table, so that unmanned vehicle be made to control the case where running in autonomous guiding point
Under, unmanned vehicle operation can be controlled according to the guidance of artificial guiding point, avoid unmanned vehicle during autonomous operation, due to nobody
The coverage of vehicle is limited to be caused to control inaccuracy to unmanned vehicle, can not Accurate Prediction running track or the speed of service it is higher
When, it can be by remote control table by manual control analog manipulation device, control the operating status of unmanned vehicle, to make
The problems such as unmanned vehicle effectively carries out avoidance and improves flexibility.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without creative efforts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of flow diagram of the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 6 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 7 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention；
Fig. 8 is the flow diagram of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
It is a kind of flow diagram of the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention, at this referring to Fig. 1
In the semi-autonomous remote control method of unmanned vehicle that inventive embodiments provide, for the setting of field control platform at unmanned vehicle end, long-range control is flat
Platform is arranged at remote control station end, to carry out long-range semi-autonomous remote control to unmanned vehicle end by remote control station end, controls nothing
People Che Yunhang.
As shown in Figure 1, the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention includes:
Step S10: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and, it will
The current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；
In the semi-autonomous remote control method of unmanned vehicle that the present embodiment proposes, unmanned vehicle field control platform is to be arranged in nothing
The controlling terminal of people Che Duan and the image capture device being arranged on unmanned vehicle acquire nothing by the image capture device in real time
The live traffic information in people's vehicle front and/or rear of unmanned vehicle in the process of running, unmanned vehicle field control platform is according to existing
Field road conditions image generates autonomous guiding point, passes through autonomous guiding point or is transported by the track line traffic control unmanned vehicle that autonomous guiding point is formed
Row.
Meanwhile the unmanned vehicle field control platform is also by the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle
Current motion state is sent to remote control table；The current motion state of the unmanned vehicle is unmanned vehicle field control platform hair
When sending live road conditions image and autonomous guiding point, the motion state data of the unmanned vehicle, wherein motion state data includes but not
It is limited to the data such as speed, acceleration and the steering angle of unmanned vehicle operation.
In the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, unmanned vehicle field control platform is according to unmanned vehicle
Kinematics model and kinetic model etc. calculate the autonomous guiding point of unmanned vehicle, to make unmanned vehicle in the feelings of not manual control
Under condition, it can be travelled on road surface according to the autonomous guiding point of unmanned vehicle；Specifically, the calculation method of the autonomous guiding point with
It discloses in its other application documents applied on the same day, in the application and is no longer described in detail.
Step S20: the remote control table is according to the movement of live the road conditions image, autonomous guiding point and unmanned vehicle
State generates artificial guiding point, and the artificial guiding point is sent to the unmanned vehicle field control platform；
In the semi-autonomous remote control method of the unmanned vehicle provided in the present embodiment, step S20 medium-long range control platform according to
The motion state of live road conditions image, autonomous guiding point and unmanned vehicle generates artificial guiding point:
The unmanned vehicle field control platform of step S10 is sent to the live road conditions that remote control table is unmanned vehicle acquisition
When the current motion state of image, autonomous guiding point and unmanned vehicle, which receives the scene of unmanned vehicle acquisition
The current motion state of road conditions image, autonomous guiding point and unmanned vehicle, and according to live road conditions image, autonomous guiding point and nobody
The motion state of vehicle generates artificial guiding point；Wherein, which is to control analog manipulation device and root by staff
The unmanned vehicle generated according to remote control table is expected to reach the target point or control point that target position generates.The artificial guiding point master
Man-machine interactively equipment (i.e. analog manipulation device) is controlled by operator provides the desired motion control controlled unmanned vehicle
Signal, and the artificial guiding point is calculated according to the autonomous control method of kinematics model, kinetic model and unmanned vehicle,
The autonomous guiding point of unmanned vehicle is cooperated to control unmanned vehicle operation by the artificial guiding point.The calculation method meeting of the artificial guiding point
It is disclosed in other application documents that it applies on the same day, in this not go into detail.Specifically, generating the side of the artificial guiding point
Method can be referring to the flow diagram of the semi-autonomous remote control method of unmanned vehicle shown in Fig. 2, as shown in Fig. 2, generating artificial guiding point packet
It includes:
S201: the remote control table, which is received, controls analog manipulation according to the live road conditions image and autonomous guiding point
The analog manipulation data that device action generates；
Wherein, in this step S201, operator is according to the scene road conditions image and autonomous guiding point control simulation behaviour
Control device action carries out manual control to unmanned vehicle by analog manipulation device action, and then the remote control table receives mould
The analog manipulation data that quasi- control device movement generates；Wherein, which is to provide unmanned vehicle with natural way to connect
The equipment of the simulated maneuvers control signal such as continuous steering, acceleration, deceleration, in the present embodiment, the analog manipulation device include but
It is not limited to simulation steering wheel, control crank and simulation foot pedal etc..
Step S202: artificial guiding point is generated according to the analog manipulation data and the motion state of unmanned vehicle；
Wherein, analog manipulation device is controlled according to live road conditions image and autonomous guiding point in step s 201, by long-range
Control platform receives the analog manipulation data of analog manipulation device generation, and in turn, the remote control table is according to analog manipulation
Data and the motion state data of unmanned vehicle generate artificial guiding point.Specifically, the generation method of artificial guiding point is in this reality
It applies in example and is no longer described in detail.
Certainly, it is not limited in embodiment of above for generating the embodiment of artificial guiding point, it can be existing according to unmanned vehicle
The data that field control platform is sent to remote control table carry out adaptation and calculating, thus to artificial guiding is generated
The embodiment of point is adjusted, and related content no longer elaborates herein.
Specifically, shown in Figure 3, the embodiment of the present invention provides the stream of step S20 in the semi-autonomous remote control method of unmanned vehicle
Journey schematic diagram, specifically includes:
Step S211: remote control table generates artificial guiding point；
Wherein, live road conditions image, autonomous guiding point or nothing that remote control table is sent according to unmanned vehicle scene platform
The video image comprising autonomous guiding point that people's vehicle scene platform generates, and artificial guiding is generated according to the motion state of unmanned vehicle
Point；Or the live road conditions image, autonomous guiding point and the unmanned vehicle that are sent according to unmanned vehicle scene platform of remote control table
Motion state generates artificial guiding point, when generating artificial guiding point in conjunction with the kinematics model or kinetic model of unmanned vehicle,
Specific generating mode does not elaborate in the present embodiment.
Step S212: judge whether artificial guiding point changes；
It is to send in real time since remote control table sends artificial guiding point, then needs to judge by a judging unit artificial
Whether guiding point changes, specifically, current expected artificial guiding point and last moment can be compared by the judging unit
Artificial guiding point it is whether identical (wherein, can be according to the position coordinates of artificial guiding point on the video images and artificial guiding
The data such as point steering angle, acceleration and the speed of unmanned vehicle that can indicate), if current expected artificial guiding point with
The artificial guiding point of last moment is different, that is, needs manual control unmanned vehicle mobile, then regenerate people by remote control table
Work guiding point；If the two is identical, step S213 is turned to.
Step S213: artificial guiding point is sent to unmanned vehicle field control platform；
It wherein, can be directly by the phase of artificial guiding point when artificial guiding point being sent to unmanned vehicle field control platform
It closes information (such as artificial guiding point at the scene specific position coordinates on road conditions image) and is sent directly to unmanned vehicle field control
Platform；Or remote control table generates the control instruction of relevant control unmanned vehicle according to artificial guiding point, such as controls unmanned vehicle
Steering angle or acceleration magnitude instruction, then, remote control table will control the steering angle or acceleration of unmanned vehicle
The instruction of size is sent to unmanned vehicle field control platform.
Using in the semi-autonomous remote control method of unmanned vehicle of step S20 provided in this embodiment, generated by unmanned vehicle itself
Autonomous guiding point, unmanned vehicle autonomous operation is guided by autonomous guiding point, while by the autonomous guiding point generated in real time and existing
Field road conditions image is sent to remote control table, so that operating status and autonomous guiding point of the remote control table according to unmanned vehicle
Artificial guiding point is generated, unmanned vehicle is accurately controlled by artificial guiding point.
Step S30: the unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls
Target, according to the operation of unmanned vehicle described in the control target control；
Wherein, in the semi-autonomous remote control method of unmanned vehicle that the present embodiment proposes, if remote control table generates manually
After guiding point, the information of artificial guiding point is directly sent to unmanned vehicle field control platform, then unmanned vehicle field control platform
The information of the artificial guiding point is received, and unmanned vehicle is generated according to the instruction of artificial guiding point and controls target, the control of unmanned vehicle scene
Platform processed is according to the operation for controlling target control unmanned vehicle；Specifically, the unmanned vehicle field control platform is according to artificial guiding point
It generates for directly controlling the control instruction of unmanned vehicle bottom servo mechanism, and is sent to unmanned vehicle bottom servo mechanism, the bottom of by
Layer servo mechanism controls the operation of unmanned vehicle according to control instruction.Wherein, unmanned vehicle field control platform is according to artificial guiding point
It generates the method for control instruction in the present embodiment and is not set forth in detail.
If remote control table generates artificial guiding point, generated according to artificial guiding point for controlling unmanned vehicle operation
Control instruction, and control instruction is sent to unmanned vehicle field control platform；It is somebody's turn to do at this point, unmanned vehicle field control platform receives
The control instruction of artificial guiding point, and parse control instruction and (resolve to the control for being directly used in the bottom servo mechanism of unmanned vehicle
Instruction；The control instructions such as steering angle, acceleration including unmanned vehicle), unmanned vehicle field control platform is by the control after parsing
Instruction is sent to the bottom servo mechanism of unmanned vehicle, is controlled by the bottom servo mechanism of unmanned vehicle according to the control instruction after parsing
The operation of unmanned vehicle, to make unmanned vehicle under the autonomous operation effect of autonomous guiding point, further according to the control of artificial guiding point
Control to running track in unmanned vehicle operational process.
Using the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, pass through unmanned vehicle field control platform and long-range control
Interacted between platform processed, by remote control table according to the live road conditions that unmanned vehicle field control platform acquires with
And the autonomous guiding point that unmanned vehicle itself generates generates artificial guiding point, and according to the instruction of artificial guiding point by unmanned vehicle scene
Control platform control unmanned vehicle operation, not only effectively avoid unmanned vehicle because coverage limitation caused by unmanned vehicle operation speed
Lower situation is spent, moreover, enabling unmanned vehicle effectively avoiding obstacles and improving the flexibility of unmanned vehicle, unmanned vehicle is made to exist
Increase manual control on the basis of autonomous control, to improve the accuracy to unmanned vehicle remote control operation, improves the control of unmanned vehicle
Performance processed.
Referring to fig. 4, it show that the embodiment of the invention provides the signals of the process of the semi-autonomous remote control method of another unmanned vehicle
Figure, as shown in figure 4, the semi-autonomous remote control method of unmanned vehicle provided in this embodiment includes:
Step S10: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and, it will
The current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；
Step S20: the remote control table is according to the movement of live the road conditions image, autonomous guiding point and unmanned vehicle
State generates artificial guiding point, and the artificial guiding point is sent to the unmanned vehicle field control platform；
Step S30: the unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls
Target, according to the operation of unmanned vehicle described in the control target control.
Step S40: remote control table generates the video image comprising artificial guiding point；
Wherein, the remote control table only can include according to live road conditions image and the generation of artificial guiding point in step S40
The video image of artificial guiding point, and can show that this includes the video image of artificial guiding point by showing equipment, it can be intuitive
The expection travel route of unmanned vehicle is known by the inclusion of the video image of artificial guiding point；Moreover, can include artificial by this
The video image of guiding point is adjusted artificial guiding point.It, can be by artificial synthesized comprising artificial in implementation process
The video image of guiding point be converted into enhancing video image, be more clear image information so that adjust artificial guiding point or
Unmanned vehicle operation is more accurate.
It include people by increasing remote control table to generate using the semi-autonomous remote control method of unmanned vehicle provided in this embodiment
The video image of work guiding point can be adjusted by the video image and change artificial guiding point, thus by manually leading
Draw a realization to the manual control of unmanned vehicle, improves unmanned vehicle operation stability.
Referring to Fig. 5, it show that the embodiment of the invention provides the signals of the process of the semi-autonomous remote control method of another unmanned vehicle
Figure, the semi-autonomous remote control method of unmanned vehicle provided in this embodiment include:
Step S10: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and, it will
The current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；
Step S20: the remote control table is according to the movement of live the road conditions image, autonomous guiding point and unmanned vehicle
State generates artificial guiding point, and the artificial guiding point is sent to the unmanned vehicle field control platform；
Step S30: the unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls
Target, according to the operation of unmanned vehicle described in the control target control.
Step S40: remote control table generates the video image comprising artificial guiding point；
Step S50: the video image comprising autonomous guiding point and the video image comprising artificial guiding point are mutually folded
Add, synthesis includes the video image of the autonomous guiding point and artificial guiding point.
It wherein, is to include autonomous guiding point and manually lead in the video image that step S50 provided in this embodiment is generated
Draw distant aobvious view a little, which is the live road conditions image that the picture pick-up device of unmanned vehicle acquires in real time and autonomous guiding
Point and artificial guiding point combine；Specifically, the seat on the live road conditions image that autonomous guiding point is acquired according to unmanned vehicle
Cursor position is overlapped road conditions image at the scene, formed include autonomous guiding point video image, if no longer manual intervention the case where
Under, unmanned vehicle will advance according to autonomous navigation system according to the position of autonomous guiding point；Then, remote control table is according to artificial
The artificial guiding point is superimposed upon on the video image comprising autonomous guiding point and forms the distant aobvious view by the coordinate position of guiding point
Figure.
It should be noted that when forming distant aobvious view, the artificial guiding point or autonomous guiding that show on the video images
Point is not limited to only a coordinate position point, may include but is not limited to by artificial guiding point, an autonomous guiding point
And expected trajectory line including artificial guiding point and including the autonomous trajectory line of autonomous guiding point, i.e., include on the distant aobvious view but
It is not limited to discrete guiding point and continuous prediction driving trace line etc..And the form for synthesizing the distant aobvious view is real-time shape
At, and by showing that equipment is shown, the driving trace of unmanned vehicle can be intuitively prejudged by distant aobvious view convenient for operator.
In addition, can be referring to the flow diagram to the semi-autonomous remote control method of unmanned vehicle in other accompanying drawings, thus to this hair
The semi-autonomous remote control method of the unmanned vehicle of the different situations of bright embodiment is briefly described.
Referring to Fig. 6, it is shown a kind of flow diagram of the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention,
As shown in fig. 6, the semi-autonomous remote control method of unmanned vehicle provided in an embodiment of the present invention includes:
Step S100: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and,
The current motion state comprising autonomous guiding point video image and unmanned vehicle of generation is sent to remote control table；
Step S200: the remote control table is manually led according to the generation of the motion state of the video image and unmanned vehicle
Draw a little, and the artificial guiding point is sent to the unmanned vehicle field control platform；
Step S300: the unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls
Instruction, the operation of the unmanned vehicle is controlled according to the control instruction.
Wherein, in the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, which is being adopted
After collecting scene road conditions image and generating autonomous guiding point, it can be generated according to live road conditions image and autonomous guiding point comprising certainly leading
Draw video image a little, and includes that the video image of autonomous guiding point and the current motion state of unmanned vehicle are sent to remotely by this
Control platform；The current motion state of the video image comprising autonomous guiding point and unmanned vehicle is received by remote control table,
And then remote control table generates artificial guiding point according to the motion state of the video image and unmanned vehicle.
Further, in the specific implementation process, in order to guarantee include autonomous guiding point video image can quickly,
It completely is transmitted to remote control table, and can be directly displayed in remote control table or further according to video image
It handles, in the present embodiment, which is converted into the video image comprising autonomous guiding point the view of enhancing
Frequency image.Wherein, the video image of the enhancing is that the video image directly acquired for unmanned vehicle carries out denoising, specifically
For the noise for removing the video image comprising autonomous guiding point, trees shade or other barriers in video image are such as removed
The removal of shade, so that the generation of artificial guiding point is influenced after avoiding video image from being sent to remote control table, so as to
Guarantee that artificial guiding point is more accurate.
Moreover, in the present embodiment, the mistake of the video image of enhancing is converted to the video image comprising autonomous guiding point
Cheng Zhong, the video image that step S100 can also be generated are sent directly to remote control table, will by the remote control table
Video image is converted into the video image of enhancing, consequently facilitating the video image by enhancing controls analog manipulation device action,
Keep the artificial guiding point generated more accurate, is run convenient for unmanned vehicle.
In the video image comprising autonomous guiding point proposed to the present embodiment, it can directly pass through display equipment such as liquid crystal
Display screen shows that this includes the video image of autonomous guiding point, enables the operator to intuitively control analog manipulation according to video image
Device action to improve the accuracy of the analog manipulation data of analog manipulation device generation, and then improves and generates artificial guiding
The quality of point.In this not go into detail for method in relation to the artificial guiding point of generation, can be referring to other related embodiments.
Using the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, scene is respectively set on the unmanned vehicle and remote control station
Control platform and remote control table；And it is by the live road conditions image of acquisition and certainly leading by unmanned vehicle field control platform
Draw a little, generates the video image comprising autonomous guiding point, video image is sent to remote control table, to avoid live road
In condition image and autonomous guiding point transmission process, in fact it could happen that communication link delay or network problem, and then lead to shortage of data
The case where, effectively improve the data transmission bauds and data transmission quality between unmanned vehicle and remote control station.Wherein, correlation step
The content of S100 to step S300 can be referring to other related embodiments.
Referring to Fig. 7, it is shown the flow diagram of the autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention,
As shown in fig. 7, the autonomous remote control method of the unmanned vehicle of the present embodiment includes:
Step S1000: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and,
The current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；
Step S2000: the remote control table generates the video image comprising live road conditions image and autonomous guiding point,
And artificial guiding point is generated according to the motion state of the video image and unmanned vehicle, and the artificial guiding point is sent to
The unmanned vehicle field control platform；
Step S3000: the unmanned vehicle field control platform generates unmanned vehicle control according to the instruction of the artificial guiding point
System instruction, the operation of the unmanned vehicle is controlled according to the control instruction.
In the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, unmanned vehicle field control platform is sent to long-range control
Platform processed is the current motion state of the live road conditions image of unmanned vehicle acquisition, autonomous guiding point and unmanned vehicle, the long-range control
Platform processed receives the current motion state of the live road conditions image of unmanned vehicle acquisition, autonomous guiding point and unmanned vehicle.
Remote control table is generated according to the live road conditions image received and autonomous guiding point comprising autonomous guiding point
The autonomous guiding point is synthesized on live road conditions image by video image, specifically, synthesizing oneself on road conditions image at the scene
Main guiding point is the geographical coordinate etc. on live road conditions image, enables unmanned vehicle along the autonomous guiding shown on video image
Point is automatic to advance；Remote control table forms artificial guiding point according to the motion state of video image and unmanned vehicle in turn, and will
Artificial guiding point is sent to unmanned vehicle field control platform.Side in relation to generation video image and artificial guiding point in the present embodiment
Details are not described herein for formula, can be referring to other related embodiments.
Meanwhile in the present embodiment, remote control table can also remove the video figure comprising autonomous guiding point of generation
Noise as in, as removed biggish leaf shade or barrier shade in video image, to be converted into the video figure of enhancing
Picture is more clear the video image of enhancing, is not only convenient for unmanned vehicle successful avoidance in the process of moving, and be convenient for remote control station
The accurate judgement to barrier is held, precise manipulation is reached.
Using the semi-autonomous remote control method of unmanned vehicle provided in this embodiment, by remote control table by received live road
Condition image and autonomous guiding point generate the video image comprising autonomous guiding point, to avoid unmanned vehicle field control platform pair
The processing of data reduces the electric energy loss and size of unmanned vehicle, to mention so as to guarantee the integration of equipments at unmanned vehicle end
The flexibility of high unmanned vehicle.Wherein, the content of correlation step S1000 to step S3000 can be referring to other related embodiments.
Referring to Fig. 8, it show the process signal of the semi-autonomous remote control method of another unmanned vehicle provided in an embodiment of the present invention
Figure, as shown in figure 8, the semi-autonomous remote control method of unmanned vehicle provided in this embodiment includes:
Step S1001: the real-time collection site road conditions image of unmanned vehicle field control platform generates autonomous guiding point, and,
The current motion state of the live road conditions image of acquisition, autonomous guiding point and unmanned vehicle is sent to remote control table；
Step S2001: the remote control table generates the video image comprising live road conditions image and autonomous guiding point,
And artificial guiding point is generated according to the motion state of the video image and unmanned vehicle；Control is generated according to the artificial guiding point
Instruction, and control instruction is sent to the unmanned vehicle field control platform；
Step S3001: the unmanned vehicle field control platform parses the control instruction, according to the control instruction after parsing
Control the operation of the unmanned vehicle.
Wherein, in unmanned vehicle field control platform provided in this embodiment, remote control table generates artificial guiding point
Afterwards, it needs for the guiding point to be sent to unmanned vehicle field control platform, by unmanned vehicle field control platform according to artificial guiding point
Instruction control unmanned vehicle operation, specifically, the artificial guiding point to be sent to the implementation of unmanned vehicle field control platform
Mode includes:
The first embodiment: after remote control table generates artificial guiding point, remote control table directly will manually be led
Draw and be a little sent to unmanned vehicle field control platform, wherein the artificial guiding point is the expected mesh reached of unmanned vehicle of manual control
The target point of cursor position is (specifically, the artificial guiding point for being sent to unmanned vehicle field control platform can be road conditions image at the scene
On position coordinates point etc.)；To directly receive the artificial guiding point by unmanned vehicle field control platform；Unmanned vehicle scene control
Platform processed can generate the control instruction of the bottom servo mechanism of corresponding unmanned vehicle according to artificial guiding point, then be referred to according to control
Enable control unmanned vehicle operation.
Second of embodiment: after remote control table generates artificial guiding point, remote control table is with artificial guiding point
For control parameter, control instruction is generated, which is the semi-autonomous control instruction for controlling unmanned vehicle operation；Unmanned vehicle
After field control platform receives, the semi-autonomous control instruction is parsed, and nobody is controlled according to the semi-autonomous control instruction after parsing
Vehicle operation.
It should be noted that the format of the control instruction generated is determined according to specific underwater acoustic remote control agreement, wherein control
Instruction can be the serial port protocol format towards RS232 interface or network protocol format towards Ethernet interface etc., to make
It obtains the remote control table and unmanned vehicle field control platform is sent to fixed frequency, and remote control table sends control instruction
Frequency using the control period of unmanned vehicle as standard.
Using the semi-autonomous remote control method of the unmanned vehicle of the embodiment of the present invention, by remote control table directly according to people
Work guiding point generates control instruction, and control instruction is sent to unmanned vehicle field control platform, unmanned vehicle field control platform
Control instruction can be directly parsed, and according to the control instruction control unmanned vehicle operation after parsing；Artificial guiding point is directly turned
It changes control instruction into, to effectively reduce volume of transmitted data, improves transmission speed, effectively transmission speed is avoided to cause nothing slowly
The control delay of people's vehicle.
The above is only the illustrative embodiments that the present embodiment proposes, there are also other related embodiments not in the present invention
It is all described in specification, and in above each embodiment, mutual partial content mutually repeats, does not describe wherein
Part herein and can be not described in detail referring to the description of related embodiment.Moreover, the specific generation side of related artificial guiding point
The specific generation method of method or autonomous guiding point in this application and is not set forth in detail.
By the description of above embodiment of the method, it is apparent to those skilled in the art that the present invention can
Realize by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially makes tribute to the prior art in other words
The part offered can be embodied in the form of software products, which is stored in a storage medium, packet
Some instructions are included to use so that a computer equipment (can be personal computer, server or the network equipment etc.) executes
All or part of the steps of the method according to each embodiment of the present invention.And storage medium above-mentioned includes: read-only memory
(ROM), the various media that can store program code such as random access memory (RAM), magnetic or disk.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Reality described above
It is only schematical to apply example, some or all of the modules therein can be selected according to the actual needs to realize the present embodiment
The purpose of scheme.Those of ordinary skill in the art can understand and implement without creative efforts.
It is understood that the present invention can be used in numerous general or special purpose computing system environments or configuration.Such as: it is a
People's computer, server computer, handheld device or portable device, multicomputer system, are based on micro process at laptop device
The system of device, set top box, programmable consumer-elcetronics devices, network PC, minicomputer, mainframe computer including to take up an official post
The distributed computing environment etc. of what system or equipment.
It should be noted that, in this document, such as the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above is only a specific embodiment of the invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of semi-autonomous remote control method of unmanned vehicle characterized by comprising
The real-time collection site road conditions image of unmanned vehicle field control platform, generates autonomous guiding point, and, by the live road of acquisition
The current motion state of condition image, autonomous guiding point and unmanned vehicle is sent to remote control table；
The remote control table generates artificial according to the motion state of the live road conditions image, autonomous guiding point and unmanned vehicle
Guiding point, and the artificial guiding point is sent to the unmanned vehicle field control platform；
The unmanned vehicle field control platform generates unmanned vehicle according to the instruction of the artificial guiding point and controls target, according to described
Control the operation of unmanned vehicle described in target control；
The remote control table generates artificial according to the motion state of the live road conditions image, autonomous guiding point and unmanned vehicle
Guiding point, comprising: remote control table generates the video image including live road conditions image and autonomous guiding point, the long-range control
Platform processed generates artificial guiding point according to the motion state of the video image and unmanned vehicle；
Wherein, the artificial guiding point is analog manipulation device to be controlled by operator, and generate according to remote control table
Unmanned vehicle is expected to reach target position and the target point generated or control point；
The remote control table generates artificial guiding point according to the motion state of the video image and unmanned vehicle, comprising: institute
State what remote control table reception was generated according to the live road conditions image and autonomous guiding point control analog manipulation device action
Analog manipulation data, the analog manipulation data are to provide to control unmanned vehicle by operator's control analog manipulation device
Desired motion controls signal to obtain；According to the motion state of the analog manipulation data and unmanned vehicle, and according to kinematics mould
The artificial guiding point is calculated in the autonomous control method of type, kinetic model and unmanned vehicle；Pass through the artificial guiding
Point cooperates autonomous guiding point control unmanned vehicle operation；
The method also includes: remote control table generates the video image comprising artificial guiding point；It is described to include autonomous guiding
The video image of point and the video image comprising artificial guiding point are overlapped mutually, and synthesis is comprising the autonomous guiding point and manually leads
Draw video image a little.
2. the semi-autonomous remote control method of unmanned vehicle according to claim 1, which is characterized in that
Unmanned vehicle field control platform generates the video image including live road conditions image and autonomous guiding point, by the video figure
As being sent to remote control table；And
The remote control table generates artificial guiding point according to the motion state of the video image and unmanned vehicle.
3. the semi-autonomous remote control method of unmanned vehicle according to claim 1 or 2, which is characterized in that further include:
The video image including live road conditions image and autonomous guiding point is converted into the video image of enhancing.
4. the semi-autonomous remote control method of unmanned vehicle according to claim 1, which is characterized in that
Remote control table sends the control instruction comprising artificial guiding point to unmanned vehicle field control platform；And
Unmanned vehicle field control platform parses the control instruction, and controls the unmanned vehicle according to the control instruction after parsing
Operation.
5. the semi-autonomous remote control method of unmanned vehicle according to claim 1, which is characterized in that
Unmanned vehicle field control platform generates the control instruction comprising artificial guiding point, and, it is controlled according to the control instruction
The operation of the unmanned vehicle.
6. the semi-autonomous remote control method of unmanned vehicle according to claim 4, which is characterized in that the control instruction is with fixed frequency
Rate is sent to the unmanned vehicle field control platform.
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