CN108932828B - Method and terminal for realizing unmanned vehicle remote control - Google Patents
Method and terminal for realizing unmanned vehicle remote control Download PDFInfo
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- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The invention provides a method and a terminal for realizing unmanned vehicle remote control, which monitor two parallel wireless channels for realizing remote control signaling receiving and sending, wherein the two wireless channels have different frequencies; according to the monitored remote control instructions sent on the two wireless channels, the operation corresponding to the remote control instruction is executed, the reliability and the stability of a communication link are guaranteed to the maximum extent through double-frequency redundant backup communication, signal loss and errors caused by interference of frequency bands are avoided, and the safety and the reliability of unmanned vehicle remote control can be guaranteed.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a method and a terminal for realizing unmanned vehicle remote control.
Background
The unmanned driving is a technical hotspot at present, the remote control unmanned vehicle is a final unmanned transition, and the safety and reliability of the unmanned driving are completely limited by remote control. Among them, wireless remote control has many advantages such as simple implementation, convenience and rapidness, low price, and the like, so wireless remote control is widely applied to various control devices. The wireless remote control can be divided into voice remote control, light remote control and radio remote control according to signal propagation modes, and can be divided into unidirectional control and command interactive control in terms of information exchange.
At present, wireless remote control is mainly applied to the fields of household appliance control, toys and the like, most of the wireless remote control methods are used in scenes that remote control results are harmless to users, real-time performance and control accuracy are not greatly required, and situations such as remote control signal loss, signal errors, signal interference and manual misoperation do not need to be considered. However, if it is applied directly to unmanned equipment control, such as an unmanned vehicle, there will be a serious safety hazard because a remotely controlled unmanned vehicle does not allow control to be delayed or even out of control.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the terminal for realizing the unmanned vehicle remote control are provided, and the safety and the reliability of the unmanned vehicle remote control are improved.
In order to solve the technical problems, the invention adopts a technical scheme that:
a method for realizing unmanned vehicle remote control comprises the following steps:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
and S2, executing the operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a terminal for implementing remote control of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the following steps when executing the computer program:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
and S2, executing the operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels.
The invention has the beneficial effects that: monitoring two parallel wireless channels for realizing remote control signaling receiving and sending, wherein the two wireless channels have different frequencies; according to the monitored remote control instructions sent on the two wireless channels, the operation corresponding to the remote control instruction is executed, the reliability and the stability of a communication link are guaranteed to the maximum extent through double-frequency redundant backup communication, signal loss and errors caused by interference of frequency bands are avoided, and the safety and the reliability of unmanned vehicle remote control can be guaranteed.
Drawings
Fig. 1 is a flowchart of a method for implementing remote control of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a terminal for implementing remote control of an unmanned aerial vehicle according to an embodiment of the present invention;
description of reference numerals:
1. a terminal for realizing remote control of an unmanned aerial vehicle; 2. A memory; 3. A processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies; and executing operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels.
Referring to fig. 1, a method for implementing unmanned vehicle remote control includes the steps of:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
and S2, executing the operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels.
From the above description, the beneficial effects of the present invention are: monitoring two parallel wireless channels for realizing remote control signaling receiving and sending, wherein the two wireless channels have different frequencies; according to the monitored remote control instructions sent on the two wireless channels, the operation corresponding to the remote control instruction is executed, the reliability and the stability of a communication link are guaranteed to the maximum extent through double-frequency redundant backup communication, signal loss and errors caused by interference of frequency bands are avoided, and the safety and the reliability of unmanned vehicle remote control can be guaranteed.
Further, the step S2 includes:
if a first remote control instruction sent by a first wireless channel is received, waiting for a first preset time, judging whether a second remote control instruction sent by a second wireless channel is received, if not, executing a step S3;
s3, verifying whether the first remote control command is correct, if so, executing the operation corresponding to the first remote control command, returning to the step S1, otherwise, discarding the first remote control command, and returning to the step S1.
As can be seen from the above description, after receiving the first remote control instruction, waiting for the first preset time to determine whether there is a remote control instruction on the second wireless channel, on one hand, it is ensured that signaling can be performed in order under the dual-frequency redundant backup communication architecture, on the other hand, the efficiency of signaling processing is also improved, frequent signaling processing is avoided, and centralized processing and determination of the signaling are achieved.
Further, the step S2 further includes:
waiting for a first preset time, if receiving a second remote control instruction sent by a second wireless channel, judging whether the first remote control instruction and the second remote control instruction are the same, if so, verifying whether the remote control instruction is correct, if so, executing an operation corresponding to the remote control instruction, and returning to the step S1; otherwise, respectively verifying whether the first remote control instruction and the second remote control instruction are both correct, executing operation corresponding to the remote control instruction with correct verification, discarding the remote control instruction with wrong verification, and returning to the step S1.
According to the description, corresponding processing can be carried out according to different conditions of the remote control commands received from the two wireless channels, the processing efficiency is improved, the correctness of the remote control commands is verified before the remote control commands are executed, and the reliability of the unmanned vehicle remote control is further improved.
Further, the step S2 further includes:
if the first remote control instruction and the second remote control instruction are both verified to be wrong, prompting that the data is wrong so that the remote control end can resend the remote control instruction;
and if the continuous error verification times of the first remote control instruction and the second remote control instruction reach the preset times and the error time is greater than the second preset time, starting an emergency processing mechanism and reporting a communication fault.
According to the above description, when the remote control instruction is sent incorrectly, the remote control end is reminded to retransmit in time, and in addition, under the condition that errors still exist after continuous retransmission, the emergency processing mechanism is started in time to report the communication fault, so that the safety of the remote control of the unmanned vehicle is further improved.
Further, the step S2 further includes:
if the remote control commands sent by the two wireless channels are not monitored, whether heartbeat packets are monitored or not is judged, and if the remote control commands or the heartbeat packets are not received within the third preset time, an emergency processing mechanism is started.
According to the above description, the communication connection between the remote control end and the unmanned vehicle can be maintained through monitoring the heartbeat packet, if the remote control command and the heartbeat packet are not received within a period of time, the remote control is lost, an emergency processing mechanism is started, and the safety of the unmanned vehicle remote control is further improved.
Referring to fig. 2, a terminal for implementing remote control of an unmanned vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the following steps when executing the computer program:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
and S2, executing the operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels.
From the above description, the beneficial effects of the present invention are: monitoring two parallel wireless channels for realizing remote control signaling receiving and sending, wherein the two wireless channels have different frequencies; according to the monitored remote control instructions sent on the two wireless channels, the operation corresponding to the remote control instruction is executed, the reliability and the stability of a communication link are guaranteed to the maximum extent through double-frequency redundant backup communication, signal loss and errors caused by interference of frequency bands are avoided, and the safety and the reliability of unmanned vehicle remote control can be guaranteed.
Further, the step S2 includes:
if a first remote control instruction sent by a first wireless channel is received, waiting for a first preset time, judging whether a second remote control instruction sent by a second wireless channel is received, if not, executing a step S3;
s3, verifying whether the first remote control command is correct, if so, executing the operation corresponding to the first remote control command, returning to the step S1, otherwise, discarding the first remote control command, and returning to the step S1.
As can be seen from the above description, after receiving the first remote control instruction, waiting for the first preset time to determine whether there is a remote control instruction on the second wireless channel, on one hand, it is ensured that signaling can be performed in order under the dual-frequency redundant backup communication architecture, on the other hand, the efficiency of signaling processing is also improved, frequent signaling processing is avoided, and centralized processing and determination of the signaling are achieved.
Further, the step S2 further includes:
waiting for a first preset time, if receiving a second remote control instruction sent by a second wireless channel, judging whether the first remote control instruction and the second remote control instruction are the same, if so, verifying whether the remote control instruction is correct, if so, executing an operation corresponding to the remote control instruction, and returning to the step S1; otherwise, respectively verifying whether the first remote control instruction and the second remote control instruction are both correct, executing operation corresponding to the remote control instruction with correct verification, discarding the remote control instruction with wrong verification, and returning to the step S1.
According to the description, corresponding processing can be carried out according to different conditions of the remote control commands received from the two wireless channels, the processing efficiency is improved, the correctness of the remote control commands is verified before the remote control commands are executed, and the reliability of the unmanned vehicle remote control is further improved.
Further, the step S2 further includes:
if the first remote control instruction and the second remote control instruction are both verified to be wrong, prompting that the data is wrong so that the remote control end can resend the remote control instruction;
and if the continuous error verification times of the first remote control instruction and the second remote control instruction reach the preset times and the error time is greater than the second preset time, starting an emergency processing mechanism and reporting a communication fault.
According to the above description, when the remote control instruction is sent incorrectly, the remote control end is reminded to retransmit in time, and in addition, under the condition that errors still exist after continuous retransmission, the emergency processing mechanism is started in time to report the communication fault, so that the safety of the remote control of the unmanned vehicle is further improved.
Further, the step S2 further includes:
if the remote control commands sent by the two wireless channels are not monitored, whether heartbeat packets are monitored or not is judged, and if the remote control commands or the heartbeat packets are not received within the third preset time, an emergency processing mechanism is started.
According to the above description, the communication connection between the remote control end and the unmanned vehicle can be maintained through monitoring the heartbeat packet, if the remote control command and the heartbeat packet are not received within a period of time, the remote control is lost, an emergency processing mechanism is started, and the safety of the unmanned vehicle remote control is further improved.
Example one
Referring to fig. 1, a method for implementing unmanned vehicle remote control includes the steps of:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
specifically, the existing wireless communication mode is improved, 433MHz and 2.4GHz dual-frequency redundancy backup communication is adopted, an SI4438 wireless module is adopted in a 433MHz frequency band, the size is small, the power consumption is low, the communication distance is long, and the stable communication distance can reach 2 km; the NRF24L01 wireless module is adopted in the 2.4G frequency band, so that the method is stable and reliable, the transmission distance is long, the reliability and the stability of a communication link are guaranteed to the maximum extent, and signal loss and signal errors caused by interference of certain frequency bands are avoided; the remote control main control adopts stm32f103, so that the clock frequency is high, the processing capacity is strong, and the real-time performance is good;
s2, executing operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels;
the step S2 includes:
if a first remote control instruction sent by a first wireless channel is received, waiting for a first preset time, such as 2ms, judging whether a second remote control instruction sent by a second wireless channel is received within 2ms, if not, executing a step S3, if so, judging whether the first remote control instruction and the second remote control instruction are the same, if so, verifying whether the remote control instruction is correct, if so, executing an operation corresponding to the remote control instruction, and returning to the step S1; otherwise, respectively verifying whether the first remote control instruction and the second remote control instruction are both correct, executing operation corresponding to the remote control instruction with correct verification, discarding the remote control instruction with wrong verification, and returning to the step S1;
if the first remote control instruction and the second remote control instruction are both verified to be wrong, prompting that the data is wrong, so that the remote control end resends the remote control instruction;
if the number of times of continuous verification errors of the first remote control instruction and the second remote control instruction reaches a preset number, such as 10 times, and the error time is greater than a second preset time, such as 1s, starting an emergency processing mechanism and reporting a communication fault;
if the first remote control instruction and the second remote control instruction are different and are verified to be correct, the first remote control instruction and the second remote control instruction are abandoned, and if the conditions of preset times, such as 3 times, repeatedly occur, an emergency processing mechanism is started to report a communication fault;
in the monitoring process, if the remote control commands sent by the two wireless channels are not monitored, whether heartbeat packets are monitored or not is judged, and if the remote control commands or the heartbeat packets are not received within the third preset time, an emergency processing mechanism is started;
specifically, a real-time heartbeat mechanism is adopted, when no new command is generated in remote control, the remote control sends a heartbeat packet (0x90D2) in a format shown in tables 1 and 2, communication connection between the remote control and the unmanned automobile is kept, the heartbeat time interval is 100ms, real-time control requirements are met, once the unmanned automobile does not receive the remote control command or the heartbeat packet for more than 100ms continuously, remote control loss is indicated, an emergency processing mechanism such as flameout and brake is started, and accidents are avoided;
table 1 heartbeat packet byte 0
| bit0 | bit1 | bit2 | bit3 | bit4 | bit5 | bit6 | bit7 |
| 0 | 1 | 0 | 0 | 1 | 0 | 1 | 1 |
Table 2 heartbeat packet byte 1
| bit8 | bit9 | bit10 | bit11 | bit12 | bit13 | bit14 | bit15 |
| 0 | 0 | 0 | 0 | 1 | 0 | 0 | 1 |
S3, verifying whether the first remote control command is correct, if so, executing the operation corresponding to the first remote control command, returning to the step S1, otherwise, discarding the first remote control command, and returning to the step S1;
when a remote control end sends a remote control command through buttons, in order to minimize the sent information of each button, the corresponding relation between the remote control function and the byte bit is shown in tables 3 and 4, the information quantity is compressed by adopting a bit multiplexing mode, the reset selection bit is bit12, when bit12 is 1, byte 0 is a key value, bit12 is 0, and certain bits of bit 8-11 are 1, the value represented by byte 0 is the corresponding control lever control quantity, the bits of bit 8-11 are 1 represent a remote control object, that is, if the control lever is not triggered or the trigger quantity is not changed, the corresponding control lever is 0, and byte 0 is in a key state; if the control lever triggering quantity changes, the corresponding control lever position is 1, the value of byte 0 is the corresponding control lever control quantity, for example, bit12 is 0, and bit8 is 1, the left steering lever is triggered, the corresponding control quantity is byte 0, thus only two bytes are needed, all needed functions can be completed, in addition, the wireless module can be configured with hardware data verification, and thus, high-efficiency and reliable wireless communication can be realized.
TABLE 3 byte 0 bit definition
TABLE 4 Byte 1 bit definition
In addition, in order to ensure the continuity of data transmission and the reliability of control, a new information exchange mode is adopted between the unmanned vehicle and the remote control end, the key amount is a primary control amount, real-time response is adopted, the rocker amount is a continuous amount, and frequent response can cause serious data loss for half-duplex wireless communication, so that a new response mechanism adopts response after the rocker amount is not changed for 50ms or response when the rocker amount reaches the maximum value and the minimum value, namely the unmanned vehicle judges whether the received rocker amount is an extreme value, if so, response is carried out, and if not, data is continuously received;
in a specific operation process, the following functions are added to the remote control end:
a remote control operation lock is added, as shown in tables 3 and 4, under the condition that a remote control enable key is not pressed, the remote control can be locked and unlocked according to sound and light prompts, for example, the key lock is 012345, and the following steps are required in sequence: the ignition button, the N gear button, the D gear button, the R gear button, the enabling track recording button and the enabling track seeking button can be unlocked, and the unlocking can be carried out by repeatedly pressing once, namely locking and whether locking is carried out or not, and acousto-optic prompt is carried out; after locking, the remote control wireless does not send key information; the method can effectively prevent the misoperation of irrelevant personnel or uncontrolled personnel;
the method comprises the steps that (1) combined key operation is carried out, when remote control is in an unlocking state, an enabling remote control button needs to be pressed, remote control can only send key values and heartbeat packets, if the enabling remote control button is released, no data are sent, an unmanned remote control automobile cannot receive the data, and an emergency mode is entered;
and the emergency button is used for continuously sending key values at the highest level as emergency processing control.
Example two
Referring to fig. 2, a terminal 1 for implementing unmanned vehicle remote control includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3, where the processor 3 implements the steps in the first embodiment when executing the computer program.
In summary, the method and the terminal for remotely controlling the unmanned vehicle provided by the invention monitor two parallel wireless channels for receiving and transmitting the remote control signaling, wherein the two wireless channels have different frequencies; according to the monitored remote control instructions sent on the two wireless channels, the operation corresponding to the remote control instruction is executed, the reliability and the stability of a communication link are guaranteed to the maximum extent through double-frequency redundant backup communication, signal loss and errors caused by interference of frequency bands are avoided, and the safety and the reliability of unmanned vehicle remote control can be guaranteed.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (6)
1. A method for realizing unmanned vehicle remote control is characterized by comprising the following steps:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
s2, executing operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels;
the step S2 includes:
if a first remote control instruction sent by a first wireless channel is received, waiting for a first preset time, judging whether a second remote control instruction sent by a second wireless channel is received, if not, executing a step S3;
s3, verifying whether the first remote control command is correct, if so, executing the operation corresponding to the first remote control command, returning to the step S1, otherwise, discarding the first remote control command, and returning to the step S1;
the step S2 further includes:
waiting for a first preset time, if receiving a second remote control instruction sent by a second wireless channel, judging whether the first remote control instruction and the second remote control instruction are the same, if so, verifying whether the remote control instruction is correct, if so, executing an operation corresponding to the remote control instruction, and returning to the step S1; otherwise, respectively verifying whether the first remote control instruction and the second remote control instruction are both correct, if so, abandoning the first remote control instruction and the second remote control instruction, and returning to the step S1; otherwise, the operation corresponding to the remote control command with correct verification is executed, the remote control command with wrong verification is discarded, and the operation returns to the step S1.
2. The method for implementing unmanned vehicle remote control according to claim 1, wherein the step S2 further comprises:
if the first remote control instruction and the second remote control instruction are both verified to be wrong, prompting that the data is wrong so that the remote control end can resend the remote control instruction;
and if the continuous error verification times of the first remote control instruction and the second remote control instruction reach the preset times and the error time is greater than the second preset time, starting an emergency processing mechanism and reporting a communication fault.
3. The method for implementing the remote control of the unmanned vehicle as claimed in claim 1 or 2, wherein the step S2 further comprises:
if the remote control commands sent by the two wireless channels are not monitored, whether heartbeat packets are monitored or not is judged, and if the remote control commands or the heartbeat packets are not received within the third preset time, an emergency processing mechanism is started.
4. A terminal for implementing remote control of an unmanned vehicle, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the following steps when executing the computer program:
s1, monitoring two parallel wireless channels for realizing remote control signaling transceiving, wherein the two wireless channels have different frequencies;
s2, executing operation corresponding to the remote control command according to the monitored remote control command sent on the two wireless channels;
the step S2 includes:
if a first remote control instruction sent by a first wireless channel is received, waiting for a first preset time, judging whether a second remote control instruction sent by a second wireless channel is received, if not, executing a step S3;
s3, verifying whether the first remote control command is correct, if so, executing the operation corresponding to the first remote control command, returning to the step S1, otherwise, discarding the first remote control command, and returning to the step S1;
the step S2 further includes:
waiting for a first preset time, if receiving a second remote control instruction sent by a second wireless channel, judging whether the first remote control instruction and the second remote control instruction are the same, if so, verifying whether the remote control instruction is correct, if so, executing an operation corresponding to the remote control instruction, and returning to the step S1; otherwise, respectively verifying whether the first remote control instruction and the second remote control instruction are both correct, if so, abandoning the first remote control instruction and the second remote control instruction, and returning to the step S1; otherwise, the operation corresponding to the remote control command with correct verification is executed, the remote control command with wrong verification is discarded, and the operation returns to the step S1.
5. The terminal for implementing remote control of an unmanned aerial vehicle according to claim 4, wherein the step S2 further comprises:
if the first remote control instruction and the second remote control instruction are both verified to be wrong, prompting that the data is wrong so that the remote control end can resend the remote control instruction;
and if the continuous error verification times of the first remote control instruction and the second remote control instruction reach the preset times and the error time is greater than the second preset time, starting an emergency processing mechanism and reporting a communication fault.
6. The terminal for implementing unmanned vehicle remote control according to claim 4 or 5, wherein the step S2 further comprises:
if the remote control commands sent by the two wireless channels are not monitored, whether heartbeat packets are monitored or not is judged, and if the remote control commands or the heartbeat packets are not received within the third preset time, an emergency processing mechanism is started.
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