CN110103221A - A kind of long-range drive manner, equipment and its system - Google Patents
A kind of long-range drive manner, equipment and its system Download PDFInfo
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- CN110103221A CN110103221A CN201910425945.0A CN201910425945A CN110103221A CN 110103221 A CN110103221 A CN 110103221A CN 201910425945 A CN201910425945 A CN 201910425945A CN 110103221 A CN110103221 A CN 110103221A
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- Prior art keywords
- video information
- vehicle condition
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The embodiment of the invention discloses a kind of long-range drive manner, equipment and its systems, this method comprises: obtaining video information by the camera being arranged on tow-armed robot；The video information is pre-processed, vehicle condition video information is generated；The vehicle condition video information is sent to remote control driving platform by wireless communication module, so that the remote control driving platform shows vehicle condition video to user；According to the control instruction that the remote control driving platform received is sent, driver behavior is executed.The technical solution of the embodiment of the present invention can be realized driver and remotely control tow-armed robot completion driver behavior, improve the safety of driving, it solves the problems, such as remotely to control and onboard system technically combines, transformation process to vehicle configurations and functionally is also simplified, limits application scenarios by field of traffic.
Description
Technical field
The present embodiments relate to field of intelligent transportation technology more particularly to a kind of long-range drive manner, equipment and its it is
System.
Background technique
With intelligent and automatic technology development, unmanned technology is come into being.By taking automotive field as an example, nobody
Driving is usually to be judged by the traffic information that the algorithm unit of vehicle-mounted automatic control obtains vehicle-mounted sensor-based system, is advised
It draws travel route or controls the steering and speed of the vehicles, reach preset destination.But automatic control in the prior art
The technological means of system processed is simultaneously immature, and safety is low.
In order to improve the safety of automatic driving vehicle, long-range monitoring Unmanned Systems are used in the prior art, it is right
Geographical location, projected trip route or the surrounding road condition of automatic driving vehicle are monitored.It is this remotely monitor it is unmanned
Technology directly controls onboard system, but the technical difficulty that onboard system is combined with remote control technology is larger, together
When substantially transformation to traditional automotive system, be unable to satisfy other field of traffic to unmanned technology real-time operation demand.
Summary of the invention
In view of the problems of the above-mentioned prior art, the embodiment of the present invention provide a kind of long-range drive manner, equipment and its
System can be improved unpiloted safety, solves the problems, such as remotely to control and onboard system technically combines, and simplified pair
Vehicle configurations and transformation process functionally, so that its application is not limited by field of traffic.
In a first aspect, the embodiment of the invention provides a kind of long-range drive manners, comprising:
Video information is obtained by the camera being arranged on tow-armed robot；
The video information is pre-processed, vehicle condition video information is generated；
The vehicle condition video information is sent to remote control driving platform by wireless communication module, so as to described
Remote control driving platform shows vehicle condition video to user；
According to the control instruction that the remote control driving platform received is sent, driver behavior is executed.
Second aspect, the embodiment of the invention also provides a kind of long-range drive manners, comprising:
Receive the vehicle condition video information that tow-armed robot is sent；
According to the vehicle condition video information, vehicle condition video is shown to user；
According to the user's driver behavior got by vehicle operating module, determines and generate control instruction；
The control instruction is sent to the tow-armed robot.
The third aspect, the embodiment of the present invention also provide a kind of tow-armed robot, including
One or more processors；
Memory, for storing one or more programs；
First mechanical arm and second mechanical arm, for carrying out driver behavior；
Accelerator and brake device, for carrying out throttle and brake control to vehicle；
Camera, for obtaining video information；
Communication module, for carrying out data communication with remote control driving platform；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes such as first aspect long-range drive manner as described in the examples.
Fourth aspect, the embodiment of the present invention also provide a kind of remote control driving platform, comprising:
One or more processors；
Memory, for storing one or more programs；
Communication module, for carrying out data communication with tow-armed robot；
Video display module, for showing vehicle condition video；
Vehicle operating module, for obtaining the driver behavior of user；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes such as second aspect long-range drive manner as described in the examples.
5th aspect, the embodiment of the present invention also provide a kind of long-range control loop, including as third aspect present invention is implemented
The remote control driving platform that the tow-armed robot and fourth aspect embodiment that example provides provide.
The embodiment of the present invention by driver's remote control tow-armed robot complete driver behavior, solve onboard system with
The technology remotely controlled combines upper problem, transformation process to vehicle configurations and functionally is also simplified, so that remotely
It controls vehicle to be easier to realize, has widened the application scenarios of unmanned technology, met the unmanned of different field of traffic
Demand.
Detailed description of the invention
Fig. 1 is a kind of flow chart for long-range drive manner that the embodiment of the present invention one provides.
Fig. 2 is a kind of flow chart of long-range drive manner provided by Embodiment 2 of the present invention.
Fig. 3 is a kind of structural schematic diagram for long-range pilot instrument that the embodiment of the present invention three provides.
Fig. 4 is a kind of structural schematic diagram for long-range pilot instrument that the embodiment of the present invention four provides.
Fig. 5 A is a kind of structural schematic diagram for tow-armed robot that the embodiment of the present invention five provides.
Fig. 5 B is a kind of mechanical structure schematic diagram for tow-armed robot that the embodiment of the present invention five provides.
Fig. 6 A is a kind of structural schematic diagram for remote control driving platform that the embodiment of the present invention six provides.
Fig. 6 B is a kind of schematic diagram for remote control driving platform video display module that the embodiment of the present invention six provides.
Fig. 7 is a kind of schematic diagram for long-range control loop that the embodiment of the present invention seven provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
State that the specific embodiments are only for explaining the present invention, rather than limitation of the invention.It also should be noted that for the ease of
It describes, only the parts related to the present invention are shown rather than entire infrastructure in attached drawing.Based on the embodiments of the present invention, this field
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Embodiment one
Fig. 1 is a kind of flow chart of long-range drive manner provided in an embodiment of the present invention, the long-range driving side of embodiment one
Method can be applied to remote controlled unmanned Driving Scene, illustratively, drive object can be car, lorry, train, subway and
The vehicles such as aircraft, the driving vehicle being also possible under specific condition or weather, illustratively, specific condition includes but unlimited
It is driven in Aircraft Flight Test, high-temperature operation driving task, anoxic operation driving task, plateau operation driving task, ultralow temperature operation
Task dispatching.This method can be executed by long-range pilot instrument provided in an embodiment of the present invention, the device can be used software and/or
The mode of hardware realizes, which can integrate in having in the long-range tow-armed robot for driving function.It specifically includes:
S110, video information is obtained by the camera being arranged on tow-armed robot.
Wherein it is possible to which camera to be arranged in the head of tow-armed robot, the visual angle of drive simulating person obtains video information.
It is of course also possible to other positions of tow-armed robot are arranged in, illustratively, other positions can for hand, body position or
Shoulder etc. can obtain the position of required video information.In order to obtain all required video informations, the number of camera is 1
A or multiple, illustratively, number can be 5, including long sight camera, low coverage camera, camera in car, left-hand mirror
Camera and right rear view mirror camera.
S120, video information is pre-processed, generates vehicle condition video information.
Optionally, pretreatment operation includes denoising, image enhancement and/or squeeze operation.
It is influenced by camera, onboard system and ambient noise, includes in the image that camera directly acquires
Noise information is pre-processed.Illustratively, denoising can be time domain mean filter method, Wiener filtering, adaptive
One or more of median filtering and wavelet transformation algorithm are filtered denoising；.
Image enhancement is the application for given image, purposefully emphasizes the entirety or local feature of image, from
And abundant information amount, reinforce interpretation and the recognition effect of image.Illustratively, image enhancement can be histogram equalization, gray scale
One or more of transformation, white balance, gamma correction and image sharpening algorithm, can also use special weather condition
Misty Image enhancing and/or half-light image processing method.
Video information digitlization after data bandwidth it is very high, usually at 20MB/ seconds or more, thus processing system be difficult to its into
Row data save or transmission, can be down to bandwidth 1-10MB/ seconds using video compression technology.Illustratively, video compress can be with
Using one or more of dynamic image expert group, motor rest Picture Expert Group compression technology and wavelet conversion compression method
Algorithm.
Optionally, vehicle condition video information includes the road conditions video information and cab signal indication panel letter of vehicle periphery
Breath.Illustratively, the road conditions video information of vehicle periphery includes but is not limited to vehicle front long-distance video information, vehicle front
Short distance video information, vehicle left side rearview mirror video information and vehicle right side rearview mirror video information etc. are all related to road conditions
Video information.
S130, vehicle condition video information is sent to remote control driving platform by wireless communication module, so as to remote
Journey remote driving platform shows vehicle condition video to user.
Optionally, wireless communication module supports one of 5G, wifi, 3G, 4G, satellite network or multiple communication modes.
It is understood that the communication modes that wireless communication module is supported are not limited to above-mentioned communication modes, wireless communication module can be with
Other are supported to be adapted for the communication modes of wireless data transmission.Illustratively, the transmission channel of the high-speed of 5G communication module
It can guarantee the real-time Transmission of video information.In metastable region driving operation, as in limited region, in industrial area,
Farmland or farm, special 5G communication website, which is arranged, can be improved the stability and efficiency of transmission remotely driven.Illustratively, nothing
Line communication module can be set to enable corresponding communication modes according to pre-set priority, when the communication modes of higher priority go out
When existing failure, the communication modes for enabling lower priority send Trouble Report request to remote control table.
S140, the control instruction sent according to the remote control driving platform received, execute driver behavior.
Wherein, control instruction being received using wireless communication module, control instruction refers to the command information comprising driver behavior,
Illustratively, driver behavior is including but not limited to shifted gears, rotation steering wheel, unlatching/closing turn signal is stepped on/lifts throttle, steps on/lift
Brake and step on/be lifted away from the driver behaviors such as conjunction.
The technical solution of the present embodiment by remote control technology in conjunction with tow-armed robot, and is held by tow-armed robot
Row driver behavior solves the combination technology problem of long-range control and onboard system, also avoids carrying out existing motor vehicles
Repacking, has widened the application scenarios of unmanned technology.
Embodiment two
Fig. 2 is a kind of flow chart of long-range drive manner provided by Embodiment 2 of the present invention, the long-range driving of embodiment two
Method can be applied to remote controlled unmanned Driving Scene, and illustratively, driving object can be car, lorry, train, subway
With the vehicles such as aircraft, the driving vehicle being also possible under specific condition or weather, illustratively, specific condition includes but not
It is limited to Aircraft Flight Test, high-temperature operation driving task, anoxic operation driving task, plateau operation driving task, ultralow temperature operation are driven
Sail task dispatching.This method can be executed by long-range pilot instrument provided in an embodiment of the present invention, the device can be used software and/
Or the mode of hardware is realized, which can integrate in having in the long-range remote control driving platform for driving function.With it is upper
The method for stating embodiment offer is used cooperatively.It specifically includes:
S210, the vehicle condition video information that tow-armed robot is sent is received.
Wherein, the vehicle condition video information of tow-armed robot transmission, optionally, nothing are received by way of wireless telecommunications
Line communication module supports one of 5G, wifi, 3G, 4G and satellite network or multiple communication modes.It is understood that wireless
Communication modes are not limited to above-mentioned communication modes, can also be that other are adapted for the communication modes of wireless data transmission.
Optionally, vehicle condition video information includes the road conditions video information and cab signal indication panel letter of vehicle periphery
Breath.Illustratively, the road conditions video information of vehicle periphery includes but is not limited to vehicle front long-distance video information, vehicle front
Short distance video information, vehicle left side rearview mirror video information and vehicle right side rearview mirror video information etc. are all related to road conditions
Video information.
S220, according to vehicle condition video information, show vehicle condition video to user.
Optionally, show that the method for vehicle condition video can be on a display screen by default arrangement mode displaying vehicle shape
Condition video shows that equipment shows vehicle condition video by augmented reality (Augmented Reality, AR).Illustratively,
Display screen can be multi-screen or wide screen, and default put in order can be successively transversely arranged, successively vertical array and root
One of priority assembled arrangement according to video information or various arrangement mode.
User's driver behavior that S230, basis are got by vehicle operating module, determines control instruction.
Wherein, vehicle operating module provides the platform of input driver behavior, illustratively, the driver behavior of input for user
Information can be keyboard character, the driving performance information of systemic presupposition, voice signal, relevant limb movement and relevant brain telecommunications
One of breath or the information types such as a variety of.
Control instruction refers to the command information comprising driver behavior, illustratively, driver behavior include but is not limited to shift gears,
Rotation steering wheel, open or close turn signal, step on/lift throttle, step on/lift brake and step on/be lifted away from conjunction etc. driver behaviors.
S240, control instruction is sent to tow-armed robot.
Wherein, control instruction is sent by the way of wireless telecommunications to tow-armed robot.
The technical solution of the present embodiment, driver remotely control tow-armed robot and complete driver behavior, evaded existing " complete
It is complete by the unmanned of AI " the erroneous judgement situation of automatic control system in technology, improve the safety of driving, especially solve
The safety problem of driver in special operation driving task.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for long-range pilot instrument that the embodiment of the present invention three provides, the long-range pilot instrument
Include:
Acquiring video information module 30 obtains video information for the camera by being arranged on tow-armed robot；
Video information preprocessing module 31 generates vehicle condition video information for pre-processing to video information；
Vehicle condition video information sending module 32, for sending vehicle condition video information by wireless communication module
To remote control driving platform, so that remote control driving platform shows vehicle condition video to user；
Control instruction receiving module 33, the control instruction for being sent according to the remote control driving platform received, holds
Row driver behavior.
The technical solution of the present embodiment by remote control technology in conjunction with tow-armed robot, and is held by tow-armed robot
Row driver behavior solves the combination technology problem of long-range control and onboard system, has widened the applied field of unmanned technology
Scape.
Optionally, video pre-filtering module 31 is specifically used for:
Elimination shake, denoising, image enhancement and/or squeeze operation are carried out to video information, generate vehicle condition video letter
Breath.
Optionally, vehicle condition video information includes the road conditions video information and cab signal indication panel letter of vehicle periphery
Breath.
Optionally, vehicle condition video information sending module is 5G communication module.
Long-range pilot instrument provided in an embodiment of the present invention can be used for executing remotely to be driven provided by the embodiment of the present invention one
Method is sailed, has the corresponding function of execution method and beneficial effect.
Example IV
Fig. 4 is a kind of structural schematic diagram for long-range pilot instrument that the embodiment of the present invention four provides, the long-range pilot instrument
Include:
Vehicle condition video information receiving module 40, for receiving the vehicle condition video information of tow-armed robot transmission；
Vehicle condition video display module 41, for showing vehicle condition view to user according to vehicle condition video information
Frequently；
Control instruction determining module 42, for determining according to the user's driver behavior got by vehicle operating module
Control instruction；
Control instruction sending module 43, for control instruction to be sent to tow-armed robot.
The technical solution of the present embodiment, driver remotely control tow-armed robot and complete driver behavior, have evaded existing nothing
The erroneous judgement situation of automatic control system, improves the safety of driving in people's driving technology, especially solves special operation driving
The safety problem of driver in task.
Optionally, vehicle condition video display module 41 is specifically used for: on a display screen by default arrangement mode exhibition vehicle
Situation video；Wherein, vehicle condition video information includes the road conditions video information and cab signal indication panel of vehicle periphery
Information.
Optionally, vehicle condition video display module 41 is specifically used for: according to vehicle condition video, passing through augmented reality skill
Art AR shows that equipment shows vehicle condition video.
Long-range pilot instrument provided in an embodiment of the present invention can be used for executing remotely to be driven provided by the embodiment of the present invention two
Method is sailed, has the corresponding function of execution method and beneficial effect.
Embodiment five
Fig. 5 A is a kind of structural schematic diagram for tow-armed robot that the embodiment of the present invention five provides, as shown in Figure 5A, this pair
Arm robot includes processor 50, memory 51, first mechanical arm 52, second mechanical arm 53, accelerator and brake device 54, camera
55 and communication module 56；The processor quantity of tow-armed robot can be one or more, be with a processor 50 in Fig. 5 A
Example；The processor 50 of tow-armed robot, first mechanical arm 52, second mechanical arm 53, accelerator and brake device 54, is taken the photograph memory 51
Picture head 55 can be connected with communication module 56 by bus or other modes, in Fig. 5 A for being connected by bus.
Memory 51 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, such as the corresponding program module of long-range drive manner in the embodiment of the present invention three.Processor 50 is deposited by operation
Software program, instruction and module in memory 51 are stored up, thereby executing the various function application and number of tow-armed robot
According to processing, that is, realize the long-range drive manner of embodiment one.
Memory 51 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to terminal.This
Outside, memory 51 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 51 can be further
Including the memory remotely located relative to processor 50, these remote memories can pass through network connection to both arms machine
People.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, 5G mobile radio communication and combinations thereof.
Exemplary, tow-armed robot includes main control chip, for receiving the control instruction of remote control driving platform transmission,
Obtain specific action command；Chip is controlled, for receiving the decode the specific action command of main control module, manipulates tow-armed robot
Driver behavior is completed, to realize the long-range control to automatic driving vehicle.
Fig. 5 B is a kind of mechanical structure schematic diagram for tow-armed robot that the embodiment of the present invention five provides, to apply automatic
For driving, specific structure includes:
First mechanical arm 52 and second mechanical arm 53, for carrying out driver behavior.Optionally, first mechanical arm 52 and second
Mechanical arm 53 can be six joint serial manipulators, mechanical arm according to the gap generated between steering wheel after being shaken with vehicle into
Mobile state adjustment, it is ensured that vehicle is not damaged in driving procedure.
Accelerator and brake device 54, for carrying out throttle and brake control to vehicle.Optionally, braking accelerator device include but
It is not limited to throttle motor 541, rotating threaded shaft 542, gas pedal 543, brake motor 544 and brake pedal 545.
Camera 55, for obtaining video information.It optionally, is all required video informations of acquisition, the quantity of camera
For one or more, illustratively, the quantity of camera is 5, including long sight camera 551, low coverage camera 552, car are taken the photograph
As head 553, left-hand mirror camera 554 and right rear view mirror camera 555.
Optionally, tow-armed robot further includes robot head 57, for installing camera.Illustratively, robot
Head 57 may include mechanical holder, and the video got is continuously, steadily or when floating up and down that linear smoothing changes, Ke Yiyou
Effect ground reduces the shake of video, so that the video effect of driver's cabin viewing is as close as true driving environment.
Optionally, tow-armed robot further includes robot body 58, for tow-armed robot is fixed onboard.It is optional
, battery in emergency circumstances and software systems are provided in robot body.Illustratively, emergency can be to anticipate
Situations such as outer accident, vehicle break down.
Embodiment six
Fig. 6 A is a kind of structural schematic diagram for remote control driving platform that the embodiment of the present invention six provides, such as Fig. 6 A institute
Show, which includes processor 60, memory 61, communication module 62, video display module 63 and vehicle behaviour
Make module 64；The processor quantity of remote control driving platform can be one or more, be with a processor 60 in Fig. 6 A
Example；Processor 60, memory 61, communication module 62, video display module 63 and the vehicle operating mould of remote control driving platform
Block 64 can be connected by bus or other modes, in Fig. 6 A for being connected by bus.
It, can retouching with reference to above-mentioned technical proposal about the detailed description of remote control platform processor 60 and memory 61
It states, in order to avoid repeating, details are not described herein again.
Optionally, vehicle operating module 64 includes posture sensor glove, for obtaining driver's arm action information.Posture
It is provided with turning joint position coder on sensor glove, the rotation angle of driver's arm joint can be gone out with real-time measurement, this
A little joints are corresponding with the joint of mechanical arm of tow-armed robot.Tow-armed robot is remotely controlled in remote control driving platform and is driven
The driver's both hands sailed wear posture sensor glove, and when the arm of driver acts, posture sensor glove is available
Driver's arm action information.
Optionally, video display module 63 can be using on a display screen by default arrangement mode displaying vehicle condition video
Or augmented reality shows that equipment shows vehicle condition video.Illustratively, Fig. 6 B is that one kind that the embodiment of the present invention six provides is remote
Journey remote driving platform video display module diagram, the permutation and combination method on display screen are preset preferential according to video information
Grade arranged and shown, illustratively, show the video information of screen display include but is not limited to long-distance video 631, it is close
Refer to apart from video 632, left-hand mirror video 633, right rear view mirror video 634, cab signal lamp video 635 and vehicle whole signal
Show panel video 636.
Embodiment seven
Fig. 7 is a kind of schematic diagram for long-range control loop that the embodiment of the present invention seven provides, which wraps
Above-mentioned tow-armed robot 701 and remote control driving platform 702 are included, specific method, structure and effect refer to above-mentioned technical side
Case, details are not described herein again.
Embodiment eight
The embodiment of the present invention eight also provides a kind of storage medium comprising computer executable instructions.The computer can be held
Row instruction is used to execute a kind of long-range drive manner when being executed by computer processor, this method comprises:
Video information is obtained by the camera being arranged on tow-armed robot；
Video information is pre-processed, vehicle condition video information is generated；
Vehicle condition video information is sent to remote control driving platform by wireless communication module, so as to remote control
Driving platform shows vehicle condition video to user；
According to the control instruction that the remote control driving platform received is sent, driver behavior is executed.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed the long-range drive manner of the offer of the embodiment of the present invention one
In relevant operation.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, technical solution of the present invention substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes method described in the embodiment of the present invention one.
It is worth noting that, included each unit and module are only pressed in the embodiment of above-mentioned long-range pilot instrument
It is divided, but is not limited to the above division according to function logic, as long as corresponding functions can be realized；In addition,
The specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Embodiment nine
The embodiment of the present invention nine also provides a kind of storage medium comprising computer executable instructions.The computer can be held
Row instruction is used to execute a kind of long-range drive manner when being executed by computer processor, this method comprises:
Receive the vehicle condition video information that tow-armed robot is sent；
According to vehicle condition video information, vehicle condition video is shown to user；
According to the user's driver behavior got by vehicle operating module, control instruction is determined；
Control instruction is sent to tow-armed robot.
Above-described embodiment is referred to about specific embodiment, to avoid repeating, details are not described herein again.
In conclusion long-range drive manner, device, equipment, system and storage medium provided in an embodiment of the present invention, pass through
By the remote transmission of video information, the module applications such as execution of driver behavior on tow-armed robot, solve long-range control with
The technology combination problem of onboard system, simplifies transformation process to vehicle configurations and functionally, not by field of traffic
Limitation.Driver's real time remote controls the operation of vehicle, improves the safety of driving.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of long-range drive manner characterized by comprising
Video information is obtained by the camera being arranged on tow-armed robot；
The video information is pre-processed, vehicle condition video information is generated；
The vehicle condition video information is sent to remote control driving platform by wireless communication module, so as to described long-range
Remote driving platform shows vehicle condition video to user；
According to the control instruction that the remote control driving platform received is sent, driver behavior is executed.
2. long-range drive manner according to claim 1, which is characterized in that the vehicle condition video information includes vehicle
The road conditions video information and cab signal indication panel information of surrounding.
3. a kind of long-range drive manner characterized by comprising
Receive the vehicle condition video information that tow-armed robot is sent；
According to the vehicle condition video information, vehicle condition video is shown to user；
According to the user's driver behavior got by vehicle operating module, control instruction is determined；
The control instruction is sent to the tow-armed robot.
4. long-range drive manner according to claim 3, which is characterized in that described to be believed according to the vehicle condition video
Breath shows vehicle condition video to user, comprising:
According to the vehicle condition video, the vehicle condition video is shown by default arrangement mode on a display screen.Wherein, vehicle
Situation video information includes the road conditions video information and cab signal indication panel information of vehicle periphery.
5. long-range drive manner according to claim 3, which is characterized in that according to the vehicle condition video information, to
User shows vehicle condition video, comprising:
According to the vehicle condition video, show that equipment shows the vehicle condition video by augmented reality AR.
6. a kind of tow-armed robot characterized by comprising
One or more processors；
Memory, for storing one or more programs；
First mechanical arm and second mechanical arm, for carrying out driver behavior；
Accelerator and brake device, for carrying out throttle and brake control to vehicle；
Camera, for obtaining video information；
Communication module, for carrying out data communication with remote control driving platform；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now long-range drive manner as described in any in claim 1-2.
7. tow-armed robot according to claim 6, which is characterized in that the tow-armed robot further includes robot head
Portion；Wherein, the robot head includes mechanical holder.
8. a kind of remote control driving platform characterized by comprising
One or more processors；
Memory, for storing one or more programs；
Communication module, for carrying out data communication with tow-armed robot；
Video display module, for showing vehicle condition video；
Vehicle operating module, for obtaining the driver behavior of user；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now long-range drive manner as described in any in claim 3-5.
9. remote control driving platform according to claim 8, which is characterized in that the vehicle operating module includes: appearance
State sensor glove, for obtaining driver's arm action information.
10. a kind of long-range control loop, which is characterized in that including tow-armed robot and claim described in claim 6 or 7
Remote control driving platform described in 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425945.0A CN110103221A (en) | 2019-05-21 | 2019-05-21 | A kind of long-range drive manner, equipment and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425945.0A CN110103221A (en) | 2019-05-21 | 2019-05-21 | A kind of long-range drive manner, equipment and its system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111866464A (en) * | 2020-07-28 | 2020-10-30 | 盐城工业职业技术学院 | Agricultural tractor remote control system based on virtual reality technology |
| CN112455450A (en) * | 2020-12-07 | 2021-03-09 | 安徽江淮汽车集团股份有限公司 | Vehicle rear-end collision early warning method, device, storage medium and device |
| CN112947217A (en) * | 2021-03-02 | 2021-06-11 | 重庆兰德适普信息科技有限公司 | Multi-device concurrent remote control system |
| CN112965504A (en) * | 2020-05-15 | 2021-06-15 | 东风柳州汽车有限公司 | Remote confirmation method, device and equipment based on automatic driving and storage medium |
| CN113542836A (en) * | 2021-07-06 | 2021-10-22 | 腾讯科技（深圳）有限公司 | Remote control method and device, electronic equipment and computer readable storage medium |
| CN115331381A (en) * | 2022-08-17 | 2022-11-11 | 山西百胜智能安防科技有限公司 | Control method and system for intelligent security robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112965504A (en) * | 2020-05-15 | 2021-06-15 | 东风柳州汽车有限公司 | Remote confirmation method, device and equipment based on automatic driving and storage medium |
| CN112987759A (en) * | 2020-05-15 | 2021-06-18 | 东风柳州汽车有限公司 | Image processing method, device and equipment based on automatic driving and storage medium |
| CN112965504B (en) * | 2020-05-15 | 2022-08-09 | 东风柳州汽车有限公司 | Remote confirmation method, device and equipment based on automatic driving and storage medium |
| CN111866464A (en) * | 2020-07-28 | 2020-10-30 | 盐城工业职业技术学院 | Agricultural tractor remote control system based on virtual reality technology |
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| CN112947217A (en) * | 2021-03-02 | 2021-06-11 | 重庆兰德适普信息科技有限公司 | Multi-device concurrent remote control system |
| CN113542836A (en) * | 2021-07-06 | 2021-10-22 | 腾讯科技（深圳）有限公司 | Remote control method and device, electronic equipment and computer readable storage medium |
| CN113542836B (en) * | 2021-07-06 | 2023-05-16 | 腾讯科技（深圳）有限公司 | Remote control method and device, electronic equipment and computer readable storage medium |
| CN115331381A (en) * | 2022-08-17 | 2022-11-11 | 山西百胜智能安防科技有限公司 | Control method and system for intelligent security robot |
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