CN111324124A - Unmanned vehicle remote control method and system and unmanned vehicle - Google Patents
Unmanned vehicle remote control method and system and unmanned vehicle Download PDFInfo
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- CN111324124A CN111324124A CN202010153405.4A CN202010153405A CN111324124A CN 111324124 A CN111324124 A CN 111324124A CN 202010153405 A CN202010153405 A CN 202010153405A CN 111324124 A CN111324124 A CN 111324124A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 18
- 239000000284 extract Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
- G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C25/00—Arrangements for preventing or correcting errors; Monitoring arrangements
Abstract
The invention relates to the technical field of unmanned vehicles, unmanned driving and automatic driving control, and discloses an unmanned vehicle remote control method, a control system and an unmanned vehicle, wherein the remote control method comprises the following steps: when an operator fails to operate the unmanned vehicle through the remote controller, the remote controller sends failure information to a background; the background identifies the fault information and judges whether the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller; if the fault is from the remote controller, the user terminal which is bound with the unmanned vehicle in advance is authorized by the background to control the unmanned vehicle; and if the fault is derived from the unmanned vehicle, the background feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller. According to the invention, when the unmanned vehicle control fails, different solutions are made based on different failure information, so that the safety accidents of the unmanned vehicle driving caused by the failure of the remote controller are reduced; when the unmanned vehicle has a fault, the fault reason is known in time, and the subsequent normal work of the unmanned vehicle is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, unmanned driving and automatic driving control, in particular to an unmanned vehicle remote control method, a control system and an unmanned vehicle.
Background
At present, most unmanned vehicles can be controlled through a handheld remote controller, a receiver on the unmanned vehicles receives signals from the remote controller, the unmanned vehicles can be controlled to run, and the remote controller can control the running speed and direction of the unmanned vehicles.
However, when any one of the remote controller or the unmanned vehicle breaks down, the running of the unmanned vehicle does not accord with the operation instruction of the remote controller, and the unmanned vehicle loses control, so that potential safety hazards of the running of the unmanned vehicle can be caused; and when the unmanned vehicle breaks down, the unmanned vehicle cannot know in time, and wastes time and labor.
Disclosure of Invention
In order to solve the technical problem, a first aspect of the present invention provides a method for remotely controlling an unmanned vehicle, including:
when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller sends failure information to a background;
the background identifies the fault information and judges that the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
if the fault is from the remote controller, the background authorizes the user terminal bound with the unmanned vehicle in advance to control the unmanned vehicle;
and if the fault is from the fault of the unmanned vehicle, the background feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
According to the invention, when the unmanned vehicle control fails, the background receives, identifies and judges the failure information, and makes different solutions based on different failure information, on one hand, when the remote controller fails, the user terminal pre-bound with the unmanned vehicle is adopted to control the unmanned vehicle, so that the safety accidents of the unmanned vehicle driving caused by the failure of the remote controller are reduced; on the other hand, when unmanned vehicle had the trouble, in time known the trouble reason, in time maintenance guarantees the subsequent normal work of unmanned vehicle, promotes unmanned vehicle's work efficiency.
Further, the fault information comprises information of the working state of the remote controller and information of the unmanned vehicle when an operator fails to operate the unmanned vehicle through the remote controller; the method further comprises: when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller extracts the working state information of the remote controller and the working state information of the unmanned vehicle;
and the background identifies the working state information of the remote controller and the working state information of the unmanned vehicle and judges that the fault is derived from the fault of the unmanned vehicle and/or the fault of the remote controller.
When a fault occurs, the working state information of the unmanned vehicle and the remote controller is acquired through the remote controller and is sent to the background, the background identifies and judges the working state information, and the remote communication connection between the unmanned vehicle and the background is not required to be established, so that the duration of the unmanned vehicle is prevented from being reduced.
Further, the remote controller has a self-checking key, and the method further comprises: when the operator is right through the remote controller unmanned vehicle control when breaking down, the operator presses the self-checking button, control unmanned vehicle with the remote controller carries out the self-checking and generates fault information.
According to the invention, when the unmanned vehicle control fails, the operator presses the self-checking key on the remote controller to control the remote controller and the unmanned vehicle to perform self-checking, generate fault information and send the fault information to the background, so that the fault information is generated in time, and the fault information judgment efficiency is further improved.
Further, the remote controller has a voice control module, and the method further includes: when an operator controls the unmanned vehicle to break down through the remote controller, the operator controls the unmanned vehicle and the remote controller to perform self-checking through the voice control module and generate fault information.
When a fault occurs, the voice control module is adopted to control the unmanned vehicle and the remote controller to perform self-checking, generate fault information and send the fault information to the background, so that the fault information is generated in time, and the fault information judgment efficiency is further improved.
Further, the remote controller is provided with an emergency brake key and an emergency link, and the emergency link is different from the control link; the method further comprises the following steps: when an operator controls the unmanned vehicle to break down through a remote controller, the operator presses the emergency brake key to control the unmanned vehicle to brake emergently through the emergency link.
According to the invention, when the unmanned vehicle control fails, an operator presses the emergency brake button on the remote controller, so that the safety accidents of unmanned vehicle driving caused by failure are reduced.
Further, the method further comprises: when an operator fails to operate the unmanned vehicle through the remote controller, the remote controller prompts the failure information.
The invention reminds an operator of the failure of the unmanned vehicle operation through a plurality of modes such as display screen display, light flicker, sound and the like so as to prevent the operator from watching the driving of the unmanned vehicle and neglecting the failure information prompted by the remote controller.
Further, the prompting mode includes at least one of the following: a display screen prompting mode, a light flicker prompting mode and a sound prompting mode.
The invention provides a remote control system of an unmanned vehicle, which applies the control method and comprises a remote controller, a remote controller and a remote controller, wherein the remote controller is used for controlling the unmanned vehicle;
the remote controller comprises a fault communication module, and the fault communication module is used for: when an operator fails to operate the unmanned vehicle through a remote controller, the fault communication module of the remote controller sends the fault information to a background;
the background comprises a storage unit, and the storage unit is used for storing fault information and storing the user terminal bound with the unmanned vehicle in advance;
the processor is used for receiving the fault information sent by the remote controller, identifying the fault information and judging whether the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
the method is specifically used for: if the fault is a fault from the remote controller, the processor authorizes the user terminal pre-bound with the unmanned vehicle to control the unmanned vehicle;
and if the fault is derived from the fault of the unmanned vehicle, the processor feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
A third aspect of the present invention provides an unmanned vehicle, which includes the above-mentioned unmanned vehicle remote control method, and the unmanned vehicle does not include a communication unit that communicates with the background.
Drawings
Fig. 1 is a first control flow diagram of a remote control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic control flow diagram of a remote control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic control flow diagram of a third remote control method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic control flow diagram of a remote control method for an unmanned aerial vehicle according to an embodiment of the present invention;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures 1 to 4 are described in detail below.
Referring to fig. 1, a first aspect of the present invention provides a method for controlling a remote control of an unmanned vehicle, including a remote controller, where the remote controller is used to control the unmanned vehicle; the method comprises the following steps:
when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller sends failure information to a background;
the background identifies the fault information and judges that the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
if the fault is from the remote controller, the background authorizes the user terminal bound with the unmanned vehicle in advance to control the unmanned vehicle;
and if the fault is from the fault of the unmanned vehicle, the background feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
It should be noted that the user terminal may be a mobile terminal such as a mobile phone and a tablet, and the user terminal includes an embedded remote control device, and the unmanned vehicle may be controlled through the user terminal.
Therefore, when the unmanned vehicle control fails, the background receives, identifies and judges the fault information, and makes different solutions based on different fault information, on one hand, when the remote controller fails, the user terminal pre-bound with the unmanned vehicle is adopted to control the unmanned vehicle, so that safety accidents of the unmanned vehicle driving caused by the failure of the remote controller are reduced; on the other hand, when unmanned vehicle had the trouble, in time known the trouble reason, in time maintenance practices thrift manpower and time cost, guarantees unmanned vehicle subsequent normal work, promotes unmanned vehicle's work efficiency.
Preferably, the fault information includes information of a working state of the remote controller and information of the unmanned vehicle when an operator fails to operate the unmanned vehicle through the remote controller;
referring to fig. 2, the method further comprises: when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller extracts the working state information of the remote controller and the working state information of the unmanned vehicle; and the background identifies the working state information of the remote controller and the working state information of the unmanned vehicle and judges that the fault is derived from the fault of the unmanned vehicle and/or the fault of the remote controller.
It should be noted that the working state of the unmanned vehicle includes: the unmanned vehicle starts, stops, advances, backs, turns left, turns right, accelerates, decelerates, brakes, and the speed of travel, the amount of remaining power, and the like.
The failure of the remote controller at least comprises at least one of the following: and if the remote controller battery has an abnormal fault and the remote controller control key has a fault, and the remote controller has no capability of controlling the unmanned vehicle due to the fault of the remote controller, the background authorizes the user terminal pre-bound with the unmanned vehicle to control the unmanned vehicle.
The remote controller control key is used for controlling the action of the unmanned vehicle, and the key can be in a knob form or a push rod form; the gear shifting device comprises a gear shifting key, a D gear, an N gear, an R gear and a P gear; the device also comprises a speed control key and a direction control key, and specifically comprises an acceleration control key, a deceleration control key, a left turning control key and a right turning control key.
It should be noted that the unmanned vehicle does not have a communication unit for communicating with the background, and as the unmanned vehicle tends to be miniaturized, if the communication unit for communicating with the background is arranged on the unmanned vehicle, on one hand, the volume of the unmanned vehicle is increased, on the other hand, power consumption is reduced, and the endurance time of the unmanned vehicle is reduced.
Therefore, when a fault occurs, the working state information of the unmanned vehicle and the remote controller is obtained through the remote controller and sent to the background, the background identifies and judges the working state information, and the remote communication connection between the unmanned vehicle and the background is not required to be established, so that the reduction of the endurance time of the unmanned vehicle is prevented.
Preferably, referring to fig. 3, the remote controller has a self-checking key, and the method further includes: when the operator is right through the remote controller unmanned vehicle control breaks down, the operator presses the self-checking button, controls unmanned vehicle with the remote controller carries out self-checking and generates fault information, the remote controller sends fault information to the backstage.
Therefore, when the unmanned vehicle control fails, the operator presses the self-checking key on the remote controller to control the remote controller and the unmanned vehicle to perform self-checking, generate fault information and send the fault information to the background, so that the fault information is generated in time, and the fault information judgment efficiency is further improved.
Preferably, referring to fig. 4, the remote controller has a voice control module, and the method further includes: when an operator controls the unmanned vehicle to break down through the remote controller, the operator controls the unmanned vehicle and the remote controller to perform self-checking through the voice control module and generate fault information, and the remote controller sends the fault information to the background.
The voice control module is installed on the remote controller, the voice control module can be connected with a Bluetooth headset, and an operator can control the unmanned vehicle through the Bluetooth headset in a voice mode.
The voice control module may convert the vocabulary content in the operator's voice to computer readable input, such as binary codes or character sequences, through voice recognition techniques.
Therefore, when a fault occurs, the voice control module is adopted to control the unmanned vehicle and the remote controller to perform self-checking, generate fault information and send the fault information to the background, so that the fault information is generated in time, and the fault information judgment efficiency is further improved.
Preferably, the remote controller has an emergency brake button and an emergency link, which is different from the manipulation link; the method further comprises the following steps: when an operator controls the unmanned vehicle to break down through a remote controller, the operator presses the emergency brake key to control the unmanned vehicle to brake emergently through the emergency link.
It should be noted that the emergency link may implement communication in a manner of bluetooth, wifi, NFC, or the like; the control link can also realize communication in a Bluetooth mode, a wifi mode or an NFC mode and the like; the emergency link and the steering link are not the same link.
Therefore, when the unmanned vehicle control fails, the operator presses the emergency brake button on the remote controller, so that the safety accidents of the unmanned vehicle caused by the failure are reduced.
Preferably, the method further comprises: when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller prompts the failure information.
Preferably, the prompting mode includes at least one of the following: a display screen prompting mode, a light flicker prompting mode and a sound prompting mode.
Specifically, the display screen prompting mode may be a mode of text information or image information to prompt the fault information to an operator; the light flicker prompting mode can be a mode of continuous light flicker or discontinuous light flicker to prompt the fault information to an operator; the sound prompting mode can prompt the fault information to an operator in a mode of sounding through a horn, a buzzer or a loudspeaker.
Therefore, the invention reminds the operator of the failure of the unmanned vehicle operation through a plurality of modes such as display screen display, light flashing, sound and the like so as to prevent the operator from watching the driving of the unmanned vehicle and neglecting the failure information prompted by the remote controller.
The invention provides a remote control system of an unmanned vehicle, which applies the control method and comprises a remote controller, a remote controller and a remote controller, wherein the remote controller is used for controlling the unmanned vehicle;
the remote controller comprises a fault communication module, and the fault communication module is used for: when an operator fails to operate the unmanned vehicle through a remote controller, the fault communication module of the remote controller sends the fault information to a background;
the background comprises a storage unit, and the storage unit is used for storing fault information and storing the user terminal bound with the unmanned vehicle in advance;
the processor is used for receiving the fault information sent by the remote controller, identifying the fault information and judging whether the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
the method is specifically used for: if the fault is a fault from the remote controller, the processor authorizes the user terminal pre-bound with the unmanned vehicle to control the unmanned vehicle;
and if the fault is derived from the fault of the unmanned vehicle, the processor feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
A third aspect of the present invention provides an unmanned vehicle, which includes the above-mentioned unmanned vehicle remote control method, and the unmanned vehicle does not include a communication unit that communicates with the background.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A method for remotely controlling an unmanned vehicle, the method comprising:
when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller sends failure information to a background;
the background identifies the fault information and judges that the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
if the fault is from the remote controller, the background authorizes the user terminal bound with the unmanned vehicle in advance to control the unmanned vehicle;
and if the fault is from the fault of the unmanned vehicle, the background feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
2. The unmanned aerial vehicle remote control method according to claim 1, wherein the failure information includes information of an operating state of a remote controller and information of the unmanned aerial vehicle when an operator fails to operate the unmanned aerial vehicle through the remote controller;
the method further comprises: when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller extracts the working state information of the remote controller and the working state information of the unmanned vehicle;
and the background identifies the working state information of the remote controller and the working state information of the unmanned vehicle and judges that the fault is derived from the fault of the unmanned vehicle and/or the fault of the remote controller.
3. The unmanned vehicle remote control method of claim 2, wherein the remote controller has a self-check key, the method further comprising: when the operator is right through the remote controller unmanned vehicle control when breaking down, the operator presses the self-checking button, control unmanned vehicle with the remote controller carries out the self-checking and generates fault information.
4. The unmanned vehicle remote control method of claim 2, wherein the remote controller has a voice control module, the method further comprising: when an operator controls the unmanned vehicle to break down through the remote controller, the operator controls the unmanned vehicle and the remote controller to perform self-checking through the voice control module and generate fault information.
5. The unmanned vehicle remote control method of any one of claim 1, wherein the remote controller has an emergency brake button and an emergency link, the emergency link being different from the steering link; the method further comprises the following steps: when an operator controls the unmanned vehicle to break down through a remote controller, the operator presses the emergency brake key to control the unmanned vehicle to brake emergently through the emergency link.
6. The unmanned vehicle remote control method according to any one of claims 1, further comprising: when an operator fails to operate the unmanned vehicle through a remote controller, the remote controller prompts the failure information.
7. The unmanned vehicle remote control method according to claim 6, wherein the prompting means includes at least one of: a display screen prompting mode, a light flicker prompting mode and a sound prompting mode.
8. An unmanned vehicle remote control system, which is characterized in that the control method of any one of claims 1-7 is applied, and comprises a remote controller, wherein the remote controller is used for controlling the unmanned vehicle;
the remote controller comprises a fault communication module, and the fault communication module is used for: when an operator fails to operate the unmanned vehicle through a remote controller, the fault communication module of the remote controller sends the fault information to a background;
the background comprises a storage unit, and the storage unit is used for storing fault information and storing the user terminal bound with the unmanned vehicle in advance;
the processor is used for receiving the fault information sent by the remote controller, identifying the fault information and judging whether the fault is from the fault of the unmanned vehicle and/or the fault of the remote controller;
the method is specifically used for: if the fault is a fault from the remote controller, the processor authorizes the user terminal pre-bound with the unmanned vehicle to control the unmanned vehicle;
and if the fault is derived from the fault of the unmanned vehicle, the processor feeds back a processing instruction corresponding to the fault of the unmanned vehicle to the remote controller.
9. An unmanned vehicle, comprising the unmanned vehicle remote control method according to any one of claims 1 to 7, and not comprising a communication unit for communicating with the background.
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| CN112000106A (en) * | 2020-09-07 | 2020-11-27 | 新石器慧义知行智驰(北京)科技有限公司 | Unmanned vehicle remote driving processing system and method |
| CN113311835A (en) * | 2021-05-21 | 2021-08-27 | 深圳裹动智驾科技有限公司 | Method for reducing driving risk of automatic driving vehicle |
| CN114283601A (en) * | 2021-12-23 | 2022-04-05 | 深圳创维－Rgb电子有限公司 | Vehicle driving method, system, television and storage medium |
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