CN111949025A - Unmanned vehicle control system and method - Google Patents
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- 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
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- 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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Abstract
The invention relates to an unmanned vehicle control system and method, and belongs to the technical field of unmanned vehicles. The system comprises the unmanned vehicle, a product and a communication device, wherein the unmanned vehicle comprises a wire control chassis and a main control device connected with the wire control chassis, the wire control chassis is used for driving and controlling the unmanned vehicle, and the unmanned vehicle is provided with a product placing position; the product is arranged at the product placing position; the communication device is connected with the main control equipment and used for receiving communication information, and the communication information is used for indicating control over the unmanned vehicle. According to the invention, on one hand, a larger display place is not required to be provided for the product, and the economic cost can be reduced; on the other hand, each unmanned vehicle can be remotely controlled, so that the unmanned vehicles and the products displayed by the unmanned vehicles can be managed by one person, the labor cost is saved, and the products can be movably displayed in different scenes by controlling the driving of the unmanned vehicles, so that the information of the products can be more comprehensively displayed.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle control system and method.
Background
Typically, merchants advertise and display products. For a general offline publicity mode, the following defects exist: (1) the need to provide larger product display sites results in correspondingly higher economic costs; (2) when the products displayed need to be introduced, field personnel are usually required to explain the products, which causes the consumption of manpower.
Disclosure of Invention
In order to solve the problems, the invention provides an unmanned vehicle control system, which comprises an unmanned vehicle, a product and a communication device, wherein the unmanned vehicle comprises a wire-controlled chassis and a main control device connected with the wire-controlled chassis, the wire-controlled chassis is used for driving and controlling the unmanned vehicle, and the unmanned vehicle is provided with a product placing position; the product is arranged at the product placing position; the communication device is connected with the main control equipment and used for receiving communication information, and the communication information is used for indicating control over the unmanned vehicle.
Optionally, the product is an electrical product, the unmanned vehicle control system includes a controller, the controller is connected to the communication device and the electrical product, and the controller is configured to control a working state of the electrical product.
Optionally, the unmanned vehicle includes a display device, the display device is connected to the communication device, the communication device is configured to receive video information, and the display device is configured to display the video information.
Optionally, the unmanned vehicle includes an AI voice interaction device, and the AI voice interaction device is configured to receive a voice query and feed back a voice response according to a preset program.
Optionally, the unmanned vehicle includes a projector, and the projector is used for projecting the projection picture to the ground.
Optionally, the unmanned vehicle includes an environment sensing system, and the environment sensing system is configured to sense a surrounding environment of the unmanned vehicle.
Optionally, the unmanned vehicle control system further includes a control terminal, the control terminal is connected to the communication device, and the control terminal is configured to send the communication information to the communication device.
Optionally, the unmanned vehicle includes a real-time video interaction device, and the real-time video interaction device is configured to collect and transmit live video content to the control terminal.
Optionally, the control terminal includes a cloud server and a client connected to the cloud server, where the client is configured to receive an operation request of a user and send the operation request to the cloud server; the cloud server is used for sending the communication information to the communication device according to the operation request.
The invention further provides an unmanned vehicle control method, which comprises the following steps: the main control equipment of the unmanned vehicle receives communication information sent by the communication device and sends the communication information to a drive-by-wire chassis of the unmanned vehicle, the unmanned vehicle is provided with a product placing position, and a product is arranged on the product placing position; and the drive-by-wire chassis controls the driving of the unmanned vehicle according to the communication information.
According to the content, the unmanned vehicle control system can realize mobile display of products through the unmanned vehicle, on one hand, a large display place is not required to be provided for the products, and the economic cost can be reduced; on the other hand, each unmanned vehicle can be remotely controlled, so that one person can manage a plurality of unmanned vehicles and corresponding products, the labor cost is saved, and the products can be movably displayed in different scenes through driving control of the unmanned vehicles, so that the information of the products can be more comprehensively displayed.
Drawings
Fig. 1 is a block diagram schematically showing the configuration of an unmanned vehicle control system according to an embodiment of the present invention;
fig. 2 is a block diagram schematically illustrating a configuration of an unmanned vehicle control system including a display device according to an embodiment of the present invention;
fig. 3 is a block diagram schematically illustrating a configuration of an unmanned vehicle control system including a control terminal according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of an unmanned vehicle control system including a cloud server and a client according to an embodiment of the present invention;
fig. 5 is a block diagram schematically showing the configuration of an unmanned vehicle control system including a controller according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in more detail with reference to the accompanying drawings, in which the description of the invention is given by way of illustration and not of limitation. The various embodiments may be combined with each other to form other embodiments not shown in the following description.
Referring to fig. 1, an embodiment of the present invention provides an unmanned vehicle control system, including an unmanned vehicle, a product, and a communication device, where the unmanned vehicle includes a wire-controlled chassis and a main control device connected to the wire-controlled chassis, the wire-controlled chassis is used to control driving of the unmanned vehicle, and the unmanned vehicle is provided with a product placement position; the product is arranged at the product placing position; the communication device is connected with the main control equipment and used for receiving communication information, and the communication information is used for indicating control over the unmanned vehicle.
Accordingly, the present embodiment provides an unmanned vehicle control method including: the main control equipment of the unmanned vehicle receives communication information sent by the communication device and sends the communication information to the drive-by-wire chassis of the unmanned vehicle, the unmanned vehicle is provided with a product placing position, and a product is arranged on the product placing position; and the drive-by-wire chassis controls the driving of the unmanned vehicle according to the communication information.
According to the content, the merchant does not need to provide a large display place for the product, and the economic cost can be reduced. Moreover, each unmanned vehicle can be remotely controlled, so that a plurality of unmanned vehicles and corresponding products can be managed by one person, and the labor cost is saved. In addition, through the driving control of the unmanned vehicle, the mobile display of the product under different scenes is realized, so that the information of the product is more comprehensively displayed.
As an example, referring to fig. 2, the unmanned vehicle may further include a display device connected to the communication device, the communication device being configured to receive video information, and the display device being configured to display the video information. For example, the merchant can transmit the propaganda video that makes in advance to display device, and unmanned on-vehicle product is showing to the place that the stream of people is many, and display device plays the propaganda video of merchant this moment, can let the product that the consumer is showing more comprehensively, audio-visually. In one embodiment, the pre-created promotional video may be stored locally on the display device, so that it can be played off-line, and when the network environment is not ideal, the product displayed can be continuously promoted and explained. In addition, the product displayed can be introduced by the anchor on line in real time, and then the communication device receives the on-line video in real time and transmits the video information to the display device for real-time playing and displaying.
As an example, the unmanned vehicle may further include an AI voice interaction device for receiving a voice query and feeding back a voice reply according to a pre-established program. For example, when a product is displayed in an unmanned vehicle, if there is a viewer interested in the product, the product can be communicated with the AI voice interaction device in a language, such as asking the viewer for "price? The AI voice interaction device feeds back a voice response according to a preset program, namely, the voice response answers 'the price is XX element' to the audience, and can answer the detail questions of the audience in time, thereby bringing good experience to the audience.
As one example, the unmanned vehicle may further include a projector for projecting the projection screen to the ground. For example, a picture containing a brand name and a logo prepared in advance is projected on the ground, thereby enhancing the impression of the audience on the publicized brand. The contents projected on the ground can also be dynamic videos, so that the attention of the audience is attracted, and the promotion effect is improved.
As an example, the unmanned vehicle may further include an on Board unit (obu) for recording information of the unmanned vehicle. The on board Unit OBU may interact with a Road Side Unit (RSU).
As one example, the unmanned vehicle may further include a context awareness system for perceiving a surrounding environment of the unmanned vehicle. The environment perception system can include multiple sensors such as millimeter wave radar, ultrasonic radar, target identification camera, 5G signal communication equipment, big dipper high accuracy orientation module, can carry out intelligent perception to the environment complicated around the unmanned vehicle through this environment perception system. The multi-source sensors are fused in a time-space consistent manner, the sensors used for sensing are simultaneously aligned in consistency in two dimensions of time and space, and the sensor data of various different physical quantities and different measuring distances are analyzed and processed on the basis of ensuring the data consistency. In addition, the environment perception system can transmit the perceived data to the cloud server, and the cloud server analyzes and processes the data, so that the unmanned vehicle can be intelligently decided and controlled, for example, the unmanned vehicle can intelligently avoid obstacles and automatically decelerate when encountering complex road conditions, and the unmanned vehicle has L3-level automatic driving capability. For another example, in a specified range area, the unmanned vehicle can automatically plan an optimal route to travel according to historical flow data, and the maximum coverage rate of the pedestrian flow is ensured.
In addition, the unmanned vehicle in the present embodiment can be driven in parallel. For example, through a Video communication framework rtvs (real Time Video sharing), multiple Video images of an unmanned vehicle can be uploaded to the cloud in real Time, and the Video delay is only 50 ms. The parallel driving personnel can observe the road driving condition in real time in such a way, can make driving reaction in time aiming at emergency, and ensure the driving safety. Because the unmanned vehicle can be switched into parallel driving, the unmanned vehicle can adapt to any complicated and changeable road without making long-time route making and training in the early stage. In practice, when the communication signal of the unmanned vehicle is weak, the unmanned vehicle is automatically switched from the parallel driving mode to the automatic driving mode, and emergency keys are arranged on two sides of the body of the unmanned vehicle, so that the emergency keys can be triggered under the condition that the unmanned vehicle is out of control, and the unmanned vehicle enters an emergency stop state.
As an example, referring to fig. 3, the unmanned vehicle control system may further include a control terminal connected to the communication device, the control terminal being configured to transmit communication information to the communication device. It should be noted that, one control terminal may control at least one unmanned vehicle, and the main control device and/or the display device of each unmanned vehicle are respectively and correspondingly recorded with a unique identifier code. When the control terminal sends communication information to the communication device, the communication device identifies the unique identifier code so as to transmit the communication information to the corresponding main control equipment and/or display device.
As an example, the unmanned vehicle may further include a real-time video interaction device for capturing and transmitting live video content to the control terminal. For example, the real-time video interaction device can shoot a live environment where an unmanned vehicle runs in real time, and transmit shot video content to the control terminal, thereby realizing live broadcasting. As an implementation mode, each control terminal can be connected with a plurality of unmanned vehicles, so that a merchant can know the real-time field condition of each unmanned vehicle and the display products thereof in time, corresponding control operation is performed, management is convenient, and manpower is saved.
As an implementation manner, the real-time video interaction device may be connected to a communication device, and an embedded 64-bit Linux operating system main control board based on an ARM framework is built in the communication device, and is mainly used for compressing and transmitting live videos, receiving remote instructions, and controlling the motion of an unmanned vehicle. The method for realizing the function of compressing and transmitting live video adopts a VP8 video image codec to ensure high definition of live video transmitted in real time, adopts a Turnserve gateway to forward live video data, and adopts an RTVS instant video communication technology. The specific process is that the control terminal (such as a cloud) sends a live broadcast instruction to the communication device, and the communication device establishes point-to-point connection with the control terminal through the Turnserver gateway after receiving the live broadcast instruction so as to ensure that a data path for transmitting the live video content is high-speed and stable. After the data path is opened, the communication device starts the video interface to perform data sampling (that is, receives the field video data sent by the real-time video interaction device), it should be noted that the data path can start one path or simultaneously start multiple paths according to the instruction of the cloud to perform transmission of the field video data, at this time, the communication device performs video encoding by using VP8, and then transmits the encoded and compressed field video data to the control terminal, so that the video stream is pushed to the control terminal by means of a point-to-point high-speed transmission characteristic (high compressibility at the level of ten milliseconds of video is ensured), thereby completing synchronous and fast transmission of audio and video.
Based on the above, bidirectional video can be realized by using a display device and a real-time video interaction device. Specifically, a merchant can acquire a live video acquired by the real-time video interaction device through a cloud end to check the live situation of the unmanned vehicle in real time, and perform targeted display content adjustment according to the live crowd characteristics, including publicity films, pictures, shopping guide content and the like of products, wherein the adjusted content is displayed and played to audiences through a display device. By the mode, a user can see the video explanation of the anchor and the live situation of the anchor, so that the interaction between the audience and the anchor is facilitated, and the introduction and the solution of the product are pertinently carried out.
As an example, please refer to fig. 4, the control terminal includes a cloud server and a client connected to the cloud server, where the client is configured to receive an operation request of a user and send the operation request to the cloud server; and the cloud server is used for sending communication information to the communication device according to the operation request. The client comprises a mobile phone and a computer, and a user can remotely drive the unmanned vehicle in various modes such as mobile phone APP/PC software/web pages and the like. In the driving process of the unmanned vehicle, a user can also check information such as a position driving route, expected arrival time and a real-time video picture (needing network bandwidth support) of the unmanned vehicle in real time through various modes such as mobile phone APP/PC software/web pages and the like.
As an example, referring to fig. 5, the above-mentioned products are electric products, and the unmanned vehicle control system according to the present embodiment may further include a controller, where the controller is connected to the communication device and the electric products, and the controller is configured to control the operating state of the electric products. For example, the electric appliance product is an intelligent electric cooker, and a merchant can remotely control the intelligent electric cooker to start a power supply, play music, reserve timing and other functions through the control terminal. Specifically, for example, the control terminal sends a communication instruction for playing music to the communication device, and the controller controls the intelligent electric rice cooker to start playing music after receiving the communication instruction forwarded by the communication device.
According to the content, the unmanned vehicle control system can realize mobile display of products through the unmanned vehicle, on one hand, a large display place is not required to be provided for the products, and the economic cost can be reduced; on the other hand, each unmanned vehicle can be remotely controlled, so that one person can manage a plurality of unmanned vehicles and corresponding products, the labor cost is saved, and the products can be movably displayed in different scenes through driving control of the unmanned vehicles, so that the information of the products can be more comprehensively displayed.
Example 1
The embodiment provides an unmanned vehicle control system, which comprises an unmanned vehicle, a product and a communication device, wherein the unmanned vehicle comprises a wire control chassis and a main control device connected with the wire control chassis, and the wire control chassis is used for driving and controlling the unmanned vehicle; the communication device is connected with the main control equipment and used for receiving communication information, and the communication information is used for indicating control over the unmanned vehicle. And, this unmanned car is equipped with the product and places the position, and this product is placed the position and can be located the inside of unmanned carriage body. It should be noted that, for different products, the product placing position may be provided with a corresponding fixing component for fixing the product on the product placing position, and preventing the product from sliding off when the unmanned vehicle is stopped emergently. In addition, for products with a slightly larger volume, the product placing position can also be arranged at the top of the unmanned vehicle.
As an example, a compartment of an unmanned vehicle has a transparent compartment wall, a product placement location is disposed inside the compartment, and a shelf is fixed to the product placement location, on which, for example, fast-moving products are displayed. The merchant can send a communication instruction to the unmanned vehicle through the control terminal, the unmanned vehicle carries the fast-elimination products to travel to an instruction place (such as a pedestrian street with large pedestrian flow) according to the communication instruction, and the unmanned vehicle can also move within an appointed range after reaching the appointed place, so that the products in the carriage body can be displayed in a moving mode. Further, one side of the unmanned carriage body is provided with an openable door, and a user can scan the two-dimensional code corresponding to the product to complete payment, so that the door of the carriage body can be opened to take out the purchased product.
Example 2
Different from embodiment 1, in the unmanned vehicle control system according to this embodiment, an electrical product is fixed to a product placement position of the unmanned vehicle, and a power cord of the electrical product may be connected to a power supply device of the unmanned vehicle, so that the electrical product displays necessary functions in a power supply state. Furthermore, the unmanned vehicle is provided with a wireless charging device, and can wirelessly charge electrical products. Furthermore, the electric appliance product can be connected to the controller, the controller is connected to the communication device, and the merchant can remotely control the electric appliance product through the control terminal, the communication device and the controller, so that the functions of the electric appliance product can be displayed.
Based on the above, the unmanned vehicle can carry the electric appliance product to run within a specified range, so that the electric appliance product can be movably displayed. In order to achieve a better propaganda effect, the unmanned vehicle utilizes the projector to project a picture containing the brand of the product on the ground, the display device plays a propaganda video which is made in advance by a merchant, or the display device plays the introduction of the product by an anchor in real time, and audiences can also interact with the anchor by the real-time video interaction device, for example, the audience inquires the detailed information of the product, so that the anchor can pertinently introduce the product.
In view of the above, it should be noted that the display device and the controller may have independent communication devices, and the independent communication devices are respectively connected to the control terminal. In another embodiment, the display device and the controller may be connected to a main control device of the unmanned vehicle. The connection means in the above may be a wired or wireless connection means, and includes but is not limited to a 4G or 5G network connection.
In summary, by adopting the unmanned vehicle control system in each embodiment, the products can be movably displayed through the unmanned vehicle, on one hand, a larger display place is not required to be provided for the products, and the economic cost can be reduced; on the other hand, each unmanned vehicle can be remotely controlled, so that one person can manage a plurality of unmanned vehicles and corresponding products, the labor cost is saved, and the products can be movably displayed in different scenes through driving control of the unmanned vehicles, so that the information of the products can be more comprehensively displayed.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the scope of the claims of the present invention.
Claims (10)
1. An unmanned vehicle control system, comprising:
the drive-by-wire chassis is used for driving and controlling the unmanned vehicle, and the unmanned vehicle is provided with a product placing position;
the product is arranged at the product placement position;
and the communication device is connected with the main control equipment and used for receiving communication information, and the communication information is used for indicating the control of the unmanned vehicle.
2. The unmanned vehicle control system of claim 1, wherein the product is an electrical product, the unmanned vehicle control system comprises a controller, the controller is connected with the communication device and the electrical product, and the controller is configured to control an operating state of the electrical product.
3. The unmanned vehicle control system of claim 1, wherein the unmanned vehicle comprises a display device, the display device being coupled to the communication device, the communication device being configured to receive video information, the display device being configured to display the video information.
4. The unmanned vehicle control system of claim 1, wherein the unmanned vehicle comprises an AI voice interaction device for receiving a voice query and feeding back a voice response according to a pre-established program.
5. The unmanned aerial vehicle control system of claim 1, wherein the unmanned aerial vehicle comprises a projector for projecting a projected image onto a ground surface.
6. The unmanned vehicle control system of claim 1, wherein the unmanned vehicle comprises a context awareness system configured to perceive a surrounding environment of the unmanned vehicle.
7. The unmanned vehicle control system of claim 1, further comprising a control terminal connected to the communication device, the control terminal configured to send the communication information to the communication device.
8. The unmanned vehicle control system of claim 7, wherein the unmanned vehicle comprises a real-time video interaction device configured to capture live video content and transmit the live video content to the control terminal.
9. The unmanned vehicle control system of claim 7, wherein the control terminal comprises a cloud server and a client connected to the cloud server, and the client is configured to receive an operation request of a user and send the operation request to the cloud server; the cloud server is used for sending the communication information to the communication device according to the operation request.
10. An unmanned vehicle control method, comprising:
the main control equipment of the unmanned vehicle receives communication information sent by the communication device and sends the communication information to a drive-by-wire chassis of the unmanned vehicle, the unmanned vehicle is provided with a product placing position, and a product is arranged on the product placing position;
and the drive-by-wire chassis controls the driving of the unmanned vehicle according to the communication information.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113359727A (en) * | 2021-06-04 | 2021-09-07 | 北京三快在线科技有限公司 | Unmanned vehicle remote control method and device and electronic equipment |
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