CN112000104A - Unmanned vehicle system based on cloud service - Google Patents
Unmanned vehicle system based on cloud service Download PDFInfo
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- CN112000104A CN112000104A CN202010885195.8A CN202010885195A CN112000104A CN 112000104 A CN112000104 A CN 112000104A CN 202010885195 A CN202010885195 A CN 202010885195A CN 112000104 A CN112000104 A CN 112000104A
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- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims description 18
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000008447 perception Effects 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000006872 improvement Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000010365 information processing Effects 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0246—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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle system based on cloud service. The system comprises: the system comprises a vehicle body structure, a detection module, a wireless communication module, a control module, a driving module and a computing processing module arranged on a cloud server; the resource utilization of the method is maximized, and the cloud server processing tasks with stronger computing power can be selected or replaced according to the computing power requirement.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to an unmanned vehicle system based on cloud service.
Background
The method has the advantages that a technology system of deep fusion of Smart Cities (SC), Smart Transportation (ST) and Smart Vehicles (SV) is constructed, the safety and the efficiency of Vehicle traffic are improved, the inevitable trend of future development is realized, and the important support of the strong national traffic strategy is developed. In recent years, with the rapid development of scientific technology, people have more and more high computing requirements based on unmanned vehicle technology no matter how the technology is changed, and therefore some servers with low computing power are gradually eliminated in the development of unmanned vehicle technology.
Disclosure of Invention
The invention aims to overcome the problems, and in order to efficiently utilize resources and flexibly distribute computing resources, a cloud server-based unmanned vehicle system is designed under the background of SCSTSV, the cloud server-based unmanned vehicle system can rent a cloud server with proper computing power to process complex tasks according to the requirements of the system, and when the cloud server needs to process more complex tasks and cannot process the complex tasks, the cloud server with stronger computing power can be converted. Based on the above situation, the invention provides an unmanned vehicle system based on cloud service, which is connected with a remote server through wireless communication and receives a remote message execution command.
In order to achieve the above object, the present invention provides a cloud service-based unmanned vehicle system, including: the system comprises a vehicle body structure, a detection module, a wireless communication module, a control module, a driving module and a computing processing module arranged on a cloud server; wherein,
the vehicle body structure is used for performing corresponding movement under the control of the driving module;
the detection module is used for acquiring motion data and environment sensing signals of the vehicle body and sending the motion data and the environment sensing signals to the wireless communication module;
the wireless communication module is used for receiving the motion data and the environment perception signal and sending the motion data and the environment perception signal to the computing processing module; the device also is used for receiving the action instruction sent by the calculation processing module and sending the action instruction to the control module;
the control module is used for receiving the action instruction and sending the action instruction to the driving module;
the driving module is used for controlling the corresponding movement of the vehicle body according to the action instruction;
and the calculation processing module is used for performing processing operation according to the received vehicle body motion data and the environment perception signal to obtain the next motion track, generate an action instruction and send the action instruction to the wireless communication module.
As an improvement of the system, the vehicle body structure comprises a vehicle front wheel, the axle of which is of ackermann configuration.
As an improvement of the system, the detection module comprises: sensors, camera probes, and lidar;
the sensor is used for acquiring motion data of the vehicle body;
the camera probe is used for acquiring image data of an environment;
the laser radar is used for collecting point cloud data of the vehicle body.
As an improvement of the system, the drive module comprises a motor drive; and the motor driver is used for controlling the steering and moving speed of the vehicle body according to the action command.
Compared with the prior art, the invention has the advantages that:
1. the processing capacity is strong; the cloud server is flexibly matched through wireless communication. The cloud server is connected through wireless communication, and the cloud server is responsible for the operation of complex tasks and can process the complex tasks.
2. The expandability is strong; the invention has a plurality of serial ports, and can expand functions according to requirements. For example, a camera, a laser radar and other sensors are connected.
3. The development efficiency is high; being a remote computer, the task can be programmed through the screen. Generally, the screen with an upper computer or without the screen is too small, so that great difficulty is brought to development.
4. Resource utilization is maximized; and selecting or replacing more computationally intensive cloud server processing tasks according to the computational requirements.
Drawings
FIG. 1 is a schematic diagram of the components of an unmanned vehicle of the present invention;
FIG. 2 is a schematic view of the positions of the components of the unmanned vehicle of the present invention;
FIG. 3 is a schematic view of the unmanned vehicle environment configuration of the present invention;
fig. 4 is an operation flow of the unmanned vehicle according to the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples.
The invention relates to an unmanned vehicle system based on cloud service, in particular to an unmanned vehicle chassis, which comprises a chassis support, a sensor module, a driving module, a chip control module, a wireless communication module (connected with a cloud server) and a computing processing module arranged on the cloud server, wherein the sensor module is arranged on the chassis support; the vehicle front wheel axle with the Ackerman structure, a power line and a plurality of serial ports which can be connected with sensors.
Furthermore, the chip of the unmanned vehicle has simple logic processing capacity and can control the driving module to adjust the speed and the angle of the wheel, including negative feedback adjustment.
Furthermore, the controlled vehicle motion instruction is that the wireless network communication module sends vehicle information to the cloud server, the cloud server receives the information processing and then sends the instruction to the wireless communication module, the wireless communication module sends the vehicle information to the chip control module, the chip control module analyzes the instruction and sends the instruction to the driving module to control the next action of the vehicle, and meanwhile, the vehicle sends the information in motion to the computer terminal through the wireless communication module.
The axle of the front wheel of the vehicle is of an Ackerman structure, and can be controlled and driven by a chip, so that the steering of the vehicle is controlled. The two rear motors control the rotating speed of the vehicle, the front wheels and the rear wheels are controlled by chips, the front wheels control the direction, and the rear wheels are responsible for power.
The front of the vehicle is provided with a probe which is connected to the chip and controls the vehicle to move along the reserved track through the calculation of the chip.
The vehicle chassis with the single structure can only track, the CPU is very weak and cannot be slam, the upper computer of the laser radar is arranged on the vehicle chassis on the market, no screen or too small screen is provided, the development difficulty is increased, ros is installed, certain computing capacity is provided, positioning and navigation are carried out on the upper computer, and the cost is higher. And only one wireless communication module is needed, the cost is only one dozen times of that of an upper computer, slam is completed through the computer, the operation needed by positioning and navigation is carried out, and then the calculated result is transmitted to the chip through the wireless communication module to control the motion of the vehicle. Generally, for slam of a vehicle on the market, positioning and navigation are realized through an upper computer, and the speed and the steering of wheels are controlled through a serial port below the upper computer after calculation. At present, all algorithms needing to be operated are compiled on a notebook computer, and the network module is used for sending instructions to control the action of the vehicle, so that the development cost is reduced. The invention has the main scope of reducing the communication time delay in a college or a laboratory with network conditions, and simultaneously, logic calculation is put on a chip, so that the delay time is reduced, and the motion of a vehicle can be well controlled.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (4)
1. An unmanned vehicle system based on cloud service, the system comprising: the system comprises a vehicle body structure, a detection module, a wireless communication module, a control module, a driving module and a computing processing module arranged on a cloud server; wherein,
the vehicle body structure is used for performing corresponding movement under the control of the driving module;
the detection module is used for acquiring motion data and environment sensing signals of the vehicle body and sending the motion data and the environment sensing signals to the wireless communication module;
the wireless communication module is used for receiving the motion data and the environment perception signal and sending the motion data and the environment perception signal to the computing processing module; the device also is used for receiving the action instruction sent by the calculation processing module and sending the action instruction to the control module;
the control module is used for receiving the action instruction and sending the action instruction to the driving module;
the driving module is used for controlling the corresponding movement of the vehicle body according to the action instruction;
and the calculation processing module is used for performing processing operation according to the received vehicle body motion data and the environment perception signal to obtain the next motion track, generate an action instruction and send the action instruction to the wireless communication module.
2. The unmanned vehicle system of claim 1, wherein the vehicle body structure comprises a vehicle front wheel, an axle of the vehicle front wheel being an ackermann structure.
3. The unmanned aerial vehicle system of claim 1, wherein the detection module comprises: sensors, camera probes, and lidar;
the sensor is used for acquiring motion data of the vehicle body;
the camera probe is used for acquiring image data of an environment;
the laser radar is used for collecting point cloud data of the vehicle body.
4. The unmanned aerial vehicle system of claim 1, wherein the drive module comprises a motor drive; and the motor driver is used for controlling the steering and moving speed of the vehicle body according to the action command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010885195.8A CN112000104A (en) | 2020-08-28 | 2020-08-28 | Unmanned vehicle system based on cloud service |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010885195.8A CN112000104A (en) | 2020-08-28 | 2020-08-28 | Unmanned vehicle system based on cloud service |
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| CN112000104A true CN112000104A (en) | 2020-11-27 |
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| CN202010885195.8A Pending CN112000104A (en) | 2020-08-28 | 2020-08-28 | Unmanned vehicle system based on cloud service |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9596020B2 (en) * | 2014-08-18 | 2017-03-14 | Sunlight Photonics Inc. | Methods for providing distributed airborne wireless communications |
| CN107585221A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | The automated steering control method and intelligent steering system of unmanned distribution trolley |
| CN108944740A (en) * | 2018-07-10 | 2018-12-07 | 青岛千钧投资企业（有限合伙） | Control method for vehicle and system |
| CN110850711A (en) * | 2019-12-06 | 2020-02-28 | 中国科学院自动化研究所 | Auxiliary driving control system and method based on cloud |
-
2020
- 2020-08-28 CN CN202010885195.8A patent/CN112000104A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9596020B2 (en) * | 2014-08-18 | 2017-03-14 | Sunlight Photonics Inc. | Methods for providing distributed airborne wireless communications |
| CN107585221A (en) * | 2017-10-09 | 2018-01-16 | 大连艾欧信息技术有限公司 | The automated steering control method and intelligent steering system of unmanned distribution trolley |
| CN108944740A (en) * | 2018-07-10 | 2018-12-07 | 青岛千钧投资企业（有限合伙） | Control method for vehicle and system |
| CN110850711A (en) * | 2019-12-06 | 2020-02-28 | 中国科学院自动化研究所 | Auxiliary driving control system and method based on cloud |
Non-Patent Citations (1)
| Title |
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| 周璐雨 等: ""基于人工智能的自动驾驶技术"", 《计算机产品与流通》 * |
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Application publication date: 20201127 |