CN112433502A - Land leveler remote control system and method based on 5G communication and VR double-ring vision technology - Google Patents
Land leveler remote control system and method based on 5G communication and VR double-ring vision technology Download PDFInfo
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- CN112433502A CN112433502A CN202011485660.5A CN202011485660A CN112433502A CN 112433502 A CN112433502 A CN 112433502A CN 202011485660 A CN202011485660 A CN 202011485660A CN 112433502 A CN112433502 A CN 112433502A
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- 238000005516 engineering process Methods 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The invention discloses a land leveler remote control system and a method based on 5G communication and VR double-loop vision technology.A camera acquires image data and vehicle working condition data on a vehicle CAN bus, the image data and the vehicle working condition data are transmitted to an industrial personal computer of a console through a 5G network, the image data and the vehicle working condition data are finally displayed in a VR head display through a specific image processing algorithm, and meanwhile, the internal and external visual angles CAN be switched. The remote vehicle operation can be controlled by operating the handle. The seat tilts and shakes according to data collected by the field sensors. The invention effectively avoids the visual blind area caused by the common VR, and can display the panoramic image of the vehicle body and the working condition parameters of the vehicle in real time in the VR head display while viewing from the internal view angle of the cab; the display content in the VR head display can be switched through the handle keys; by utilizing 5G communication, the time delay of image transmission and working condition data transmission can be effectively reduced.
Description
Technical Field
The invention relates to a land leveler remote control system based on 5G communication and VR double-ring vision technology, belonging to the field of remote control engineering machinery.
Background
The operation environment of part of engineering machinery vehicles is severe, and operators need to endure jolt, high temperature, radiation and even life danger in field operation.
The delay of the remote control adopting 4G is large, and the vehicle cannot be controlled in real time. If the remote video data is displayed only by using a large screen, the user does not have an immersive control experience.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a grader remote control system based on 5G communication and VR double-loop vision technology, which effectively avoids visual blind areas caused by common VR, and can display the panoramic image of a vehicle body and vehicle working condition parameters in real time in VR head display while viewing from the internal view angle of a cab; the display content in the VR head display can be switched through the handle keys; by utilizing 5G communication, the time delay of image transmission and working condition data transmission can be effectively reduced.
The invention is realized according to the following technical scheme:
grader remote control system based on 5G communication and VR dual-ring look technique includes:
the camera transmits the acquired video signal to an industrial personal computer of the remote console through a 5G network;
the working condition data on the vehicle CAN bus is converted into network data through a vehicle-mounted gateway and then transmitted to an industrial personal computer of a remote control console through a 5G network;
the VR head display is used for displaying the video data and the working condition parameters after the video data and the working condition parameters are combined and processed by a data processing system on the industrial personal computer;
the vehicle end controller converts data acquired by the vehicle state detector into network data through the vehicle-mounted gateway, and transmits the network data to the industrial personal computer of the remote control console by using a 5G network and controls the seat to act;
and the vehicle controller is used for acquiring a vehicle controller signal by the console end controller, converting the vehicle controller signal into network data through the console vehicle-mounted gateway and transmitting the network data to the vehicle end controller so as to control the operation of the land leveler.
Further, the camera includes the 360 degrees around installing in camera and the driver's cabin around the motorgrader automobile body looks around the camera.
Further, the VR head display has the functions of inner circular viewing, outer circular viewing and vehicle working condition parameter display, the display content in the VR head display is switched through the handle keys, the inner circular viewing, the outer circular viewing and the working condition parameter display can be realized simultaneously, and the independent display can also be switched.
Further, the vehicle body state detector comprises a vibration sensor and an inclination angle sensor; and the vehicle end controller converts data acquired by the vibration sensor and the tilt angle sensor into network data through the vehicle-mounted gateway, and transmits the network data to an industrial personal computer of the remote control console by using a 5G network and controls the seat to incline and vibrate.
Further, the vehicle manipulator comprises a handle key and a foot pedal; the console end controller collects handle keys and pedal signals, converts the signals into network data through the console vehicle-mounted gateway and then transmits the network data to the vehicle end controller, so that the operation of the land leveler is controlled.
Furthermore, a vehicle-mounted 5G router is arranged in the land scraper, and a console 5G router is arranged on the console, so that a 5G network transmission route is realized.
A land leveler remote control method based on 5G communication and VR double-ring vision technology comprises the following steps:
1) establishing a communication link based on 5G by utilizing a 5G router and a vehicle-mounted gateway;
2) the camera collects video signals and sends the video signals to a data processing system of the console through a 5G network;
3) the working condition data on the vehicle CAN bus is converted into network data through the vehicle-mounted gateway, and the network data is sent to a data processing system of the console by using a 5G network;
4) the data processing system of the console combines and processes the image data and the vehicle working condition data, and displays the image data and the vehicle working condition data to a VR head for display;
5) the vibration and angle signals collected by the vehicle end controller are sent to a data processing system of the console through a vehicle-mounted gateway, and the data processing system controls the inclination and vibration of the seat;
6) the console end controller collects handle keys and pedal signals, and transmits the signals to the vehicle end controller through the vehicle-mounted gateway, so as to control the movement and work of the grader.
Furthermore, the VR head display has the functions of inner circular vision, outer circular vision and vehicle working condition parameter display, namely the inner circular vision, the outer circular vision and the working condition parameters can be displayed simultaneously and can be switched to be displayed independently, the inner circular vision realizes 360-degree circular vision by rotating the head from the angle of a driver, and the outer circular vision displays 360-degree panoramic images of the vehicle; a data processing system on the industrial personal computer splices external video images of the vehicle body into a 360-degree panoramic image, then the current display mode of the VR head display is set according to the handle, the panoramic image of the vehicle body, the internal panoramic video images and the working condition parameters are merged and processed, and the images are displayed in the VR head display.
The invention has the beneficial effects that:
the invention realizes remote control by utilizing the VR double-ring vision function, not only can display the dynamic image of the angle of the driver in real time on the head display by utilizing the VR inner ring vision function, but also can display the panoramic image of the whole grader in the VR head display, thereby effectively solving the operation risk caused by the fact that the peripheral road conditions of the grader body cannot be known at any time by the common VR function because the grader body is longer. The vibration and the inclination of the seat are controlled by matching with the data of the vibration sensor and the inclination angle sensor, so that an on-the-spot control experience is brought; meanwhile, the 5G network is utilized to reduce communication delay.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without limiting the invention to the right. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
FIG. 1 is a schematic flow chart of the present invention;
fig. 2 is a block diagram of the system of the present invention.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 2, a grader remote control system based on 5G communication and VR dual-loop vision technology includes a camera, a VR head display, a vehicle body state detector and a vehicle controller; the camera transmits the collected video signal to an industrial personal computer of a remote console through a 5G network; the working condition data on the CAN bus of the vehicle is converted into network data through a vehicle-mounted gateway and then transmitted to an industrial personal computer of a remote control console through a 5G network; a data processing system on the industrial personal computer combines and processes the video data and the working condition parameters and then displays the video data and the working condition parameters in a VR head display; the vehicle end controller converts data acquired by the vehicle body state detector into network data through the vehicle-mounted gateway, and then transmits the network data to an industrial personal computer of the remote control console by using a 5G network and controls the seat to act; the console end controller collects vehicle controller signals, converts the vehicle controller signals into network data through the console vehicle-mounted gateway and then transmits the network data to the vehicle end controller, and therefore the operation of the land leveler is controlled.
The optimization method of the invention comprises the following steps: the camera is including installing the camera around the leveler automobile body and the 360 degrees around looking at the camera in the driver's cabin.
The optimization method of the invention comprises the following steps: the VR head display comprises functions of inner circular viewing, outer circular viewing and vehicle working condition parameter display, and can simultaneously display the inner circular viewing, the outer circular viewing and the working condition parameters and also switch to display independently. A data processing system on the industrial personal computer splices external video images of the vehicle body into a 360-degree panoramic image, then the current display mode of the VR head display is set according to the handle, the panoramic image of the vehicle body, the internal panoramic video images and the working condition parameters are merged and processed, and the images are displayed in the VR head display.
The specific preferred scheme is as follows: the vehicle body state detector comprises a vibration sensor and an inclination angle sensor; and the vehicle end controller converts data acquired by the vibration sensor and the tilt angle sensor into network data through the vehicle-mounted gateway, and transmits the network data to an industrial personal computer of the remote control console by using a 5G network and controls the seat to incline and vibrate.
The specific preferred scheme is as follows: the vehicle controller comprises a handle key and a pedal; the console end controller collects handle keys and pedal signals, converts the signals into network data through the console vehicle-mounted gateway and then transmits the network data to the vehicle end controller, so that the operation of the land leveler is controlled.
The specific preferred scheme is as follows: the land leveler is provided with a vehicle-mounted 5G router, and the console is provided with a console 5G router, so that a 5G network transmission route is realized.
As shown in fig. 1, a remote control method of a grader based on 5G communication and VR dual-ring vision technology includes the following steps:
1) establishing a communication link based on 5G by utilizing a 5G router and a vehicle-mounted gateway;
2) the camera collects video signals and sends the video signals to a data processing system of the console through a 5G network;
3) the working condition data on the vehicle CAN bus is converted into network data through the vehicle-mounted gateway, and the network data is sent to a data processing system of the console by using a 5G network;
4) the data processing system of the console combines and processes the image data and the vehicle working condition data, and displays the image data and the vehicle working condition data to a VR head for display;
5) the vibration and angle signals collected by the vehicle end controller are sent to a data processing system of the console through a vehicle-mounted gateway, and the data processing system controls the inclination and vibration of the seat;
6) the console end controller collects handle keys and pedal signals, and transmits the signals to the vehicle end controller through the vehicle-mounted gateway, so as to control the movement and work of the grader.
It should be noted that the VR head display includes functions of inner circular viewing, outer circular viewing and vehicle working condition parameter display, that is, the inner circular viewing, the outer circular viewing and the working condition parameter can be displayed simultaneously, and can be switched to be displayed separately, the inner circular viewing realizes 360-degree circular viewing by rotating the head from the angle of the driver, and the outer circular viewing displays 360-degree panoramic images of the vehicle; a data processing system on the industrial personal computer splices external video images of the vehicle body into a 360-degree panoramic image, then the current display mode of the VR head display is set according to the handle, the panoramic image of the vehicle body, the internal panoramic video images and the working condition parameters are merged and processed, and the images are displayed in the VR head display.
In conclusion, the VR double-ring vision technology is adopted, so that the visual blind area during the operation of the land leveler is reduced, and the operation reliability is improved; the real-time display of the vehicle working condition data in the VR head display is used for timely knowing the current vehicle condition of the grader and further assisting the driving operation; utilize 5G transmission data greatly to reduce the time delay, adopt the simulated action of seat to bring immersive experience simultaneously.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are also meant to be within the scope of the invention and form different embodiments. For example, in the above embodiments, those skilled in the art can use the combination according to the known technical solutions and technical problems to be solved by the present application.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. Grader remote control system based on 5G communication and VR dual-ring look technique, its characterized in that includes:
the camera transmits the acquired video signal to an industrial personal computer of the remote console through a 5G network;
the working condition data on the vehicle CAN bus is converted into network data through a vehicle-mounted gateway and then transmitted to an industrial personal computer of a remote control console through a 5G network;
the VR head display is used for displaying the video data and the working condition parameters after the video data and the working condition parameters are combined and processed by a data processing system on the industrial personal computer;
the vehicle end controller converts data acquired by the vehicle state detector into network data through the vehicle-mounted gateway, and transmits the network data to the industrial personal computer of the remote control console by using a 5G network and controls the seat to act;
and the vehicle controller is used for acquiring a vehicle controller signal by the console end controller, converting the vehicle controller signal into network data through the console vehicle-mounted gateway and transmitting the network data to the vehicle end controller so as to control the operation of the land leveler.
2. The remote control system of a grader based on 5G communication and VR dual-loop vision technology of claim 1, wherein:
the camera is including installing the camera around the leveler automobile body and the 360 degrees around looking at the camera in the driver's cabin.
3. The remote control system of a grader based on 5G communication and VR dual-loop vision technology of claim 1, wherein:
the VR head display comprises an inner ring view function, an outer ring view function and a vehicle working condition parameter display function, the display content in the VR head display is switched through the handle keys, the inner ring view function, the outer ring view function and the working condition parameter display function can be simultaneously displayed, and the independent display function can be switched.
4. The remote control system of a grader based on 5G communication and VR dual-loop vision technology of claim 1, wherein:
the vehicle body state detector comprises a vibration sensor and an inclination angle sensor;
and the vehicle end controller converts data acquired by the vibration sensor and the tilt angle sensor into network data through the vehicle-mounted gateway, and transmits the network data to an industrial personal computer of the remote control console by using a 5G network and controls the seat to incline and vibrate.
5. The remote control system of a grader based on 5G communication and VR dual-loop vision technology of claim 1, wherein:
the vehicle controller comprises a handle key and a pedal;
the console end controller collects handle keys and pedal signals, converts the signals into network data through the console vehicle-mounted gateway and then transmits the network data to the vehicle end controller, so that the operation of the land leveler is controlled.
6. The remote control system of a grader based on 5G communication and VR dual-loop vision technology of claim 1, wherein:
the land leveler is provided with a vehicle-mounted 5G router, and the console is provided with a console 5G router, so that a 5G network transmission route is realized.
7. A land leveler remote control method based on 5G communication and VR double-ring vision technology is characterized by comprising the following steps:
1) establishing a communication link based on 5G by utilizing a 5G router and a vehicle-mounted gateway;
2) the camera collects video signals and sends the video signals to a data processing system of the console through a 5G network;
3) the working condition data on the vehicle CAN bus is converted into network data through the vehicle-mounted gateway, and the network data is sent to a data processing system of the console by using a 5G network;
4) the data processing system of the console combines and processes the image data and the vehicle working condition data, and displays the image data and the vehicle working condition data to a VR head for display;
5) the vibration and angle signals collected by the vehicle end controller are sent to a data processing system of the console through a vehicle-mounted gateway, and the data processing system controls the inclination and vibration of the seat;
6) the console end controller collects handle keys and pedal signals, and transmits the signals to the vehicle end controller through the vehicle-mounted gateway, so as to control the movement and work of the grader.
8. The remote control method of a grader based on 5G communication and VR dual-ring vision technology of claim 7, wherein the remote control method comprises the following steps:
the VR head display has the functions of inner circular vision, outer circular vision and vehicle working condition parameter display, namely the inner circular vision, the outer circular vision and the working condition parameters can be displayed simultaneously and can be switched to be displayed independently, the inner circular vision realizes 360-degree circular vision by rotating the head from the angle of a driver, and the outer circular vision displays 360-degree panoramic images of the vehicle; a data processing system on the industrial personal computer splices external video images of the vehicle body into a 360-degree panoramic image, then the current display mode of the VR head display is set according to the handle, the panoramic image of the vehicle body, the internal panoramic video images and the working condition parameters are merged and processed, and the images are displayed in the VR head display.
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| CN202011485660.5A CN112433502A (en) | 2020-12-16 | 2020-12-16 | Land leveler remote control system and method based on 5G communication and VR double-ring vision technology |
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