CN112947217A - Multi-device concurrent remote control system - Google Patents
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Abstract
The embodiment of the invention relates to a multi-equipment concurrent remote control system, which comprises: a plurality of controlled devices and remote control devices; each controlled device comprises a controlled module, a first processing module, a first sensor module and a second sensor module; the first sensor module is connected with the first processing module; the second sensor module is respectively connected with the controlled module and the first processing module; the first processing module processes the external environment information of the controlled equipment acquired by the first sensor module, the driving information and the positioning information acquired by the second sensor module to generate state information of the controlled equipment; the remote control device comprises a second processing module and a control module; the second processing module is used for performing visual processing on the state information of the controlled equipment to obtain first video information; the control module is connected with the second processing module and used for generating a control signal according to the first video information and sending the control signal to the first processing module.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a multi-device concurrent remote control system.
Background
With the demand of economic development and national construction, various motor vehicles play an increasingly important role in national economic construction and daily life. The existing vehicle driving mode is mostly manual direct driving, and the driving of engineering vehicles is taken as an example, and due to the problems of severe working environment, poor safety, high labor intensity of drivers and the like, a remote control scheme is urgently needed to be researched and developed to solve the problems.
At present, two main remote control schemes are provided, namely a remote control scheme based on internet communication; and the other is a control scheme based on a wireless remote control technology.
Remote control schemes based on internet communication, such as 4G, 5G communication. The internet communication is as the passageway with long-range vehicle control signal conversion for internet signal, transmits the operation end simultaneously, realizes the remote control to the vehicle. The method has the advantages of real-time performance and high data volume, but is easily limited by terrain, communication interference and the like, and the cost of a communication device is generally higher due to an internet communication mode, so that the method is not beneficial to practical engineering application.
The control scheme based on the wireless remote control technology mainly depends on a wireless remote control device, such as a radio remote control device, an infrared remote control device and the like. The wireless remote control device is used for transmitting and receiving signals, so that the strong mobility of operation is improved, the overall maintenance cost is low, and the defects of the wireless remote control technology are obvious. Firstly, the wireless remote control is only limited in the sight distance range, and the remote control cannot be carried out beyond the range. Secondly, there can not be the barrier between remote control transmitter and the remote control signal receiver, otherwise easily cut off signal transmission. Thirdly, the wireless remote control technology is a typical control mode for a single vehicle, and the operation of multi-workshop remote control is difficult to perform simultaneously.
With the development of the vehicle-road cooperation technology, the development trend gradually changes from single-vehicle intellectualization to multi-vehicle intellectualization, so that the design of a multi-device concurrent remote control system becomes especially important.
Disclosure of Invention
The present invention aims to provide a multi-device concurrent remote control system, in which a remote control device of the system can communicate with a plurality of controlled devices simultaneously in a preset communication mode, so as to realize remote control of the plurality of controlled devices.
In order to achieve the above object, the present invention provides a multi-device concurrent remote control system, including: a plurality of controlled devices and remote control devices; the remote control device is communicated with a plurality of controlled devices simultaneously in a preset communication mode;
each manipulated device comprises a controlled module, a first processing module, a first sensor module and a second sensor module; the first sensor module is connected with the first processing module and used for acquiring external environment information of the controlled device and sending the external environment information to the first processing module, wherein the external environment information comprises obstacle image information and image information of other controlled devices; the second sensor module is respectively connected with the controlled module and the first processing module, and is used for acquiring the driving information and the positioning information of the controlled module and sending the driving information and the positioning information to the first processing module; the first processing module processes the external environment information, the driving information and the positioning information to generate state information of the controlled equipment and sends the state information to the remote control device;
the remote control device comprises a second processing module and a control module; the second processing module is used for performing visual processing on the state information of the controlled device to obtain first video information; the control module is connected with the second processing module and used for sending control data generated according to the first video information to the second processing module, and the second processing module processes the control data to generate a control signal and sends the control signal to the first processing module.
Preferably, the second processing module is further configured to perform fusion processing on the control data and the first video information to generate second video information in a preset format.
Further preferably, the remote control device further comprises a video sending module;
the video sending module is connected with the second processing module and is used for receiving the plurality of second video information sent by the second processing module and fusing the plurality of second video information to generate third video information.
Still further preferably, the remote control device further comprises a video receiving module;
the video receiving module is connected with the video sending module and used for receiving the third video information sent by the video sending module and decoding the third video information.
Still further preferably, the remote control device further includes a display module:
and the display module is connected with the video receiving module and is used for displaying the decoded third video information.
Preferably, the multi-device concurrent remote control system further includes one or more wireless base stations;
when the communication distance is between a preset first threshold value and a preset second threshold value, the remote control device communicates with a plurality of controlled equipment through the wireless base station.
In a new preferred step, the multi-device concurrent remote control system further comprises an optical fiber;
and when the communication distance is greater than the second preset threshold value, the remote control device communicates with a plurality of controlled equipment through optical fibers and a wireless base station.
Preferably, the number of the controlled devices is not more than 20.
Preferably, the travel information includes speed information, steering wheel angle information, and gear position information.
Therefore, by applying the multi-equipment concurrent remote control system provided by the invention, the remote control device can simultaneously communicate with a plurality of controlled equipment through a preset communication mode, so that the remote control of the plurality of controlled equipment is realized, the multi-equipment concurrent remote control system has small vehicle modification and extremely low modification cost, each link of the system is optimized and simplified, a plurality of unnecessary equipment such as a large cloud server, a laser radar and the like are removed, the cost of the system is greatly reduced, and the full utilization of the equipment is realized.
Drawings
Fig. 1 is a schematic structural diagram of a multi-device concurrent remote control system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a remote control device according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be further noted that, for the convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The multi-equipment concurrent remote control system provided by the embodiment of the invention can be applied to unmanned scenes such as large-scale engineering, investigation, explosion elimination and the like.
Fig. 1 is a schematic structural diagram of a multi-device concurrent remote control system according to an embodiment of the present invention. As shown in fig. 1, the multi-device concurrent remote manipulation system 100 includes: a plurality of controlled devices 10 and a remote control apparatus 20. It should be noted that, in order to clearly explain the technical solution of the present invention, fig. 1 only shows one controlled device 10, but it does not indicate that the remote control apparatus 20 in the multi-device concurrent remote control system can only remotely control one controlled device 10. In a specific example, the number of the manipulated devices 10 is not more than 20.
Each manipulated device 10 includes a controlled module 101, a first processing module 102, a first sensor module 103, and a second sensor module 104. The present invention is to explain the technical solution of the present invention by taking the controlled device 10 as an unmanned vehicle as an example, but it does not mean that the controlled device 10 of the present invention may be only an unmanned vehicle, may also be any vehicle, and may also be any mechanical device, such as a robot, a mechanical arm, and the like. The steered device 10 is exemplified as an unmanned vehicle in the following.
The controlled module 101 CAN be understood as a drive-by-wire chassis of the unmanned vehicle, the drive-by-wire chassis and the first processing module 102 CAN directly perform network communication, and CAN also use a plurality of data transmission interfaces such as a serial port, a CAN bus, bluetooth, ZigBee and the like to perform communication in a compatible various data communication modes.
The first processing module 102 may be a processor with data processing functions, such as a Central Processing Unit (CPU), mounted on the unmanned vehicle. The first processing module 102 may receive an external control instruction. After receiving an external control instruction, the first processing module 102 may send an action instruction to the drive-by-wire chassis, and the drive-by-wire chassis directly responds to the action instruction, and the first processing module 102 may also obtain the driving information and the positioning information of the unmanned vehicle from the drive-by-wire chassis.
In a specific example, the first processing module 102 sends an action instruction through a CAN protocol, and transmits corresponding instruction information through a protocol packet through 8 bytes of CAN protocol data and a unique caidd corresponding to a different protocol packet, thereby implementing different controls on the drive-by-wire chassis.
It can be understood that the controlled module 101 may also be a mechanical chassis, but when the controlled module 101 is a mechanical chassis, a control module needs to be mounted, the control module is connected to the first processing module 102 and the controlled module 101, respectively, and when the first processing module 102 receives an external control instruction, the external control instruction is fed back to the control module first, and then the control module controls the controlled module 101.
To realize remote control of the unmanned vehicle, external environment information of the unmanned vehicle needs to be collected by the first sensor module 103. Wherein, first sensor module 103 can be on-vehicle camera, and on-vehicle camera can include a plurality of wide angle cameras, sets up respectively in the different positions of vehicle according to the unmanned vehicle structure of difference, in order to realize taking the blind area minimizing, can carry out many times test to the mounted position of a plurality of on-vehicle cameras to confirm best mounted position. In one particular example, the in-vehicle cameras are mounted at the forward-most and the upper-most ends of the unmanned vehicle. The external environment information may be understood as environment information around the unmanned vehicle, such as obstacle image information and image information of other unmanned vehicles.
The first sensor module 103 is connected to the first processing module 102, and is configured to send external environment information of the unmanned vehicle to the first processing module 102, for example, the external environment information is connected to a USB HUB through a USB interface, and the USB HUB forwards the image information of the obstacle collected by the vehicle-mounted camera and the image information of the other controlled device 10 to the first processing module 102.
The second sensor module 104 is a main component of the first processing module 102 for acquiring information related to the controlled module 101, and the second sensor module 104 is connected to the first processing module 102 and the controlled module 101 respectively for acquiring the driving information and the positioning information of the controlled module 101. Wherein the driving information includes speed information, steering wheel angle information, and gear information of the unmanned vehicle. In another specific example, the travel information further includes fuel amount information of the unmanned vehicle.
Thus, the second sensor module 104 is actually a sensor cluster, wherein the driving information can be obtained by a wheel speed meter, an angle sensor, a gear position sensor, an oil amount sensor, and the like. The Positioning information can be acquired in real time by a Global Positioning System (GPS).
After acquiring the speed information, the steering wheel angle information, the gear information, and the positioning information of the controlled module 101, the second sensor module 104 sends them to the first processing module 102.
The first processing module 102 processes the external environment information acquired by the vehicle-mounted camera, the driving information and the positioning information acquired by the second sensor module 104, generates the state information of the controlled device 10, and sends the state information to the remote control device 20.
The state information may be integrated state information of the unmanned vehicle, which is generated by integrating the external environment information, the driving information, and the positioning information by the first processing module 102, and may be transmitted by a certain protocol. By way of example and not limitation, the first processing module 102 processes external environment information, driving information and positioning information of the unmanned vehicle to generate data information that can be transmitted through a TCP/UDP network protocol, and then transmits the data information to the remote manipulation device 20. Therefore, the multi-equipment concurrent remote control system has small structural modification on the unmanned vehicle and extremely low modification cost.
The remote control device 20 is a main structure of a remote control end for implementing a remote control function, and includes a second processing module 201 and a control module 202.
The second processing module 201 may be understood as a processor having a data processing function, such as a Central Processing Unit (CPU). The main function of the system is to perform visualization processing on the state information of the controlled device 10 to obtain first video information. The first video information includes external environment information of the unmanned vehicle acquired by the vehicle-mounted camera and information obtained by performing visualization processing on driving information, positioning information and the like acquired by the second sensor module 104.
The control module 202 may be understood as an external input device, such as a remote control device or a control handle, which is connected to the second processing module 201 via a USB interface. The manipulation module 202 receives manipulation data from the outside and transmits the manipulation data to the second processing module 201. The control data is generated according to the first video information, and specifically comprises left, right, front, back, acceleration, deceleration, sudden stop and the like. Then, the second processing module 201 processes the manipulation data, generates a manipulation signal, and sends the manipulation signal to the first processing module 102. The manipulation signal is a signal processed by the second processing module 201, which can be transmitted through the communication link and processed by the first processing module 102.
Preferably, the second processing module 201 is further configured to perform fusion processing on the control data and the first video information to generate second video information in a preset format. The second video information can be understood as information generated by fusing the control data on the basis of the first video information, and the information has a preset format and is convenient to send. For example, on the basis of the first video information corresponding to the unmanned vehicle, a forward arrow, a left-turn arrow and other manipulation marks are added.
Fig. 2 is a schematic structural diagram of the remote control device, and as shown in fig. 2, the remote control device 20 further includes a video sending module 203.
The video sending module 203 is connected to the second processing module 201, and is configured to receive the plurality of second video information sent by the second processing module 201, and perform fusion processing on the plurality of second video information to generate third video information. Wherein the third video information may be understood as second video information comprising a plurality of unmanned vehicles. That is, the video sending module may integrate the second video information of the plurality of unmanned vehicles into one screen.
Further, the remote control device 20 further includes a video receiving module 204.
The video receiving module 204 is connected to the video sending module 203, and is configured to receive the third video information sent by the video sending module 203 and perform decoding processing on the third video information.
Still further preferably, the remote manipulation apparatus 20 further includes a display module 205.
The display module 205 is connected to the video receiving module 204, and is configured to display the decoded third video information. The display module can display the video information of a plurality of unmanned vehicles in a split screen mode.
The remote control device 20 communicates with a plurality of controlled devices 10 simultaneously through a preset communication mode, so that the plurality of controlled devices are remotely controlled. Therefore, each link of the multi-device concurrent remote control system is optimized and simplified, a plurality of unnecessary devices such as a large cloud server, a laser radar and the like are removed, the cost of the system is greatly reduced, and the full utilization of the devices is realized.
More specifically, the multi-device concurrent remote control system 100 further includes one or more wireless base stations (not shown).
When the communication distance is between the preset first threshold and the second threshold, the remote control device 20 communicates with the plurality of controlled devices 10 through the wireless base station, thereby realizing the remote control of the controlled devices 10.
In one example, the preset first threshold is 2KM, and the preset second threshold is 5KM, so that the remote control device and the plurality of unmanned vehicles communicate with each other through the wireless base station, and the remote control device is applied to remote control scenes at relatively short distances.
Preferably, the multi-device concurrent teleoperational system 100 further comprises an optical fiber (not shown).
When the communication distance is greater than the second preset threshold, the remote control device 20 communicates with the multiple controlled devices 10 through the optical fiber and the wireless base station, so that the remote control of the multiple controlled devices is realized.
In another specific example, when the communication distance is greater than 5KM, it is generally necessary to deploy optical fibers at the site, and the wireless base station accesses the optical fiber communication network, and the maximum distance for remote control is controlled by the optical fiber communication distance. Therefore, the multi-equipment concurrent remote control system can be applied to the condition that common mobile communication signals are poor, low-cost, high-instantaneity and high-data-volume transmission are realized by means of the wireless base station and the optical fiber transmission, multi-vehicle control can be simultaneously carried out, communication interference can be resisted to the greatest extent, and safety and stability of remote control are greatly improved.
The components and the connection relationship of the multi-device concurrent remote control system are described above, and the operation principle of the multi-device concurrent remote control system is described below with the controlled device 10 being an unmanned vehicle.
Firstly, an on-board camera collects external environment information of the unmanned vehicle and sends the external environment information to a first processing module 102; the second sensor module 104 collects the driving information and the positioning information of the drive-by-wire chassis and sends the information to the first processing module 102; the first processing module 102 integrates the external environment information, the driving information, and the positioning information, generates data information that can be transmitted through a TCP/UDP network protocol, that is, state information of the unmanned vehicle, and transmits the data information to the second processing module 201 of the remote control device 20, and the second processing module 201 performs visualization processing on the state information of the unmanned vehicle to obtain first video information. The control module 202 receives control data generated by the outside according to the first video information, and sends the control data to the second processing module 201, the second processing module 201 processes the control data to generate a control signal which can be processed by the first processing module 102, and sends the control signal to the first processing module 102, and the first processing module 102 sends a corresponding action instruction to the wire control chassis according to the control signal, so that the control of the wire control chassis is realized, and the remote control of the unmanned vehicle is realized. Moreover, when the first processing module 102 cannot receive the control signal sent by the second processing module 201 within the preset time, it is indicated that the unmanned vehicle has a risk of being out of control, otherwise, if the external environment information collected by the vehicle-mounted camera is continuously blocked or lost, the unmanned vehicle is prompted to be controlled to brake in time, and the safety and flexibility of remote control are improved to a certain extent.
According to the multi-device concurrent remote control system provided by the embodiment of the invention, the remote control device can be simultaneously communicated with the plurality of controlled devices in a preset communication mode, so that the plurality of controlled devices can be remotely controlled, the multi-device concurrent remote control system is small in vehicle modification and extremely low in modification cost, each link of the system is optimized and simplified, a plurality of unnecessary devices such as a large cloud server and a laser radar are removed, the cost of the system is greatly reduced, and the full utilization of the devices is realized. The system can be applied to the condition that common mobile communication signals are not good, transmission with low cost, high real-time performance and high data volume is achieved by means of the wireless base station and optical fiber transmission, multi-device concurrent remote control can be conducted simultaneously, communication interference can be resisted to the greatest extent, and safety and stability of remote control are greatly improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by the first processing module, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM powertrain control method, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A multi-device concurrent remote control system, comprising: a plurality of controlled devices and remote control devices; the remote control device is communicated with a plurality of controlled devices simultaneously in a preset communication mode;
each manipulated device comprises a controlled module, a first processing module, a first sensor module and a second sensor module; the first sensor module is connected with the first processing module and used for acquiring external environment information of the controlled device and sending the external environment information to the first processing module, wherein the external environment information comprises obstacle image information and image information of other controlled devices; the second sensor module is respectively connected with the controlled module and the first processing module, and is used for acquiring the driving information and the positioning information of the controlled module and sending the driving information and the positioning information to the first processing module; the first processing module processes the external environment information, the driving information and the positioning information to generate state information of the controlled equipment and sends the state information to the remote control device;
the remote control device comprises a second processing module and a control module; the second processing module is used for performing visual processing on the state information of the controlled device to obtain first video information; the control module is connected with the second processing module and used for sending control data generated according to the first video information to the second processing module, and the second processing module processes the control data to generate a control signal and sends the control signal to the first processing module.
2. The multi-device concurrent remote control system according to claim 1, wherein the second processing module is further configured to perform fusion processing on the control data and the first video information to generate second video information in a preset format.
3. The multi-device concurrent remote control system according to claim 2, wherein the remote control apparatus further comprises a video transmission module;
the video sending module is connected with the second processing module and is used for receiving the plurality of second video information sent by the second processing module and fusing the plurality of second video information to generate third video information.
4. The multi-device concurrent remote control system according to claim 3, wherein the remote control apparatus further comprises a video receiving module;
the video receiving module is connected with the video sending module and used for receiving the third video information sent by the video sending module and decoding the third video information.
5. The multi-device concurrent remote control system according to claim 4, wherein the remote control apparatus further comprises a display module:
and the display module is connected with the video receiving module and is used for displaying the decoded third video information.
6. The multi-device concurrent remote control system according to claim 1, further comprising one or more wireless base stations;
when the communication distance is between a preset first threshold value and a preset second threshold value, the remote control device communicates with a plurality of controlled equipment through the wireless base station.
7. The multi-device concurrent remote control system according to claim 6, further comprising an optical fiber;
and when the communication distance is greater than the second preset threshold value, the remote control device communicates with a plurality of controlled equipment through optical fibers and a wireless base station.
8. The multi-device concurrent remote control system according to claim 1, wherein the number of controlled devices is not more than 20.
9. The multi-device concurrent remote control system according to claim 1, wherein the driving information includes speed information, steering wheel angle information, and gear information.
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