CN113687653A - Logistics unmanned vehicle remote control system and method based on 5G - Google Patents
Logistics unmanned vehicle remote control system and method based on 5G Download PDFInfo
- Publication number
- CN113687653A CN113687653A CN202110896597.2A CN202110896597A CN113687653A CN 113687653 A CN113687653 A CN 113687653A CN 202110896597 A CN202110896597 A CN 202110896597A CN 113687653 A CN113687653 A CN 113687653A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- operation terminal
- remote
- remote operation
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 4
- 238000003745 diagnosis Methods 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 claims description 4
- 230000008447 perception Effects 0.000 claims description 4
- 230000003213 activating effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000003993 interaction Effects 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
-
- 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]
Abstract
The invention discloses a logistics unmanned vehicle remote control system and method based on 5G, wherein the system comprises a remote operation terminal, a camera, a cloud platform and an unmanned vehicle; the remote operation terminal is communicated with the camera and the unmanned vehicle through a 5G network and is used for controlling the camera and the unmanned vehicle; the cameras are arranged on all driveways for unmanned vehicle operation, the acquisition range covers the whole unmanned vehicle operation area, and the cameras are in data transmission with the cloud platform through a 5G network; the unmanned vehicle is used for carrying out logistics operation according to a set running path, and data in the unmanned vehicle are transmitted through a CAN bus and communicated with a remote operation terminal through a 5G network; the cloud platform is used for processing and storing the acquisition information uploaded by the camera. The invention realizes the remote operation and the real-time monitoring of the working state of a plurality of logistics unmanned vehicles by utilizing the advantages of high bandwidth and low time delay of 5G, and can warn operators in time when the unmanned vehicles break down.
Description
Technical Field
The invention relates to the field of port logistics unmanned vehicles, in particular to a logistics unmanned vehicle remote control system and method based on 5G.
Background
In recent years, with the development of global trade, ports are used as water transportation hubs, the logistics task borne by the ports is heavier and heavier, and higher requirements are made on the loading efficiency of the ports. Traditional harbour relies on manual operation for a long time, and the activity duration receives the restriction, and efficiency hardly has big promotion again to the continuous rising of cost of labor has also provided serious challenge to the economic effect of enterprise, and safety is the key importance of enterprise's production in addition, and manual operation inevitable has the error, has brought very big potential safety hazard, needs to rely on powerful monitoring institution to ensure safety, and this has brought the input on the cost again. Therefore, no humanization is necessarily the development direction of a large transportation hub in the future. At present, more and more ports seek upgrading and upgrading to improve the unmanned level of the ports, and the intelligent logistics technology represented by container unmanned vehicles is a main object of future upgrading. The more intelligent and efficient operation technology of the integrated unmanned vehicle can play a great role in the upgrading process of the unmanned vehicle.
Disclosure of Invention
The invention aims to provide a 5G-based logistics unmanned vehicle remote control system and a method, which realize the remote operation and the real-time monitoring of the working state of a plurality of logistics unmanned vehicles by utilizing the advantages of high bandwidth and low time delay of 5G, and can warn operators in time when the unmanned vehicles break down.
The technical scheme for realizing the purpose of the invention is as follows: a logistics unmanned vehicle remote control system based on 5G comprises a remote operation terminal, a camera, a cloud platform and an unmanned vehicle; the remote operation terminal is communicated with the camera and the unmanned vehicle through a 5G network and is used for controlling the camera and the unmanned vehicle; the cameras are arranged on all driveways for unmanned vehicle operation, the acquisition range covers the whole unmanned vehicle operation area, and the cameras are in data transmission with the cloud platform through a 5G network; the unmanned vehicle is used for carrying out logistics operation according to a set running path, and data in the unmanned vehicle are transmitted through a CAN bus and communicated with a remote operation terminal through a 5G network; the cloud platform is used for processing and storing the acquisition information uploaded by the camera.
Further, the remote operation terminal comprises a camera control unit, an unmanned vehicle control unit, a display unit, a fault diagnosis unit, a storage unit and a steering wheel, wherein the camera control unit is used for activating corresponding cameras according to the operation requirements of the unmanned vehicle; the unmanned vehicle control unit is used for autonomously planning the task of each unmanned vehicle according to the task information of the current operation and issuing the task and the running path to the unmanned vehicle through a 5G network; the fault diagnosis unit is used for diagnosing whether the unmanned vehicle has a fault, judging the type of the fault and warning an operator; the display unit is used for displaying the operation state, the running state information of each unmanned vehicle and the environment information collected by the camera; the storage unit is used for storing the running state information of the unmanned vehicle; the steering wheel is used for remote control of the unmanned vehicle.
Further, the tasks of the unmanned vehicle comprise boxing, unloading and waiting, and the running state information of the unmanned vehicle comprises position information, battery power, task execution state, obstacle information and fault types.
Furthermore, all cameras are in a dormant state in an initial state, and when the unmanned vehicle starts to work, the remote operation terminal activates the cameras around the position or the running track of the unmanned vehicle to acquire the environmental information according to the real-time position or the running track of the unmanned vehicle.
Furthermore, the cloud platform splices the collected information uploaded by the camera through a panoramic image splicing algorithm, and cuts and stores the image according to the position information of the unmanned vehicle.
Furthermore, the unmanned vehicle is provided with a position sensor, an environment perception sensor, a mechanical sensor, a distance sensor and a processor, and the processor autonomously tracks the running path and autonomously avoids obstacles according to the information of the position sensor, the environment perception sensor, the mechanical sensor and the distance sensor.
Furthermore, the equipment of the remote operation terminal and the equipment of the unmanned vehicle operation field are connected through VPN interfaces, and communication interaction is carried out by adopting a local area network.
Further, if the distance between the remote operation terminal and the unmanned vehicle is less than 50m, the remote operation terminal is connected with the unmanned vehicle through D2D of a 5G network; otherwise, the remote operation terminal is connected with the unmanned vehicle through the 5G-CPE in a transfer mode, the unmanned vehicle converts the CAN data into Ethernet data and sends the Ethernet data to the 5G-CPE, and the 5G-CPE communicates with the remote operation terminal.
Based on the system, the logistics unmanned vehicle remote control method based on 5G comprises the following steps:
the remote operation terminal issues the tasks and the running paths to the unmanned vehicle through the 5G network;
the unmanned vehicle starts to operate, and the running state information of the unmanned vehicle is transmitted back to the remote operation terminal and displayed;
if the unmanned vehicle autonomously detects the surrounding environment in the operation, and when an obstacle is detected on a front path, the unmanned vehicle autonomously stops in a set safe distance range and uploads obstacle information to a remote operation terminal, and after the obstacle is removed and the surrounding safety is autonomously judged, the unmanned vehicle is restarted to continue executing tasks; if the waiting time for removing the barrier exceeds the set time, the unmanned vehicle sends a signal to the fault diagnosis unit, the remote operation terminal warns the intervention of remote operators, and the unmanned vehicle is started again after safety is judged; if the unmanned vehicle has non-obstacle fault information, sending the fault information to a remote operation terminal;
the remote operation terminal warns an operator, activates a camera at the position of the unmanned vehicle, and the operator calls image information of the cloud platform corresponding to the unmanned vehicle and adopts a corresponding fault solution;
and after the unmanned vehicle finishes the operation, the remote operation terminal issues the next task.
Further, the non-obstacle fault information comprises unmanned vehicle deviation routes, sensor failures and vehicle power failures; if the non-obstacle fault information indicates that the vehicle power fails, operating personnel coordinate the crane to lift the faulted unmanned vehicle back to the maintenance center for detection and maintenance; if the unmanned vehicle deviates from the route or the sensor fails, the remote operator correspondingly connects the steering wheel with the unmanned vehicle with a fault, the cameras around the unmanned vehicle are activated according to the running track, the remote operation terminal acquires and displays the image of the cloud platform in real time, the displayed angle is adjusted in real time according to the posture of the unmanned vehicle, and the remote operator drives the unmanned vehicle back to the maintenance center through the steering wheel according to the displayed image.
Compared with the prior art, the invention has the following remarkable effects: the invention takes the 5G communication network as communication to communicate the remote control system, the camera and the unmanned vehicle, so as to ensure that the unmanned vehicle can be operated to continue running in a remote operation mode when the unmanned vehicle cannot run autonomously in the running process; the camera is arranged on a port logistics field and communicates with the unmanned aerial vehicle through 5G instead of each unmanned vehicle, and is activated according to operation requirements, otherwise, the camera is in a dormant state, so that the cost is greatly saved; the invention is based on the high speed and stability of the 5G network and the v2x characteristic, thereby ensuring the safety and effectiveness of the whole operation process of the user; meanwhile, the fault diagnosis system is added, when the unmanned vehicle breaks down, the fault type is intelligently detected and reported to the remote operation terminal, so that a user can more clearly know the condition of the unmanned vehicle and remotely control to solve the fault, and the maintenance time is reduced.
Drawings
Fig. 1 is a schematic view of a logistics unmanned vehicle remote control system according to the invention.
Fig. 2 is a flow chart of the remote control method of the logistics unmanned vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Based on the fact that a port where a port logistics unmanned vehicle operates has achieved full coverage of a 5G network, a plurality of 5G base stations are deployed inside the port, and 5G signals completely cover the whole operation field; meanwhile, the 5G receiving terminal is installed on the unmanned vehicle, and real-time bidirectional transmission of information between the remote control terminal and the unmanned vehicle can be achieved. For example, sending instructions such as container loading and unloading operations to the unmanned vehicle; the unmanned vehicle transmits the state information of the unmanned vehicle back to the remote operation terminal through the wireless network. The camera covers the whole unmanned vehicle running area and is in a dormant state in non-working time. When the unmanned vehicle starts to work, the running track of the unmanned vehicle is predicted in real time, the camera at the position of the track is activated, a shooting picture of the camera is transmitted to the cloud platform through the 5G network for rectification, and the camera data is selected by the remote operation terminal according to the real-time position of each unmanned vehicle for pulling and checking.
With reference to fig. 1, a logistics unmanned vehicle remote control system based on 5G includes a remote operation terminal, a camera, a cloud platform and an unmanned vehicle; 5G modules are planted in the remote operation terminal, the unmanned vehicle and the camera, high-speed and stable connection among the modules is realized through a 5G network, and unmanned safe and effective operation of a port is realized;
the unmanned vehicle has three operation modes of automatic driving, manual driving and remote control driving; the unmanned vehicle is in charge of container transferring work from a storage yard to a shore bridge in an automatic driving mode, data in the unmanned vehicle is carried out through a CAN bus, and if the distance between the unmanned vehicle and a remote operation terminal is less than 50m, the unmanned vehicle and the remote operation terminal are connected through D2D of a 5G network; otherwise, the unmanned vehicle is connected through the 5G-CPE for providing high-speed and stable image and information transmission, the unmanned vehicle converts CAN data into Ethernet data through the unmanned vehicle information conversion module, then performs data exchange with the 5G-CPE and sends the data to the 5G network; the remote operation terminal reads data from the 5G network through the 5G-CPE, and the flow direction of the task instruction sent by the remote operation terminal to the unmanned vehicle is reverse; the camera is arranged on a driveway of unmanned vehicle operation, namely a port site, so that the camera is fully covered, the acquisition range covers the whole unmanned vehicle operation area, and the acquired images are transmitted and acquired through a 5G network and a cloud platform; the cloud platform splices the whole image data through a panoramic image splicing algorithm, cuts the image according to self position information uploaded by the unmanned vehicle, and transmits a scene near the operation of the unmanned vehicle to a corresponding remote operation terminal.
The VPN interfaces are adopted in the area where the remote operation terminal is located and the equipment in the area where the unmanned vehicle is located, so that the remote operation terminal and the unmanned vehicle are enabled to communicate and interact in a local area network mode on site, and development and debugging of applications are facilitated. The remote operation terminal and the unmanned vehicle are connected to the Internet network through the 5G CPE, belong to the intranet respectively and cannot directly access each other through the Internet. Therefore, VPN interfaces are respectively provided on the remote operation terminal site and the unmanned vehicle site, and connection is provided for the application and the equipment which need direct connection.
The remote operation terminal comprises a camera control unit, an unmanned vehicle control unit, a display unit, a fault diagnosis unit, a storage unit and a steering wheel;
the fault diagnosis unit enables the port to detect the state of the port logistics unmanned vehicle in real time, so that remote operators can safely and effectively remotely operate the faulted unmanned vehicle, and convenience is brought to port unmanned operation. The high efficiency and stability of the 5G network also ensure the safety and effectiveness of the whole operation process;
the display unit of the remote operation terminal is used for displaying the operation state of the whole port, after the remote operation terminal receives the state information of the unmanned vehicle, the operation state of the whole port and the running state information of each unmanned vehicle are displayed visually on a large screen of the display unit in real time, and a remote operator of the display unit of the remote operation terminal only needs to monitor the whole operation through the large screen, can randomly call the video information around each unmanned vehicle, and checks the state information of the unmanned vehicle and the surrounding environment information; the state information of the unmanned vehicle comprises the real-time position, the electric quantity, the fault information, the task execution state and the like of the unmanned vehicle. The remote operator can select to view the camera at the position of the corresponding unmanned vehicle according to the requirement.
The unmanned vehicle control unit of the remote operation terminal autonomously plans the task and the path of each unmanned vehicle according to the operation requirement of a port and the position state information of each unmanned vehicle, and issues the task information and the path data to the corresponding unmanned vehicle through a 5G network, and specifically, the display unit consists of a large screen.
The camera control unit is used for activating corresponding cameras according to the operation requirements of the unmanned vehicle, remote operators need to check the surrounding environment information of the unmanned vehicle, numbers corresponding to the unmanned vehicle can be selected at the remote operation terminal, and the remote operation terminal activates the surrounding cameras according to the position information of the unmanned vehicle corresponding to the numbers. In the moving process of the unmanned vehicle, the camera predicts the running track of the unmanned vehicle in real time according to the state of the unmanned vehicle and the instruction of the remote operation terminal, the cameras around the unmanned vehicle are activated according to the running track, the shot pictures are pushed to the cloud platform for rectification, the remote operation terminal pulls the VR video from the cloud platform and displays the VR video on a large screen, and the remote operation personnel can view the video at any angle.
The storage unit is used for storing the running state information of the unmanned vehicle, so that the running state information is convenient for operators to check; the steering wheel is used for remote control of the unmanned vehicle.
With reference to fig. 2, the logistics unmanned vehicle remote control method based on the above system based on 5G includes the following steps:
step 1: the unmanned vehicle control unit of the remote operation terminal autonomously plans the task of each unmanned vehicle according to the operation requirement of the port, and particularly, the task mainly comprises three states of loading, unloading and waiting. And then the remote operation terminal autonomously plans an optimal path needing to be traveled of each vehicle according to the specific tasks of the unmanned vehicles and the state information of each unmanned vehicle. Finally, the task information and the path data are issued to the corresponding unmanned vehicles through a 5G network;
step 2: after receiving the task information and the path data, the port logistics unmanned vehicle extracts surrounding environment information by using sensors arranged around the port logistics unmanned vehicle, and automatically starts after judging safety. The method comprises the steps of uploading state information of the unmanned vehicle in real time in the driving process, wherein the state information comprises position information, battery electric quantity, obstacle information, fault types and the like of the unmanned vehicle. In the driving process, the unmanned vehicle can autonomously detect the surrounding environment, when an obstacle is detected on a front path, the unmanned vehicle can autonomously stop within a safe distance range and upload the information of the obstacle to a remote operation terminal, and after the obstacle is removed and the surrounding safety is autonomously judged, the unmanned vehicle is restarted to continue to execute tasks. If the residence time of the barrier is too long, the unmanned vehicle sends a signal to the remote operation terminal to remind remote operation personnel to intervene, and after the barrier is removed, the unmanned vehicle is started again after safety is judged. If the unmanned vehicle has non-obstacle fault information, sending the fault information to a fault diagnosis unit;
the port logistics unmanned vehicle mainly executes the container transferring work from a storage yard to a shore bridge in a port, so that the task mainly comprises three actions of loading, unloading and waiting, and the first two actions can be judged whether to be executed or not through a mechanical sensor and a distance sensor. When the unmanned vehicle reaches the designated position, if the unmanned vehicle executes the waiting task, the unmanned vehicle directly sends a signal to the remote operation terminal, and if the former two tasks are executed, the unmanned vehicle detects whether the task is completed through the corresponding sensors;
and step 3: after the task action is executed, the unmanned vehicle sends a signal to the remote operation terminal, and waits for the next task to be issued by the remote operation terminal.
And 2, in the process of executing the task, the unmanned vehicle detects the fault information of the unmanned vehicle in real time and uploads the fault information to the remote operation terminal in real time, the fault information comprises the deviation of the unmanned vehicle from a route, the failure of a sensor, the failure of vehicle power and the like, and once the fault is detected, the unmanned vehicle can park the vehicle actively and give the control right to the remote operation terminal.
After receiving the fault information, the remote operation terminal can immediately remind a remote operator to take over the control right of the corresponding fault unmanned vehicle. And the remote operator checks whether the periphery of the unmanned vehicle is safe or not by calling the corresponding cameras around the unmanned vehicle. The remote operator will take the corresponding solution according to the fault level. For example, if the power of the unmanned vehicle fails, the coordinated crane lifts the unmanned vehicle with the fault back to the maintenance center for detection and maintenance. If there are other problems, the remote operator can remotely and manually drive the unmanned vehicle back to the maintenance center.
The remote driving of the unmanned vehicle to the maintenance center specifically comprises the following operations: and the remote operator calls corresponding cameras around the unmanned vehicle through the unmanned vehicle number, and simultaneously correspondingly connects the steering wheel with the unmanned vehicle with a fault. The camera predicts the running track of the unmanned vehicle in real time according to the state of the unmanned vehicle and the instruction of the remote operation terminal, and activates the cameras around the unmanned vehicle according to the running track. After the camera is activated, a shooting picture of the camera is transmitted to a large screen of the remote operation terminal through a 5G network to be displayed in real time, and the angle of video display is automatically adjusted in real time according to the posture of the unmanned vehicle to assist a remote operator to operate. The remote operation terminal plans an optimal path to instruct the remote operation personnel to drive the vehicle back to the maintenance center. The control signal of the remote operation terminal is directly sent to the unmanned vehicle through the 5G network, and the master control system of the unmanned vehicle controls the unmanned vehicle according to the remote control instruction.
The remote operation terminal detects the state of each unmanned vehicle in real time, and once the unmanned vehicle is found to have problems, such as deviation of a route, too high speed and the like, the control right of the unmanned vehicle can be taken over at any time, and meanwhile, remote operation personnel are reminded to intervene to process according to the fault processing mode.
The invention relates to a port logistics unmanned vehicle remote operation and fault diagnosis system based on a 5G network, which is mainly applied to remote operation of an automatic port unmanned vehicle and can also be applied to remote operation of a low-speed unmanned vehicle under other limited scenes. The remote operation and the real-time monitoring of the working state of the unmanned vehicles at the plurality of ports can be realized.
The above description is only a preferred embodiment of the present invention, the present invention is not limited to the above embodiment, and there may be some slight structural changes in the implementation, and if there are various changes or modifications to the present invention without departing from the spirit and scope of the present invention, and within the claims and equivalent technical scope of the present invention, the present invention is also intended to include those changes and modifications.
Claims (10)
1. A logistics unmanned vehicle remote control system based on 5G is characterized by comprising a remote operation terminal, a camera, a cloud platform and an unmanned vehicle; the remote operation terminal is communicated with the camera and the unmanned vehicle through a 5G network and is used for controlling the camera and the unmanned vehicle; the cameras are arranged on all driveways for unmanned vehicle operation, the acquisition range covers the whole unmanned vehicle operation area, and the cameras are in data transmission with the cloud platform through a 5G network; the unmanned vehicle is used for carrying out logistics operation according to a set running path, and data in the unmanned vehicle are transmitted through a CAN bus and communicated with a remote operation terminal through a 5G network; the cloud platform is used for processing and storing the acquisition information uploaded by the camera.
2. A logistics unmanned vehicle remote control system based on 5G is characterized in that the remote operation terminal comprises a camera control unit, an unmanned vehicle control unit, a display unit, a fault diagnosis unit, a storage unit and a steering wheel, wherein the camera control unit is used for activating corresponding cameras according to the operation requirements of the unmanned vehicle; the unmanned vehicle control unit is used for autonomously planning the task of each unmanned vehicle according to the task information of the current operation and issuing the task and the running path to the unmanned vehicle through a 5G network; the fault diagnosis unit is used for diagnosing whether the unmanned vehicle has a fault, judging the type of the fault and warning an operator; the display unit is used for displaying the operation state, the running state information of each unmanned vehicle and the environment information collected by the camera; the storage unit is used for storing the running state information of the unmanned vehicle; the steering wheel is used for remote control of the unmanned vehicle.
3. The logistics unmanned vehicle remote control system of claim 2, wherein the tasks of the unmanned vehicle comprise boxing, box unloading and waiting, and the running state information of the unmanned vehicle comprises position information, battery level, task execution state, obstacle information and fault type.
4. The logistics unmanned vehicle remote control system according to claim 1, wherein all cameras are in a dormant state in an initial state, and when the unmanned vehicle starts to work, the remote operation terminal activates the cameras around the position or the running track of the unmanned vehicle to collect the environmental information according to the real-time position or the running track of the unmanned vehicle.
5. The remote logistics unmanned vehicle control system according to claim 1, wherein the cloud platform splices the collected information uploaded by the camera through a panoramic image splicing algorithm, and cuts and stores the image according to the position information of the unmanned vehicle.
6. The remote control system for the logistics unmanned vehicle as claimed in claim 1, wherein the unmanned vehicle is provided with a position sensor, an environment perception sensor, a mechanical sensor, a distance sensor and a processor, and the processor autonomously tracks a running path and autonomously avoids obstacles according to information of the position sensor, the environment perception sensor, the mechanical sensor and the distance sensor.
7. The system according to claim 1, wherein the equipment of the remote operation terminal and the equipment of the unmanned vehicle operation field are connected through VPN interfaces, and a local area network is used for communication interaction.
8. The logistics unmanned vehicle remote control system of claim 1, wherein if the distance between the remote operation terminal and the unmanned vehicle is less than 50m, the remote operation terminal is connected with the unmanned vehicle through D2D of a 5G network; otherwise, the remote operation terminal is connected with the unmanned vehicle through the 5G-CPE in a transfer mode, the unmanned vehicle converts the CAN data into Ethernet data and sends the Ethernet data to the 5G-CPE, and the 5G-CPE communicates with the remote operation terminal.
9. A5G-based logistics unmanned vehicle remote control method based on the logistics unmanned vehicle remote control system of any one of claims 1-8 is characterized by comprising the following steps:
the remote operation terminal issues the tasks and the running paths to the unmanned vehicle through the 5G network;
the unmanned vehicle starts to operate, and the running state information of the unmanned vehicle is transmitted back to the remote operation terminal and displayed;
if the unmanned vehicle autonomously detects the surrounding environment in the operation, and when an obstacle is detected on a front path, the unmanned vehicle autonomously stops in a set safe distance range and uploads obstacle information to a remote operation terminal, and after the obstacle is removed and the surrounding safety is autonomously judged, the unmanned vehicle is restarted to continue executing tasks; if the waiting time for removing the barrier exceeds the set time, the unmanned vehicle sends a signal to the fault diagnosis unit, the remote operation terminal warns the intervention of remote operators, and the unmanned vehicle is started again after safety is judged; if the unmanned vehicle has non-obstacle fault information, sending the fault information to a remote operation terminal;
the remote operation terminal warns an operator, activates a camera at the position of the unmanned vehicle, and the operator calls image information of the cloud platform corresponding to the unmanned vehicle and adopts a corresponding fault solution;
and after the unmanned vehicle finishes the operation, the remote operation terminal issues the next task.
10. The logistics unmanned vehicle remote control method of claim 9, wherein the non-obstacle fault information comprises unmanned vehicle deviation from a route, sensor failure, and vehicle power failure; if the non-obstacle fault information indicates that the vehicle power fails, operating personnel coordinate the crane to lift the faulted unmanned vehicle back to the maintenance center for detection and maintenance; if the unmanned vehicle deviates from the route or the sensor fails, the remote operator correspondingly connects the steering wheel with the unmanned vehicle with a fault, the cameras around the unmanned vehicle are activated according to the running track, the remote operation terminal acquires and displays the image of the cloud platform in real time, the displayed angle is adjusted in real time according to the posture of the unmanned vehicle, and the remote operator drives the unmanned vehicle back to the maintenance center through the steering wheel according to the displayed image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110896597.2A CN113687653A (en) | 2021-08-05 | 2021-08-05 | Logistics unmanned vehicle remote control system and method based on 5G |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110896597.2A CN113687653A (en) | 2021-08-05 | 2021-08-05 | Logistics unmanned vehicle remote control system and method based on 5G |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113687653A true CN113687653A (en) | 2021-11-23 |
Family
ID=78578950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110896597.2A Pending CN113687653A (en) | 2021-08-05 | 2021-08-05 | Logistics unmanned vehicle remote control system and method based on 5G |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113687653A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440915A (en) * | 2022-02-18 | 2022-05-06 | 北京励图锐新科技有限公司 | Optimization method for inspection operation path of unmanned vehicle |
| CN114527771A (en) * | 2022-04-24 | 2022-05-24 | 深圳市捷牛智能装备有限公司 | Control method and system of crawling robot for moving container |
| CN114550465A (en) * | 2022-04-26 | 2022-05-27 | 四川北斗云联科技有限公司 | Highway management system of hazardous articles transport vechicle |
-
2021
- 2021-08-05 CN CN202110896597.2A patent/CN113687653A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440915A (en) * | 2022-02-18 | 2022-05-06 | 北京励图锐新科技有限公司 | Optimization method for inspection operation path of unmanned vehicle |
| CN114527771A (en) * | 2022-04-24 | 2022-05-24 | 深圳市捷牛智能装备有限公司 | Control method and system of crawling robot for moving container |
| CN114550465A (en) * | 2022-04-26 | 2022-05-27 | 四川北斗云联科技有限公司 | Highway management system of hazardous articles transport vechicle |
| CN114550465B (en) * | 2022-04-26 | 2022-07-08 | 四川北斗云联科技有限公司 | Highway management system of hazardous articles transport vechicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113687653A (en) | Logistics unmanned vehicle remote control system and method based on 5G | |
| CN106774427B (en) | Unmanned aerial vehicle-based water area automatic inspection system and method | |
| EP4053021A1 (en) | Unmanned aerial vehicle airport, unmanned aerial vehicle system, patrol inspection system, method, control apparatus, device, storage medium, and unmanned aerial vehicle cruising system | |
| CN103465906B (en) | A kind of parking area automatic train stop implementation method based on telepresenc | |
| CN107390676B (en) | Tunnel inspection robot and tunnel inspection system | |
| WO2023098164A1 (en) | Unmanned aerial vehicle patrol system and method of gridding machine nest | |
| CN103824455B (en) | road patrol system and control method | |
| CN103473951B (en) | A kind of Automatic Carpark Control System based on telepresenc | |
| US20210394662A1 (en) | Intelligent transfer vehicle for shared bicycles | |
| CN108544912A (en) | Four-wheel differentia all-terrain mobile robot control system and its control method | |
| CN112794210A (en) | Tower crane automatic driving system and tower crane | |
| CN204904089U (en) | Intelligent vehicle is rescued to barrier more | |
| CN104122891A (en) | Intelligent robot inspection system for city underground railway detection | |
| CN113805509A (en) | Remote driving system and method based on V2X | |
| CN113988647A (en) | Municipal works wisdom building site management system based on BIM | |
| CN209928618U (en) | Parking area patrol robot based on facial recognition | |
| JP6846698B2 (en) | Monitoring device | |
| CN113359751A (en) | Unmanned security patrol system | |
| CN109676618A (en) | Security protection crusing robot and its automatic detecting method | |
| CN112859708A (en) | Remote control monitoring system for rail crane and use method | |
| CN111547109A (en) | Computer server for running automatic driving operation system | |
| CN112604211A (en) | Fire-fighting robot and fire-fighting robot fire extinguishing system for transformer substation | |
| US20230263093A1 (en) | Autonomous mower system | |
| CN209833820U (en) | Self-balancing prowl car | |
| CN214776254U (en) | Unmanned electric power inspection vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 222001 No. 18, Shenghu Road, Haizhou District, Lianyungang City, Jiangsu Province Applicant after: The 716th Research Institute of China Shipbuilding Corp. Applicant after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Address before: 222001 No. 18, Shenghu Road, Haizhou District, Lianyungang City, Jiangsu Province Applicant before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
|
| CB02 | Change of applicant information |