CN114455051A - Unmanned equipment control method and device and unmanned equipment - Google Patents
Unmanned equipment control method and device and unmanned equipment Download PDFInfo
- Publication number
- CN114455051A CN114455051A CN202210013463.6A CN202210013463A CN114455051A CN 114455051 A CN114455051 A CN 114455051A CN 202210013463 A CN202210013463 A CN 202210013463A CN 114455051 A CN114455051 A CN 114455051A
- Authority
- CN
- China
- Prior art keywords
- engine
- control device
- state
- working state
- control
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/22—Use of propulsion power plant or units on vessels the propulsion power units being controlled from exterior of engine room, e.g. from navigation bridge; Arrangements of order telegraphs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Selective Calling Equipment (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The application discloses a control method of unmanned equipment, a first control device, a second control device and the unmanned equipment. The unmanned equipment comprises a first control device, a second control device and an engine, wherein the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, and the working state of the engine comprises a starting state and a stopping state; after the first control device determines the current working state and the target working state of the engine, if the current working state is different from the target working state, a state switching instruction is sent to the second control device to instruct the second control device to switch the working state of the engine to the target working state through a control line. According to the scheme, the user of the unmanned ship does not need to manually operate on the ship, and ignition or flameout of the unmanned ship can be achieved.
Description
Technical Field
The application belongs to the technical field of equipment control, and particularly relates to a control method of unmanned equipment, a first control device, a second control device and the unmanned equipment.
Background
The unmanned technology is mature day by day, and the related field is more and more extensive. In the field of unmanned boats, conventional unmanned boats that use internal combustion engines typically require a person to manually operate a switch on the boat to ignite or extinguish the fire. However, in many working scenarios, unmanned ships are inconvenient for users to go to the ships to perform ignition or flameout operations.
Disclosure of Invention
The application provides a control method of unmanned equipment, a first control device, a second control device, the unmanned equipment and a computer readable storage medium, which can enable a user of an unmanned ship to realize ignition or flameout of the unmanned ship without manual operation on the ship.
In a first aspect, the present application provides a control method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a first control device, a second control device, and an engine, the first control device is connected to the second control device through a preset communication bus, the second control device is connected to the engine through a preset control line, and an operating state of the engine includes a start state and a stop state, and the control method is applied to the first control device, and includes:
determining the current working state of the engine;
determining a target operating state of the engine;
and if the current working state is different from the target working state, sending a state switching instruction to the second control device through the communication bus, wherein the state switching instruction is used for instructing the second control device to switch the working state of the engine to the target working state through the control line.
In a second aspect, the present application provides a control method for an unmanned aerial vehicle, where the unmanned aerial vehicle includes a first control device, a second control device, and an engine, the first control device is connected to the second control device through a preset communication bus, the second control device is connected to the engine through a preset control line, and an operating state of the engine includes a start state and a stop state, and the control method is applied to the second control device, and includes:
and when receiving a state switching command transmitted by the first control device through the communication bus, switching the operating state of the engine to a target operating state through the control line.
In a third aspect, the present application provides a first control device integrated with an unmanned aerial vehicle; the first control device is connected with a second control device of the unmanned equipment through a preset communication bus, the second control device is connected with an engine of the unmanned equipment through a preset control line, and the working state of the engine comprises a starting state and a stopping state; the first control device includes:
the first determining module is used for determining the current working state of the engine;
a second determination module for determining a target operating state of the engine;
and a first sending module, configured to send a state switching instruction to the second control device through the communication bus if the current operating state is different from the target operating state, where the state switching instruction is used to instruct the second control device to switch the operating state of the engine to the target operating state through the control line.
In a fourth aspect, the present application provides a second control device integrated with an unmanned aerial vehicle; the second control device is connected with the first control device of the unmanned equipment through a preset communication bus, the second control device is connected with an engine of the unmanned equipment through a preset control line, and the working state of the engine comprises a starting state and a stopping state; the second control device includes:
and the first receiving module is used for switching the working state of the engine to a target working state through the control line when receiving a state switching command sent by the first control device through the communication bus.
In a fifth aspect, the present application provides a first control device, where the first control device includes a first memory, a first processor, and a first computer program stored in the first memory and executable on the first processor, and the first processor implements the steps of the method according to the first aspect when executing the first computer program.
In a sixth aspect, the present application provides a second control device, where the second control device includes a second memory, a second processor, and a second computer program stored in the second memory and executable on the second processor, and the second processor implements the steps of the method according to the second aspect when executing the second computer program.
In a seventh aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method of the first aspect; alternatively, the computer program as described above, when executed by a processor, performs the steps of the method as described above in the second aspect.
In an eighth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method as described in the first aspect above; alternatively, the computer program as described above, when executed by one or more processors, performs the steps of the method as described above in the second aspect.
Compared with the prior art, the application has the beneficial effects that: the second control device is additionally arranged in the traditional mobile equipment, is connected with the first control device of the traditional mobile equipment through a communication bus and is connected with the engine of the traditional mobile equipment through a control line. The second control device simulates human operation and can directly control the starting (ignition) or stopping (flameout) of the engine. Under the instruction of the first control device, the second control device can ignite or extinguish the engine at a proper time, so that the unmanned ship can be ignited or extinguished without manual operation on the ship by a user of the unmanned ship.
It is to be understood that the beneficial effects of the third to eighth aspects can be seen from the above description, and are not repeated herein.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a diagram illustrating an exemplary architecture of a control system of an unmanned aerial vehicle provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of an implementation of a control method of an unmanned aerial vehicle provided by an embodiment of the application;
FIG. 3 is a schematic flow chart of another implementation of a control method of an unmanned aerial vehicle provided by an embodiment of the application;
FIG. 4 is a schematic diagram of a second control device provided in an embodiment of the present application;
fig. 5 is a block diagram of a first control device according to an embodiment of the present application;
fig. 6 is a block diagram of a second control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a first control device provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a second control device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solutions proposed in the embodiments of the present application, the following description will be given by way of specific examples.
The following describes a control system of an unmanned aerial vehicle provided in an embodiment of the present application. Referring to fig. 1, fig. 1 shows an example of the architecture of a control system for an unmanned aerial vehicle. The control system of the unmanned equipment comprises two sides of equipment, wherein one side of the equipment is the unmanned equipment, and the other side of the equipment is remote control equipment. It will be appreciated that the control system of the drone may include a plurality of drone devices; that is, multiple drone devices may be connected to the same remote control device. For ease of illustration, only one drone is shown in fig. 1.
The unmanned equipment and the remote control equipment are integrated with wireless communication devices, and the wireless communication devices are provided with signal receiving and transmitting antennas. Thus, the wireless communication connection between the unmanned equipment and the remote control device can be established through the wireless communication device integrated by the unmanned equipment and the remote control device.
The remote control apparatus is equipped with a remote control system. It will be appreciated that the remote control system actually establishes a wired communication connection with the wireless communication means of the remote control device. The user can realize the remote control of each unmanned device with the established wireless communication connection by operating the remote control system, and can also obtain the state information of each unmanned device with the established wireless communication connection.
For the unmanned equipment, the following components are integrated besides the wireless communication device: the device comprises a first control device, a second control device, a data acquisition device and an engine. The first control device and the wireless communication device are connected in a wired communication mode. The first control device, the second control device and the data acquisition device are all connected with a preset communication bus; that is, for the first control device, the second control device and the data acquisition device, any two of the three establish communication connection based on the communication bus. By way of example only, the communication bus may be a Controller Area Network (CAN) bus or other type of communication bus, and is not limited thereto.
The engine is a power source of the unmanned equipment, when the working state of the engine is a starting state, the engine can drive the unmanned equipment to run, and when the working state of the engine is a stopping state, the engine does not drive the unmanned equipment any more. The second control device is connected with the engine through a control line, data interaction is not carried out between the second control device and the engine through a communication protocol, and the second control device directly controls the engine through an electric signal. For example, the second control device switches the engine to the start state by transmitting a high level signal to the engine; the engine is switched to a stop state by transmitting a low level signal to the engine. In addition, the engine is also connected with a data acquisition device through an acquisition line, and the acquisition line CAN be a CAN line or other data lines capable of transmitting data, which is not limited herein. The data acquisition device can acquire engine data of the engine, including the working state of the engine, through the acquisition line.
Based on the above control system of the unmanned device, a control method of the unmanned device provided by the embodiment of the application is described below. Referring to fig. 2, the control method of the unmanned aerial vehicle can be applied to the first control device in fig. 1. The control method of the unmanned equipment comprises the following steps:
in step 201, the current operating state of the engine is determined.
In step 202, a target operating state of the engine is determined.
In the embodiment of the present application, the operating state of the engine includes a start state and a stop state. The first control means may determine the operating state of the engine in real time, the operating state determined at any time, i.e. as the current operating state of the engine at that time. For example, the operating state determined at the first timing may be the current operating state of the engine at the first timing, and the first control apparatus may send the state switching instruction to the second control apparatus at the first timing if the current operating state of the engine at the first timing is different from the target operating state.
The target working state is the working state to which the engine needs to be switched. For example, the target operating state may be an operating state to which a user of the unmanned aerial vehicle indicates that switching is required, or may be an operating state to which switching is required, which is indicated by control logic preset in the first control device, and is not limited herein.
If it is determined that the current operating state and the target operating state are different, the first control device may send a state switching command to the second control device through the communication bus. The state switching instruction is used for instructing the second control device to switch the working state of the engine to the target working state through the control line. Therefore, starting and stopping control of the engine can be achieved in a communication mode, and a user of the unmanned equipment does not need to go to the unmanned equipment to perform ignition and flameout operations.
For example, if the user of the unmanned aerial vehicle needs to switch the operating state of the engine, a remote instruction may be sent to the unmanned aerial vehicle through the remote control device, where the remote instruction includes the operating state. The remote command comprises a working state which is the working state that the user needs to switch the engine to. For example, the remote control device is provided with a key 1 and a key 2, when a user needs to switch the engine to a starting state, the key 1 is pressed down, and the remote control device can be triggered to send a remote instruction containing the starting state to the unmanned device; similarly, the user presses button 2, triggering the remote control device to send a remote command containing a shutdown status to the drone. Alternatively, in order to achieve a quick response to the user, the first control means of the unmanned aerial vehicle may determine the operating state included in the remote instruction as the target operating state immediately at the time of receiving the remote instruction. And if the current working state is different from the target working state, sending a state switching instruction to the second control device. Based on this, the control method provided by the embodiment of the present application further includes:
and if the current working state is the same as the target working state, feeding back prompt information to the remote control equipment, wherein the prompt information is used for indicating that the current working state of the engine is the target working state.
For example, assuming that the remote command includes an operating state that is a stop state, the first control device receives the remote command at the first timing, determines the stop state as a target operating state, and determines that the operating state of the engine at the first timing is also the stop state. The current working state is the same as the target working state, so that the working state of the engine does not need to be switched, and at the moment, the first control device can feed back prompt information to the remote control device, and the prompt information is used for informing a user of the unmanned device that the engine is in a stop state.
In some embodiments, the control method provided in the embodiments of the present application further includes:
and acquiring the real-time engine water temperature of the engine.
And under the condition that the real-time engine water temperature exceeds a preset first temperature threshold, determining the change rate of the engine water temperature in real time.
And if the change rate of the water temperature of the engine is greater than a preset change rate threshold value, sending a risk reminding message to the remote control equipment.
Wherein the real-time engine water temperature refers to a real-time temperature of cooling water of the engine. The data acquisition device can acquire the real-time water temperature of the engine through an acquisition line, and then reports the real-time water temperature of the engine to the first control device through a communication bus. The first temperature threshold may be a normal operating water temperature of the engine, and it should be noted that, at a stage of the engine being started, the engine water temperature may gradually rise until the engine water temperature is stable after reaching the normal operating water temperature, for example, the normal operating water temperature is between 80 ℃ and 90 ℃, and then the first temperature threshold may be 85 ℃, or 87 ℃, or 90 ℃, which is not limited herein. If the real-time engine water temperature exceeds the first temperature threshold value, the engine water temperature is indicated to be higher, and at the moment, the change rate of the engine water temperature can be determined in real time. Under normal conditions, after the water temperature of the engine reaches the normal working water temperature, the water temperature of the engine is relatively stable, and the change rate of the water temperature of the engine is small. However, in some unexpected situations, such as blockage of the water intake of the engine cooling device, the engine water temperature will rise rapidly and, accordingly, the rate of change of the engine water temperature will become large. Based on this, when detecting that the change rate of the water temperature of the engine is greater than the preset change rate threshold value, the first control device can send a risk reminding message to the remote control device, wherein the risk reminding message is used for reminding a user that the unmanned equipment has a risk of failure. The user can control the engine to stop through the remote control equipment according to the risk reminding message, so that the engine fault is avoided. By the mode, the user can be reminded when the engine has the risk of failure, so that the user can stop the engine in time.
On the basis that the first control device obtains the real-time engine water temperature of the engine, the step 202 comprises the following steps: and determining the shutdown state as a target working state under the condition that the real-time engine water temperature exceeds a preset second temperature threshold.
In an embodiment of the application, the second temperature threshold is greater than the first temperature threshold. If the real-time engine water temperature exceeds the second temperature threshold, the first control device determines that the engine is out of order, and at the moment, the first control device can determine the shutdown state as the target working state. At the same time, the first control device determines that the current operating state is the start state (the water temperature generally cannot reach the second temperature threshold value when the engine is in the stop state), in which case the first control device will execute step 203. Therefore, under the condition that the real-time engine water temperature exceeds the second temperature threshold value, the engine is switched from the starting state to the stopping state, and the engine is prevented from being damaged.
In some embodiments, the control method provided in the embodiments of the present application further includes:
the position of the drone is obtained with the engine in a started state.
Accordingly, the step 202 includes:
and if the position of the unmanned equipment is not changed within the preset time, determining the shutdown state as the target working state.
In an embodiment of the present application, the unmanned device may be equipped with a Positioning System, such as a Global Positioning System (GPS). In the case where the engine is in the start state, the first control means may acquire the position where the unmanned equipment is located through the GPS. During the driving process of the unmanned device, the unmanned device is often blocked by an obstacle and cannot advance. Taking the unmanned device as an unmanned ship as an example, the unmanned ship may be dragged by aquatic weeds or may touch reefs to be unable to advance during the driving process, and in this case, the position of the unmanned ship will not change. The first control means may determine the shutdown state as the target operation state if the position of the unmanned aerial vehicle has not changed within a preset time period. Meanwhile, the first control device determines that the current working state is the starting state, and in this case, the first control device executes the step 203 to switch the engine from the starting state to the stopping state.
In one implementation, the step 201 includes:
current engine data of the engine is acquired.
The current operating state of the engine is determined based on the engine data.
The engine data may be any data relating to the operating state of the engine, among others. Based on the engine data, the first control device may determine a current operating state of the engine. Alternatively, the engine data may include at least one of an engine water temperature, an engine oil temperature, and an engine speed. The engine water temperature refers to the temperature of cooling water of the engine, the engine oil temperature refers to the temperature of gasoline in the engine, and the engine rotation speed refers to the rotation speed of an output shaft of the engine. Generally, the engine data is represented with a large difference between the start state and the stop state of the engine, and therefore, the current operating state of the engine can be determined based on the engine data. For example, the engine data includes engine speed; if the engine speed is currently zero, it may be determined that the engine is currently in a shutdown state; if the engine speed is not currently zero, it may be determined that the engine is currently in a start-up state.
In some embodiments, the operating state of the engine may also be determined after the first control device sends a state switching command to the second control device. If the operating state is different from the target operating state, the first control apparatus may feed back a failure notification message to the remote control device. The failure reminding message is used for reminding the user that the working state switching fails. The user can send the remote instruction to the first control device again through the remote control equipment according to the failure reminding message, so that the working state of the transmitter is tried to be switched again.
As a possible implementation, in some application scenarios, the user needs a timed start of the engine of the unmanned aerial vehicle, based on which the user can send a timed start instruction to the first control device via the remote control device. The first control device may determine the start-up state as the target operating state when the start-up time indicated by the timing start-up instruction is reached after receiving the timing start-up instruction. Accordingly, if the engine is in the stopped state during the startup time, the first control device will execute step 203 described above to switch the engine to the startup state.
In some embodiments, the drone is a drone, and the drone may further include a anemometer connected to the communications bus of the drone for detecting a wind direction and a wind speed at a location of the drone. After receiving the timing start instruction, the first control device may determine, by the anemoscope, a wind direction and a wind speed at a position where the unmanned aerial vehicle is located when the start time indicated by the timing start instruction is reached. Based on the wind direction and speed, the first control means may determine whether the weather at the start time is suitable for the drone to travel. The first control means may not issue the state switching instruction to the second control means if it is determined that the unmanned aerial vehicle is not suitable for running. Alternatively, if it is determined that the unmanned vehicle is not suitable for traveling, the first control means may further transmit a message indicating that weather is not suitable for traveling by the unmanned vehicle to the remote control device.
Therefore, the second control device is added in the traditional mobile equipment, is connected with the first control device of the traditional mobile equipment through the communication bus and is connected with the engine of the traditional mobile equipment through the control line. The second control device simulates human operation and can directly control the starting (ignition) or stopping (flameout) of the engine. Under the instruction of the first control device, the second control device can ignite or extinguish the engine at a proper time, so that the unmanned ship can be ignited or extinguished without manual operation on the ship by a user of the unmanned ship.
Another control method of the unmanned aerial vehicle provided in the embodiment of the present application is described below. Referring to fig. 3, the control method of the unmanned aerial vehicle can be applied to the second control device in fig. 1. The control method of the unmanned device comprises the following steps:
and 301, when receiving a state switching instruction sent by the first control device through the communication bus, switching the working state of the engine to a target working state through a control line.
In the embodiment of the present application, the operating state of the engine includes a start state and a stop state. The target working state is the working state to which the engine needs to be switched. For example, the target operating state may be an operating state to which a user of the unmanned aerial vehicle indicates that switching is required, or may be an operating state to which switching is required, which is indicated by control logic preset in the first control device, and is not limited herein. The second control device can switch the working state of the transmitter to a target working state through the control line when receiving the state switching instruction transmitted by the first control device through the communication bus.
In some embodiments, referring to fig. 4, the second control device may include a module main control chip, a peripheral driving circuit, and a start-stop control circuit. The module main control chip is connected with the first control device through a communication bus and used for receiving a state switching instruction sent by the first control device and sending a control signal to the peripheral driving circuit after receiving the state switching instruction. The peripheral driving circuit is respectively electrically connected with the module main control chip and the start-stop control circuit and is used for receiving the control signal sent by the module main control chip, amplifying the control signal and outputting the amplified control signal to the start-stop control circuit. The start-stop control circuit is connected with the engine through a preset control line and used for receiving the amplified control signal and sending the start-stop control signal to the engine through the control line. The start-stop control signal is used for finally controlling the working state switching of the engine.
Therefore, the second control device is added in the traditional mobile equipment, is connected with the first control device of the traditional mobile equipment through the communication bus and is connected with the engine of the traditional mobile equipment through the control line. The second control device simulates human operation and can directly control the starting (ignition) or stopping (flameout) of the engine. Under the instruction of the first control device, the second control device can ignite or extinguish the engine at a proper time, so that the unmanned ship can be ignited or extinguished without manual operation on the ship by a user of the unmanned ship.
The embodiment of the application also provides a first control device corresponding to the control method of the unmanned equipment applied to the first control device. The unmanned equipment comprises a first control device, a second control device and an engine, wherein the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, and the working state of the engine comprises a starting state and a stopping state. As shown in fig. 5, the first control device 500 in the embodiment of the present application includes:
a first determining module 501 for determining a current operating state of the engine;
a second determination module 502 to determine a target operating state of the engine;
a first sending module 503, configured to send a state switching instruction to the second control device through the communication bus if the current operating state is different from the target operating state, where the state switching instruction is used to instruct the second control device to switch the operating state of the engine to the target operating state through the control line.
Optionally, the second determining module 502 is specifically configured to receive a remote instruction sent by a remote control device, where the remote instruction includes a working state; and determining the working state contained in the remote command as the target working state.
Optionally, the first control device 500 further includes:
and the first feedback module is used for feeding back prompt information to the remote control equipment if the current working state is the same as the target working state, wherein the prompt information is used for indicating that the current working state of the engine is the target working state.
Optionally, the first determining module 501 is specifically configured to obtain current engine data of the engine, where the engine data includes at least one of an engine water temperature, an engine oil temperature, and an engine speed; and determining the current working state of the engine according to the engine data.
Optionally, the first control device 500 further includes:
the first acquisition module is used for acquiring the real-time engine water temperature of the engine;
the third determining module is used for determining the change rate of the water temperature of the engine in real time under the condition that the real-time water temperature of the engine exceeds a preset first temperature threshold;
and the second sending module is used for sending a risk reminding message to the remote control equipment if the change rate of the water temperature of the engine is greater than a preset change rate threshold value, wherein the risk reminding message is used for reminding a user that the unmanned equipment has a risk of failure.
Optionally, the second determining module 502 is specifically configured to determine the shutdown state as the target operating state when the real-time engine water temperature exceeds a preset second temperature threshold, where the second temperature threshold is greater than the first temperature threshold.
Optionally, the first control device 500 further includes:
the second acquisition module is used for acquiring the position of the unmanned equipment under the condition that the engine is in a starting state;
accordingly, the second determining module 502 is specifically configured to determine the shutdown state as the target operating state if the position of the unmanned aerial vehicle does not change within a preset time period.
Therefore, the second control device is added in the traditional mobile equipment, is connected with the first control device of the traditional mobile equipment through the communication bus and is connected with the engine of the traditional mobile equipment through the control line. The second control device simulates human operation and can directly control the starting (ignition) or stopping (flameout) of the engine. Under the instruction of the first control device, the second control device can ignite or extinguish the engine at a proper time, so that the unmanned ship can be ignited or extinguished without manual operation on the ship by a user of the unmanned ship.
The embodiment of the application also provides a second control device corresponding to the control method of the unmanned equipment applied to the second control device. The unmanned equipment comprises a first control device, a second control device and an engine, wherein the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, and the working state of the engine comprises a starting state and a stopping state. As shown in fig. 6, the second control device 600 in the embodiment of the present application includes:
a first receiving module 601, configured to switch the operating state of the engine to a target operating state through the control line when receiving a state switching instruction sent by the first control device through the communication bus.
Therefore, the second control device is added in the traditional mobile equipment, is connected with the first control device of the traditional mobile equipment through the communication bus and is connected with the engine of the traditional mobile equipment through the control line. The second control device simulates the operation of a human and can directly control the starting (ignition) or stopping (flameout) of the engine. Under the instruction of the first control device, the second control device can ignite or extinguish the engine at a proper time, so that the user of the unmanned ship can realize the ignition or extinguishment of the unmanned ship without manual operation on the ship.
Corresponding to the control method of the unmanned equipment applied to the first control device, the embodiment of the application further provides the first control device, the unmanned equipment comprises the first control device, a second control device and an engine, the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, and the working state of the engine comprises a starting state and a stopping state; referring to fig. 7, the first control device 7 in the embodiment of the present application includes: a first memory 701, one or more first processors 702 (only one shown in fig. 7) and a first computer program stored on the first memory 701 and executable on the first processor. Wherein: the first memory 701 is used for storing software programs and units, and the first processor 702 executes various functional applications and data processing by running the software programs and units stored in the first memory 701, so as to acquire resources corresponding to preset events. Specifically, the first processor 702 implements the control method of the unmanned aerial vehicle as in the corresponding embodiment of fig. 2 by executing the above-described first computer program stored in the first memory 701.
It should be understood that in the embodiment of the present Application, the first Processor 702 may be a Central Processing Unit (CPU), and the first Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor, or may be any conventional processor or the like.
The first memory 701 may include a read only memory and a random access memory, and provides instructions and data to the first processor 702. A portion or all of the first memory 701 may also include non-volatile random access memory. For example, the first memory 701 may also store information of device classes.
Corresponding to the control method of the unmanned equipment applied to the second control device, the embodiment of the application further provides the second control device, the unmanned equipment comprises a first control device, a second control device and an engine, the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, and the working state of the engine comprises a starting state and a stopping state; referring to fig. 8, the second control device 8 in the embodiment of the present application includes: a second memory 801, one or more second processors 802 (only one shown in fig. 8) and a second computer program stored on the second memory 801 and executable on the second processor. Wherein: the second memory 801 is used for storing software programs and units, and the second processor 802 executes various functional applications and data processing by running the software programs and units stored in the second memory 801 to acquire resources corresponding to the preset events. Specifically, the second processor 802 realizes the control method of the unmanned aerial vehicle as in the corresponding embodiment of fig. 3 by executing the above-described second computer program stored in the second memory 801.
It should be understood that in the embodiments of the present Application, the second Processor 802 may be a Central Processing Unit (CPU), and may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor, or may be any conventional processor or the like.
The second memory 801 may include a read-only memory and a random access memory, and provides instructions and data to the second processor 802. A portion or all of the second memory 801 may also include non-volatile random access memory. For example, the second memory 801 may also store device class information.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of external device software and electronic hardware. 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 application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules or units is only one logical functional division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying the above-described computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer readable memory, Read-only memory (ROM, Read-Onl8 memory 8), Random Access memory (RAM, Random Access memory 8), electrical carrier signal, telecommunications signal, software distribution medium, and the like. It should be noted that the computer readable storage medium may contain other contents which can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction, for example, in some jurisdictions, the computer readable storage medium does not include an electrical carrier signal and a telecommunication signal according to the legislation and the patent practice.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (11)
1. A control method of unmanned equipment is characterized in that the unmanned equipment comprises a first control device, a second control device and an engine, the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, the working state of the engine comprises a starting state and a stopping state, and the control method is applied to the first control device and comprises the following steps:
determining a current operating state of the engine;
determining a target operating state of the engine;
and if the current working state is different from the target working state, sending a state switching instruction to the second control device through the communication bus, wherein the state switching instruction is used for indicating the second control device to switch the working state of the engine to the target working state through the control line.
2. The control method of claim 1, wherein said determining a target operating state of said engine comprises:
receiving a remote instruction sent by remote control equipment, wherein the remote instruction comprises a working state;
and determining the working state contained in the remote command as the target working state.
3. The control method according to claim 2, characterized by further comprising:
and if the current working state is the same as the target working state, feeding back prompt information to the remote control equipment, wherein the prompt information is used for indicating that the current working state of the engine is the target working state.
4. The control method of claim 1, wherein said determining the current operating state of the engine comprises:
acquiring current engine data of the engine, wherein the engine data comprises at least one of the temperature of engine water, the temperature of engine oil and the rotating speed of the engine;
determining a current operating state of the engine based on the engine data.
5. The control method according to claim 1, characterized by further comprising:
acquiring real-time engine water temperature of the engine;
determining the change rate of the water temperature of the engine in real time under the condition that the real-time water temperature of the engine exceeds a preset first temperature threshold;
and if the change rate of the water temperature of the engine is greater than a preset change rate threshold value, sending a risk reminding message to remote control equipment, wherein the risk reminding message is used for reminding a user that the unmanned equipment has a risk of failure.
6. The control method of claim 5, wherein said determining a target operating state of said engine comprises:
and determining a shutdown state as the target working state under the condition that the real-time engine water temperature exceeds a preset second temperature threshold, wherein the second temperature threshold is greater than the first temperature threshold.
7. The control method according to claim 1, characterized by further comprising:
acquiring the position of the unmanned equipment under the condition that the engine is in a starting state;
accordingly, the determining a target operating state of the engine includes:
and if the position of the unmanned equipment is not changed within a preset time length, determining a shutdown state as the target working state.
8. A control method of unmanned equipment is characterized in that the unmanned equipment comprises a first control device, a second control device and an engine, the first control device is connected with the second control device through a preset communication bus, the second control device is connected with the engine through a preset control line, the working state of the engine comprises a starting state and a stopping state, and the control method is applied to the second control device and comprises the following steps:
and when a state switching instruction sent by the first control device through the communication bus is received, switching the working state of the engine to a target working state through the control line.
9. A first control device comprising a first memory, a first processor and a first computer program stored in the first memory and executable on the first processor, characterized in that the first processor implements the method according to any of claims 1 to 7 when executing the first computer program.
10. A second control device comprising a second memory, a second processor and a second computer program stored in the second memory and executable on the second processor, characterized in that the second processor implements the method according to claim 8 when executing the second computer program.
11. An unmanned device, comprising: an engine, a first control device according to claim 9, and a second control device according to claim 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013463.6A CN114455051B (en) | 2022-01-06 | 2022-01-06 | Unmanned equipment control method and device and unmanned equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210013463.6A CN114455051B (en) | 2022-01-06 | 2022-01-06 | Unmanned equipment control method and device and unmanned equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114455051A true CN114455051A (en) | 2022-05-10 |
| CN114455051B CN114455051B (en) | 2023-07-25 |
Family
ID=81410311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210013463.6A Active CN114455051B (en) | 2022-01-06 | 2022-01-06 | Unmanned equipment control method and device and unmanned equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114455051B (en) |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1172157A (en) * | 1956-02-17 | 1959-02-06 | Motoren Werke Mannheim Ag | Remote control installation for reversible internal combustion engines, in particular for diesel engines, intended for the propulsion of ships |
| WO1989000644A1 (en) * | 1987-07-15 | 1989-01-26 | Taisei Seimitsu Co., Ltd. | Automatic starter of engine at preset time |
| KR20020007642A (en) * | 2000-07-18 | 2002-01-29 | 류정열 | Method for diagnosing malfunction of a thermostat of a cooling system for a motor vehicle |
| GB0800203D0 (en) * | 2008-01-07 | 2008-02-13 | Converteam Ltd | Marine power distribution and propulsion systems |
| WO2012016155A1 (en) * | 2010-07-30 | 2012-02-02 | General Electric Company | Safety module for an engine control system |
| CN205059956U (en) * | 2015-09-16 | 2016-03-02 | 天津驰海天成科技有限公司 | Explosion -proof unmanned yacht |
| CN108196537A (en) * | 2017-12-25 | 2018-06-22 | 四方继保（武汉）软件有限公司 | A kind of remote control unmanned boat start and stop and the device and method of anchoring |
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| US20200338943A1 (en) * | 2019-04-25 | 2020-10-29 | United States Of America As Represented By The Secretary Of The Navy | Unmanned Undersand Vehicle |
| KR102191504B1 (en) * | 2019-07-11 | 2020-12-15 | 이경현 | Method and System for Automatic Sailing and Remote Control about Vessel |
| KR20210007366A (en) * | 2019-07-11 | 2021-01-20 | 주식회사 아소아 | Unmanned aerial vehicles and method for sensing and aboiding of obstacles and weather change thereof |
| CN112377318A (en) * | 2020-11-18 | 2021-02-19 | 潍柴动力股份有限公司 | Overspeed protection control method, device, equipment and storage medium |
| CN112572418A (en) * | 2020-12-15 | 2021-03-30 | 北京百度网讯科技有限公司 | Control method and device for unmanned vehicle and electronic equipment |
| WO2021078165A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
| US11128251B1 (en) * | 2020-04-29 | 2021-09-21 | The Boeing Company | Fault-tolerant power system architecture for aircraft electric propulsion |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
| CN113586263A (en) * | 2021-07-27 | 2021-11-02 | 珠海云洲智能科技股份有限公司 | Oil-cut protection method, main control device and intelligent control device |
| CN113665776A (en) * | 2021-08-03 | 2021-11-19 | 珠海云洲智能科技股份有限公司 | Rudder angle control method, rudder angle control device and rudder angle control box |
| CN113883968A (en) * | 2021-09-01 | 2022-01-04 | 河北汉光重工有限责任公司 | Engine starting system and remote unmanned target vehicle |
-
2022
- 2022-01-06 CN CN202210013463.6A patent/CN114455051B/en active Active
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1172157A (en) * | 1956-02-17 | 1959-02-06 | Motoren Werke Mannheim Ag | Remote control installation for reversible internal combustion engines, in particular for diesel engines, intended for the propulsion of ships |
| WO1989000644A1 (en) * | 1987-07-15 | 1989-01-26 | Taisei Seimitsu Co., Ltd. | Automatic starter of engine at preset time |
| KR20020007642A (en) * | 2000-07-18 | 2002-01-29 | 류정열 | Method for diagnosing malfunction of a thermostat of a cooling system for a motor vehicle |
| GB0800203D0 (en) * | 2008-01-07 | 2008-02-13 | Converteam Ltd | Marine power distribution and propulsion systems |
| WO2012016155A1 (en) * | 2010-07-30 | 2012-02-02 | General Electric Company | Safety module for an engine control system |
| CN205059956U (en) * | 2015-09-16 | 2016-03-02 | 天津驰海天成科技有限公司 | Explosion -proof unmanned yacht |
| CN108196537A (en) * | 2017-12-25 | 2018-06-22 | 四方继保（武汉）软件有限公司 | A kind of remote control unmanned boat start and stop and the device and method of anchoring |
| US20200338943A1 (en) * | 2019-04-25 | 2020-10-29 | United States Of America As Represented By The Secretary Of The Navy | Unmanned Undersand Vehicle |
| KR102191504B1 (en) * | 2019-07-11 | 2020-12-15 | 이경현 | Method and System for Automatic Sailing and Remote Control about Vessel |
| KR20210007366A (en) * | 2019-07-11 | 2021-01-20 | 주식회사 아소아 | Unmanned aerial vehicles and method for sensing and aboiding of obstacles and weather change thereof |
| WO2021078165A1 (en) * | 2019-10-21 | 2021-04-29 | 深圳市道通智能航空技术有限公司 | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle and storage medium |
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| US11128251B1 (en) * | 2020-04-29 | 2021-09-21 | The Boeing Company | Fault-tolerant power system architecture for aircraft electric propulsion |
| CN112377318A (en) * | 2020-11-18 | 2021-02-19 | 潍柴动力股份有限公司 | Overspeed protection control method, device, equipment and storage medium |
| CN112572418A (en) * | 2020-12-15 | 2021-03-30 | 北京百度网讯科技有限公司 | Control method and device for unmanned vehicle and electronic equipment |
| CN113586263A (en) * | 2021-07-27 | 2021-11-02 | 珠海云洲智能科技股份有限公司 | Oil-cut protection method, main control device and intelligent control device |
| CN113665776A (en) * | 2021-08-03 | 2021-11-19 | 珠海云洲智能科技股份有限公司 | Rudder angle control method, rudder angle control device and rudder angle control box |
| CN113883968A (en) * | 2021-09-01 | 2022-01-04 | 河北汉光重工有限责任公司 | Engine starting system and remote unmanned target vehicle |
| CN113552892A (en) * | 2021-09-18 | 2021-10-26 | 智船科技(北京)有限公司 | Unmanned ship control mode switching control method and system based on ship-based server |
Non-Patent Citations (2)
| Title |
|---|
| 冯国强: "无人作业船控制系统研究", 《河北工业大学硕士学位论文》 * |
| 程亮 杨渊 张云飞 林德群 杨春利: "面向无人艇智能感知的水上目标识别算法研究", 《电子测量与仪器学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114455051B (en) | 2023-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110673640B (en) | Unmanned aerial vehicle control method, device, equipment and storage medium | |
| JP4336726B2 (en) | High-speed vehicle bus network activity | |
| US20030060198A1 (en) | Method for controlling communication function of mobile phone and mobile phone thereof | |
| CN114455051A (en) | Unmanned equipment control method and device and unmanned equipment | |
| WO2019025277A1 (en) | Method for operating a user terminal of an agricultural machine and agricultural machine | |
| WO2024051141A1 (en) | Starting control method and system, and working machine | |
| US20170179746A1 (en) | Battery shutdown method and device and mobile terminal | |
| WO2023103940A1 (en) | Propeller control method, propeller and computer readable storage medium | |
| EP4224897A1 (en) | System for and method of controlling watercraft | |
| CN111594327A (en) | System and method for controlling engine stall | |
| EP3591196B1 (en) | General-purpose engine control apparatus | |
| CN110281952B (en) | Control system, control method, control device, storage medium, and electronic device | |
| CN113885553A (en) | Unmanned aerial vehicle shooting method and device, unmanned aerial vehicle and storage medium | |
| CN113259904A (en) | Marine network system, method and computer readable storage medium | |
| CN114704413B (en) | Control method, device and system of working machine and working machine | |
| CN217607469U (en) | Air cooling unit control system | |
| RU2779880C2 (en) | Method for operation of user terminal of agricultural machine and agricultural machine | |
| CN109649308B (en) | Power management method and system | |
| CN117841875B (en) | Power supply system control method and device for vehicle and electronic equipment | |
| CN212452863U (en) | Excavator starting protection system and excavator | |
| CN117081911A (en) | Communication switching device and method based on electric propeller and electric propeller | |
| CN220199233U (en) | Power management system for vehicle with automatic driving function and vehicle | |
| CN110774994B (en) | Data processing method and device after vehicle flameout, electronic equipment and storage medium | |
| RU2775350C2 (en) | Method for operation of user terminal of agricultural machine and agricultural machine | |
| CN208931139U (en) | A kind of driver status monitor with volitional check automobile driving speed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |