CN116859983A - Emergency rescue system and control method thereof - Google Patents
Emergency rescue system and control method thereof Download PDFInfo
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Abstract
The application provides an emergency rescue system and a control method of the emergency rescue system. The emergency rescue system comprises: the emergency rescue vehicle comprises a vehicle control system, a chassis system and a working tool, wherein the vehicle control system acquires environment information of a ground view angle of an environment where the emergency rescue vehicle is located, and controls the chassis system to run and the working tool to work; the unmanned aerial vehicle comprises an unmanned aerial vehicle control system for acquiring environment information of an air view angle of the environment and controlling the unmanned aerial vehicle to fly; and an air-ground cooperative control console comprising an air-ground cooperative control system configured to: forming recommended running tracks and automatic running control information according to the environment information of the ground view angle and the air view angle, and operating the chassis system to run in an automatic running mode based on the automatic running control information; and/or forming recommended work track and automatic work control information based on the environmental information of the ground view and the air view, and capable of operating the work tool in an automatic work mode based on the automatic work control information.
Description
Technical Field
The application relates to the technical field of emergency rescue equipment, in particular to an emergency rescue system and a control method of the emergency rescue system.
Background
In the process of rescue, landslide collapse cleaning, road dredging, reinforced concrete crushing and cutting, on-site obstacle clearing and the like are mainly finished by means of emergency rescue vehicles, and the emergency rescue vehicles play a great role in rescue. However, in natural disasters such as earthquakes, debris flows and the like, the on-site topography is very complex, so that emergency rescue vehicles and personnel are difficult to reach the disaster site in a short time, and the maneuverability is insufficient; some working environments can also be dangerous in explosion or collapse, and toxic gas is generated, so that great difficulty and inconvenience are brought to operators, and personal safety of the operators is seriously threatened.
Disclosure of Invention
The application aims to provide an emergency rescue system and a control method of the emergency rescue system, aiming at solving the problems that an emergency rescue vehicle is difficult to quickly arrive at a disaster site and is difficult and inconvenient to rescue.
The first aspect of the present application provides an emergency rescue system comprising:
an emergency rescue vehicle comprising a vehicle body and a vehicle control system, the vehicle control system being mounted on the vehicle body, the vehicle body comprising a chassis system and a multifunctional work system, the multifunctional work system comprising a work implement for being mounted on the chassis system, the chassis system being configured to drive the emergency rescue vehicle to travel, the work implement being configured to perform rescue operation, the vehicle control system being configured to obtain environmental information of a ground view of an environment in which the emergency rescue vehicle is located, to form chassis travel control instructions and to manipulate the chassis system to travel in accordance with the chassis travel control instructions and to form implement work control instructions and to manipulate the work implement work in accordance with the implement work control instructions;
The unmanned aerial vehicle comprises an unmanned aerial vehicle body and an unmanned aerial vehicle control system, wherein the unmanned aerial vehicle control system is installed on the unmanned aerial vehicle body and is configured to acquire environment information of an air view angle of an environment where the emergency rescue vehicle is located and operate the unmanned aerial vehicle to fly; and
the air-ground cooperative control console comprises a console body and an air-ground cooperative control system, wherein the air-ground cooperative control system is arranged on the console body and is in wireless communication with the vehicle control system and the unmanned aerial vehicle control system;
wherein the space-floor cooperative control system is configured to:
forming a recommended travel track according to the environment information of the ground view angle and the environment information of the air view angle and forming automatic travel control information according to the recommended travel track, and selecting one travel control mode from a plurality of travel control modes to travel through the chassis system by the vehicle control system, wherein the plurality of travel control modes comprise an automatic travel mode in which the chassis system is manipulated according to the automatic travel control information to cause the chassis system to travel along the recommended travel track and/or a corrected travel control information formed based on the automatic travel control information to cause the chassis system to travel along the corrected travel track formed based on the recommended travel track; and/or
Forming a recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle, forming automatic operation control information according to the recommended operation track, and selecting one operation control mode from a plurality of operation control modes to operate the operation tool through the vehicle control system, wherein the plurality of operation control modes comprise an automatic operation mode, and operating the operation tool according to the automatic running control information in the automatic operation mode so as to enable the operation tool to operate along the recommended operation track and/or operating the operation tool according to correction operation control information formed based on the automatic operation control information so as to enable the operation tool to operate along the correction operation track formed based on the recommended operation track.
In the emergency rescue system of some embodiments,
in the automatic running mode, the vehicle control system is configured to form an automatic running control instruction for operating the chassis system to run according to the automatic running control information, the chassis running control instruction includes the automatic running control instruction, and/or the vehicle control system is configured to form the corrected running control information according to the automatic running control information and real-time detection information detected by the vehicle control system and form a real-time running control instruction for operating the chassis system to run according to the corrected running control information, the chassis running control instruction includes the real-time running control instruction; and/or
In the automatic operation mode, the vehicle control system is configured to form an automatic operation control instruction for operating the working tool operation according to the automatic operation control information, the tool operation control instruction comprises the automatic operation control instruction, and/or the vehicle control system is configured to form the correction operation control information according to the automatic operation control information and real-time detection information detected by the vehicle control system and form a real-time operation control instruction for operating the working tool operation according to the correction operation control information, and the tool operation control instruction comprises the real-time operation control instruction.
In some embodiments of the emergency rescue system, the vehicle control system includes:
a vehicle wireless communication module configured to wirelessly communicate with the air-ground cooperative control system;
a vehicle perception module configured to acquire first obstacle and terrain information of the environment;
a vehicle positioning module configured to obtain the vehicle real-time location information of the emergency rescue vehicle;
a vehicle terrain module in signal connection with the vehicle perception module, the vehicle positioning module and the vehicle wireless communication module, configured to create a first terrain map of a ground perspective from the first obstacle and terrain information and the vehicle real-time location information, the environmental information of the ground perspective including the first terrain map;
The vehicle planning module is in signal connection with the vehicle sensing module, the vehicle positioning module and the vehicle wireless communication module and is configured to form the chassis running control instruction and the implement operation control instruction, and the real-time detection information comprises first obstacle and terrain information of the environment where the vehicle terrain module detects and vehicle real-time position information of the emergency rescue vehicle detected by the vehicle positioning module; and
and the vehicle control module is in signal connection with the vehicle planning module, the chassis system and the multifunctional operating system, and is configured to receive the automatic control instruction and operate the chassis system to drive and operate the operating tool according to the automatic control instruction.
In some embodiments, the emergency rescue system is further configured to obtain first graphical information of the environment.
In some embodiments of the emergency rescue system, the unmanned aerial vehicle control system comprises:
the unmanned aerial vehicle wireless communication module is configured to wirelessly communicate with the air-ground cooperative control system;
the unmanned aerial vehicle sensing module is configured to acquire second obstacle and terrain information of the environment;
The unmanned aerial vehicle positioning module is configured to acquire unmanned aerial vehicle real-time position information of the unmanned aerial vehicle;
the unmanned aerial vehicle terrain module is in signal connection with the unmanned aerial vehicle sensing module, the unmanned aerial vehicle positioning module and the unmanned aerial vehicle wireless communication module and is configured to create a second topographic map of an air viewing angle according to the second obstacle, the topographic information and the unmanned aerial vehicle real-time position information, and the environmental information of the air viewing angle comprises the second topographic map;
the unmanned aerial vehicle control module is in signal connection with the unmanned aerial vehicle wireless communication module and is configured to receive unmanned aerial vehicle control information through the unmanned aerial vehicle wireless communication module and operate according to the unmanned aerial vehicle control information the unmanned aerial vehicle flies and operates the unmanned aerial vehicle perception module acts.
In some embodiments of the emergency rescue system, the unmanned aerial vehicle perception module is further configured to obtain second graphical information of the environment.
In some embodiments, the air-ground cooperative control system is configured to automatically generate the unmanned aerial vehicle control information; or, the air-ground cooperative control system comprises a remote control device, and the unmanned aerial vehicle control information is generated through the remote control device.
In some embodiments of the emergency rescue system, the air-ground cooperative control system includes:
an air-ground cooperative wireless communication module configured to wirelessly communicate with the vehicle control system and the unmanned aerial vehicle control system;
an air-ground collaborative terrain module configured to generate comprehensive environmental information of the environment according to the environmental information of the ground view angle and the environmental information of the air view angle;
the air-ground co-location module is configured to acquire real-time position information of a console of the air-ground co-control system;
the air-ground collaborative planning module is configured to form a recommended driving track and/or a recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle or according to the comprehensive environment information;
the air-ground cooperative display module is configured to display the environment information of the ground view angle, the environment information of the air view angle and the comprehensive environment information of the environment, and display the recommended driving track and/or the recommended operation track;
and the air-ground cooperative control module is in signal connection with the air-ground cooperative display module and the air-ground cooperative wireless communication module and is configured to form the automatic running control information according to the recommended running track and/or generate the automatic operation control information according to the recommended operation track.
In the emergency rescue system of some embodiments,
the air-ground cooperative control system comprises a remote control operation device; wherein the method comprises the steps of
The plurality of travel control modes include a remote travel mode in which the vehicle control system is configured to form a remote travel control instruction for operating the chassis system to travel in accordance with remote travel transmitted by the remote operation device, the chassis travel control instruction including the remote travel control instruction; and/or
The plurality of work control modes includes a remote work mode in which the vehicle control system is configured to form a remote work control instruction for manipulating the work tool work based on remote work information from which the remote work device transmits information, the tool work control instruction including the remote work control instruction. In some embodiments of the emergency rescue system, the chassis system includes:
a vehicle body;
wheels mounted below the vehicle body; and
a walking leg mechanism mounted below the vehicle body;
wherein the chassis system has two motion modes of a wheeled travel mode in which the chassis system moves through the wheels and a walking travel mode in which the chassis system moves through the walking leg mechanism;
Wherein the air-ground cooperative control system is configured to select one of the two motion modes, the vehicle control system further configured to control the chassis system to travel according to the selected motion mode.
In some embodiments, the emergency rescue system includes a plurality of different work tools and a tool changing device configured to selectively mount the plurality of work tools to the chassis system.
A second aspect of the present application provides a control method of an emergency rescue system according to the first aspect of the present application, including:
the vehicle control system acquires environment information of a ground view angle of an environment in which the emergency rescue vehicle is located;
the unmanned aerial vehicle control system acquires environment information of an air view angle of the environment where the emergency rescue vehicle is located;
the air-ground cooperative control system forms a recommended running track according to the environment information of the ground view angle and the environment information of the air view angle and forms automatic running control information according to the recommended running track, and selects one running control mode from a plurality of running control modes to drive the chassis system through the vehicle control system, wherein the plurality of running control modes comprise an automatic running mode, and the chassis system is driven according to the automatic running control information to drive the chassis system along the recommended running track and/or is driven according to the corrected running control information formed based on the automatic running control information to drive the chassis system along the corrected running track formed based on the recommended running track; and/or the air-ground cooperative control system forms a recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle and forms automatic operation control information according to the recommended operation track, and selects one operation control mode from a plurality of operation control modes to operate the operation tool through the vehicle control system, wherein the plurality of operation control modes comprise an automatic operation mode, and the operation tool is operated according to the automatic running control information in the automatic operation mode so as to operate the operation tool along the recommended operation track and/or the operation tool is operated according to the correction operation control information formed based on the automatic operation control information so as to operate the operation tool along the correction operation track formed based on the recommended operation track.
In some embodiments, the control method includes:
in the automatic running mode, the vehicle control system forms an automatic running control instruction for controlling the chassis system to run according to the automatic running control information, wherein the chassis running control instruction comprises the automatic running control instruction, and/or the vehicle control system forms the correction running control information according to the automatic running control information and real-time detection information detected by the vehicle control system and forms a real-time running control instruction for controlling the chassis system to run according to the correction running control information, and the chassis running control instruction comprises the real-time running control instruction; and/or
In the automatic operation mode, the vehicle control system forms an automatic operation control instruction for operating the operation tool according to the automatic operation control information, the tool operation control instruction comprises the automatic operation control instruction, and/or the vehicle control system forms the correction operation control information according to the automatic operation control information and real-time detection information detected by the vehicle control system and forms a real-time operation control instruction for operating the operation tool according to the correction operation control information, and the tool operation control instruction comprises the real-time operation control instruction.
In some embodiments, the control method includes: the vehicle control system acquires first obstacle and terrain information of the environment, acquires real-time position information of the vehicle of the emergency rescue vehicle, creates a first terrain map of a ground view angle according to the first obstacle and terrain information and the real-time position information of the vehicle, and transmits the first terrain map to the air-ground cooperative control system, wherein the environment information of the ground view angle comprises the first terrain map, forms a chassis running control instruction and an implement operation control instruction, controls the chassis system to run according to the chassis running control instruction and controls the operation implement operation according to the implement operation control instruction, and the real-time detection information comprises the first obstacle and terrain information of the environment and the real-time position information of the vehicle of the emergency rescue vehicle.
In some embodiments, the vehicle control system further obtains first graphical information of the environment and transmits the first graphical information to the air-ground cooperative control system.
In some embodiments, the control method includes: the unmanned aerial vehicle control system acquires second obstacle and terrain information of the environment, acquires unmanned aerial vehicle real-time position information of the unmanned aerial vehicle, creates a second terrain map of an air viewing angle according to the second obstacle and terrain information and the unmanned aerial vehicle real-time position information, wherein the environment information of the air viewing angle comprises the second terrain map, and transmits the second terrain map to the air-ground cooperative control system.
In some embodiments, the control method includes: the unmanned aerial vehicle control system receives unmanned aerial vehicle control information and controls the unmanned aerial vehicle to fly and control the unmanned aerial vehicle perception module of the unmanned aerial vehicle control system to act according to the unmanned aerial vehicle control information.
In some embodiments, the unmanned aerial vehicle control information is generated by the air-ground cooperative control system; or the unmanned aerial vehicle control information is generated by a remote control device of the air-ground cooperative control system.
In some embodiments, the unmanned aerial vehicle control system further obtains second graphical information of the environment and transmits the second graphical information to the air-ground cooperative control system.
In some embodiments, the control method includes: the air-ground cooperative control system generates comprehensive environment information of the environment according to the environment information of the ground view angle and the environment information of the air view angle, acquires real-time position information of a console of the air-ground cooperative control system, forms the recommended running track and/or the recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle or according to the comprehensive environment information, generates the automatic running control information according to the recommended running track and the automatic operation control information according to the recommended operation track, displays the environment information of the ground view angle, the environment information of the air view angle and the comprehensive environment information of the environment, and displays the recommended running track and/or the recommended operation track.
In some embodiments, the air-ground cooperative control system includes a remote control working device; wherein the control method comprises:
selecting a remote control running mode from the plurality of running control modes, wherein in the remote control running mode, the vehicle control system forms a remote control running control instruction for controlling the chassis system to run according to remote control running information sent by the remote control operation device, and the chassis running control instruction comprises the remote control running control instruction; and/or
And selecting a remote control operation mode from the plurality of operation control modes, wherein in the remote control operation mode, the vehicle control system forms a remote control operation control instruction for operating the operation tool according to remote control operation information sent by the remote control operation device, and the tool operation control instruction comprises the remote control operation control instruction.
In some embodiments, the chassis system includes a vehicle body, wheels and a walking leg mechanism, the wheels and the walking leg mechanism being installed under the vehicle body, the chassis system having two movement modes of a wheeled travel mode in which the chassis system is moved by the wheels and a walking travel mode in which the chassis system is moved by the walking leg mechanism; the control method comprises the following steps: the air-ground cooperative control system selects one of the two motion modes, and the vehicle control system controls the chassis system to run according to the selected motion mode.
According to the emergency rescue system provided by the application, the environment information of the ground view angle can be acquired by the vehicle control system of the emergency rescue vehicle, the environment information of the air view angle can be acquired by the unmanned aerial vehicle, so that the air-ground cooperative control system can acquire the real-time environment information of a more accurate rescue site, the site environment change can be found timely, the air-ground cooperative control system can provide automatic running control information for the vehicle control system of the emergency rescue vehicle according to the real-time environment information of the rescue site in an automatic running mode, the vehicle control system forms an automatic running control instruction for operating the chassis system to run and operate the operation tool based on the automatic running control information, the vehicle control system can provide automatic operation control information for the vehicle control system of the emergency rescue vehicle according to the real-time environment information of the rescue site in an automatic operation mode, the vehicle control instruction for operating the operation tool is formed based on the automatic operation control information, the emergency rescue vehicle can quickly and safely reach a disaster site, and the safety of operators in the rescue site, especially in the site with possible explosion or collapse or toxic and harmful gas is improved.
The control method of the emergency rescue system has the advantages of the emergency rescue system.
Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic structural diagram of an emergency rescue system according to an embodiment of the present disclosure.
Fig. 2 is a functional block diagram of a vehicle control system, an unmanned aerial vehicle control system, and an air-ground cooperative control system of an emergency rescue system according to an embodiment of the present disclosure.
Fig. 3 is a control flow chart of a control method of an embodiment of the present disclosure.
Fig. 4 is a control flow diagram of an emergency rescue vehicle of a control method according to an embodiment of the present disclosure.
Fig. 5 is a control flow chart of an air-ground cooperative console of a control method according to an embodiment of the present disclosure.
In fig. 1 to 2, each reference numeral represents:
101. an unmanned aerial vehicle body; 102. a chassis system; 103-a multifunctional operating system; 104-console body.
200. An air-ground cooperative control system; 201. an air-ground cooperative display module; 202. an air-ground collaborative terrain module; 203. an air-ground co-location module; 204. an air-ground collaborative planning module; 205. an air-ground cooperative control module; 206. and the air-ground cooperative wireless communication module.
300. An unmanned aerial vehicle control system; 301. the unmanned aerial vehicle perception module; 302. a unmanned aerial vehicle terrain module; 303. the unmanned aerial vehicle positioning module; 304. the unmanned aerial vehicle control module; 305. and the unmanned aerial vehicle wireless communication module.
400. A vehicle control system; 401. a vehicle sensing module; 402. a vehicle terrain module; 403. a vehicle positioning module; 404. a vehicle planning module; 405. a vehicle control module; 406. and a vehicle wireless communication module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for defining the components, and are merely for convenience in distinguishing the corresponding components, and the terms are not meant to have any special meaning unless otherwise indicated, so that the scope of the present application is not to be construed as being limited.
In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
As shown in fig. 1 and 2, an embodiment of the present disclosure provides an emergency rescue system. The emergency rescue system comprises an emergency rescue vehicle, an unmanned aerial vehicle and an air-ground cooperative control console.
The emergency rescue vehicle includes a vehicle body and a vehicle control system 400. The vehicle control system 400 is mounted on the vehicle body. The vehicle body includes a chassis system 102 and a multifunction operating system 103. Multifunctional work system 103 includes a work implement for mounting to chassis system 102. The chassis system 102 is configured to drive an emergency rescue vehicle. The work implement is configured to perform a rescue operation work. The vehicle control system 400 is configured to obtain environmental information of a ground perspective of an environment in which the emergency rescue vehicle is located and to form chassis travel control instructions and to operate the chassis system 102 to travel in accordance with the chassis travel control instructions and to form implement work control instructions and to operate work implement work in accordance with the implement work control instructions.
The drone includes a drone body 101 and a drone control system 300. The unmanned aerial vehicle control system 300 is mounted on the unmanned aerial vehicle body 101 and is configured to acquire environmental information of an air view angle of an environment in which the emergency rescue vehicle is located and to operate the unmanned aerial vehicle to fly.
The air-ground cooperative console includes a console body 104 and an air-ground cooperative control system 200. The air-ground cooperative control system 200 is disposed on the console body 104. The air-ground cooperative control system 200 communicates wirelessly with the vehicle control system 400 and the unmanned aerial vehicle control system 300.
The hollow cooperative control system 200 is configured to:
forming a recommended traveling track according to the environmental information of the ground view angle and the environmental information of the air view angle and forming automatic traveling control information according to the recommended traveling track, and selecting one traveling control mode among a plurality of traveling control modes to operate the chassis system 102 through the vehicle control system 400, the plurality of traveling control modes including an automatic traveling mode in which the chassis system 102 is operated according to the automatic traveling control information to cause the chassis system 102 to travel along the recommended traveling track and/or the corrected traveling control information formed based on the automatic traveling control information to cause the chassis system 102 to travel along the corrected traveling track formed based on the recommended traveling track; and/or
Forming a recommended work track based on the environmental information from the ground perspective and the environmental information from the air perspective and forming automatic work control information based on the recommended work track, and selecting one of a plurality of work control modes including an automatic work mode in which the work tool is operated according to the automatic travel control information to cause the work tool to work along the recommended work track and/or a corrected work control information formed based on the automatic work control information to cause the work tool to work along the corrected work track formed based on the recommended work track, to operate the work tool through the vehicle control system 400.
The emergency rescue system disclosed by the embodiment of the invention can acquire the environment information of the ground view angle by the vehicle control system of the emergency rescue vehicle, and acquire the environment information of the air view angle by the unmanned aerial vehicle, so that the air-ground cooperative control system obtains the real-time environment information of a more accurate rescue site, the site environment change is found in time, the air-ground cooperative control system can provide automatic running control information for the vehicle control system of the emergency rescue vehicle according to the real-time environment information of the rescue site in an automatic running mode, the vehicle control system forms an automatic running control instruction for controlling the chassis system to run and operate the operation tool based on the automatic running control information, the vehicle control system can provide the automatic operation control information for the vehicle control system of the emergency rescue vehicle according to the real-time environment information of the rescue site in the automatic operation mode, the vehicle control system can quickly and safely reach the disaster site, and the safety of operators in the rescue site, especially in the site with possible explosion or collapse or toxic and harmful gas is improved.
In the emergency rescue system of some embodiments, in the automatic travel mode, the vehicle control system 400 is configured to form an automatic travel control instruction for manipulating the chassis system 102 to travel according to the automatic travel control information, the chassis travel control instruction includes the automatic travel control instruction, and/or the vehicle control system 400 is configured to form corrected travel control information according to the automatic travel control information and real-time detection information detected by the vehicle control system 400 and form a real-time travel control instruction for manipulating the chassis system 102 to travel according to the corrected travel control information, the chassis travel control instruction includes the real-time travel control instruction; and/or in the automatic operation mode, the vehicle control system 400 is configured to form automatic operation control instructions for operating the work tool according to the automatic operation control information, the tool operation control instructions include the automatic operation control instructions, and/or the vehicle control system 400 is configured to form correction operation control information according to the automatic operation control information and real-time detection information detected by the vehicle control system 400 and form real-time operation control instructions for operating the work tool according to the correction operation control information, the tool operation control instructions include the real-time operation control instructions.
The vehicle control mode of the emergency rescue system can realize automatic running and/or automatic operation control of the corresponding emergency rescue vehicle, and operators do not need to enter a rescue site. Wherein the operation of operating the chassis system 102 by the real-time traveling control information and/or the operation of operating the working tool by the real-time operation control information can be controlled based on the automatic traveling control information and/or the automatic operation control information on the one hand, so as to control the emergency rescue vehicle based on the environmental information in a larger range, and on the other hand, the real-time detection information around the emergency rescue vehicle detected by the vehicle control system 400 can be referred to perform fine adjustment of the traveling and the rescue operation of the emergency rescue vehicle, thereby enabling faster and better execution of the rescue operation.
As shown in fig. 2, in the emergency rescue system of some embodiments, the vehicle control system 400 includes a vehicle wireless communication module 406, a vehicle perception module 401, a vehicle positioning module 403, a vehicle topography module 402, a vehicle planning module 404, and a vehicle control module 405.
The vehicle wireless communication module 406 is configured to wirelessly communicate with the air-ground cooperative control system 200.
The vehicle perception module 401 is configured to obtain first obstacle and terrain information for an environment.
The vehicle positioning module 403 is configured to obtain vehicle real-time location information of the emergency rescue vehicle.
The vehicle terrain module 402 is in signal communication with the vehicle perception module 401, the vehicle localization module 403, and the vehicle wireless communication module 406, and is configured to create a first terrain map of the ground perspective from the first obstacle and terrain information and the vehicle real-time location information. The environmental information for the ground perspective includes a first topography.
The vehicle planning module 404 is in signal connection with the vehicle awareness module 401, the vehicle positioning module 403, and the vehicle wireless communication module 406 and is configured to form chassis travel control commands and implement work control commands. The real-time detection information includes first obstacle of the environment where the vehicle terrain module 402 detects and the vehicle real-time position information of the emergency rescue vehicle detected by the vehicle positioning module 403.
The vehicle control module 405 is in signal communication with the vehicle planning module 404, the chassis system 102, and the multifunction operating system 103 and is configured to operate the chassis system 102 to travel in accordance with the chassis travel control instructions and to operate the work implement in accordance with the implement work control instructions.
In the emergency rescue system of some embodiments, the vehicle perception module 401 is further configured to obtain first graphical information of the environment.
The vehicle sensing module 401 includes, for example: a first terrain acquisition device configured to acquire first obstacle and terrain information; and/or a first graphics acquisition device configured to acquire the first graphics information.
The first terrain acquisition device is, for example, a first lidar. The first obstacle and the terrain information are obstacle and terrain information acquired from a ground view, mainly side information of the terrain. The number of the first terrain acquisition devices may be set to a plurality. For example, a plurality of first terrain acquisition devices may be respectively arranged around the vehicle so as to acquire first obstacle and terrain information in respective directions of the front, rear, left, right of the vehicle. After the emergency rescue vehicle enters the rescue site, the first obstacle and the topographic information comprise obstacle information around the emergency rescue vehicle. Of course, a movable first terrain acquisition device may also be provided to increase the range of detection of the first terrain acquisition device, for example, the first terrain acquisition device being changeable in detection angle or changeable in position relative to the vehicle body of the emergency rescue vehicle. The first terrain acquisition device may be, for example, a millimeter wave radar, an ultrasonic radar, or other devices capable of acquiring information on obstacles and terrain.
The first graphic acquisition device may be, for example, a first camera, where the first graphic information is an image. The first graphics acquisition device may be, for example, a first camera, where the first graphics information is a photograph. The first graphic information is graphic information acquired from a ground view angle, mainly side information of a landform. The number of the first graphic acquisition devices may be set to a plurality. For example, a plurality of first pattern acquisition devices may be arranged around the vehicle body, respectively, so as to acquire first pattern information in each direction of the front, rear, left, right, and the vehicle body. After the emergency rescue vehicle enters the rescue site, the first graphic information comprises barrier information around the emergency rescue vehicle. Of course, a movable first pattern acquisition device may be provided to increase the range of detection by the first pattern acquisition device, for example, the first pattern acquisition device being changeable in detection angle or changeable in position with respect to the vehicle body of the emergency rescue vehicle.
As shown in fig. 2, in the emergency rescue system of some embodiments, the drone control system 300 includes a drone wireless communication module 305, a drone perception module 301, a drone positioning module 303, a drone terrain module 302, and a drone control module 304.
The drone wireless communication module 305 is configured to wirelessly communicate with the air-ground cooperative control system 200.
The drone perception module 301 is configured to acquire second obstacle and terrain information for the environment.
The drone locating module 303 is configured to obtain drone real-time location information for the drone.
The unmanned aerial vehicle terrain module 302 is in signal connection with the unmanned aerial vehicle perception module 301, the unmanned aerial vehicle positioning module 303 and the unmanned aerial vehicle wireless communication module 305, and is configured to create a second terrain map of an air viewing angle according to the second obstacle and the terrain information and the unmanned aerial vehicle real-time position information, and the environment information of the air viewing angle comprises the second terrain map.
The drone control module 304 is in signal connection with the drone wireless communication module 305 and is configured to receive drone control information via the drone wireless communication module 305 and to maneuver the drone flight and maneuver the drone perception module 301 in accordance with the drone control information.
In the emergency rescue system of some embodiments, the drone perception module 301 is further configured to obtain second graphical information of the environment.
In the emergency rescue system of some embodiments, the unmanned aerial vehicle perception module 301 includes: a second terrain acquisition device configured to acquire second obstacle and terrain information; and/or a second graphics acquisition device configured to acquire second graphics information.
The second terrain acquisition device is, for example, a second lidar. The second obstacle and terrain information is obstacle and terrain information acquired from an aerial view, and is mainly overhead information of the terrain. The number of second lidars may be more than two. A movable second terrain acquisition device may also be provided to increase the range of detection of the second terrain acquisition device, for example, the second terrain acquisition device being changeable in detection angle or changeable in position relative to the drone body 101. The second terrain acquisition device may be, for example, a millimeter wave radar, an ultrasonic radar, or other devices capable of acquiring information on obstacles and terrain.
The second graphic acquisition device may be, for example, a second camera, where the second graphic information is an image. The second graphic acquisition device may be, for example, a second camera, in which case the second graphic information is a photograph. The second graphic information is graphic information acquired from an aerial view angle, mainly top view information of the landform. The number of the second graphic acquisition devices may be set to two or more. A movable second pattern acquisition device may also be provided to increase the range of detection of the second pattern acquisition device, for example, the second pattern acquisition device being changeable in detection angle or changeable in position relative to the emergency rescue drone.
Compared with a topographic map, the graphic information is more visual, and is beneficial for operators to observe the environment where the vehicle is located.
In the emergency rescue system of some embodiments, the space and ground cooperative control system 200 is configured to automatically generate unmanned aerial vehicle control information; alternatively, the air-ground cooperative control system 200 includes a remote control device through which the unmanned aerial vehicle control information is generated.
As shown in fig. 2, in the emergency rescue system of some embodiments, the air-ground cooperative control system 200 includes an air-ground cooperative wireless communication module 206, an air-ground cooperative topography module 202, an air-ground cooperative positioning module 203, an air-ground cooperative planning module 204, an air-ground cooperative display module 201, and an air-ground cooperative control module 205.
The air-ground cooperative wireless communication module 206 is configured to wirelessly communicate with the vehicle control system 400 and the drone control system 300.
The air-ground collaborative terrain module 202 is configured to generate comprehensive environmental information of the environment from the environmental information of the ground perspective and the environmental information of the air perspective. The integrated environment information is, for example, a three-dimensional topographic map in which the first topographic map and the second topographic map are merged, or a modified two-dimensional topographic map formed on the basis of the first topographic map and the second topographic map.
The air-to-ground co-location module 203 is configured to obtain console real-time location information of the air-to-ground co-control system 400.
The air-ground collaborative planning module 204 is configured to form a recommended travel trajectory and/or a recommended work trajectory based on the environmental information of the ground perspective and the environmental information of the air perspective or based on the integrated environmental information.
The air-ground cooperative display module 201 is configured to display environment information of a ground view angle, environment information of an air view angle, and comprehensive environment information of an environment, and to display a recommended travel track and/or a recommended work track. The environmental information of the ground view angle includes, for example, a first topographic map and first graphic information, and the environmental information of the air view angle includes, for example, a second topographic map and second graphic information. The graphic information is, for example, a photograph or an image. The integrated environment information is, for example, an integrated topography.
The air-ground cooperative control module 205 is in signal connection with the air-ground cooperative display module 201 and the air-ground cooperative wireless communication module 206, and is configured to generate automatic travel control information according to a recommended travel track and/or generate automatic job control information according to a recommended job track.
In some embodiments of the emergency rescue system, the air-ground cooperative control system 200 includes a remote control operation device; wherein the plurality of travel control modes includes a remote travel mode in which the vehicle control system 400 is configured to form a remote travel control instruction for manipulating the chassis system 102 to travel based on remote travel information transmitted from the remote operation device, the chassis travel control instruction including a remote travel control instruction; and/or the plurality of work control modes include a tele-work mode in which the vehicle control system 400 is configured to form a tele-work control instruction for manipulating a work implement work based on the tele-work information transmitted by the tele-work device, the implement work control instruction including the tele-work control instruction. In the emergency rescue system of some embodiments, the plurality of driving control modes include an automatic driving mode and a remote control driving mode, the plurality of operation control modes include an automatic operation mode and a remote control operation mode, the air-ground cooperative control system 200 may take different control modes according to different conditions of an environment in which the emergency rescue vehicle is located, for example, a remote control driving mode, a remote control operation mode, an automatic driving mode, an automatic operation mode, and a combination of different modes may be selected, and the combination of different modes includes, for example, a combination of a remote control driving mode and a remote control operation mode, a combination of an automatic driving mode and an automatic operation mode, and the like.
As shown in fig. 1, in the emergency rescue system of some embodiments, the chassis system 102 includes a vehicle body 1021, wheels 1023, and a walking leg mechanism 1024. The wheel 1023 is mounted below the vehicle body 1021. The walking leg mechanism 1024 is mounted below the vehicle body 1021. Wherein the chassis system 102 has a wheeled travel mode in which the chassis system 102 is moved by the wheels 1023 and a walking travel mode in which the chassis system 102 is moved by the walking leg mechanism 1024. The air-ground cooperative control system 200 is configured to select one of two modes of motion, and the vehicle control system 400 is further configured to control the chassis system 102 to travel in accordance with the selected mode of motion.
Through setting up wheel 1023 and leg mechanism 1024, can drive the emergent rescue vehicle through wheel 1023 under the comparatively smooth operating mode of topography and travel fast to reach the rescue place as early as possible, can drive emergent rescue vehicle through leg mechanism 1024 and stride obstacle or trench etc. under the rugged operating mode of topography such as mountain region, jungle etc. in the walking mode of travelling, do benefit to emergent rescue vehicle and avoid the barrier and travel, do benefit to emergent rescue vehicle and reach the rescue place as early as possible equally.
In the emergency rescue system of some embodiments, the multi-function work system 103 includes a plurality of different work tools and a tool changing device configured to selectively mount the plurality of work tools on the chassis system 102.
By adopting the multifunctional operation system 103, the tool replacing device and the quick-change mechanism, different operation tools can be quickly switched, and under different working conditions of emergency rescue, corresponding rescue operation tasks such as excavation, shearing, expanding and cutting can be completed, so that the operation capability of the emergency rescue system is improved.
The embodiment of the disclosure also provides a control method of the emergency rescue system based on the embodiment of the disclosure. The control method comprises the following steps: the vehicle control system 400 acquires environmental information of a ground view angle of an environment in which the emergency rescue vehicle is located; the unmanned aerial vehicle control system 300 acquires environmental information of an air view angle of the environment in which the emergency rescue vehicle is located; the air-ground cooperative control system 200 forms a recommended traveling track according to the environmental information of the ground view angle and the environmental information of the air view angle and forms automatic traveling control information according to the recommended traveling track, and selects one traveling control mode among a plurality of traveling control modes including an automatic traveling mode in which the chassis system 102 is manipulated according to the automatic traveling control information to cause the chassis system 102 to travel along the recommended traveling track and/or the chassis system 102 is manipulated according to corrected traveling control information formed based on the automatic traveling control information to cause the chassis system 102 to travel along the corrected traveling track formed based on the recommended traveling track; and/or the air-ground cooperative control system 200 forms a recommended operation locus according to the environmental information of the ground view and the environmental information of the air view and forms automatic operation control information according to the recommended operation locus, and selects one operation control mode among a plurality of operation control modes including an automatic operation mode in which the operation tool is operated according to the automatic travel control information to operate the operation tool along the recommended operation locus and/or a corrected operation control information formed based on the automatic operation control information to operate the operation tool along the corrected operation locus formed based on the recommended operation locus.
In some embodiments, the control method includes: in the automatic travel mode, the vehicle control system 400 forms an automatic travel control instruction for manipulating the chassis system 102 to travel according to the automatic travel control information, the chassis travel control instruction includes the automatic travel control instruction, and/or the vehicle control system 400 forms corrected travel control information according to the automatic travel control information and real-time detection information detected by the vehicle control system 400 and forms a real-time travel control instruction for manipulating the chassis system 102 to travel according to the corrected travel control information, the chassis travel control instruction includes the real-time travel control instruction; and/or in the automatic operation mode, the vehicle control system 400 forms an automatic operation control instruction for operating the working tool according to the automatic operation control information, the tool operation control instruction includes the automatic operation control instruction, and/or the vehicle control system 400 forms a correction operation control information according to the automatic operation control information and the real-time detection information detected by the vehicle control system 400 and forms a real-time operation control instruction for operating the working tool according to the correction operation control information, and the tool operation control instruction includes the real-time operation control instruction.
In some embodiments, the control method includes: the vehicle control system 400 acquires first obstacle and terrain information of the environment, acquires vehicle real-time position information of the emergency rescue vehicle, creates a first terrain map of a ground view according to the first obstacle and terrain information and the vehicle real-time position information, and transmits the first terrain map to the air-ground cooperative control system 200, the environment information of the ground view comprises the first terrain map, forms chassis running control instructions and implement operation control instructions, and controls the chassis system 102 to run according to the chassis running control instructions and operates the operation implement operation according to the implement operation control instructions, and the real-time detection information comprises the first obstacle and the terrain information of the environment and the vehicle real-time position information of the emergency rescue vehicle.
In the control method of some embodiments, the vehicle control system 400 also acquires first graphic information of the environment and transmits the first graphic information to the air-ground cooperative control system 200.
In some embodiments, the control method includes: the unmanned aerial vehicle control system 300 acquires second obstacle and terrain information of the environment, acquires unmanned aerial vehicle real-time position information of the unmanned aerial vehicle, creates a second terrain map of an air viewing angle according to the second obstacle and terrain information and the unmanned aerial vehicle real-time position information, the environment information of the air viewing angle includes the second terrain map, and transmits the second terrain map to the air-ground cooperative control system 200.
In some embodiments, the control method includes: the drone control system 300 receives the drone control information and manipulates the drone to fly and manipulates the drone perception module 301 of the drone control system 300 to act according to the drone control information.
In the control method of some embodiments, the unmanned aerial vehicle control information is generated by the air-ground cooperative control system 200; alternatively, the unmanned aerial vehicle control information is generated by a remote control operation device of the air-ground cooperative control system 200.
In the control method of some embodiments, the unmanned aerial vehicle control system 300 also acquires second graphic information of the environment, and transmits the second graphic information to the air-ground cooperative control system 200.
In some embodiments, the control method includes: the air-ground cooperative control system 200 generates comprehensive environmental information of the environment according to the environmental information of the ground view angle and the environmental information of the air view angle, acquires real-time position information of a console of the air-ground cooperative control system 400, recommends a traveling track and/or a recommended operation track, generates automatic traveling control information according to the recommended traveling track and automatic operation control information according to the recommended operation track, displays the environmental information of the ground view angle, the environmental information of the air view angle and the comprehensive environmental information of the environment, and displays the recommended traveling track and/or the recommended operation track.
In some embodiments of the control method, the air-ground cooperative control system 200 includes a remote control work device; the control method comprises the following steps: selecting a remote control running mode from a plurality of running control modes, wherein in the remote control running mode, the vehicle control system 400 forms a remote control running control instruction for controlling the chassis system 102 to run according to remote control running information sent by a remote control operation device, and the chassis running control instruction comprises the remote control running control instruction; and/or selecting a remote operation mode among a plurality of operation control modes, in which the vehicle control system 400 forms a remote operation control instruction for operating the work tool according to the remote operation information transmitted by the remote operation device, the tool operation control instruction including the remote operation control instruction.
In the control method of some embodiments, the plurality of running control modes include an automatic running mode and a remote control running mode, the plurality of operation control modes include an automatic operation mode and a remote control operation mode, the air-ground cooperative control system 200 may take different control modes according to different conditions of an environment in which the emergency rescue vehicle is located, for example, a remote control running mode, a remote control operation mode, an automatic running mode, an automatic operation mode, and a combination of different modes may be selected, and the combination of different modes includes, for example, a combination of a remote control running mode and a remote control operation mode, a combination of an automatic running mode and an automatic operation mode, and the like.
In the control method of some embodiments, the chassis system 102 includes a vehicle body 1021, wheels 1023, and a walking leg mechanism 1024, the wheels 1023 and the walking leg mechanism 1024 are mounted below the vehicle body 1021, the chassis system 102 has two movement modes of a wheeled running mode in which the chassis system 102 moves through the wheels 1023 and a walking running mode in which the chassis system 102 moves through the walking leg mechanism 1024; the control method comprises the following steps: the air-ground cooperative control system 200 selects one of two motion modes, and the vehicle control system 400 controls the chassis system 102 to travel according to the selected motion mode.
The control method of the emergency rescue system provided by the embodiment of the application has the advantages of the emergency rescue system provided by the embodiment of the application.
According to the emergency rescue system and the control method of the emergency rescue system, based on the space-ground cooperative emergency rescue vehicle, the unmanned aerial vehicle control system, the vehicle control system and the space-ground cooperative control system are used for cooperatively controlling, so that the three-dimensional graphic monitoring of the space and the ground and the display of obstacle and topographic information on the comprehensive rescue scene are realized, a recommended running track and/or a recommended operation track are provided for operators, the operators can decide according to real-time conditions, the emergency rescue tasks under various complex conditions can be completed in various forms such as a remote control running mode, a remote control operation mode, an automatic running mode, an automatic operation mode or a combination of any one of a plurality of running control modes and any one of a plurality of operation control modes, and the completion rate of the rescue operation tasks and the safety of the operators can be guaranteed.
The emergency rescue system and control method of some embodiments of the present disclosure are described in further detail below in conjunction with fig. 1-5.
As shown in fig. 1, the emergency rescue system mainly comprises an emergency rescue vehicle, an unmanned aerial vehicle and an air-ground cooperative control console. The emergency rescue vehicle includes a vehicle body and a vehicle control system 400. The vehicle body includes a chassis system 102 and a multifunction operating system 103. The chassis system 102 includes a vehicle body 1021, a cab 1022, wheels 1023, and a walking leg mechanism 1024. Multifunctional work system 103 includes a plurality of different work tools and tool changing devices. The drone includes a drone body 101 and a drone control system 300. The air-ground cooperative console includes a console body 104 and an air-ground cooperative control system 200.
As shown in fig. 2, the vehicle control system 400 includes a vehicle wireless communication module 406, a vehicle perception module 401, a vehicle positioning module 403, a vehicle terrain module 402, a vehicle planning module 404, and a vehicle control module 405. The vehicle perception module 401 includes a first lidar as a first terrain acquisition device and a first camera as a first pattern acquisition device.
The vehicle control system 400 is installed on a vehicle body 1201 of the emergency rescue vehicle, and is responsible for video monitoring, obstacle and topography detection of the environment with a ground view angle, controlling the chassis system 102 to complete a running task, controlling the working machine of the multifunctional working system 103 to complete a working task, and the like.
The vehicle perception module 401 acquires first graphic information of a ground view angle through a first camera as a first graphic acquisition device, and acquires first obstacle and terrain information through a first lidar as a first terrain acquisition device.
The vehicle terrain module 402 synchronously creates a first terrain map of the ground perspective based on the acquired first obstacle and terrain information.
The vehicle positioning module 403 provides real-time location information of the emergency rescue vehicle.
The vehicle planning module 404 receives the automatic driving control information and the automatic operation control information transmitted by the air-ground cooperative control system 200 through the vehicle wireless communication module 406, receives real-time detection information, such as first obstacle and terrain information and vehicle real-time position information, detected in real time by the vehicle sensing module 401 and the vehicle positioning module 403 of the vehicle control system 400, and forms an automatic driving control instruction and an automatic tool operation control instruction to issue to the vehicle control module 405.
The vehicle control module 405 may operate the chassis system 102 to perform tasks such as wheeled running in a wheeled running mode or walking running in a walking running mode according to an automatic running control instruction, and operate a working implement of the multifunctional working system 103 to perform rescue operation according to an automatic operation control instruction, and the like.
The vehicle planning module 404 may also receive remote control running information and remote control operation information of a remote control operation device of the air-ground cooperative control system 200, and form a remote control running control instruction and a remote control operation control instruction according to the remote control running control information and the remote control operation control information, and issue the remote control running control instruction to the vehicle control module 405, and the vehicle control module 405 controls the chassis system 102 according to the remote control running control instruction to complete tasks such as wheeled running in a wheeled running mode or walking running in a walking running mode, and controls the operation tool of the multifunctional operation system 103 according to the remote control operation control instruction to execute rescue operation, and the like.
The vehicle wireless communication module 406 enables image and data communication between the vehicle control system 400 and the air-ground cooperative control system 200.
The unmanned aerial vehicle control system 300 includes an unmanned aerial vehicle wireless communication module 305, an unmanned aerial vehicle perception module 301, an unmanned aerial vehicle positioning module 303, an unmanned aerial vehicle terrain module 302, and an unmanned aerial vehicle control module 304. The drone perception module 301 includes a second lidar as a second terrain acquisition device and a second camera as a second graphics acquisition device.
The unmanned aerial vehicle body 101 carries an unmanned aerial vehicle control system 300 and is responsible for video monitoring, obstacle detection and terrain detection corresponding to the environment where the emergency rescue vehicle is located in an air view angle.
The images acquired by the second image acquisition device are transmitted to the air-ground cooperative control system 200 as second image information in real time through the unmanned aerial vehicle wireless communication module 305 and the air-ground cooperative wireless communication module 206. The second obstacle and the terrain information acquired by the second terrain acquisition device are processed to create a second terrain map, and are transmitted to the air-ground cooperative control system 200 in real time through the unmanned aerial vehicle wireless communication module 305 and the air-ground cooperative wireless communication module 206.
The drone positioning module 303 provides real-time location information of the drone.
The unmanned aerial vehicle control module 304 controls the unmanned aerial vehicle to lift, fall, control the actions of the second graph acquisition device and the second terrain acquisition device, and the like.
The unmanned aerial vehicle wireless communication module 305 realizes image and data communication between the unmanned aerial vehicle control system 300 and the air-ground cooperative control system 200.
As shown in fig. 3, in some embodiments, the drone control information that controls the drone may be formed by an operator manipulating a remote operator.
The air-ground cooperative control system 200 includes an air-ground cooperative wireless communication module 206, an air-ground cooperative topography module 202, an air-ground cooperative positioning module 203, an air-ground cooperative planning module 204, an air-ground cooperative display module 201, and an air-ground cooperative control module 205.
The console body 104 of the air-ground cooperative console may have two forms: portable or vehicle-mounted. Wherein the portable volume is relatively small and can be dragged by a single person; the vehicle-mounted type vehicle can be placed in an emergency rescue and guarantee vehicle for transportation.
As shown in fig. 1, the console body 104 of the air-ground cooperative console in this embodiment is a vehicle-mounted console body, and the air-ground cooperative console 104 mainly includes a host, a display screen and a remote control device. Remote control operation devices such as operation handles, buttons, switches, etc. may also be integrated with the display screen and provided in the form of an operation screen. A seat is also provided as the in-vehicle console body 104 so that an operator can simulate the operation in the cab of the emergency rescue vehicle and remotely control the emergency rescue vehicle. The air-to-ground cooperative console host may integrate an air-to-ground cooperative wireless communication module 206, an air-to-ground cooperative topography module 202, an air-to-ground cooperative positioning module 203, an air-to-ground cooperative planning module 204, and an air-to-ground cooperative control module 205. The display screen serves as an air-ground cooperative display module 201. The host receives the graphic information, the obstacle and the terrain information from the unmanned aerial vehicle and the emergency rescue vehicle through the air-ground cooperative wireless communication module 206, and presents the comprehensive environment information processed by the air-ground cooperative terrain module 202 to an operator through a display screen. The display screen may also display the first topography, the first image, the second topography, and the second image simultaneously.
The air-ground collaborative planning module 204 analyzes the comprehensive environmental information to generate a recommended travel track and a recommended job track. The air-ground cooperative control module 205 generates automatic travel control information and automatic job control information from the recommended travel track and the recommended job track.
In addition, the operator operates the remote control device for the operator to make control mode selections and sport mode selections to determine in which control mode the emergency rescue vehicle is controlling and to determine in which sport mode the chassis system 102 is in the wheeled and walking modes of travel.
In some embodiments, the control modes may include, for example, an automatic travel mode, an automatic operation mode, a remote control travel mode, and a remote control operation mode.
The automatic travel mode may be an automatic travel mode in which the chassis system 102 corresponding to the emergency rescue vehicle is automatically controlled based on the automatic travel control information, or an automatic travel mode in which the chassis system 102 corresponding to the emergency rescue vehicle is automatically controlled based on the real-time travel control information. The two automatic control modes can be automatically switched according to the set conditions. The setting condition is, for example, a sudden obstacle or a sudden obstacle that has been avoided.
The automatic operation mode may be an automatic operation mode in which the operation tool corresponding to the emergency rescue vehicle is automatically controlled based on the automatic operation control information, or an automatic operation mode in which the operation tool corresponding to the emergency rescue vehicle is automatically controlled based on the real-time operation control information. The two automatic control modes can be automatically switched according to the set conditions. The setting condition is, for example, a sudden obstacle or a sudden obstacle that has been avoided.
In the automatic travel mode, the air-ground cooperative wireless communication module 206 and the vehicle wireless communication module 406 transmit automatic travel control information to the vehicle control system 400, and the vehicle control system 400 generates an automatic travel control instruction to control the chassis system 102 of the emergency rescue vehicle. The spatiotemporal cooperative control system 200 may also receive information transmitted back by the vehicle control system 400 to stop the current mission. The remote control driving mode is directly operated by an operator to send out remote control driving control information by operating the remote control operation device so as to operate the chassis system 102 of the emergency rescue vehicle.
In the automatic operation mode, the automatic operation control information is transmitted to the vehicle control system 400 through the air-ground cooperative wireless communication module 206 and the vehicle wireless communication module 406, and an automatic operation control instruction is generated by the vehicle control system 400 to realize the control of the operation tool of the emergency rescue vehicle. The spatiotemporal cooperative control system 200 may also receive information transmitted back by the vehicle control system 400 to stop the current mission. The remote control operation mode is that an operator directly sends out remote control information through operating the remote control operation device so as to operate the operation tool of the emergency rescue vehicle.
In the emergency rescue system of some embodiments, the air-ground cooperative display module 201 displays video monitoring information in a multi-screen form. A side view image of the surroundings of the emergency vehicle is obtained by the vehicle control system 400. Four first cameras are arranged on the front, rear, left and right of the vehicle body 1021 to acquire images of the front, rear, left and right sides of the vehicle body 1012 as first graphic information, and the first graphic information is transmitted to the air-ground cooperative display module 201 for display through the vehicle wireless communication module 406 and the air-ground cooperative wireless communication module 206. A top view image of the environment in which the emergency rescue vehicle is located is acquired by the unmanned aerial vehicle control system 300. A second camera is arranged on the unmanned aerial vehicle body 101 to acquire a overlook image of the environment where the emergency rescue vehicle is located as second graphic information, and the second graphic information is transmitted to the air-ground cooperative display module 201 for display through the unmanned aerial vehicle wireless communication module 305 and the air-ground cooperative wireless communication module 206. The air-ground cooperative topography module 202 receives the first obstacle and topography information transmitted from the vehicle control module 400 and the second obstacle and topography information transmitted from the unmanned aerial vehicle control module 300, and outputs the comprehensive environmental information to the air-ground cooperative display module 201 in a two-dimensional or three-dimensional form to display the air-ground cooperative display module 201. A split screen may be used to display different images and topographies.
The air-to-ground co-location module 203 provides real-time location information of the air-to-ground co-console.
The air-ground collaborative planning module 204 generates a recommended travel track according to the obstacle and terrain information and the vehicle positioning information, generates a recommended work track, and displays the recommended work track in the air-ground collaborative display module 201. On the one hand, the system can provide manual remote control for operators, and on the other hand, the system can also send the system to the vehicle control system 400 through the air-ground cooperative wireless communication module 206 and the vehicle wireless communication module 406 for automatic driving or automatic operation. The recommended travel track is generated, for example, for a point-to-point travel task. The recommended job trajectory is generated, for example, for an excavation job task.
The air-ground cooperative control module 205 implements control of the emergency rescue vehicle, and is used for generating and issuing automatic vehicle control information for operating the emergency rescue vehicle to run and executing rescue operation.
The air-ground cooperative wireless communication module 206 realizes image and data communication among the air-ground cooperative control system 200, the unmanned aerial vehicle control system 300, and the vehicle control system 400.
As shown in fig. 3, the control flow of the unmanned aerial vehicle of an embodiment is as follows:
step S101, starting the unmanned aerial vehicle, remotely controlling the unmanned aerial vehicle by an operator through a remote control device, acquiring a ground image of an air view angle serving as second graphic information in real time by using a second camera serving as second graphic acquisition equipment, and acquiring ground obstacle and terrain information of the air view angle, namely second obstacle and terrain information by using a second laser radar serving as second terrain acquisition equipment.
In step S102, the ground image of the air viewing angle is sent to the air-ground cooperative control system 200 through the unmanned aerial vehicle wireless communication module 305.
In step S103, a topography map of the air view angle, i.e., a second topography map, is created using the unmanned aerial vehicle topography module 302.
In step S104, the topographic map of the air-to-ground perspective is transmitted to the air-to-ground cooperative control system 200 through the unmanned aerial vehicle wireless communication module 305.
Step S105, ending the collection task, and returning the unmanned aerial vehicle to the unmanned aerial vehicle landing platform by the remote control of an operator. The unmanned landing platform may be disposed on a console body of the air-ground cooperative console 104, for example.
As shown in fig. 4, the control flow of the emergency rescue vehicle of an embodiment is as follows:
step S201, starting the emergency rescue vehicle, acquiring a ground image of a ground view angle as first graphic information in real time by using a first camera as a first graphic acquisition device, and acquiring ground obstacle and terrain information of the ground view angle, namely, first obstacle and terrain information by using a first laser radar as a first terrain acquisition device.
In step S202, the ground image of the ground perspective is transmitted to the air-ground cooperative control system 200 through the vehicle wireless communication module 406.
In step S203, a topography map of the ground perspective, i.e., a first topography map, is created using the vehicle topography module 402.
In step S204, the topography of the ground perspective is transmitted to the air-ground cooperative control system 200 through the vehicle wireless communication module 406.
In step S205, the recommended travel track and the recommended tool work track transmitted by the air-ground cooperative control system 200 are received by the vehicle wireless communication module 406.
In step S206, the operator may also refer to the recommended driving track and the recommended tool operation track to make a determination according to the video monitoring information and the topographic map displayed by the air-ground cooperative display module 201, and determine whether to perform manual remote control. If yes, press the "remote control" button, go to step S207, enter remote control driving mode and remote control operation mode; if not, the "remote control" button is not pressed, and step S209 is executed to enter the automatic travel mode and the automatic work mode.
In step S207, the vehicle planning module 404 receives the remote control running control information and the remote control operation control information sent by the air-ground cooperative control system 200 through the vehicle wireless communication module 406 to form a remote control running control instruction and a remote control operation control instruction.
In step S208, the vehicle planning module 404 issues a remote control running control command and a remote control operation control command to the vehicle control module 405 to control the emergency rescue vehicle chassis system 102 to run and operate the working tools.
Step S209, the operator judges whether to enter an automatic running mode according to the recommended running track and the recommended tool operation track provided by the air-ground cooperative control system 200, if so, the operator presses an 'automatic running' button to execute step S210 and enter the automatic running mode; if not, the "automatic travel" button is not pressed, step S219 is performed to enter the automatic operation mode, or the automatic operation mode may be entered by pressing the "automatic operation" button.
In step S210, the vehicle planning module 404 receives the automatic driving control information formed according to the recommended driving trajectory sent by the air-ground cooperative control system 200.
In step S211, the vehicle planning module 404 generates an automatic travel control command according to the automatic vehicle automatic travel control information, and issues the automatic travel control command to the vehicle control module 405 to control the automatic travel of the chassis system 102 of the emergency rescue vehicle.
In step S212, the vehicle planning module 404 performs local track planning such as obstacle detouring and obstacle detouring according to the real-time detection information, forms corrected driving control information, and forms real-time driving control instructions according to the corrected driving control information.
In step S213, the vehicle planning module 404 determines whether obstacle detouring is possible. If yes, go to step S214; if not, step S215 is performed.
In step S214, the vehicle planning module 404 generates an automatic driving control command, and issues the automatic driving control command to the vehicle control module 405 to control the chassis system 102 of the emergency rescue vehicle to complete automatic driving.
In step S215, the vehicle planning module 404 determines whether the obstacle can be crossed. If yes, go to step S216; if not, step S217 is performed.
In step S216, the vehicle planning module 404 generates a walking motion control signal, and the vehicle control module 405 controls the chassis system 102 of the emergency rescue vehicle to complete the driving task in the walking driving mode.
In step S217, the vehicle planning module 404 issues a parking instruction and sends a remote take-over request to the air-ground cooperative control system 200.
Step S218, after receiving the remote take over request, the air-ground cooperative control system 200 prompts the operator that "automatic running cannot be continued and remote take over is needed", and the operator presses the "remote control" button to execute step S207 and switch to the remote control running mode and the remote control operation mode.
In step S219, the vehicle planning module 404 receives the automatic job control information formed according to the recommended job trajectory transmitted from the air-ground cooperative wireless communication module 206 and the vehicle wireless communication module 406 by the air-ground cooperative control system 200.
In step S220, the vehicle planning module 404 generates an automatic operation control command from the automatic operation control information, and issues the automatic operation control command to the vehicle control module 405 to control the automatic operation of the operation tool of the emergency rescue vehicle.
In step S221, the vehicle planning module 404 performs local track planning such as obstacle detouring according to the real-time detection information, so as to form correction operation control information.
In step S222, the vehicle planning module 404 determines whether an obstacle can be detoured. If yes, step S223 is performed; if not, step S224 is performed.
In step S223, the vehicle planning module 404 generates a real-time operation control command according to the corrected operation control information, and issues the real-time operation control command to the vehicle control module 405 to control the operation tool of the emergency rescue vehicle to complete automatic operation.
In step S224, the vehicle planning module 404 issues a parking instruction and sends a remote take-over request to the air-ground cooperative control system 200.
Step S225, after receiving the remote take-over request, the air-ground cooperative control system 200 prompts the operator that "automatic operation cannot be continued and remote take-over is needed", and the operator presses the "remote control" button to execute step S207 to switch to the remote control running mode and the remote control operation mode.
As shown in fig. 5, the control flow of the air-ground cooperative control system 200 according to an embodiment is as follows:
In step S301, the first graphic information, the second graphic information, the first obstacle and the terrain information, and the second obstacle and the terrain information transmitted by the unmanned plane control system 300 and the vehicle control system 400 are received.
In step S302, the space-to-ground cooperative display module 201 displays image information.
In step S303, the air-ground collaborative terrain module 202 generates a terrain map (ground view + air view) by fusing the first terrain map of the ground view transmitted by the vehicle control system 400 and the second terrain map of the air view transmitted by the unmanned aerial vehicle control system 300, that is, a comprehensive terrain map as comprehensive environmental information.
In step S304, the space-to-ground cooperative display module 201 displays the comprehensive topography.
In step S305, the space-to-ground collaborative planning module 204 generates a recommended travel track and a recommended job track according to the integrated topography.
In step S306, the operator may also refer to the recommended driving track and the recommended tool operation track to make a determination according to the video monitoring information, the obstacle and the topographic information displayed by the air-ground cooperative display module 201, and determine whether to perform manual remote control. If yes, go to step S307; if not, the "remote control" button is not pressed, and step S308 is executed to enter the automatic travel control mode and the automatic work control mode.
Step S307, the "remote control" button is pressed to enter the remote travel control mode and the remote operation control mode, and the remote travel control information and the remote operation control information are transmitted to the vehicle control system 400.
Step S308, the operator judges whether to enter an automatic driving mode according to the recommended driving track and the recommended operation track provided by the air-ground collaborative planning module 204, and if so, step S309 is executed; if not, step S310 is performed.
Step S309, the "automatic travel" button is pressed, and the vehicle enters an automatic travel mode, and the automatic travel control information is transmitted to the vehicle control system 400.
In step S310, the "automatic operation" button is pressed, and the vehicle enters an automatic operation mode, and automatic operation control information is transmitted to the vehicle control system 400.
Step S311, it is determined whether a "no continuous automatic travel" command is received from the vehicle control system 400, and a remote take over command is required. If yes, executing step S307, and switching to a remote control running mode and a remote control operation mode; if not, step S312 is performed.
Step S312, the chassis system 102 continues to be operated in the automatic travel mode.
In step S313, it is determined whether an "unable to continue automatic operation" instruction is received, which is sent from the vehicle control system 400, and a remote take over "instruction is required. If yes, executing step S307, and switching to a remote control running mode and a remote control operation mode; if not, step S314 is performed.
Step S314, the operation of manipulating the work tool in the automatic operation mode is continued.
As can be seen from the above description, the embodiments of the present application provide video information, obstacle and topography information of an air view angle and a ground view angle for an emergency rescue vehicle through an air-ground collaborative operation, provide a recommended running track and a recommended operation track for an operator through an air-ground collaborative planning module of an air-ground collaborative control system, and provide multiple control modes such as an automatic running mode, an automatic operation mode, a remote control running mode, a remote control operation mode, and the like. Aiming at the obstacle situations encountered in the automatic driving and automatic operation process, judging whether obstacle detouring and obstacle crossing can be carried out, and making local track planning, and under the working condition that the task cannot be completed, completing the operation task in a manual remote control mode. The emergency rescue system provides more accurate obstacle and terrain information, provides a control mode suitable for various working conditions, effectively improves the task completion rate of the emergency rescue vehicle, and is beneficial to guaranteeing the operation safety of operators.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; while the application has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications and equivalents of some of the features of the specific embodiments of the present application may be made, and they are all included in the scope of the present application as claimed.
Claims (22)
1. An emergency rescue system, comprising:
an emergency rescue vehicle comprising a vehicle body and a vehicle control system (400), the vehicle control system (400) being mounted on the vehicle body, the vehicle body comprising a chassis system (102) and a multifunctional work system (103), the multifunctional work system (103) comprising a work implement for mounting on the chassis system (102), the chassis system (102) being configured to drive the emergency rescue vehicle to travel, the work implement being configured to perform a rescue operation, the vehicle control system (400) being configured to obtain environmental information of a ground perspective of an environment in which the emergency rescue vehicle is located, to form chassis travel control instructions and to manipulate the chassis system (102) to travel in accordance with the chassis travel control instructions and to form implement work control instructions and to manipulate the work implement work in accordance with the implement work control instructions;
the unmanned aerial vehicle comprises an unmanned aerial vehicle body (101) and an unmanned aerial vehicle control system (300), wherein the unmanned aerial vehicle control system (300) is installed on the unmanned aerial vehicle body (101) and is configured to acquire environment information of an air view angle of an environment where the emergency rescue vehicle is located and operate the unmanned aerial vehicle to fly; and
The air-ground cooperative control console comprises a console body (104) and an air-ground cooperative control system (200), wherein the air-ground cooperative control system (200) is arranged on the console body (104), and the air-ground cooperative control system (200) is in wireless communication with the vehicle control system (400) and the unmanned aerial vehicle control system (300);
wherein the air-ground cooperative control system (200) is configured to:
forming a recommended travel track according to the environment information of the ground view angle and the environment information of the air view angle and forming automatic travel control information according to the recommended travel track, and selecting one travel control mode among a plurality of travel control modes to travel through the chassis system (102) by the vehicle control system (400), the plurality of travel control modes including an automatic travel mode in which the chassis system (102) is maneuvered according to the automatic travel control information to cause the chassis system (102) to travel along the recommended travel track and/or a corrected travel control information formed based on the automatic travel control information is maneuvered to cause the chassis system (102) to travel along a corrected travel track formed based on the recommended travel track; and/or
Forming a recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle, forming automatic operation control information according to the recommended operation track, and selecting one operation control mode from a plurality of operation control modes to operate the operation tool through the vehicle control system (400), wherein the plurality of operation control modes comprise an automatic operation mode, and operating the operation tool according to the automatic running control information in the automatic operation mode so as to enable the operation tool to operate along the recommended operation track and/or operating the operation tool according to correction operation control information formed based on the automatic operation control information so as to enable the operation tool to operate along the correction operation track formed based on the recommended operation track.
2. The emergency rescue system of claim 1, wherein the vehicle is configured to travel,
in the automatic travel mode, the vehicle control system (400) is configured to form an automatic travel control instruction for manipulating the chassis system (102) to travel according to the automatic travel control information, the chassis travel control instruction including the automatic travel control instruction, and/or the vehicle control system (400) is configured to form the corrected travel control information according to the automatic travel control information and real-time detection information detected by the vehicle control system (400) and form a real-time travel control instruction for manipulating the chassis system (102) to travel according to the corrected travel control information, the chassis travel control instruction including the real-time travel control instruction; and/or
In the automatic operation mode, the vehicle control system (400) is configured to form an automatic operation control instruction for operating the operation tool according to the automatic operation control information, the tool operation control instruction comprises the automatic operation control instruction, and/or the vehicle control system (400) is configured to form the correction operation control information according to the automatic operation control information and real-time detection information detected by the vehicle control system (400) and form a real-time operation control instruction for operating the operation tool according to the correction operation control information, and the tool operation control instruction comprises the real-time operation control instruction.
3. The emergency rescue system of claim 2, wherein the vehicle control system (400) includes:
a vehicle wireless communication module (406) configured to wirelessly communicate with the air-ground cooperative control system (200);
a vehicle perception module (401) configured to acquire first obstacle and terrain information of the environment;
a vehicle positioning module (403) configured to obtain the vehicle real-time location information of the emergency rescue vehicle;
a vehicle terrain module (402) in signal connection with the vehicle perception module (401), the vehicle localization module (403) and the vehicle wireless communication module (406) configured to create a first topography map of a ground perspective from the first obstacle and terrain information and the vehicle real-time location information, the environment information of the ground perspective comprising the first topography map;
A vehicle planning module (404) in signal connection with the vehicle sensing module (401), the vehicle positioning module (403) and the vehicle wireless communication module (406) and configured to form the chassis running control instruction and the implement operation control instruction, wherein the real-time detection information comprises first obstacle and terrain information of the environment where the vehicle terrain module (402) detects and vehicle real-time position information of the emergency rescue vehicle detected by the vehicle positioning module (403); and
a vehicle control module (405) in signal connection with the vehicle planning module (404), the chassis system (102) and the multi-function work system (103) configured to operate the chassis system (102) to travel in accordance with the chassis travel control instructions and to operate the work implement in accordance with the implement work control instructions.
4. The emergency rescue system of claim 3, wherein the vehicle perception module (401) is further configured to obtain first graphical information of the environment.
5. The emergency rescue system of claim 1, wherein the unmanned aerial vehicle control system (300) comprises:
a drone wireless communication module (305) configured to wirelessly communicate with the air-ground cooperative control system (200);
An unmanned aerial vehicle perception module (301) configured to acquire second obstacle and terrain information of the environment;
a drone locating module (303) configured to obtain drone real-time location information of the drone;
an unmanned aerial vehicle terrain module (302) in signal connection with the unmanned aerial vehicle perception module (301), the unmanned aerial vehicle positioning module (303) and the unmanned aerial vehicle wireless communication module (305) and configured to create a second terrain map of an air viewing angle according to the second obstacle and terrain information and the unmanned aerial vehicle real-time position information, wherein the environment information of the air viewing angle comprises the second terrain map;
and the unmanned aerial vehicle control module (304) is in signal connection with the unmanned aerial vehicle wireless communication module (305) and is configured to receive unmanned aerial vehicle control information through the unmanned aerial vehicle wireless communication module (305) and control the unmanned aerial vehicle to fly and control the unmanned aerial vehicle sensing module (301) to act according to the unmanned aerial vehicle control information.
6. The emergency rescue system of claim 5, wherein the drone perception module (301) is further configured to obtain second graphical information of the environment.
7. The emergency rescue system of claim 5, wherein the air-ground cooperative control system (200) is configured to automatically generate the unmanned aerial vehicle control information; alternatively, the air-ground cooperative control system (200) includes a remote control device by which the unmanned aerial vehicle control information is generated.
8. The emergency rescue system of claim 1, wherein the air-ground cooperative control system (200) includes:
an air-ground cooperative wireless communication module (206) configured to wirelessly communicate with the vehicle control system (400) and the drone control system (300);
an air-ground collaborative terrain module (202) configured to generate comprehensive environmental information of the environment from environmental information of the ground perspective and environmental information of the air perspective;
an air-to-ground co-location module (203) configured to obtain console real-time location information of the air-to-ground co-control system (400);
an air-ground collaborative planning module (204) configured to form the recommended travel track and/or the recommended work track according to the environmental information of the ground view angle and the environmental information of the air view angle or according to the comprehensive environmental information;
an air-ground cooperative display module (201) configured to display environment information of the ground view angle, environment information of the air view angle, and comprehensive environment information of the environment, and to display the recommended travel track and/or the recommended work track;
and the air-ground cooperative control module (205) is in signal connection with the air-ground cooperative display module (201) and the air-ground cooperative wireless communication module (206) and is configured to generate the automatic running control information according to the recommended running track and/or generate the automatic operation control information according to the recommended operation track.
9. Emergency rescue system according to claim 1, characterized in that the air-ground cooperative control system (200) comprises a remote control working device; wherein the method comprises the steps of
The plurality of travel control modes include a remote travel mode in which the vehicle control system (400) is configured to form a remote travel control instruction for maneuvering travel of the chassis system (102) based on remote travel information transmitted by the remote operation device, the chassis travel control instruction including the remote travel control instruction; and/or
The plurality of work control modes includes a remote work mode in which the vehicle control system (400) is configured to form a remote work control instruction for manipulating the work tool work based on remote work information transmitted by the remote work device, the tool work control instruction including the remote work control instruction.
10. Emergency rescue system according to any one of claims 1 to 9, characterized in that the chassis system (102) comprises:
a vehicle body (1021);
a wheel (1023) mounted below the vehicle body (1021); and
a walking leg mechanism (1024) mounted below the vehicle body (1021);
Wherein the chassis system (102) has two motion modes, a wheeled travel mode in which the chassis system (102) is moved by the wheels (1023) and a walking travel mode in which the chassis system (102) is moved by the walking leg mechanism (1024);
wherein the air-ground cooperative control system (200) is configured to select one of the two motion modes, the vehicle control system (400) being further configured to control the chassis system (102) to travel according to the selected motion mode.
11. The emergency rescue system of any one of claims 1 to 9, wherein the multi-function work system (103) includes a plurality of different work tools and a tool changing device configured to selectively mount the plurality of work tools on the chassis system (102).
12. A control method based on an emergency rescue system according to any one of claims 1 to 11, characterized by comprising:
the vehicle control system (400) acquires environment information of a ground view angle of an environment in which the emergency rescue vehicle is located;
the unmanned aerial vehicle control system (300) acquires environment information of an air view angle of the environment where the emergency rescue vehicle is located;
The air-ground cooperative control system (200) forms a recommended travel track according to the environment information of the ground view angle and the environment information of the air view angle and forms automatic travel control information according to the recommended travel track, and selects one travel control mode among a plurality of travel control modes to operate the chassis system (102) through the vehicle control system (400), the plurality of travel control modes including an automatic travel mode in which the chassis system (102) is operated according to the automatic travel control information to cause the chassis system (102) to travel along the recommended travel track and/or a corrected travel control information formed based on the automatic travel control information is operated to cause the chassis system (102) to travel along the corrected travel track formed based on the recommended travel track; and/or the air-ground cooperative control system (200) forms a recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle and forms automatic operation control information according to the recommended operation track, and selects one operation control mode from a plurality of operation control modes to operate the operation tool through the vehicle control system (400), wherein the plurality of operation control modes comprise an automatic operation mode, and the operation tool is operated according to the automatic running control information to operate the operation tool along the recommended operation track and/or is operated according to the correction operation control information formed based on the automatic operation control information to operate the operation tool along the correction operation track formed based on the recommended operation track.
13. The control method according to claim 12, characterized in that the control method includes:
in the automatic running mode, the vehicle control system (400) forms an automatic running control instruction for operating the chassis system (102) to run according to the automatic running control information, the chassis running control instruction comprises the automatic running control instruction, and/or the vehicle control system (400) forms the corrected running control information according to the automatic running control information and real-time detection information detected by the vehicle control system (400) and forms a real-time running control instruction for operating the chassis system (102) to run according to the corrected running control information, and the chassis running control instruction comprises the real-time running control instruction; and/or
In the automatic operation mode, the vehicle control system (400) forms an automatic operation control instruction for operating the operation tool according to the automatic operation control information, the tool operation control instruction comprises the automatic operation control instruction, and/or the vehicle control system (400) forms the correction operation control information according to the automatic operation control information and real-time detection information detected by the vehicle control system (400) and forms a real-time operation control instruction for operating the operation tool according to the correction operation control information, and the tool operation control instruction comprises the real-time operation control instruction.
14. The control method according to claim 13, characterized in that the control method includes: the vehicle control system (400) acquires first obstacle and terrain information of the environment, acquires the real-time vehicle position information of the emergency rescue vehicle, creates a first terrain map of a ground view angle according to the first obstacle and terrain information and the real-time vehicle position information, and transmits the first terrain map to the air-ground cooperative control system (200), wherein the environment information of the ground view angle comprises the first terrain map, forms the chassis running control instruction and the tool operation control instruction, controls the chassis system (102) to run according to the chassis running control instruction and controls the operation tool operation according to the tool operation control instruction, and the real-time detection information comprises the first obstacle and terrain information of the environment and the real-time vehicle position information of the emergency rescue vehicle.
15. The control method according to claim 14, wherein the vehicle control system (400) further acquires first graphical information of the environment, and transmits the first graphical information to the air-ground cooperative control system (200).
16. The control method according to claim 12, characterized in that the control method includes: the unmanned aerial vehicle control system (300) acquires second obstacle and terrain information of the environment, acquires unmanned aerial vehicle real-time position information of the unmanned aerial vehicle, creates a second terrain map of an air viewing angle according to the second obstacle and terrain information and the unmanned aerial vehicle real-time position information, wherein the environment information of the air viewing angle comprises the second terrain map, and transmits the second terrain map to the air-ground cooperative control system (200).
17. The control method according to claim 16, characterized in that the control method includes: the unmanned aerial vehicle control system (300) receives unmanned aerial vehicle control information and controls the unmanned aerial vehicle to fly and controls an unmanned aerial vehicle sensing module (301) of the unmanned aerial vehicle control system (300) to act according to the unmanned aerial vehicle control information.
18. The control method according to claim 17, characterized in that the unmanned aerial vehicle control information is automatically generated by the air-ground cooperative control system (200); or, the unmanned aerial vehicle control information is generated by a remote control device of the air-ground cooperative control system (200).
19. The control method according to claim 16, wherein the drone control system (300) further obtains second graphical information of the environment, and communicates the second graphical information to the air-ground cooperative control system (200).
20. The control method according to claim 12, characterized in that the control method includes: the air-ground cooperative control system (200) generates comprehensive environment information of the environment according to the environment information of the ground view angle and the environment information of the air view angle, acquires real-time position information of a console of the air-ground cooperative control system (400), forms the recommended running track and/or the recommended operation track according to the environment information of the ground view angle and the environment information of the air view angle or according to the comprehensive environment information, generates the automatic running control information according to the recommended running track and the automatic operation control information according to the recommended operation track, displays the environment information of the ground view angle, the environment information of the air view angle and the comprehensive environment information of the environment, and displays the recommended running track and/or the recommended operation track.
21. The control method according to claim 12, characterized in that the air-ground cooperative control system (200) includes a remote control operation device; wherein the control method comprises:
selecting a remote control running mode from the plurality of running control modes, wherein in the remote control running mode, the vehicle control system (400) forms a remote control running control instruction for controlling the chassis system (102) to run according to remote control running information sent by the remote control operation device, and the chassis running control instruction comprises the remote control running control instruction; and/or selecting a remote control operation mode from the plurality of operation control modes, wherein in the remote control operation mode, the vehicle control system (400) forms a remote control operation control instruction for operating the operation tool according to remote control operation information sent by the remote control operation device, and the tool operation control instruction comprises the remote control operation control instruction.
22. The control method according to any one of claims 12 to 21, characterized in that the chassis system (102) includes a vehicle body (1021), wheels (1023) and a walking leg mechanism (1024), the wheels (1023) and the walking leg mechanism (1024) being mounted below the vehicle body (1021), the chassis system (102) having two movement modes of a wheeled travel mode in which the chassis system (102) is moved by the wheels (1023) and a walking travel mode in which the chassis system (102) is moved by the walking leg mechanism (1024); the control method comprises the following steps: the air-ground cooperative control system (200) selects one of the two motion modes, and the vehicle control system (400) controls the chassis system (102) to run according to the selected motion mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310620059.XA CN116859983A (en) | 2023-05-29 | 2023-05-29 | Emergency rescue system and control method thereof |
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| CN202310620059.XA CN116859983A (en) | 2023-05-29 | 2023-05-29 | Emergency rescue system and control method thereof |
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