CN117289636A - External interaction system for underground intelligent vehicle - Google Patents
External interaction system for underground intelligent vehicle Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23051—Remote control, enter program remote, detachable programmer
Abstract
The application relates to the field of vehicle interaction systems and discloses an external interaction system for an underground intelligent vehicle, which comprises the underground intelligent vehicle, wherein a sensing module, a control module and a state feedback module are arranged on a vehicle body of the underground intelligent vehicle; the ground terminal is used for displaying the operation state, transmission data and interaction results of the underground intelligent vehicle; the communication module is used for bidirectional communication between the underground intelligent vehicle and the ground terminal, and transmitting data, control signals and early warning information of the sensing module and the man-machine interaction module; the sensing module is used for collecting position, speed, attitude angle information and underground environment information of the vehicle, and the ground terminal comprises a virtual reality module. According to the invention, by adding the virtual reality technology into the interaction system, the interaction experience and the operation efficiency of a user and the underground intelligent vehicle can be greatly improved, and meanwhile, the safety and the stability of the system can be improved, so that the development and the application of the underground intelligent vehicle interaction system in the underground industrial application are promoted.
Description
Technical Field
The invention relates to the technical field of vehicle interaction systems, in particular to an external interaction system for an underground intelligent vehicle.
Background
Downhole exploration techniques are highly dangerous because of the variety of complex conditions in the downhole environment, including high temperature, high pressure, high humidity, toxic gases, and complex geologic structures. In order to ensure the safety of exploration personnel, an underground intelligent vehicle system is generated. The system can enable exploration personnel not to directly enter a dangerous area in person to conduct exploration in a remote control mode, and therefore accidents are greatly reduced.
In a traditional underground intelligent vehicle interaction system, communication between an exploration person and an intelligent vehicle is relatively difficult, the exploration person cannot directly acquire key information detected by the vehicle, and correct decisions are more difficult to quickly make. Furthermore, conventional systems typically provide only a few basic two-dimensional and three-dimensional graphic presentations, making it difficult to truly render a downhole situation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an external interaction system for an underground intelligent vehicle, which solves the problems that the traditional external interaction system for the underground intelligent vehicle is relatively difficult to communicate by man and machine, key information is difficult to obtain directly, and underground conditions are difficult to present truly.
In order to achieve the above purpose, the invention is realized by the following technical scheme: an external interaction system for a smart car downhole, comprising:
the system comprises an underground intelligent vehicle, wherein a sensing module, a control module and a state feedback module are arranged on a vehicle body of the underground intelligent vehicle;
the ground terminal is used for displaying the operation state, transmission data and interaction results of the underground intelligent vehicle;
the communication module is used for bidirectional communication between the underground intelligent vehicle and the ground terminal, and transmitting data, control signals and early warning information of the sensing module and the man-machine interaction module;
the sensing module is used for collecting position, speed and attitude angle information of the vehicle and underground environment information;
the control module is used for controlling the movement of the vehicle, carrying out navigation and path planning and adjusting the speed and direction of the vehicle based on the data of the sensing module so as to ensure safe running;
the state feedback module is used for providing vehicle, environment information and warning feedback for the ground terminal;
the ground terminal comprises a virtual reality module, wherein the virtual reality module is used for converting real-time working states of the underground intelligent vehicle and underground environment information into virtual environments, and the virtual environments are displayed on the ground terminal in real time and can control the underground intelligent vehicle.
Preferably, the sensing module includes:
the pose sensor is used for measuring state information of the vehicle and comprises a gyroscope, an accelerometer and a magnetometer;
the visual sensor is used for acquiring images around the vehicle and point cloud data so as to assist navigation and control of the vehicle, and comprises a camera and a laser radar;
an acoustic sensor for detecting sound around the vehicle and object distance information to assist obstacle avoidance and positioning of the vehicle, comprising a microphone, an ultrasonic sensor;
environmental sensors for detecting environmental information surrounding the vehicle to help the vehicle adapt to complex downhole environments include temperature, humidity, air pressure, gas sensors.
Preferably, the virtual reality module includes:
the virtual engine module is used for creating, updating, rendering and presenting a virtual reality scene and processing interaction requests and feedback of users;
the environment modeling module is used for processing and analyzing the information acquired from the sensing module to construct a virtual model of the underground environment for presentation and operation;
and the user interaction module interacts with the virtual engine module to control the movement operation of the underground intelligent vehicle.
Preferably, the user interaction module comprises a head-mounted display and a handle.
Preferably, the communication module includes:
the data transmission module is used for transmitting real-time data information of the underground intelligent vehicle to the ground terminal, and transmitting control signals and instructions of the ground terminal back to the underground intelligent vehicle so as to ensure real-time communication between the underground intelligent vehicle and the ground terminal;
the real-time monitoring module is used for monitoring the stability, the safety and the data transmission rate of the communication module in real time, and carrying out early warning and abnormal condition processing on communication faults and abnormal states;
and the data security module is used for encrypting and decrypting the data and protecting the security and privacy of communication data between the underground intelligent vehicle and the ground terminal.
Preferably, the control module includes:
the motion control module is used for controlling the motion state of the vehicle and guaranteeing the running stability and safety of the underground intelligent vehicle;
the path planning module is used for selecting an optimal vehicle running path through an algorithm and a model according to the data and task requirements of the sensing module, and providing accurate path planning and autonomous navigation for the underground intelligent vehicle;
and the motion adjusting module is used for adjusting the speed and the direction of the vehicle in real time based on the motion state of the vehicle, communication and navigation data, so as to ensure the accurate motion and task execution of the underground intelligent vehicle in a complex environment.
Preferably, the state feedback module includes:
the operation feedback module is responsible for feeding back the real-time state and environment information of the underground intelligent vehicle to the ground terminal and making real-time response to instructions, feedback signals and the like of the ground terminal;
and the warning prompt module is used for warning and prompting abnormal conditions, dangerous conditions and suspicious behaviors in real time based on the data of the underground sensing module and the control module.
Preferably, the external interactive system further comprises an artificial intelligence module for analyzing the data collected by the sensing module through machine learning and deep learning algorithms to optimize the operation and production benefits of the vehicle, and simultaneously predict equipment failures and maintenance requirements.
Preferably, the external interactive system further comprises a data storage module for storing the data collected from the sensing module, the artificial intelligence module and the communication module for later data analysis.
The invention provides an interaction method of the external interaction system, which comprises the following steps:
the control module of the underground intelligent vehicle controls the motion of the vehicle to navigate and plan a path based on the data acquired by the sensing module, and adjusts the speed and the direction of the vehicle so as to ensure safe running;
the state feedback module of the underground intelligent vehicle provides vehicle state, environment information and warning feedback for the ground terminal;
the user interacts with the underground intelligent vehicle through the ground terminal, and simultaneously monitors the operation state, transmission data and interaction result of the underground intelligent vehicle;
the virtual reality module converts the real-time working state of the underground intelligent vehicle and the underground environment information into a virtual environment, and the virtual environment is displayed on the ground terminal in real time;
the user interacts with the underground intelligent vehicle through the user interaction module to intervene and control the movement operation of the underground intelligent vehicle.
The invention provides an external interaction system for an underground intelligent vehicle. The beneficial effects are as follows:
1. according to the invention, the real-time working state and the underground environment information of the underground intelligent vehicle are converted into the virtual environment through the arranged virtual reality module and are displayed on the ground terminal in real time, so that a user can directly operate and monitor the operation of the underground intelligent vehicle to realize remote control and regulation, and can grasp the state and the environment condition of the underground intelligent vehicle more intuitively and clearly to realize remote real-time control, command, monitoring and scheduling of the vehicle; meanwhile, the virtual reality module can simulate various complex underground environment conditions and emergency scenes, help users to make more reasonable and scientific decisions and processes, improve the safety, intelligent level and working efficiency of the underground intelligent vehicle, and provide safer, efficient and intelligent working environment for workers in the underground field.
2. According to the invention, by adding the virtual reality technology into the interaction system, the interaction experience and the operation efficiency of a user and the underground intelligent vehicle can be greatly improved, and meanwhile, the safety and the stability of the system can be improved, so that the development and the application of the underground intelligent vehicle interaction system in the underground industrial application are promoted.
Drawings
FIG. 1 is a diagram of an external interactive system framework of the present invention;
FIG. 2 is a schematic diagram of a downhole intelligent vehicle of the present invention;
FIG. 3 is a schematic diagram of a sensing module according to the present invention;
FIG. 4 is a schematic diagram of a control module according to the present invention;
FIG. 5 is a schematic diagram of a status feedback module according to the present invention;
FIG. 6 is a schematic diagram of a ground terminal of the present invention;
FIG. 7 is a schematic diagram of a virtual reality module according to this invention;
FIG. 8 is a schematic diagram of a user interaction module according to the present invention;
FIG. 9 is a schematic diagram of a communication module according to the present invention;
FIG. 10 is a schematic diagram of an external interaction system according to an embodiment of the present invention;
FIG. 11 is a schematic diagram of an external interaction system according to an embodiment of the present invention;
FIG. 12 is a diagram of steps of an interactive method according to the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-12, an embodiment of the present invention provides an external interaction system for a downhole intelligent vehicle;
as shown in fig. 1, the external interaction system comprises an underground intelligent vehicle and a ground terminal, wherein the underground intelligent vehicle is communicated with the ground terminal through a communication module;
in the embodiment, the underground intelligent vehicle is an intelligent robot capable of autonomously moving, collecting and processing data in an underground environment; the ground terminal is used for communication and control with the intelligent vehicle, is usually used by operators, and has the main tasks of monitoring the running condition of the underground intelligent vehicle, collecting underground environment data, modifying the control parameters and task planning of the vehicle, and displaying the operation state, transmission data and interaction result of the underground intelligent vehicle.
As shown in fig. 2, a sensing module, a control module and a state feedback module are installed on the underground intelligent vehicle body;
specifically, the sensing module is used for collecting position, speed and attitude angle information of the vehicle and underground environment information; the control module is used for controlling the movement of the vehicle, carrying out navigation and path planning, and adjusting the speed and direction of the vehicle so as to ensure safe driving based on the data of the sensing module; the state feedback module is used for providing vehicle, environment information and warning feedback for the ground terminal;
as shown in fig. 3, in some embodiments, the perception module includes: the pose sensor is used for measuring state information of the vehicle and comprises a gyroscope, an accelerometer and a magnetometer;
in the above-described embodiments, the pose sensor is mainly used to measure state information of a vehicle, such as a position, a direction, a speed, and the like of the vehicle in a three-dimensional space, and generally includes various sensors such as a gyroscope, an accelerometer, and a magnetometer, which calculate the pose and the position of the vehicle by measuring physical quantities such as acceleration, angular velocity, and magnetic field of the vehicle. This information is important for navigation, positioning and control of the vehicle.
In some embodiments, the perception module further comprises: the visual sensor is used for acquiring images around the vehicle and point cloud data so as to assist navigation and control of the vehicle, and comprises a camera and a laser radar;
in the above embodiments, the vision sensor is mainly used for acquiring images and point cloud data around the vehicle to assist navigation and control of the vehicle, and generally includes various sensors such as a camera and a laser radar, which reconstruct three-dimensional shape and position information of surrounding objects by capturing reflection and scattering of light around the vehicle. This information is important for the vehicle to avoid obstacles, detect and identify surrounding objects.
In some embodiments, the perception module further comprises: an acoustic sensor for detecting sound around the vehicle and object distance information to assist obstacle avoidance and positioning of the vehicle, comprising a microphone, an ultrasonic sensor;
in the above embodiments, the acoustic sensor is mainly used to detect sound around the vehicle and object distance information to assist in obstacle avoidance and positioning of the vehicle, and generally includes various sensors such as a microphone and an ultrasonic sensor, which calculate distance and direction information by receiving surrounding sound and measuring an echo time of sound waves. This information is important for vehicle obstacle avoidance, locating and monitoring the status of the surrounding environment.
In some embodiments, the perception module further comprises: environmental sensors for detecting environmental information surrounding the vehicle to help the vehicle adapt to complex downhole environments include temperature, humidity, air pressure, gas sensors.
In the above-described embodiments, the environmental sensor is mainly used to detect environmental information around the vehicle, such as physical quantities of temperature, humidity, air pressure, and gas. The environmental sensor may help the vehicle adapt to complex downhole environments, thereby improving the stability and reliability of the vehicle. This information is important for vehicle parameter adjustment, energy consumption optimization and safety assessment.
In general, the sensing module is a vital part of the automated driving of a down-hole smart car, and is capable of acquiring various information of the surrounding environment of the car and transmitting the information to the control unit of the car for processing and decision-making. Such information may assist the vehicle in achieving highly autonomous navigation and control, thereby making the vehicle travel more safely and efficiently.
As shown in fig. 4, in some embodiments, the control module includes: the motion control module is used for controlling the motion state of the vehicle and guaranteeing the running stability and safety of the underground intelligent vehicle;
in the above embodiment, the motion control module controls the motion state of the vehicle, including parameters such as the vehicle speed, the acceleration, the steering angle, and the like, and ensures the stability and the safety of the vehicle in the running process. In the motion control module, various control algorithms in control theory, such as PID control, model predictive control, etc., are generally applied to realize accurate control of the motion state of the vehicle.
In some embodiments, the control module further comprises: the path planning module is used for selecting an optimal vehicle running path through an algorithm and a model according to the data and task requirements of the sensing module, and providing accurate path planning and autonomous navigation for the underground intelligent vehicle;
in the above embodiment, the path planning module selects the optimal vehicle driving path through the algorithm and the model to meet the task requirements and environmental conditions of the vehicle. The path planning module can combine the data provided by the sensing module, such as information of a map, road conditions, object positions and the like, and the motion control strategy in the control module to determine the optimal vehicle driving path, update the optimal vehicle driving path into the control module and provide autonomous navigation capability for the vehicle.
In some embodiments, the control module further comprises: the motion adjusting module is used for adjusting the speed and the direction of the vehicle in real time based on the motion state of the vehicle, communication and navigation data, so as to ensure that the underground intelligent vehicle accurately moves and executes tasks in a complex environment;
in the above embodiment, the motion adjustment module is a real-time control module in the control module, which adjusts the speed and direction of the vehicle in real time according to the actual motion state of the vehicle, the data of communication and navigation, so as to ensure that the vehicle keeps stability and safety during running, and can accurately perform tasks. In the motion adjustment module, many advanced control algorithms and techniques are commonly applied, such as online parameter estimation, adaptive control, predictive control, etc.
In general, control modules are the core components of an autopilot system responsible for making decisions and controlling vehicle movement. The stability, the safety and the high efficiency of the running of the vehicle are guaranteed through the combined action of the sub-modules such as the motion control module, the path planning module, the motion adjusting module and the like.
As shown in fig. 5, in some embodiments, the state feedback module includes: the operation feedback module is responsible for feeding back the real-time state and environment information of the underground intelligent vehicle to the ground terminal and making real-time response to instructions, feedback signals and the like of the ground terminal;
in the above embodiment, the operation feedback module is a core module in the state feedback module, which transmits real-time state and environmental information of the vehicle to the ground terminal, including vehicle speed, position, posture, camera image, etc., through a high-speed communication network. Meanwhile, the operation feedback module can also realize remote control and monitoring functions, receives ground instructions and controls and adjusts the vehicle in real time through the control module.
In some embodiments, the status feedback module further comprises: the warning prompt module is used for warning and prompting abnormal conditions, dangerous conditions and suspicious behaviors in real time based on the data of the underground sensing module and the control module;
in the above embodiment, the warning prompt module is another important component in the state feedback module, and it analyzes and processes the data of the underground sensing module and the control module to judge the motion state and the environmental condition of the vehicle in real time, and warns and prompts the abnormal condition, the dangerous condition and the suspicious behavior in real time, so as to avoid accidents and losses. The alert prompt module typically has various alert modes, such as sound, image, vibration, etc., to increase its recognition and response efficiency.
In general, the state feedback module feeds back the state and environment information of the underground intelligent vehicle to the ground terminal, and responds to the command and feedback signal of the ground terminal in real time so as to ensure the safety and stability of vehicle running.
It should be noted that the correctness and reliability of the status feedback module is important for the safety and stability of the autopilot system. The control details must be strictly controlled, so that the real-time performance, the accuracy, the reliability and the usability of the system are ensured, and various abnormal conditions and errors are diagnosed and processed in time, so that unpredictable accidents and losses are avoided.
As shown in fig. 6, in some embodiments, the ground terminal includes a virtual reality module, where the virtual reality module is configured to convert real-time operating states of the underground smart car and information of the underground environment into a virtual environment, and present the virtual environment on the ground terminal in real time, and can control the underground smart car.
In the embodiment, the user can directly operate and monitor the operation of the underground intelligent vehicle through the virtual reality interactive interface, so as to realize remote control and adjustment. Through the virtual reality module, a user can grasp the state and the environmental condition of the underground intelligent vehicle more intuitively and clearly, and remote real-time control, command, monitoring and scheduling of the vehicle are realized. Meanwhile, the virtual reality module can simulate various complex underground environment conditions and emergency scenes, help users to make more reasonable and scientific decisions and processes, improve the safety, intelligent level and working efficiency of the underground intelligent vehicle, and provide safer, efficient and intelligent working environment for workers in the underground field.
As shown in fig. 7, in particular, in some embodiments, the virtual reality module includes: the virtual engine module is used for creating, updating, rendering and presenting a virtual reality scene and processing interaction requests and feedback of users;
in the above embodiment, the virtual engine module is mainly responsible for creating, updating, rendering and presenting virtual reality scenes, and processing interactive requests and feedback of users. Virtual Engine modules are typically implemented using game Engine technology, such as Unreal Engine, unity, etc.;
the virtual engine module mainly has the following functions:
scene creation: and creating a virtual reality scene including a vehicle state, a geological structure, an underground environment condition and the like according to the real-time data provided by the sensing module, monitoring dynamic changes in the scene, and updating the virtual scene in time.
And (3) graphic rendering: in virtual scenes, graphics rendering is a very core link responsible for rendering the virtual scene into a 3D image or a 2D image for viewing and interaction by the user.
And (3) interaction processing: in order to realize interaction between a user and a virtual scene, the virtual engine module processes interaction requests such as gestures, voices, sights, operations and the like of the user, and realizes remote control of the underground intelligent vehicle.
In some embodiments, the virtual reality module further comprises: the environment modeling module is used for processing and analyzing the information acquired from the sensing module to construct a virtual model of the underground environment for presentation and operation;
in the above embodiment, the environment modeling module creates the virtual reality scene including the vehicle state, the geological formation, the downhole environment condition, and the like according to the real-time data provided by the sensing module. Besides completing the establishment of the virtual model, the environment modeling module is also required to be responsible for optimizing and managing the model so as to ensure the smoothness and accuracy of the model in the real-time presentation process.
In some embodiments, the virtual reality module further comprises: the user interaction module interacts with the virtual engine module to control the movement operation of the underground intelligent vehicle;
in the above embodiment, the user interaction module is used in cooperation with the virtual engine module, processes the interaction request of the user in real time, and feeds the interaction request back to the intelligent vehicle control system to realize real-time motion and operation control of the vehicle.
In practical applications, the user interaction module needs to work cooperatively with other modules, such as a sensing module, a motion control module, a communication module, etc., so as to realize complete control and adjustment of the entire automatic driving system.
As shown in fig. 8, further, the user interaction module includes a head mounted display and a handle.
In this embodiment, the head-mounted display may display the virtual scene in a stereoscopic manner in front of the eyes of the user, so that the user feels as if the user is in the underground environment, thereby improving the immersion and substitution of the user. Meanwhile, the head-mounted display can be further provided with equipment such as a camera and a sensor, so that the user sight and gestures can be tracked and captured, and more accurate interaction operation on a virtual scene can be realized.
The handle is one of main devices for the user to interact with the virtual scene, and the user can perform control operations such as steering, accelerating, decelerating and the like on the vehicle through the handle. The handle can be connected with the virtual scene in a wireless or wired mode, has the characteristics of low delay, high signal stability and the like, and can provide quick and accurate response when a user controls the underground intelligent vehicle.
In general, by adding the virtual reality technology into the interaction system, the interaction experience and the operation efficiency of a user and the underground intelligent vehicle can be greatly improved, and meanwhile, the safety and the stability of the system can be improved, so that the development and the application of the underground intelligent vehicle interaction system in the underground industrial application are promoted.
As shown in fig. 9, in some embodiments, the communication module includes: the data transmission module is used for transmitting real-time data information of the underground intelligent vehicle to the ground terminal, and transmitting control signals and instructions of the ground terminal back to the underground intelligent vehicle so as to ensure real-time communication between the underground intelligent vehicle and the ground terminal;
in the above embodiment, the data transmission module transmits the real-time data information of the underground intelligent vehicle to the ground terminal, and transmits the control signal and the command of the ground terminal back to the underground intelligent vehicle, so as to ensure the real-time communication between the underground intelligent vehicle and the ground terminal. The data transmission module CAN generally adopt wireless communication technology, such as WIFI, bluetooth, LTE and the like, and CAN also adopt traditional wired communication technology, such as RS232, RS485, CAN and the like. The wireless communication technology has the advantages of being short in distance, high in transmission rate, easy to expand and the like, and the wired communication technology has the advantages of being high in anti-interference performance, high in safety and the like.
In some embodiments, the communication module further comprises: the real-time monitoring module is used for monitoring the stability, the safety and the data transmission rate of the communication module in real time, and carrying out early warning and abnormal condition processing on communication faults and abnormal states;
in the above embodiment, the real-time monitoring module is configured to monitor stability, security, and data transmission rate of the communication module in real time, and perform early warning and abnormal condition handling on communication faults and abnormal conditions. The module generally adopts algorithms and technologies with higher real-time performance, such as data transmission protocol detection, network quality monitoring, fault prediction and the like, and can help ensure the stability and the data transmission success rate of the communication module.
In some embodiments, the communication module further comprises: the data security module is used for encrypting and decrypting the data and protecting the security and privacy of communication data between the underground intelligent vehicle and the ground terminal;
in the above embodiment, the data security module is used for encrypting and decrypting the data, so as to protect the security and privacy of the communication data between the underground intelligent vehicle and the ground terminal. The method can effectively resist the risks of hacking, data leakage and the like, and ensure the privacy and safety of data transmission.
As shown in fig. 10, in some embodiments, the external interactive system further includes an artificial intelligence module for analyzing the data collected by the perception module through machine learning and deep learning algorithms to optimize the operation and production benefits of the vehicle while predicting equipment failure and maintenance requirements;
in the embodiment, the collected data can be subjected to image recognition, voice recognition, action recognition and other processes, so that the automatic recognition and analysis of the information such as environment, vehicles, human bodies and the like are realized. In addition, the artificial intelligent module can predict the running condition and maintenance requirement of the underground intelligent vehicle through data mining and model optimization, and adopts preventive maintenance measures to reduce production delay and loss caused by equipment failure and maintenance.
As shown in fig. 11, in some embodiments, the external interaction system further includes a data storage module for storing data collected from the perception module, the artificial intelligence module, and the communication module for later data analysis;
in the above embodiments, the data storage module generally employs a high-speed and high-reliability storage device, such as a hard disk, a solid state disk, and the like. Meanwhile, in order to ensure the safety and the order of data, the data storage module also needs to adopt a certain data backup and recovery mechanism so as to avoid the loss and the influence caused by the damage or the loss of the data. In addition, the data storage module needs to be equipped with corresponding data management and query tools so that a user can conveniently manage, query and analyze the stored data.
As shown in fig. 12, the present invention further provides an interaction method of an external interaction system, including:
the control module of the underground intelligent vehicle controls the motion of the vehicle to navigate and plan a path based on the data acquired by the sensing module, and adjusts the speed and the direction of the vehicle so as to ensure safe running;
the state feedback module of the underground intelligent vehicle provides vehicle state, environment information and warning feedback for the ground terminal;
the user interacts with the underground intelligent vehicle through the ground terminal, and simultaneously monitors the operation state, transmission data and interaction result of the underground intelligent vehicle;
the virtual reality module converts the real-time working state of the underground intelligent vehicle and the underground environment information into a virtual environment, and the virtual environment is displayed on the ground terminal in real time;
the user interacts with the underground intelligent vehicle through the user interaction module to intervene and control the movement operation of the underground intelligent vehicle.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An external interactive system for a smart car downhole, comprising:
the system comprises an underground intelligent vehicle, wherein a sensing module, a control module and a state feedback module are arranged on a vehicle body of the underground intelligent vehicle;
the ground terminal is used for displaying the operation state, transmission data and interaction results of the underground intelligent vehicle;
the communication module is used for bidirectional communication between the underground intelligent vehicle and the ground terminal, and transmitting data, control signals and early warning information of the sensing module and the man-machine interaction module;
the sensing module is used for collecting position, speed and attitude angle information of the vehicle and underground environment information;
the control module is used for controlling the movement of the vehicle, carrying out navigation and path planning and adjusting the speed and direction of the vehicle based on the data of the sensing module so as to ensure safe running;
the state feedback module is used for providing vehicle, environment information and warning feedback for the ground terminal;
the ground terminal comprises a virtual reality module, wherein the virtual reality module is used for converting real-time working states of the underground intelligent vehicle and underground environment information into virtual environments, and the virtual environments are displayed on the ground terminal in real time and can control the underground intelligent vehicle.
2. An external interaction system for a smart car downhole according to claim 1, wherein the perception module comprises:
the pose sensor is used for measuring state information of the vehicle and comprises a gyroscope, an accelerometer and a magnetometer;
the visual sensor is used for acquiring images around the vehicle and point cloud data so as to assist navigation and control of the vehicle, and comprises a camera and a laser radar;
an acoustic sensor for detecting sound around the vehicle and object distance information to assist obstacle avoidance and positioning of the vehicle, comprising a microphone, an ultrasonic sensor;
environmental sensors for detecting environmental information surrounding the vehicle to help the vehicle adapt to complex downhole environments include temperature, humidity, air pressure, gas sensors.
3. An external interactive system for a down-hole smart car as defined in claim 2, wherein the virtual reality module comprises:
the virtual engine module is used for creating, updating, rendering and presenting a virtual reality scene and processing interaction requests and feedback of users;
the environment modeling module is used for processing and analyzing the information acquired from the sensing module to construct a virtual model of the underground environment for presentation and operation;
and the user interaction module interacts with the virtual engine module to control the movement operation of the underground intelligent vehicle.
4. An external interaction system for a smart car downhole according to claim 3, wherein the user interaction module comprises a head-mounted display and a handle.
5. An external interaction system for a smart car downhole according to claim 1, wherein the communication module comprises:
the data transmission module is used for transmitting real-time data information of the underground intelligent vehicle to the ground terminal, and transmitting control signals and instructions of the ground terminal back to the underground intelligent vehicle so as to ensure real-time communication between the underground intelligent vehicle and the ground terminal;
the real-time monitoring module is used for monitoring the stability, the safety and the data transmission rate of the communication module in real time, and carrying out early warning and abnormal condition processing on communication faults and abnormal states;
and the data security module is used for encrypting and decrypting the data and protecting the security and privacy of communication data between the underground intelligent vehicle and the ground terminal.
6. An external interaction system for a smart car downhole according to claim 1, wherein the control module comprises:
the motion control module is used for controlling the motion state of the vehicle and guaranteeing the running stability and safety of the underground intelligent vehicle;
the path planning module is used for selecting an optimal vehicle running path through an algorithm and a model according to the data and task requirements of the sensing module, and providing accurate path planning and autonomous navigation for the underground intelligent vehicle;
and the motion adjusting module is used for adjusting the speed and the direction of the vehicle in real time based on the motion state of the vehicle, communication and navigation data, so as to ensure the accurate motion and task execution of the underground intelligent vehicle in a complex environment.
7. The external interaction system for a smart car in a well of claim 1, wherein the status feedback module comprises:
the operation feedback module is responsible for feeding back the real-time state and environment information of the underground intelligent vehicle to the ground terminal and making real-time response to instructions, feedback signals and the like of the ground terminal;
and the warning prompt module is used for warning and prompting abnormal conditions, dangerous conditions and suspicious behaviors in real time based on the data of the underground sensing module and the control module.
8. The external interactive system for a smart car in a well of claim 1, further comprising an artificial intelligence module for analyzing the data collected by the sensing module by machine learning and deep learning algorithms to optimize the operation and production benefits of the car while predicting equipment failure and maintenance requirements.
9. The external interactive system for a smart car in a well according to claim 8, further comprising a data storage module for storing data collected from the sensing module, the artificial intelligence module and the communication module for later data analysis.
10. An external interaction system for a smart car in a well according to any of claims 1-9, wherein the interaction method of the external interaction system comprises:
the control module of the underground intelligent vehicle controls the motion of the vehicle to navigate and plan a path based on the data acquired by the sensing module, and adjusts the speed and the direction of the vehicle so as to ensure safe running;
the state feedback module of the underground intelligent vehicle provides vehicle state, environment information and warning feedback for the ground terminal;
the user interacts with the underground intelligent vehicle through the ground terminal, and simultaneously monitors the operation state, transmission data and interaction result of the underground intelligent vehicle;
the virtual reality module converts the real-time working state of the underground intelligent vehicle and the underground environment information into a virtual environment, and the virtual environment is displayed on the ground terminal in real time;
the user interacts with the underground intelligent vehicle through the user interaction module to intervene and control the movement operation of the underground intelligent vehicle.
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| CN202311237135.5A CN117289636A (en) | 2023-09-22 | 2023-09-22 | External interaction system for underground intelligent vehicle |
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| CN202311237135.5A CN117289636A (en) | 2023-09-22 | 2023-09-22 | External interaction system for underground intelligent vehicle |
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