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Unmanned vehicle formation control method and terminal

A control method, an unmanned vehicle technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of time-consuming, laborious, deviation, unmanned vehicle marshalling path can not be guaranteed to be completely consistent, etc., to improve efficiency and accuracy Effect

Pending Publication Date: 2022-07-15
福建盛海智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The operator needs to set the planned path for each unmanned vehicle separately to ensure that the edited route maintains a certain formation as much as possible; however, this operation is not only time-consuming and laborious, but the formation path of the unmanned vehicle cannot be guaranteed to be completely consistent. When driving, slight errors on the map will lead to huge deviations in reality

Method used

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  • Unmanned vehicle formation control method and terminal
  • Unmanned vehicle formation control method and terminal
  • Unmanned vehicle formation control method and terminal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0085] Please refer to figure 1 , Figure 3-Figure 7 , a method for controlling formation of unmanned vehicles in this embodiment, comprising the steps of:

[0086] S0, initialize the canvas canvas, including:

[0087] S01. Use the browser's own document.createElement('canvas') method to create a canvas tag, set the length and width of the canvas, and use the appendChild method in the browser API interface to add the canvas tag to the preset display area;

[0088] S02. Use the built-in getContext('2d') method of the canvas to obtain the context (ctx) of the canvas, and then operate the ctx to realize the content rendering of the canvas;

[0089] S03, draw a chessboard in canvas;

[0090] Specifically, as image 3 As shown, suppose to draw a chessboard with specification (Col)=9 and width (width)=20, it needs to cycle N times, N=Col+1=10, draw N(10) horizontal lines and N(10) vertical lines Line; take the upper left corner as the [0,0] point, then:

[0091] The starting p...

Embodiment 2

[0137] Please refer to figure 2 , an unmanned vehicle formation control terminal of this embodiment includes a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the embodiment when the processor executes the computer program Each step in the formation control method of unmanned vehicles in one.

[0138] To sum up, the present invention provides an unmanned vehicle formation control method and terminal, which draws an icon corresponding to each unmanned vehicle in the formation according to the preset formation, and determines the corresponding unmanned vehicle according to the icon. Unmanned vehicle information; determine formation parameters according to the unmanned vehicle information; obtain the formation center waypoint, and calculate based on the formation parameters and the formation center waypoint to obtain the unmanned vehicle waypoint of the unmanned vehicle ; Control the unmanned vehicle ac...

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Abstract

The invention discloses an unmanned vehicle formation control method and a terminal, and the method comprises the steps: drawing an icon corresponding to each unmanned vehicle in a formation according to a preset formation, and determining the unmanned vehicle information corresponding to the unmanned vehicles according to the icons; formation parameters are determined according to the unmanned vehicle information; acquiring formation center passing points, and performing calculation based on the formation parameters and the formation center passing points to obtain unmanned vehicle passing points of the unmanned vehicles; the unmanned vehicles are controlled according to the passing points of the unmanned vehicles, an unmanned vehicle marshalling queue is visually displayed, the passing points of each unmanned vehicle can be determined in combination with the passing points of the formation center as long as formation parameters are determined, formation control over all the unmanned vehicles is achieved, planning paths do not need to be set for the unmanned vehicles one by one, and the efficiency of formation control is improved. And the unmanned vehicle formation control efficiency and accuracy are improved.

Description

technical field [0001] The present invention relates to the technical field of unmanned vehicle driving, in particular to a method and terminal for controlling formation of unmanned vehicles. Background technique [0002] The operator can monitor the unmanned vehicle on the command and control platform, set the planned path of the unmanned vehicle on the unmanned vehicle monitoring map, send the planned path to the unmanned vehicle, and send commands remotely to control the unmanned vehicle according to the plan. Waypoint tracking. However, it is very inconvenient when the operator needs to control multiple unmanned vehicles and let the unmanned vehicles plan the waypoints according to a certain formation. At the same time, in different scenarios, the required formations are varied, such as horizontal formation, vertical formation, triangle, diamond, zigzag, etc. The operator needs to set a planned path for each unmanned vehicle to ensure that the edited route maintains a ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0287
Inventor 张诚张林亮
Owner 福建盛海智能科技有限公司