Dual remote control system and method for unmanned platform vehicle and unmanned platform vehicle

Abstract

The present invention discloses a dual remote control system and method for an unmanned platform vehicle, and an unmanned platform vehicle, including a main remote control, a sub-remote control, and a vehicle controller; the main remote control and the sub-remote control are respectively connected to the vehicle controller in communication; a priority switching button is provided on the sub-remote control; when an operator using the main remote control controls the unmanned platform, if the operator holding the sub-remote control observes danger, the priority switching button is used to make the sub-remote control take over the whole vehicle action of the unmanned platform and perform emergency avoidance operations. The present invention can use two sets of remote controls to control the whole vehicle action of the unmanned platform vehicle. If the main operator encounters unpredictable danger in the blind spot of the field of vision using the main remote control, the sub-operator can actively switch the priority of the remote control and use the sub-remote control to take over the walking, steering, and braking actions of the whole vehicle.

Description

Technical Field

[0001] The present invention relates to the field of control technology of unmanned platform vehicles, and in particular to an unmanned platform vehicle dual remote control system, method and unmanned platform vehicle. Background Art

[0002] The ground unmanned platform is a comprehensive system that integrates multiple functions such as environmental perception and motion control. For ground unmanned platforms, good wireless remote control performance is required. Using a wireless remote control, the operator can control the unmanned platform within the line of sight, such as moving forward, reversing, steering, braking, suspension lifting and lowering, etc., so as to control the unmanned platform to perform designated operations under various working conditions. However, an operator's field of vision is limited, and it is impossible to observe all the conditions around the vehicle in time. As a result, when using a single remote control to control the vehicle, the operator cannot timely identify the emergency state around the unmanned platform, and cannot timely make emergency actions such as cutting off high voltage, braking, steering avoidance, etc., and cannot ensure the safety and effectiveness of the unmanned platform under wireless control within the line of sight. Summary of the invention

[0003] The purpose of the present invention is to provide a dual remote control system, method and unmanned platform vehicle for an unmanned platform vehicle, so as to solve the dangerous problem caused by the operator using a single remote control to remotely operate the unmanned platform and being unable to make timely judgments on emergency conditions around the vehicle body due to the limited field of vision of the main operator.

[0004] The present invention adopts the following technical solutions to achieve the above-mentioned invention objectives:

[0005] The present invention provides a dual remote controller control system for an unmanned platform vehicle, including a main remote controller, a secondary remote controller, and a vehicle controller;

[0006] The main remote controller and the auxiliary remote controller are respectively connected to the vehicle controller for communication;

[0007] The secondary remote controller is provided with a priority switching button;

[0008] When the operator using the main remote control is controlling the unmanned platform, if the operator holding the sub-remote control observes danger, the priority switching button is used to make the sub-remote control take over the whole vehicle action of the unmanned platform and perform emergency avoidance operation.

[0009] Further, the master remote controller includes a master remote controller transmitter and a master remote controller receiver which are communicatively connected to each other;

[0010] The sub-remote controller includes a sub-remote controller transmitter and a sub-remote controller receiver which are communicatively connected to each other, and the priority switching button is arranged on the sub-remote controller transmitter.

[0011] Furthermore, the main remote control transmitter and the main remote control receiver, and the sub-remote control transmitter and the sub-remote control receiver are connected to each other in a wireless communication manner.

[0012] Furthermore, the main remote control receiver and the auxiliary remote control receiver are respectively connected to the vehicle controller for communication via a CAN bus.

[0013] Furthermore, a distance sensor is provided on the vehicle controller for auxiliary switching, and the distance between the unmanned platform body and the obstacle is identified by the distance sensor and a control strategy is written in the vehicle controller.

[0014] The present invention provides a dual remote controller control method for an unmanned platform vehicle, the method comprising:

[0015] The main remote controller sends control commands to the vehicle controller and converts them into vehicle actions of the unmanned platform;

[0016] Determine whether the main remote controller has communication interruption:

[0017] If yes, determine whether there is danger in the blind spot of the main operator: if yes, switch the priority so that the auxiliary remote controller takes over the whole vehicle action; if no, continue to operate with the main remote controller;

[0018] If not, switch the priority so that the secondary remote controller takes over the whole vehicle action.

[0019] The present invention provides a dual remote controller control method for an unmanned platform vehicle, the method comprising:

[0020] The main remote controller sends control commands to the vehicle controller and converts them into vehicle actions of the unmanned platform;

[0021] Determine whether the main remote controller has communication interruption:

[0022] If not, monitor the distance between the obstacle in the main operator's blind spot and the vehicle, and determine whether the distance is less than the safe braking distance, and select the priority active switching or passive switching to allow the secondary remote controller to take over the vehicle action;

[0023] If yes, select priority passive switching to allow the secondary remote controller to take over the entire vehicle action.

[0024] Further, the method of monitoring the distance between the obstacle in the blind spot of the main operator and the whole vehicle, determining whether the distance is less than the safe braking distance, and selecting the priority active switching or passive switching so that the secondary remote controller takes over the whole vehicle action includes:

[0025] If it is less than the safe braking distance, the vehicle controller will first cut off the high voltage and vehicle braking, and then passively switch the priority to allow the secondary remote controller to take over the vehicle action;

[0026] If it is not less than the safe braking distance, wait for the priority switching signal of the sub-remote controller. If the sub-remote controller switching command is detected, the priority is actively switched to allow the sub-remote controller to take over the entire vehicle. If the sub-remote controller switching command is not detected, continue to use the main remote controller to control the entire vehicle.

[0027] Further, if there is, the method of selecting priority passive switching so that the secondary remote controller takes over the whole vehicle action includes:

[0028] The vehicle controller first cuts off the high voltage and brakes the vehicle, and then passively switches the priority to allow the secondary remote controller to take over the vehicle's actions.

[0029] The present invention provides an unmanned platform vehicle, comprising an unmanned platform vehicle dual remote controller control system as described above.

[0030] The beneficial effects of the present invention are as follows:

[0031] Two sets of remote controllers can be used to control the entire unmanned platform vehicle. If the main operator encounters unpredictable danger in the blind spot of the field of vision using the remote controller, the secondary remote controller operator can actively switch the priority of the remote controller and use the secondary remote controller to take over the walking, steering and braking actions of the entire vehicle.

[0032] With the assistance of distance sensors, the vehicle controller determines whether the distance between the obstacle in the blind spot of the main operator and the vehicle is less than βcm. If the operator of the auxiliary remote control cannot predict the obstacle in time, the program will automatically cut off the power and brake, and then switch to the auxiliary remote control to perform the movement of the vehicle, thereby ensuring the safety of the unmanned platform during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is an architecture diagram of a dual remote controller control system for an unmanned platform vehicle provided according to an embodiment of the present invention;

[0034] Figure 2 A flowchart of switching between a primary and a secondary remote controller in a dual remote controller control method for an unmanned platform vehicle provided according to an embodiment of the present invention;

[0035] Figure 3 The present invention is a flowchart of active and passive switching between a primary and a secondary remote controller in a dual remote controller control method for an unmanned platform vehicle provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with specific examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention.

[0037] Reference Figures 1 to 3, the present invention provides a dual remote control system for an unmanned platform vehicle, comprising: a main remote control transmitter, a secondary remote control transmitter, a main remote control receiver, a secondary remote control receiver, a controller, a CAN bus, and a distance sensor;

[0038] The main remote control transmitter and the sub-remote control transmitter communicate with the main remote control receiver and the sub-remote control receiver respectively through wireless communication, wherein the main remote control receiver and the sub-remote control receiver communicate with the vehicle controller through the CAN bus. Two sets of remote controls are used to control the whole vehicle movement of the unmanned platform vehicle. If the main operator encounters unpredictable danger in the blind spot of the field of vision using the main remote control, the sub-operator can actively switch the remote control priority and use the sub-remote control to take over the walking, steering and braking actions of the whole vehicle.

[0039] The present invention provides a dual remote controller control method for an unmanned platform vehicle, comprising:

[0040] The main remote control receiver sends the control command to the vehicle controller through the CAN bus and converts it into the whole vehicle action of the unmanned platform; a priority switching button is set on the secondary remote control transmitter. When the operator using the main remote control controls the unmanned platform, if the operator holding the secondary remote control observes the danger, the priority switching button is used to make the secondary remote control take over the whole vehicle action and perform emergency avoidance operations.

[0041] Furthermore, a distance sensor is added to the vehicle controller to assist in switching, as shown in the attached Figure 3 ,Firstly, the auxiliary switching control strategy of the vehicle controller is written, and the safe braking distance from the obstacle to the vehicle body is set as β. The vehicle controller monitors whether the CAN bus communication between the main remote controller receiver and the vehicle controller is abnormal.

[0042] If the communication of the main remote control is abnormal, the vehicle controller will directly cut off the high voltage and vehicle braking according to the control program, and then passively switch the remote control operation of the vehicle to the sub-remote control in the control program, and display the switching status on the sub-remote control display. At the same time, the sub-remote control buzzer will sound to remind the operator of the sub-remote control that the priority has been switched to the sub-remote control, so that the sub-remote control can be used for operation.

[0043] If the communication of the main remote control is normal, the control program of the vehicle controller determines whether the distance between the obstacle in the blind spot of the main operator and the vehicle is less than the safe braking distance β based on the distance sensor. If it is less than the safe braking distance β, the vehicle controller first cuts off the high voltage and vehicle braking, and then in the control program, the remote control operation of the vehicle is passively switched to the sub-remote control, and the switching status is displayed on the display screen of the sub-remote control. At the same time, the buzzer of the sub-remote control sounds to remind the operator of the sub-remote control that the priority has been switched to the sub-remote control, so as to use the sub-remote control for operation; if the distance between the obstacle in the blind spot of the main operator and the vehicle body is greater than the safe braking distance, the vehicle controller will not cut off the high voltage and vehicle braking, but wait for the priority switching signal of the sub-remote control. If the sub-remote control switching command is detected, the control priority of the vehicle is switched to the sub-remote control, and the sub-remote control operator operates the vehicle; if the sub-remote control switching command is not received, the main remote control is still used to control the vehicle.

[0044] The above β is the safe braking distance when the unmanned platform is controlled by the remote control.

[0045] The present invention provides an unmanned platform vehicle, comprising an unmanned platform vehicle dual remote controller control system as described above.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dual remote control system for an unmanned platform vehicle, characterized in that: Including main remote control, auxiliary remote control and vehicle controller; The main remote controller and the auxiliary remote controller are respectively connected to the vehicle controller for communication; The secondary remote controller is provided with a priority switching button; When the operator using the main remote controller controls the unmanned platform, if the operator holding the secondary remote controller observes danger, the operator can use the priority switch button to make the secondary remote controller take over the action of the unmanned platform and perform emergency avoidance operations; The vehicle controller is provided with a distance sensor for auxiliary switching, through which the distance between the unmanned platform body and the obstacle is identified and a control strategy is written in the vehicle controller; The control method of the control system comprises: The main remote controller sends control commands to the vehicle controller and converts them into vehicle actions of the unmanned platform; Determine whether the main remote controller has communication interruption: If not, monitor the distance between the obstacle in the main operator's blind spot and the vehicle, and determine whether the distance is less than the safe braking distance. If it is less than the safe braking distance, the vehicle controller will first cut off the high voltage and vehicle braking, and then passively switch the priority to allow the secondary remote controller to take over the vehicle action; if it is not less than the safe braking distance, wait for the secondary remote controller priority switching signal. If the secondary remote controller switching command is detected, the priority will be actively switched to allow the secondary remote controller to take over the vehicle action. If the secondary remote controller switching command is not detected, the main remote controller will continue to control the vehicle; If so, the vehicle controller first cuts off the high voltage and vehicle braking, and then passively switches the priority to allow the secondary remote controller to take over the vehicle action.

2. The dual remote controller control system for an unmanned platform vehicle according to claim 1, characterized in that: The master remote controller includes a master remote controller transmitter and a master remote controller receiver which are communicatively connected to each other; The sub-remote controller includes a sub-remote controller transmitter and a sub-remote controller receiver which are communicatively connected to each other, and the priority switching button is arranged on the sub-remote controller transmitter.

3. The dual remote controller control system for an unmanned platform vehicle according to claim 2, characterized in that: The main remote controller transmitter and the main remote controller receiver, as well as the sub-remote controller transmitter and the sub-remote controller receiver are connected to each other by wireless communication.

4. The dual remote controller control system for an unmanned platform vehicle according to claim 2, characterized in that: The main remote controller receiver and the auxiliary remote controller receiver are respectively connected to the vehicle controller for communication via the CAN bus.

5. An unmanned platform vehicle, characterized in that: It comprises a dual remote control system for an unmanned platform vehicle as claimed in any one of claims 1 to 4.

Images