A system for remotely displaying the movement status and fault warning of unmanned target vehicles

Abstract

The present invention provides a system for remotely displaying the traveling status and fault warning of an unmanned target vehicle, which can not only meet the requirements of information confidentiality but also safely and stably display the traveling status of the unmanned target vehicle and the fault warning of the unmanned target vehicle on a display and control terminal. The system includes: an on-board detection module, an on-board computing module, a long-distance transmission module and a remote display and control terminal module. The on-board monitoring module is used to obtain the monitoring information of the unmanned target vehicle, and then send the monitoring information to the on-board computing module; the on-board computing module determines the traveling status and fault warning information of the unmanned target vehicle based on the received monitoring information, and then customizes the determined vehicle traveling status and fault warning information to form communication command data, which is transmitted to the remote display and control terminal module via the on-board long-distance transmission module; after receiving the communication command data, the remote display and control terminal module parses it, and displays it on the screen after converting it according to the set format.

Description

Technical Field

[0001] The invention relates to a remote display system, in particular to a system for remotely displaying the running state and fault warning of an unmanned tracked target vehicle, belonging to the technical field of vehicle running state measurement and fault warning systems. Background Art

[0002] The relative distance between the unmanned target vehicle and the display and control terminal is relatively far. Displaying the vehicle's moving status on the display and control terminal can facilitate users to control the vehicle's moving mode. Displaying vehicle faults and surrounding obstacle warnings on the display and control terminal can remind remote users to implement corresponding control of the vehicle to prevent accidents.

[0003] However, for the safety of military exercises, the confidentiality requirements for the information remotely transmitted from the unmanned target vehicle to the display and control terminal are very strict. To this end, the traditional method is generally to form a local area network between the unmanned target vehicle and the display and control terminal through specific equipment, and the target vehicle related information is transmitted within the local area network. However, this specific equipment is relatively expensive, and has high requirements for the environment and relative distance, and it is easy to cause packet loss during signal transmission. The travel status and fault monitoring information of the unmanned target vehicle usually require the analysis of dual information of data and images to obtain. How to safely and stably transmit the travel status and fault monitoring information of the unmanned target vehicle to the remote terminal is a relatively difficult problem. Summary of the invention

[0004] In view of this, the present invention provides a system for remotely displaying the traveling status and fault warning of an unmanned target vehicle, which can not only meet the information confidentiality requirements but also safely and stably display the traveling status of the unmanned target vehicle and the fault warning of the unmanned tracked target vehicle on the display and control terminal.

[0005] The technical solution of the present invention is: a system for remotely displaying the traveling status and fault warning of an unmanned target vehicle, comprising: an on-board detection module, an on-board calculation module, a long-distance transmission module and a remote display and control terminal module;

[0006] The vehicle-mounted monitoring module is used to obtain monitoring information of the unmanned target vehicle, and then send the monitoring information to the vehicle-mounted computing module; the monitoring information includes: traveling state information, fault state information and obstacle information around the vehicle body in the traveling state; wherein the obstacle information around the vehicle body in the traveling state is image information;

[0007] The vehicle-mounted computing module determines the traveling state and fault warning information of the unmanned target vehicle according to the received traveling state information and fault state information, and then customizes the communication command message formed by the determined vehicle traveling state and fault warning information respectively; at the same time, the vehicle-mounted computing module converts the identified obstacle information into a data format through a custom code to form a communication command message;

[0008] The communication command message formed by the custom encoding of the vehicle's driving status, fault warning information and obstacle information in the on-board computing module is unified into a set of communication command data, which is sent to the remote display and control terminal module through the long-distance transmission module; the long-distance transmission module transmits data using the data transmission module of the 4G network;

[0009] After receiving the communication command data, the remote display and control terminal module parses the data and displays it on the screen after converting it into a set format.

[0010] As a preferred embodiment of the present invention, the traveling status monitoring information includes left and right track speed information and position information of the unmanned target vehicle.

[0011] As a preferred embodiment of the present invention, the fault status monitoring information includes oil level, water temperature, and battery power.

[0012] As a preferred embodiment of the present invention, the vehicle-mounted computing module will also receive vehicle control instructions sent by the remote display and control terminal through the long-distance transmission module, so that the unmanned tracked target vehicle can be remotely controlled.

[0013] As a preferred embodiment of the present invention, when the vehicle-mounted computing module analyzes and determines the traveling state of the unmanned target vehicle based on the traveling state monitoring information:

[0014] First, the speed difference of the left and right tracks of the unmanned target vehicle is calculated. If the difference is 0, it indicates that the unmanned target vehicle is in a straight-line state. At this time, the position information of the current moment and the previous moment is further calculated to determine whether the unmanned target vehicle is moving forward or backward by the positive or negative difference in longitude or latitude.

[0015] If the difference between the left and right track speeds of the unmanned target vehicle is not 0, it means that the vehicle is in the turning process. The difference between the front and rear wheel steering angles is further used to determine whether the vehicle is turning left or right.

[0016] As a preferred embodiment of the present invention, when the on-board computing module performs fault warning analysis and judgment on the unmanned target vehicle based on the fault status monitoring information:

[0017] Compare each parameter in the fault status monitoring information of the unmanned target vehicle with the non-fault status range of the pre-stored parameters one by one. If the difference between one or more parameters in the fault status monitoring information and the boundary value of the non-fault status range is less than the set value, it indicates that a fault warning is required for the parameter.

[0018] As a preferred embodiment of the present invention, the communication command data is encrypted and verified before being transmitted via the long-distance transmission module.

[0019] Beneficial effects:

[0020] (1) The present invention can safely and stably display the traveling status of the unmanned tracked target vehicle and the unmanned target vehicle fault warning on the display and control terminal, which is convenient for users to control and repair the unmanned target vehicle.

[0021] (2) Using a data transmission module that supports 4G networks for transmission greatly saves the cost of the entire system and improves the stability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a system framework diagram for remotely displaying the traveling status and fault warning of the unmanned tracked target vehicle of the present invention;

[0023] Figure 2 The present invention is a flow chart of the method for remotely displaying the traveling status and fault warning of an unmanned tracked target vehicle. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0025] Embodiment 1:

[0026] This embodiment provides a system for remotely displaying the traveling status and fault warning of an unmanned target vehicle, which can not only meet the information confidentiality requirements but also safely and stably display the traveling status and fault warning of the unmanned target vehicle on the display and control terminal.

[0027] like Figure 1 As shown, the system includes: an on-board detection module, an on-board computing module, a long-distance transmission module and a remote display and control terminal module.

[0028] The vehicle-mounted monitoring module includes a traveling status information monitoring unit and a fault status information monitoring unit, wherein the traveling status information monitoring unit is used to monitor the traveling status information of the unmanned target vehicle, and the monitored traveling status information includes the position information of the unmanned target vehicle and the left and right track speed information; the fault status information monitoring unit is used to monitor the fault status information of the vehicle and the obstacle information around the vehicle body during the traveling state, wherein the monitored fault status monitoring information includes the oil level, water temperature, and battery power information.

[0029] The position information of the unmanned target vehicle is obtained through the GPS receiving device; the speed information of the left and right tracks of the unmanned target vehicle is obtained by measuring the speed sensor; the oil level of the unmanned target vehicle is obtained by measuring the liquid level sensor; the water temperature of the unmanned target vehicle is obtained by measuring the temperature sensor; the battery power of the unmanned target vehicle is obtained by measuring the voltage sensor; the obstacle information encountered by the unmanned target vehicle in the driving environment is obtained by comprehensive processing and capture of the laser radar and camera.

[0030] The position of the unmanned target vehicle, left and right track speeds, oil level, water temperature, and battery charge information are data information, and the obstacle information encountered in the driving environment is image information.

[0031] The on-board monitoring module transmits the real-time monitored position of the unmanned target vehicle, left and right track speeds, oil level, water temperature, battery power, and information collected by the camera and lidar to the on-board computing module through the line.

[0032] The vehicle-mounted computing module processes and computes the received data information and image information, analyzes and determines the vehicle's travel status and fault warning information, and then customizes the determined vehicle's travel status and fault warning information to form a set of communication command messages and sends them to the long-distance transmission module installed on the unmanned target vehicle. Specifically:

[0033] The vehicle-mounted computing module analyzes and judges the vehicle's travel status (forward, backward, left turn, right turn) through the vehicle's position information and the left and right track speed information. In the analysis and judgment of the vehicle's travel status, the difference calculation is first performed on the left and right track speeds of the vehicle. If the difference is 0, it indicates that the vehicle is in a straight state; at this time, the position information of the current moment and the previous moment is further calculated by difference, and the positive or negative longitude or latitude difference is used to determine whether the vehicle is in a forward or backward state (the correspondence between the positive and negative and the forward and backward movement of the vehicle is determined by the direction of the vehicle's initial position). If the difference in the speed of the left and right tracks of the vehicle is not 0, it means that the vehicle is in the turning process, and the speed difference of the left and right tracks is used to determine whether it is a left turn or a right turn. For the vehicle's travel status, the communication command message formed by the custom code consists of two-bit binary numbers, and different permutations and combinations represent different states. The position information monitored by the vehicle is also transmitted through the communication command message, represented by 4 bytes.

[0034] At the same time, the on-board computing module determines whether the vehicle is in a fault state and what kind of fault it is in through the oil volume, water temperature, and battery power information monitored by the vehicle. In vehicle fault analysis, the non-fault state ranges of the vehicle's oil volume, water temperature, and battery power monitoring parameters are compared one by one. If a parameter in the fault state monitoring information is about to exceed its non-fault state range (that is, the difference with the boundary value of the non-fault state range is less than the set value), it indicates that an early warning is required for the parameter. For the vehicle's fault state, the communication command message formed by the custom code consists of three binary numbers, with 0 and 1 representing the normal and fault states.

[0035] In addition, the on-board computing module analyzes the image information of obstacles in the vehicle's driving environment to determine the distance, angle, and size of the obstacles. The analysis method can use deep learning to convert the identified obstacle information into a data format that can be transmitted by 4G data transmission through custom coding. The communication message consists of 5 bytes, each of which represents the distance, angle, length, width, and height of the obstacle.

[0036] The communication command message formed by the custom encoding of the above three aspects of information of the on-board computing module is integrated into a set of communication command data, which is transmitted through the long-distance transmission module. In order to ensure the security and reliability of the transmitted data, the communication command data can be further encrypted, verified, etc.

[0037] In addition, the on-board computing module will also process the control instructions from the remote display and control terminal, and act on the actuator through the line, making the unmanned tracked target vehicle controllable.

[0038] The long-distance transmission module is composed of a data transmission module that supports 4G and serial communication. The data transmission module contains two data transmission devices, one mounted on the unmanned target vehicle and the other placed on the remote display and control terminal. The two devices use 4G traffic cards to access the Internet and form a one-to-one network through the intermediate server. The long-distance transmission module supports full-duplex communication and is responsible for transmitting the communication messages processed by the on-board computing module to the remote display and control terminal, and for transmitting the vehicle control instructions of the remote display and control terminal to the on-board computing module.

[0039] The remote display and control terminal module parses and processes the received communication messages and displays them. The remote display and control terminal includes a vehicle trajectory display module, a vehicle status display and alarm module, and a vehicle control module. The vehicle trajectory display module is equipped with an offline map, which displays the vehicle location information in real time and marks the obstacle information collected by the laser radar and camera on the map in real time; the vehicle status display and alarm module will provide real-time feedback on the vehicle's travel status information and whether the vehicle has a fault and the source of the fault; the vehicle control module sends the corresponding vehicle control instructions, which are parsed and executed by the on-board computing module.

[0040] Embodiment 2:

[0041] Based on the above-mentioned embodiment 1, this embodiment provides a specific process of remotely displaying the traveling status and fault warning of the unmanned target vehicle:

[0042] Step 1: Install corresponding sensors on the unmanned target vehicle to measure the left and right track speeds, vehicle location information, oil level, water temperature and battery power of the vehicle in real time, and feed back the measured information to the on-board computing module in real time.

[0043] Step 2: The vehicle-mounted computing module processes the received sensor information and generates communication command data; in addition, the vehicle-mounted computing module will also receive the vehicle control instructions from the remote display and control terminal in real time and process and execute them. Information processing includes driving status monitoring information processing and fault status monitoring information processing (concurrently, in no particular order):

[0044] The processing of driving status monitoring information is divided into the following steps:

[0045] Step 21: Calculate the difference between the left and right track speeds of the vehicle at the current moment. If the difference is 0, it indicates that the vehicle is in a straight state, and execute step 22; if the difference is not 0, it indicates that the vehicle is in a turning state, and execute step 23;

[0046] Step 22: Calculate the difference between the longitude and latitude of the vehicle at the current moment and the previous moment respectively, and judge whether the vehicle is in the forward state or the reverse state according to the positive and negative values ​​of the difference between the longitude and latitude and the direction of the front of the vehicle at the previous moment. The judgment rules are as follows:

[0047] If the longitude difference is > 0 and the latitude difference is > 0, the vehicle with its head facing north or east is in a forward state, and the vehicle with its head facing south or west is in a backward state;

[0048] If the longitude difference is > 0 and the latitude difference is < 0, the vehicle with its head facing south or east is in a forward state, and the vehicle with its head facing north or west is in a backward state;

[0049] If the longitude difference is <0 and the latitude difference is >0, the vehicle with its head facing north or west is in a forward state, and the vehicle with its head facing south or east is in a backward state;

[0050] When the longitude difference is <0 and the latitude difference is <0, the vehicle with its front facing south or west is in a forward motion, and the vehicle with its front facing north or east is in a backward motion.

[0051] Step 23: Determine whether the difference between the left and right track speeds is <0. If so, the vehicle is in a left turn state; if not, the vehicle is in a right turn state.

[0052] Then the vehicle-mounted computing module sets different traveling status communication messages corresponding to different vehicle traveling statuses.

[0053] Fault status monitoring information processing is as follows:

[0054] The on-board computing module compares the oil level, water temperature and battery charge information with the normal range values ​​set in the computing module. If one or more of these information are very close to the range value, it indicates that a fault may occur. At this time, the on-board computing module generates a corresponding fault warning communication message.

[0055] The obstacle monitoring information processing in the driving environment is as follows:

[0056] The on-board computing module learns the historical geographical environment, compares the obstacle information captured by the lidar and camera, and converts the distance and angle of the obstacle from the vehicle and the size of the obstacle itself into communication messages.

[0057] Step 3: The on-board computing module combines the traveling status communication command data and the fault (vehicle fault information and obstacle information) warning communication command data into a group of messages, and transmits them to the remote display and control terminal module through the long-distance transmission module.

[0058] Step 4: After receiving the communication command data from the remote transmission module, the remote display and control terminal module parses it and converts it into a set format for display. The remote display and control terminal can send appropriate vehicle control instructions in real time according to the displayed vehicle status.

[0059] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A system for remotely displaying the traveling status and fault warning of unmanned target vehicles, characterized in that: include: On-board monitoring module, on-board computing module, long-distance transmission module and remote display and control terminal module; The vehicle-mounted monitoring module is used to obtain monitoring information of the unmanned target vehicle, and then send the monitoring information to the vehicle-mounted computing module; the monitoring information includes: traveling state information, fault state information and obstacle information around the vehicle body in the traveling state; wherein the obstacle information around the vehicle body in the traveling state is image information; The vehicle-mounted computing module determines the traveling state and fault warning information of the unmanned target vehicle according to the received traveling state information and fault state information, and then customizes the communication command message formed by the determined vehicle traveling state and fault warning information respectively; at the same time, the vehicle-mounted computing module converts the identified obstacle information into a data format through a custom code to form a communication command message; For the vehicle's moving state, the communication command message formed by the custom code is composed of two-bit binary numbers, and different permutations and combinations represent different states; the location information monitored by the vehicle is also transmitted through the communication command message; When the on-board computing module performs fault warning analysis and judgment on the unmanned target vehicle according to the fault state monitoring information: each parameter in the fault state monitoring information of the unmanned target vehicle is compared with the non-fault state range of each parameter stored in advance. If the difference between one or more parameters in the fault state monitoring information and the boundary value of the non-fault state range is less than the set value, it indicates that a fault warning needs to be performed on the parameter; for the fault state of the vehicle, the communication command message formed by the custom coding is composed of three binary numbers, and 0 and 1 are used to represent the normal and fault states; The communication command message formed by the custom encoding of the vehicle's driving status, fault warning information and obstacle information in the on-board computing module is unified into a set of communication command data, which is sent to the remote display and control terminal module through the long-distance transmission module; the long-distance transmission module transmits data using the data transmission module of the 4G network; After receiving the communication command data, the remote display and control terminal module parses it and displays it on the screen after converting it into a set format; The obstacle monitoring information in the driving environment is processed as follows: the on-board computing module learns the historical geographical environment, compares the obstacle information captured by the lidar and camera, and converts the distance and angle of the obstacle from the vehicle and the size of the obstacle itself into communication messages.

2. The system for remotely displaying the traveling status and fault warning of an unmanned target vehicle as claimed in claim 1, characterized in that: The traveling status monitoring information includes left and right track speed information and position information of the unmanned target vehicle.

3. The system for remotely displaying the traveling status and fault warning of an unmanned target vehicle as claimed in claim 1, characterized in that: The fault status monitoring information includes oil level, water temperature, and battery power.

4. The system for remotely displaying the traveling status and fault warning of an unmanned target vehicle as claimed in claim 1, characterized in that: The vehicle-mounted computing module will also receive vehicle control instructions sent by the remote display and control terminal through the long-distance transmission module, so that the unmanned tracked target vehicle can be remotely controlled.

5. The system for remotely displaying the traveling status and fault warning of an unmanned target vehicle as claimed in claim 2, characterized in that: When the vehicle-mounted computing module analyzes and determines the traveling state of the unmanned target vehicle based on the traveling state monitoring information: First, the speed difference of the left and right tracks of the unmanned target vehicle is calculated. If the difference is 0, it indicates that the unmanned target vehicle is in a straight-line state. At this time, the position information of the current moment and the previous moment is further calculated to determine whether the unmanned target vehicle is moving forward or backward by the positive or negative difference in longitude or latitude. If the difference between the left and right track speeds of the unmanned target vehicle is not 0, it means that the vehicle is in the turning process. The difference between the front and rear wheel steering angles is further used to determine whether the vehicle is turning left or right.

6. The system for remotely displaying the traveling status and fault warning of an unmanned target vehicle as claimed in claim 1, characterized in that: The communication command data is encrypted and verified before being transmitted via the long-distance transmission module.

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