Mobile tool remote control method, device and system and mobile tool

Abstract

The invention relates to a mobile tool remote control method, device and system and a mobile tool. The remote control method comprises the following steps: respectively acquiring current driving information of a mobile tool and a remote control steering instruction of remote control equipment; generating a plurality of corresponding alternative paths according to the current driving information; according to the remote control steering angle range of the remote control equipment, a function of the remote control steering instruction and the alternative path is generated; according to the remote control steering instruction, determining one alternative path as a predicted remote control path through a function; performing speed planning on the predicted remote control path to obtain a corresponding remote control predicted trajectory; and sending the remote control predicted trajectory to the mobile tool for the mobile tool to track and travel. According to the scheme provided by the invention, the mobile tool can smoothly run according to the remote control prediction track sent by the remote control system, the remote control operation difficulty of remote control personnel is reduced, collision can still be avoided when signal transmission lags behind, and the running safety of the mobile tool in remote control is ensured.

Description

Technical Field

[0001] This application relates to the field of remote control technology, and in particular to a remote control method, device, system and mobile tool for mobile use. Background Technology

[0002] With the development of artificial intelligence technology and modern manufacturing, autonomous driving technology for vehicles has also advanced. However, during autonomous driving, in some extreme road sections or scenarios, driverless cars may experience path planning failures or perception noise, causing them to become unable to drive. In road sections and scenarios where driverless cars cannot pass, remote control personnel are needed to operate the vehicles remotely.

[0003] Currently, the common remote control method involves generating a remote control signal based on the joystick position on the remote control device, then converting the remote control signal into a vehicle control signal, and finally sending the vehicle control signal directly to the vehicle chassis control system for response, thereby enabling remote-controlled unmanned vehicle operation. The vehicle control signal typically includes control commands such as gear position signals, brake pedal opening, accelerator pedal opening, and steering wheel angle.

[0004] However, due to the instantaneous response of the vehicle chassis to control commands, improper operation by the remote operator can cause the vehicle to accelerate or turn violently, resulting in uneven movement of the unmanned vehicle and increasing the difficulty of operation for the remote operator, which is not conducive to quick mastery. Summary of the Invention

[0005] To address or partially address the problems existing in the related technologies, this application provides a remote control method, device, system, and mobile tool, which can improve the smoothness of the mobile tool's operation under remote control and reduce the difficulty of remote operation for the remote operator.

[0006] The first aspect of this application provides a remote control method for a mobile tool, comprising:

[0007] A remote control method for a mobile tool, comprising:

[0008] Obtain the current driving information of the mobile vehicle and the remote steering command of the remote control device respectively;

[0009] Based on the current driving information, generate multiple alternative routes.

[0010] A function that generates the remote control steering command and the alternative paths based on the remote control device's remote control steering angle range;

[0011] Based on the remote control steering command, one of the alternative paths is determined by the function as the predicted remote control path;

[0012] Speed ​​planning is performed on the predicted remote control path to obtain the corresponding predicted remote control trajectory;

[0013] The remote-controlled predicted trajectory is sent to the mobile vehicle so that the mobile vehicle can track and drive it.

[0014] In some implementations, generating multiple alternative paths based on the current driving information includes: generating a preset number of alternative paths in the direction of movement of the vehicle based on the vehicle's speed, heading angle, gear position, and maximum turning radius.

[0015] In some implementations, the remote control device's remote control steering angle range is [-α, α], and the function of the remote control steering command and the alternative path is shown in the following formula:

[0016]

[0017] in,

[0018]

[0019] Where α is the maximum steering angle of the remote steering command, a negative value indicates that the mobile tool is controlled to turn left, and a positive value indicates that the mobile tool is controlled to turn right; index is the index number of the corresponding alternative path; a is the coefficient calculated based on the maximum steering angle of the remote steering command; and A is the angle corresponding to the remote steering command.

[0020] In some embodiments, the method further includes: performing collision verification on the predicted remote control path based on the current environment information of the mobile tool, and obtaining the corresponding collision verification result.

[0021] In some implementations, the step of speed planning for the predicted remote control path to obtain the corresponding remote control predicted trajectory includes: performing speed planning for the predicted remote control path based on the collision verification result and the curvature of the predicted remote control path to obtain the corresponding remote control predicted trajectory.

[0022] A second aspect of this application provides a remote control device for a mobile tool, comprising:

[0023] The information acquisition module is used to acquire the current driving information of the mobile vehicle and the remote control steering command of the remote control device, respectively.

[0024] The route generation module is used to generate multiple alternative routes based on the current driving information.

[0025] The data processing module is a function used to generate the remote control steering command and the alternative paths based on the remote control steering angle range of the remote control device.

[0026] The path selection module is used to determine one of the alternative paths as the predicted remote control path based on the remote control turning command and through the function.

[0027] The speed planning module is used to perform speed planning on the mobile tool based on the predicted remote control path to obtain the corresponding remote control predicted trajectory.

[0028] The information sending module is used to send the remote control predicted trajectory to the mobile vehicle so that the mobile vehicle can track and drive.

[0029] In some embodiments, the apparatus of this application further includes a collision verification module, which is used to perform collision verification on the predicted remote control path based on the current environmental information of the mobile tool, and obtain the corresponding collision verification result.

[0030] A third aspect of this application provides a remote control system for a mobile tool, comprising a remote control system and a mobile tool, wherein the remote control system is communicatively connected to the mobile tool, and wherein:

[0031] The remote control system is used to acquire the current driving information of the mobile vehicle and the remote control steering command of the remote control device; generate multiple alternative paths based on the current driving information; generate a function that combines the remote control steering command and the alternative paths based on the remote control steering angle range of the remote control device; determine one of the alternative paths as a predicted remote control path based on the remote control steering command and the function; perform speed planning on the mobile vehicle based on the predicted remote control path to obtain a corresponding predicted remote control trajectory; and send the predicted remote control trajectory to the mobile vehicle for tracking and driving.

[0032] The mobile tool is used to send current driving information to the remote control system, and to receive remote control predicted trajectory sent by the remote control system, and to track and drive according to the remote control predicted trajectory.

[0033] A fourth aspect of this application provides an electronic device, comprising:

[0034] Processor; and

[0035] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0036] A fifth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0037] The sixth aspect of this application provides a mobile tool for acquiring a remote control predicted trajectory generated by the remote control method of the aforementioned mobile tool, and for tracking and driving according to the remote control predicted trajectory.

[0038] The technical solution provided in this application may include the following beneficial effects:

[0039] The technical solution of this application rationally determines the optimal predicted remote control path from numerous alternative paths through a function, ensuring the rationality of path selection, avoiding path jumps, and improving the operator's remote control feel. Then, through collision verification and speed planning, a remote control predicted trajectory is obtained, and the trajectory containing speed planning and a certain distance is sent to the mobile vehicle. The mobile vehicle can track and drive according to the remote control predicted trajectory, avoiding sudden sharp turns or accelerations, enabling the mobile vehicle to drive smoothly and facilitating the stability of the remote operator's operation. At the same time, by performing collision verification in advance, the risk of collision caused by signal lag leading to command reception lag is avoided, ensuring the driving safety of the remotely operated mobile vehicle.

[0040] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0041] The above and other objects, features and advantages of this application will become more apparent from the following description of exemplary embodiments of this application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components.

[0042] Figure 1 This is a flowchart illustrating the remote control method for a mobile tool according to an embodiment of this application;

[0043] Figure 2 This is a schematic diagram illustrating the generation of alternative paths for a mobile tool, as shown in an embodiment of this application.

[0044] Figure 3 This is another schematic flowchart illustrating the remote control method for a mobile tool shown in the embodiments of this application;

[0045] Figure 4 This is a schematic diagram illustrating the predicted remote control path selection among alternative paths, as shown in the embodiments of this application.

[0046] Figure 5 This is a schematic diagram of the structure of a remote control device for a mobile tool shown in an embodiment of this application;

[0047] Figure 6 This is another schematic diagram of the remote control device for a mobile tool shown in the embodiments of this application;

[0048] Figure 7 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. Detailed Implementation

[0049] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0050] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items. In the description of this application, “a plurality” or “multiple” means two or more unless otherwise expressly specified.

[0051] In current methods of remotely controlling vehicle movement, because the vehicle directly responds to the control commands of the remote control, improper operation by the remote operator can lead to sudden acceleration or steering, resulting in uneven vehicle movement and increasing the difficulty of operation for the remote operator.

[0052] To address the aforementioned issues, this application provides a remote control method for mobile tools, which can improve the smoothness of the mobile tool's operation under remote control and reduce the difficulty of remote operation for the remote operator.

[0053] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0054] Figure 1 This is a flowchart illustrating a remote control method for a mobile tool according to an embodiment of this application.

[0055] See Figure 1 This application provides a remote control method for a mobile tool, comprising:

[0056] S110 acquires the current driving information of the mobile vehicle and the remote steering command of the remote control device, respectively.

[0057] The remote control method described in this application is applied to a remote control system, which establishes a communication connection with a mobile vehicle to send and receive information. The mobile vehicle is pre-installed with various intelligent devices equipped with sensors and related functions such as cameras, distance measuring, speed measuring, and positioning to acquire current driving information. The remote control system includes a remote control device, which the operator manipulates to generate remote steering commands. For example, the remote control device may be an intelligent device containing operating media such as a joystick or turntable; this is merely an example and not a limitation.

[0058] The mobile means referred to in this application can be a vehicle or a mobile robot with the following various functions:

[0059] (1) Passenger transport function, such as family cars, buses, etc.;

[0060] (2) Cargo carrying function, such as ordinary trucks, box trucks, trailers, enclosed trucks, tank trucks, flatbed trucks, container trucks, dump trucks, special structure trucks, etc.

[0061] (3) Tool functions, such as logistics delivery vehicles, automated guided vehicles, patrol vehicles, cranes, hoists, excavators, bulldozers, loaders, road rollers, loaders, off-road engineering vehicles, armored engineering vehicles, sewage treatment vehicles, sanitation vehicles, vacuum trucks, floor scrubbers, water sprinkler trucks, sweeping robots, food delivery robots, shopping guide robots, welcoming robots, disinfection robots, lawnmowers, golf carts, etc.

[0062] (4) Entertainment functions, such as recreational vehicles, amusement park automatic driving devices, balance bikes, etc.;

[0063] (5) Special rescue functions, such as fire trucks, ambulances, power repair vehicles, and engineering emergency rescue vehicles.

[0064] Vehicles or robots with the above functions include, but are not limited to, vehicles or robot devices that meet the L0-L5 autonomous driving technology levels as defined by the Society of Automotive Engineers International (SAE International) or the Chinese national standard "Classification of Driving Automation for Automobiles".

[0065] It is understood that during real-time operation, a mobile vehicle can collect current driving information through various pre-installed sensors. In some embodiments, the current driving information includes, for example, the vehicle's speed, heading angle, and maximum turning radius. This current driving information can be obtained from relevant devices installed on the mobile vehicle. In some embodiments, the current driving information may also include the gear position, which determines the vehicle's direction of movement, such as whether it is moving forward or backward.

[0066] Furthermore, the remote operator can generate corresponding remote steering commands by manipulating the remote control device. Specifically, in this step, the remote steering command refers to the command used to remotely control the mobile tool to turn, and the remote steering command may include a corresponding steering angle.

[0067] S120 generates multiple alternative routes based on the current driving information.

[0068] In this step, based on the current driving information of the mobile vehicle, multiple alternative routes can be generated using relevant technologies. For example... Figure 2 As shown, a local path planning algorithm based on the tentacle principle is employed, using multiple sets of arcs with different radii to describe the driving path at different vehicle speeds. In this step, these driving paths can be used as alternative paths for the vehicle.

[0069] S130 is a function that generates remote control steering commands and alternative paths based on the remote control steering angle range of the remote control device.

[0070] Different remote control devices can each have their own preset remote control steering angle range, meaning the maximum remote control steering angle can be customized and preset. In this step, a function can be used to generate remote control steering commands and alternative paths based on the known remote control steering angle range of the remote control device. Using this generated function, a path matching the current remote control steering command can be selected from among many alternative paths.

[0071] The function can be, for example, a simple quadratic function, used to express the mapping relationship between alternative paths and remote steering commands.

[0072] S140, based on the remote control steering command, determines one of the alternative paths as the predicted remote control path through a function.

[0073] In this step, the remote control steering command includes a specific steering angle. By substituting the steering angle into the function, the best alternative path can be determined from among many alternative paths as the predicted remote control path.

[0074] S150 performs speed planning on the predicted remote control path to obtain the corresponding predicted remote control trajectory.

[0075] It is understandable that a predicted remote control path, as a type of path, can constrain the movement of a mobile tool in space. By combining remotely acquired information about obstacles sensed in the real-time environment of the mobile tool, relevant technologies are used to further plan the speed of the predicted remote control path. The planned trajectory simultaneously constrains the movement of the mobile tool in both time and space, thereby generating a trajectory that the mobile tool can follow, i.e., the remote control predicted trajectory.

[0076] S160 sends the remote-controlled predicted trajectory to the mobile vehicle for the mobile vehicle to track and drive.

[0077] In this step, the generated remote control predicted trajectory is sent to the mobile vehicle so that the control module on the mobile vehicle can track the trajectory. Compared with the single steering wheel angle control command in the prior art, the remote control predicted trajectory with a certain distance can avoid sudden turns of the mobile vehicle, and at the same time avoid the difficulties in remote control operation caused by the instantaneous response of the mobile vehicle.

[0078] As can be seen from this example, the remote control method for mobile vehicles in this application selects the best alternative path as the predicted remote control path by substituting the remote control steering command into the generated functional relationship from the alternative paths generated based on the current driving information of the mobile vehicle. The predicted remote control path is then used for speed planning to generate a remote control predicted trajectory. The remote control predicted trajectory is then sent to the mobile vehicle for tracking and driving, thereby constraining the driving trajectory of the mobile vehicle over a certain distance in the future, avoiding sharp turns, and ensuring the smoothness of the driving process, which is beneficial for remote operation by the remote control personnel.

[0079] Figure 3 This is another schematic flowchart illustrating the remote control method for a mobile tool shown in the embodiments of this application.

[0080] See Figure 3 Another embodiment of this application provides a remote control method for a mobile tool, which includes:

[0081] S210, respectively acquires the current driving information of the mobile vehicle and the remote steering command of the remote control device.

[0082] For details on this step, please refer to the description of step S110, which will not be repeated here.

[0083] S220 generates a preset number of alternative paths in the direction of movement of the mobile vehicle based on the vehicle's speed, heading angle, gear, and maximum turning radius.

[0084] In this step, based on a known local path planning algorithm using the tentacle principle, multiple alternative paths can be obtained in the direction of movement of the vehicle, taking into account its current speed, heading angle, gear position, and maximum turning radius. For example, if the gear is forward, an alternative path is generated forward of the vehicle; if the gear is reverse, an alternative path is generated backward of the vehicle. This approach aims to obtain as many alternative paths as possible within a limited path sampling density and covered driving area to ensure easy control and responsiveness of the remote control.

[0085] In some implementations, the preset number can be 81, that is, 81 candidate paths are generated. To facilitate the selection of suitable paths in subsequent steps, some implementations assign a unique index number to each candidate path for differentiation. For example, each candidate path can be numbered sequentially in a clockwise direction using natural numbers, such as 0, 1, 2...80.

[0086] S230 is a function that generates remote control steering commands and alternative paths based on the remote control steering angle range of the remote control device.

[0087] In some implementations, the remote control steering angle range of the remote control device is [-α, α]. Here, α represents the maximum steering angle of the remote control steering command; a negative value indicates that the vehicle is turned left, and a positive value indicates that the vehicle is turned right. It can be understood that when the vehicle is a vehicle, the angle at which the steering wheel is turned from the center to one side is generally 540° to 630°. For example, if α is 480°, it means that the maximum steering angle corresponding to the remote control steering command sent by the remote control device is 480°.

[0088] In some implementations, the function of remote steering commands and alternative paths can be represented by the following formula:

[0089]

[0090] in,

[0091]

[0092] Where index is the index number of the corresponding alternative path; a is the coefficient calculated based on the maximum steering angle of the remote steering command; and A is the angle corresponding to the remote steering command.

[0093] It should be noted that before obtaining a clear function formula, the coefficient 'a' is an unknown. Therefore, it is necessary to pre-calculate the value of 'a' in the above formula. For example, if the maximum steering angles corresponding to remote steering commands are 480° and -480°, then the index number corresponding to 480° is 80, and the index number corresponding to -480° is 0. Substituting these values ​​into the above formula will yield 'a', thus obtaining a function where 'index' and 'A' are unknowns, and 'a' is a known value.

[0094] S240 determines one of the alternative paths as the predicted remote control path based on the remote control steering command through a function.

[0095] In this step, based on the function obtained in the above steps, the specific steering angle corresponding to the remote control steering command obtained in step S210 is substituted into the above formula for calculation, and the specific value of the index number index can be obtained. If the specific value is greater than 80, the value is 80; if the specific value is less than 0, the value is 0.

[0096] In some implementations, when the index number calculated according to the function formula is not an integer, the upper bound of the non-integer value is used as the final index number. For example, if the result calculated according to the above function formula is 30.15, then the final index number is 31.

[0097] It can be understood that the candidate path corresponding to the index number calculated according to the above function formula is the best path among many candidate paths, and therefore this candidate path is used as the predicted remote control path. For example... Figure 4 As shown in the figure, the bolded path among the many alternative paths is the selected predictive remote control path.

[0098] S250 performs collision verification on the predicted remote control path based on the current environmental information of the mobile tool, and obtains the corresponding collision verification result.

[0099] It is understandable that mobile vehicles, while in real-time motion, can obtain information about their surrounding environment through various monitoring devices installed on their bodies, such as cameras and sensors. This environmental information can include the location and speed of obstacles. Obstacles can be understood to include both dynamic and stationary obstacles.

[0100] In related technologies, due to the transmission delay of live video signals from mobile tools such as vehicles and the transmission delay of remote control signals during remote control, the control of the vehicle chassis may lag, causing the vehicle to move to the wrong position according to the delayed control commands, resulting in dangerous situations such as vehicle collisions.

[0101] In this step, by acquiring the current environmental information of the mobile tool, and based on relevant collision detection technology, collision verification is performed on the obstacles that may exist on the predicted remote control path, so as to predict whether the mobile tool will collide with the obstacles based on the current driving speed, and obtain the corresponding collision verification results.

[0102] S260 performs speed planning for the moving tool based on the collision verification results and the curvature of the predicted remote control path to obtain the corresponding predicted remote control trajectory.

[0103] It is understandable that, on the selected predicted remote control path, based on whether there are obstacles on the path and the moving speed of the existing obstacles, as well as the curvature of the path, speed planning technology in related technologies can be used to obtain the corresponding remote control predicted trajectory. The moving vehicle tracks and drives according to the remote control predicted trajectory. By appropriately adjusting the moving speed, such as slowing down or stopping, collisions with obstacles on the trajectory can be avoided, and the smoothness of driving can be improved.

[0104] In other words, the remote control prediction trajectory is a path that adds collision verification and speed planning to the predicted remote control path.

[0105] The S270 sends the remote-controlled predicted trajectory to the mobile vehicle so that the mobile vehicle can track and drive.

[0106] The description of this step is the same as that of step S160, and will not be repeated here.

[0107] In summary, compared to known remote control technologies that send a single control command to a vehicle, the remote control method for mobile tools in this application selects the optimal predicted remote control path through a function, ensuring the rationality of path selection, avoiding path jumps, and improving the operator's control feel. Furthermore, it obtains a predicted remote control trajectory through collision verification and speed planning, and then sends this trajectory, which includes speed planning and a certain distance, to the mobile tool. The mobile tool can track and drive according to the predicted remote control trajectory, avoiding sudden sharp turns or accelerations, ensuring smooth driving, and facilitating the stability of the operator's control. Simultaneously, by performing collision verification in advance, it avoids the risk of collisions caused by signal lag leading to delayed command reception, ensuring the driving safety of the remotely controlled mobile tool.

[0108] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a remote control device, remote control system, electronic device for mobile tools, and corresponding embodiments.

[0109] Figure 5 This is a schematic diagram of the structure of a remote control device for a mobile tool shown in an embodiment of this application.

[0110] See Figure 5 One embodiment of this application provides a remote control device for a mobile tool, which includes an information acquisition module 310, a path generation module 320, a data processing module 330, a path selection module 340, a speed planning module 350, and an information transmission module 360. Wherein:

[0111] The information acquisition module 310 is used to acquire the current driving information of the mobile vehicle and the remote control steering command of the remote control device, respectively.

[0112] The route generation module 320 is used to generate multiple alternative routes based on the current driving information;

[0113] The data processing module 330 is a function used to generate remote control steering commands and alternative paths based on the remote control steering angle range of the remote control device.

[0114] The path selection module 340 is used to determine one of the alternative paths as the predicted remote control path based on the remote control steering command through a function.

[0115] The speed planning module 350 is used to plan the speed of the mobile tool based on the predicted remote control path and obtain the corresponding remote control predicted trajectory.

[0116] The information sending module 360 ​​is used to send the remote control predicted trajectory to the mobile vehicle so that the mobile vehicle can track and drive.

[0117] In some specific implementations, the path generation module 320 is used to generate a preset number of alternative paths in the direction of movement of the mobile vehicle based on the vehicle's speed, heading angle, gear position, and maximum turning radius.

[0118] In some specific implementations, the data processing module 330 uses the following formula to calculate the function between the remote control steering command and the alternative path based on the remote control steering angle range [-α, α] of the remote control device:

[0119]

[0120] in,

[0121]

[0122] Where α is the maximum steering angle of the remote steering command, a negative value indicates that the moving tool is controlled to turn left, and a positive value indicates that the moving tool is controlled to turn right; index is the index number of the corresponding alternative path; a is the coefficient calculated based on the maximum steering angle of the remote steering command; and A is the angle corresponding to the remote steering command.

[0123] like Figure 6 As shown, in some embodiments, the remote control device of this application further includes a collision verification module 370, which is used to perform collision verification on the predicted remote control path based on the current environmental information of the mobile tool, and obtain the corresponding collision verification result.

[0124] In some specific implementations, the speed planning module 350 is used to perform speed planning on the predicted remote control path based on the collision verification results and the curvature of the predicted remote control path, so as to obtain the corresponding remote control predicted trajectory.

[0125] As can be seen from this example, the remote control device for mobile tools of this application can generate a reasonable predicted remote control path for the mobile tool to track and drive, improve the smoothness of the mobile tool's driving process, reduce the operating difficulty for the remote control operator, and ensure the safety of the mobile tool and avoid collisions when the signal transmission is delayed.

[0126] One embodiment of this application provides a remote control system for a mobile tool, which includes a remote control system and a mobile tool, wherein the remote control system is communicatively connected to the mobile tool, and:

[0127] The remote control system is used to acquire the current driving information of the mobile vehicle and the remote control steering command of the remote control device; generate multiple alternative paths based on the current driving information; generate a function that combines the remote control steering command and the alternative paths based on the remote control steering angle range of the remote control device; determine one of the alternative paths as the predicted remote control path based on the remote control steering command; perform speed planning on the mobile vehicle based on the predicted remote control path to obtain the corresponding predicted remote control trajectory; and send the predicted remote control trajectory to the mobile vehicle for the mobile vehicle to follow.

[0128] The mobile vehicle is used to send current driving information to the remote control system and receive remote control predicted trajectories sent by the remote control system, and to track and drive according to the remote control predicted trajectories.

[0129] The remote control system for mobile tools disclosed in this application enables the mobile tool to travel smoothly according to the remote control prediction trajectory sent by the remote control system, reducing the difficulty of remote control operation for the remote control operator, and can still avoid collisions when the signal transmission is delayed, thus ensuring the driving safety of the mobile tool during remote control.

[0130] Regarding the apparatus and system in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0131] Figure 7 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application.

[0132] See Figure 7 The electronic device 1000 includes a memory 1010 and a processor 1020. The electronic device 1000 of this application can be an intelligent electronic device applied to a vehicle or robot.

[0133] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0134] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, a high-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0135] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.

[0136] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0137] Embodiments of this application also include a mobile tool, comprising at least one sensor and the aforementioned electronic device. The sensor is used to collect point cloud data of the surrounding environment and transmit the point cloud data to the electronic device. The type of mobile tool is as previously exemplified. The sensor can be installed at different locations on the robot to obtain point cloud data corresponding to different orientations, which is then processed by the electronic device according to the aforementioned cost map processing method to plan the travel path of the mobile tool.

[0138] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.

[0139] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A remote control method for a mobile tool, characterized in that: include: Respectively obtain the current driving information of the mobile tool and the remote control steering instruction of the remote control device; Generate a corresponding plurality of candidate routes according to the current driving information; generating a function of the remote control steering instruction and the alternative path according to the remote control steering angle range of the remote control device; According to the remote control steering instruction, determining one of the alternative paths as a predicted remote control path through the function; Performing speed planning on the predicted remote control path to obtain a corresponding remote control predicted trajectory; The remote control predicted trajectory is sent to the mobile tool so that the mobile tool can track and drive.

2. The remote control method according to claim 1, characterized in that: The generating a plurality of corresponding candidate routes according to the current driving information includes: A preset number of alternative paths are generated in the moving direction of the mobile tool according to the driving speed, heading angle, gear position and maximum turning radius of the mobile tool.

3. The remote control method according to claim 1, characterized in that: The remote control steering angle range of the remote control device is [-α, α], and the function of the remote control steering instruction and the alternative path is shown in the following formula: in, Among them, α is the maximum steering angle of the remote control steering command, a negative value indicates that the mobile tool is controlled to turn left, and a positive value indicates that the mobile tool is controlled to turn right; index is the index number of the corresponding alternative path; a is the coefficient calculated according to the maximum steering angle of the remote control steering command; A is the angle corresponding to the remote control steering command.

4. The remote control method according to claim 1, characterized in that: The method further comprises: According to the current environmental information of the mobile tool, the predicted remote control path is subjected to collision check to obtain a corresponding collision check result.

5. The remote control method according to claim 4, characterized in that: The performing speed planning on the predicted remote control path to obtain a corresponding remote control predicted trajectory includes: According to the collision check result and the curvature of the predicted remote control path, speed planning is performed on the predicted remote control path to obtain a corresponding remote control predicted trajectory.

6. A remote control device for a mobile tool, characterized in that: include: An information acquisition module, used to respectively acquire the current driving information of the mobile tool and the remote control steering instruction of the remote control device; A path generation module, used to generate a corresponding plurality of candidate paths according to the current driving information; A data processing module, used to generate a function of the remote control steering instruction and the alternative path according to the remote control steering angle range of the remote control device; A path selection module, used to determine one of the candidate paths as a predicted remote control path through the function according to the remote control steering instruction; A speed planning module, used to plan the speed of the mobile tool according to the predicted remote control path to obtain a corresponding remote control predicted trajectory; The information sending module is used to send the remote control predicted trajectory to the mobile tool so that the mobile tool can track and drive.

7. The remote control device according to claim 6, characterized in that: It also includes a collision verification module, which is used to perform collision verification on the predicted remote control path according to the current environmental information of the mobile tool to obtain a corresponding collision verification result.

8. A remote control system for a mobile tool, characterized in that: It includes a remote control system and a mobile tool, wherein the remote control system is in communication connection with the mobile tool, wherein: The remote control system is used to respectively obtain the current driving information of the mobile tool and the remote control steering command of the remote control device; generate a corresponding plurality of alternative paths according to the current driving information; generate a function of the remote control steering command and the alternative paths according to the remote control steering angle range of the remote control device; determine one of the alternative paths as a predicted remote control path through the function according to the remote control steering command; perform speed planning on the mobile tool according to the predicted remote control path to obtain a corresponding remote control predicted trajectory; and send the remote control predicted trajectory to the mobile tool for the mobile tool to track and drive; The mobile tool is used to send current driving information to the remote control system, receive the remote control predicted trajectory sent by the remote control system, and track the driving according to the remote control predicted trajectory.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 5.

11. A mobile tool, characterized in that: Used to obtain the remote control predicted trajectory generated by the remote control method of the mobile tool described in any one of claims 1 to 5, and track the driving according to the remote control predicted trajectory.

Images