Unmanned vehicle cluster collaborative scheduling platform and scheduling method thereof

Abstract

The invention relates to an unmanned vehicle cluster collaborative scheduling platform and a scheduling method thereof, and belongs to the technical field of unmanned vehicle cluster control. The unmanned vehicle cluster collaborative scheduling platform and method solve the problem that an unmanned vehicle cluster collaborative scheduling platform and method which can efficiently realize unmanned vehicle cluster collaborative scheduling and have accurate positioning and attitude control, strong anti-interference capability and perfect monitoring and obstacle avoidance functions is lacked at present. According to the unmanned vehicle cluster collaborative scheduling platform, collaborative movement of a plurality of unmanned vehicles is managed in a centralized manner through one test guide console, and meanwhile, the unmanned vehicles return basic information to the guide console, so that the unmanned vehicle cluster collaborative scheduling platform with remote control, low delay and high precision is constructed. The guide console and the unmanned vehicle cluster are in two-way connection to realize efficient management and cooperative control, the vehicle-mounted processor improves the performance in parallel through multiple algorithms, the communication module and the data chain equipment guarantee data interaction, cluster collaboration is promoted, multi-sensor fusion and computer equipment are promoted, and the operation efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to an unmanned vehicle cluster collaborative dispatching platform and a dispatching method thereof, and belongs to the technical field of unmanned vehicle cluster control. Background Art

[0002] With the rapid development of science and technology, unmanned vehicle technology has shown great application potential in many fields, and the collaborative operation of unmanned vehicle clusters has become a research hotspot. In actual application scenarios, whether it is industrial logistics and transportation, intelligent warehouse management, or military reconnaissance, emergency rescue and other fields, there is an urgent need for efficient collaborative control of unmanned vehicle clusters.

[0003] In the existing technology, there are already some research results related to unmanned vehicle cluster control. For example, some research is committed to realizing unmanned vehicle cluster systems with low transmission delay, high-precision positioning, distributed collaborative operation, posture anomaly detection and processing, and cluster trajectory planning. However, these existing technologies still have many shortcomings.

[0004] In terms of the mechanical structure of unmanned vehicles, the four-wheel drive differential chassis used in some studies cannot achieve precise lateral movement due to its own design characteristics. This limitation greatly restricts the maneuverability and flexibility of unmanned vehicles when faced with complex and narrow working environments, making it difficult to complete tasks efficiently in a small space, such as being unable to flexibly adjust the position when carrying goods in narrow warehouse aisles. At the same time, the small design of this type of chassis leads to its limited ability to carry heavy equipment and cannot meet some application scenarios with high load requirements, such as heavy material transportation.

[0005] In terms of communication, although some systems have adopted dual-link-based nRF24L01 (wireless network transceiver chip) + PA + LNA wireless communication solutions, and introduced the nRF24L01 communication protocol based on Stop and Wait-Automatic Repeat Request (SW-ARQ) to ensure communication reliability, the stability and efficiency of communication still need to be further improved when facing large-scale unmanned vehicle clusters or complex electromagnetic environments.

[0006] In addition, the existing technology also has room for improvement in terms of overall control flexibility and visualization. For example, in the process of unmanned vehicle cluster formation coordination, the accuracy of the formation is difficult to effectively guarantee, and the lack of full visualization also makes it difficult for operators to fully grasp the cluster status in real time, which in turn affects the efficiency and safety of task execution.

[0007] In summary, the existing unmanned vehicle cluster control technology is insufficient in mechanical structure, communication and overall control, and there is an urgent need for a more advanced, efficient and fully functional unmanned vehicle cluster collaborative scheduling platform to meet the growing practical application needs. This invention is proposed based on this background, aiming to overcome the defects of the existing technology and realize more accurate, efficient and flexible collaborative control of unmanned vehicle clusters. Summary of the invention

[0008] The present invention proposes an unmanned vehicle cluster collaborative scheduling platform and a scheduling method thereof, which solves the current problem of lack of an unmanned vehicle cluster collaborative scheduling platform and method that can efficiently realize unmanned vehicle cluster collaborative scheduling, have precise positioning and attitude control, strong anti-interference ability, and complete monitoring and obstacle avoidance functions.

[0009] A collaborative dispatching platform for unmanned vehicle clusters, comprising a control console and an intelligent unmanned vehicle cluster. The control console and the intelligent unmanned vehicle cluster have a two-way data connection for realizing real-time monitoring, task dispatching and collaborative control of the unmanned vehicle cluster.

[0010] Furthermore, each unmanned vehicle in the intelligent unmanned vehicle cluster includes a vehicle model chassis, a control drive circuit, a power supply, a step-down module, an on-board processor, an electronic speed regulator, a motor, a Mecanum wheel, a communication module, a positioning receiver and a data link device.

[0011] The four Mecanum wheels installed under the chassis of the car model are connected to the corresponding motors through the transmission shaft. The torque output end of the motor is fixedly connected to the torque input end of the Mecanum wheel to achieve power transmission.

[0012] The power supply, step-down module, control drive circuit, vehicle-mounted processor, electronic speed regulator, communication module and data link equipment are all installed above the chassis of the vehicle model. The power supply provides the required suitable working voltage for the vehicle-mounted processor, control drive circuit, electronic speed regulator, communication module and data link equipment through the step-down module. The vehicle-mounted processor is respectively connected with the data link equipment, control drive circuit, communication module and data link equipment. The control drive circuit is connected with the motor signal through the electronic speed regulator. The data link equipment is connected with the communication module, and the communication module is connected with the control console.

[0013] Furthermore, the chassis of the vehicle model is used as the basic support structure of the unmanned vehicle and provides a mounting platform for other components;

[0014] Mecanum wheels are used to drive the vehicle to move in all directions.

[0015] A control drive circuit is used to receive control instructions sent by the on-board processor and convert them into PWM drive signals suitable for the electronic speed regulator;

[0016] The on-board processor is used to receive control instructions and mission parameters from the control console by connecting to the data link equipment, and send the status information of the unmanned vehicle to the control console; and send motor control signals to the control drive circuit according to the received control instructions and its own calculation processing results; and is also used to communicate and cooperate with other unmanned vehicles through the data link equipment to realize information sharing and collaborative operation among clusters;

[0017] Power supply, used to provide power support for the unmanned vehicle;

[0018] The step-down module is used to convert the higher voltage output by the power supply into the appropriate working voltage required by the motor, control drive circuit, on-board processor, electronic speed regulator, communication module and data link equipment;

[0019] The communication module is used to establish a wireless communication link between the unmanned vehicle and the control console and between the unmanned vehicles;

[0020] It is also used to receive the unmanned vehicle status information sent by the on-board processor through data connection with the on-board processor, and transmit the unmanned vehicle status information to the control console through wireless communication, and at the same time receive control instructions and task parameters from the control console and pass them to the on-board processor for processing;

[0021] It is also used to work in coordination with data link equipment. After the data link equipment encodes, modulates and encrypts the data, the processed signal is sent out through a dedicated wireless communication frequency band, and data from the outside is received. After decoding, demodulating and decrypting by the data link equipment, the effective information is passed to the on-board processor. Thus, through the communication module, real-time and reliable data interaction is achieved within the unmanned vehicle cluster and between the unmanned vehicle and the external control center, ensuring that the unmanned vehicle cluster can work in coordination and complete various tasks.

[0022] Furthermore, the unmanned vehicle status information includes position, posture, power, voltage, speed and vehicle distance.

[0023] Furthermore, the vehicle-mounted processor is also used to fuse data from various sensors, perform positioning and attitude calculation, provide accurate positioning position and attitude information for autonomous navigation and motion control of the unmanned vehicle, and transmit the positioning position and attitude information to the control console through the communication module;

[0024] The various sensors include a positioning receiver, a vehicle-mounted camera and a distance measurement and obstacle avoidance module, wherein the vehicle-mounted camera is installed below the chassis of the car model, and the camera lens is set toward the ground, and the positioning receiver and the distance measurement and obstacle avoidance module are installed above the front end of the chassis of the car model;

[0025] The vehicle-mounted camera, the distance measurement and obstacle avoidance module and the positioning receiver are all data-connected to the vehicle-mounted processor;

[0026] An auxiliary light source projecting toward the ground is also installed near the vehicle-mounted camera.

[0027] Furthermore, the control console is used to: receive and display the status information and operation process data of the unmanned vehicle in real time, wherein the operation process data includes control instructions, driving path, speed change and vehicle distance, and record them;

[0028] It is also used for operators to manually or automatically set target points for unmanned vehicles according to preset files. The unmanned vehicle autonomously plans the path and drives to the target point according to the target point and control instructions sent by the control console.

[0029] It is also used to calculate the position relationship between vehicles in real time during the operation of unmanned vehicles to determine whether there is a collision risk. When a collision risk is detected, it quickly sends an obstacle avoidance emergency stop command to the relevant unmanned vehicles, and at the same time, it alarms the operator on the interface and makes corresponding target point settings and adjustments to avoid collision accidents.

[0030] It is also used to draw the movement track of the unmanned vehicle in real time on the interface, distinguish vehicles by different colors, and display or hide the track of a specific vehicle. It also supports map operation functions, making it convenient for operators to view the operation status of the unmanned vehicle in more detail or as a whole.

[0031] It is also used to manage serial port communications with unmanned vehicles, including setting baud rates, reading and sending data, and checking and parsing data validity to ensure smooth information exchange.

[0032] It is also used to initialize the system of the unmanned vehicle, which is to send normal initialization instructions or reset the position of the unmanned vehicle after power failure and restart. At the same time, it monitors the communication status in real time, promptly discovers and solves potential communication problems, and ensures the stable operation of the system.

[0033] The above functions run in parallel.

[0034] Furthermore, the vehicle-mounted processor has multiple control algorithms built in, including a nonlinear cascade PID control algorithm, an ADRC self-disturbance rejection control algorithm and an optimal control algorithm, and the multiple control algorithms run in parallel.

[0035] A method for coordinated dispatching of unmanned vehicle clusters is based on the above-mentioned unmanned vehicle cluster coordinated dispatching platform, and the method for coordinated dispatching of unmanned vehicle clusters includes the following steps:

[0036] S100, the unmanned vehicle cluster scheduling and obstacle avoidance software reads the serial port information for initialization judgment: the control console reads the information from the serial port, analyzes and judges whether it is valid information sent by the unmanned vehicle group, and pops up an alarm if no valid information is received within six seconds; if the unmanned vehicle is started for the first time, the control console sends a normal initialization command; if the unmanned vehicle is not started for the first time but restarted after power failure, the control console sends the position and posture before power failure to help it start normally;

[0037] S200, the control console analyzes the serial port information display and runs the following functions in parallel:

[0038] Provides a basic information display box for the unmanned vehicle, showing the x-axis, y-axis coordinates, yaw angle attitude and voltage read from the serial port;

[0039] Provide an input box for the target point of the unmanned vehicle. After entering the optional range coordinates and clicking the send button, the control console sends the designated target command to the unmanned vehicle. The unmanned vehicle moves to the target point according to the command. At the same time, the control console calculates the relative distance between the unmanned vehicles and the angle between the destination of the unmanned vehicle and the two unmanned vehicles. When the distance is less than 2 meters and the angle is less than 30°, the control console sends an obstacle avoidance emergency stop command to the corresponding unmanned vehicle.

[0040] Provide automatic target point setting buttons "Start File Sending" and "Start File Continue Sending". After clicking, the txt document content is read from the specified document location at one time and stored, a set of target point locations are sent to the unmanned vehicle and wait, and the next set of target locations are sent after receiving the arrival information sent back by the unmanned vehicle until all target locations are sent. Manual one-click pause can terminate the file sending process. Click "Start File Sending" again to send the target points from the beginning. Click "Start File Continue Sending" to continue sending the target points from the last interruption.

[0041] Provide a manual emergency stop button for the unmanned vehicle, and send an emergency stop command to each unmanned vehicle or all unmanned vehicles at any time; click the draw image button, and the control console will draw four unmanned vehicles on a 500×500 map according to the position and posture information. The map provides the functions of swiping to zoom in and right-clicking to zoom out, and allows operators to enter the unmanned vehicle number and choose to hide or display the specified unmanned vehicle;

[0042] S300, real-time monitoring of basic data during the operation of the unmanned vehicle group and recording: After the serial port starts to receive information, the control console records the serial port input information and the message in the basic information display box of the unmanned vehicle. At the same time, when running many functions in S200 to send instructions to the unmanned vehicle, these instructions are also recorded, and various data during the operation of the unmanned vehicle are recorded, and the data is converted into a txt file when the control console is closed.

[0043] A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned unmanned vehicle cluster collaborative scheduling method.

[0044] A computer device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned unmanned vehicle cluster collaborative scheduling method.

[0045] Beneficial effects of the present invention: The unmanned vehicle cluster collaborative scheduling platform and scheduling method of the present invention realize centralized management and real-time monitoring through a two-way connection between the control console and the unmanned vehicle cluster. The various components on the unmanned vehicle work together, and the on-board processor integrates multi-sensor data for precise positioning and attitude control. A variety of control algorithms ensure that the unmanned vehicle operates stably under various working conditions. The control console has functions such as task scheduling, obstacle avoidance and trajectory drawing, which can effectively avoid collision accidents, ensure the stable operation of the system, and improve the collaborative operation efficiency, safety and reliability of the unmanned vehicle cluster. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the overall structure of an unmanned vehicle cluster collaborative dispatching platform of the present invention;

[0047] Figure 2 A side view of an unmanned vehicle in the intelligent unmanned vehicle cluster of the present invention;

[0048] Figure 3 A top view of an unmanned vehicle in the intelligent unmanned vehicle cluster of the present invention;

[0049] Figure 4 A schematic diagram of the connection relationship of various electronic devices in an unmanned vehicle cluster collaborative dispatching platform of the present invention;

[0050] Figure 5 This is a schematic diagram of the STM32F405RGT6 chip used in the drive control circuit in an embodiment of the present invention;

[0051] Figure 6 The circuit schematic and PCB diagram of the drive control circuit;

[0052] Figure 7 This is the schematic diagram of the drive control circuit;

[0053] Figure 8 This is a schematic diagram of a Jetson Nano motherboard used by an in-vehicle processor in an embodiment of the present invention;

[0054] Fig. 9 A method flow chart of a method for coordinated scheduling of unmanned vehicle clusters according to the present invention;

[0055] Fig.10 This is a schematic diagram of the control console controlling obstacle avoidance between unmanned vehicles;

[0056] Fig.11Schematic diagram of sending and receiving commands and data between the control console and the intelligent unmanned vehicle cluster;

[0057] Fig.12 This is the interface view of the control console operation interface, where the unmanned vehicle communication is normal;

[0058] Fig.13 This is the interface view of the abnormal communication of the unmanned vehicle in the control console operation interface;

[0059] Fig.14 This is the interface view when manually inputting the target point coordinates on the control console;

[0060] Fig.15 This is the interface view when the target point coordinates are automatically input on the control console;

[0061] Fig.16 This is the interface view for pausing the unmanned vehicle with one click on the control console;

[0062] Fig.17 This is the interface view of the workshop obstacle avoidance in the control console;

[0063] Fig.18 This is the interface view of the vehicle onboard computer in the control console when it is powered off;

[0064] Fig.19 This is the interface view when the vehicle onboard computer in the control console is powered on;

[0065] Fig. 20 The interface view when resetting the coordinates of the vehicle in the control console;

[0066] Fig.21 The interface view that displays the real-time position of the unmanned vehicle in the control console;

[0067] Fig. 22 This is the interface view of the power display in the control console. DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] Reference Figure 1-Figure 4 As shown, a collaborative scheduling platform for unmanned vehicle clusters includes a control console and an intelligent unmanned vehicle cluster. The control console has a two-way data connection with the intelligent unmanned vehicle cluster to achieve real-time monitoring, task scheduling and collaborative control of the unmanned vehicle cluster.

[0070] Specifically, first of all, the present invention realizes the centralized management of the unmanned vehicle cluster. Through the control console, the status of each unmanned vehicle can be grasped in real time, including location, posture, power and other information, so as to find problems and deal with them in time. The real-time monitoring function ensures the comprehensive control of the operation process of the unmanned vehicle, and can find abnormal situations in time, such as vehicle failure and collision risk, etc., which improves the safety and reliability of the system.

[0071] Secondly, the present invention can also perform task allocation and scheduling according to actual needs, thereby improving the working efficiency of the unmanned vehicle cluster. For example, tasks can be reasonably allocated according to the performance and task characteristics of different unmanned vehicles to achieve optimal allocation of resources. It can also respond quickly to task changes. When new task requirements or emergencies arise, the task arrangement of the unmanned vehicle can be adjusted in time, thereby improving the flexibility and adaptability of the system.

[0072] The two-way data connection enables rapid information exchange between the control console and the unmanned vehicle cluster, facilitating collaborative control. For example, when encountering complex tasks or special situations, the control console can coordinate multiple unmanned vehicles to complete the task together, improving the quality and efficiency of task completion. In addition, collaborative control between unmanned vehicles can also achieve information sharing and collaboration between unmanned vehicles. For example, during obstacle avoidance, multiple unmanned vehicles can collaborate with each other to avoid collision accidents and improve the safety of the system.

[0073] Furthermore, each unmanned vehicle in the intelligent unmanned vehicle cluster includes a vehicle model chassis, a control drive circuit, a power supply, a step-down module, an on-board processor, an electronic speed regulator, a motor, a Mecanum wheel, a communication module, a positioning receiver and a data link device.

[0074] The four Mecanum wheels installed under the chassis of the car model are connected to the corresponding motors through the transmission shaft. The torque output end of the motor is fixedly connected to the torque input end of the Mecanum wheel to achieve power transmission.

[0075] The power supply, step-down module, control drive circuit, vehicle-mounted processor, electronic speed regulator, communication module and data link equipment are all installed above the chassis of the vehicle model. The power supply provides the required suitable working voltage for the vehicle-mounted processor, control drive circuit, electronic speed regulator, communication module and data link equipment through the step-down module. The vehicle-mounted processor is respectively connected with the data link equipment, control drive circuit, communication module and data link equipment. The control drive circuit is connected with the motor signal through the electronic speed regulator. The data link equipment is connected with the communication module, and the communication module is connected with the control console.

[0076] Specifically, in terms of mechanical structure design, the present invention uses a four-motor driven Mecanum wheel omnidirectional vehicle model. This design has a unique omnidirectional mobility capability, can move freely in any direction, and does not require a turning radius, which greatly improves the maneuverability and flexibility of the vehicle in complex environments. Compared with traditional wheeled vehicles, the multi-directional driving characteristics of the Mecanum wheel enable the vehicle model to achieve operations such as left and right translation and in-situ rotation, which is extremely suitable for use in small spaces or test scenarios where frequent position adjustments are required.

[0077] As for the control driving circuit, the present invention adopts a control system based on STM32F4 or H7 series single chip microcomputer, and outputs four PWM signals through a built-in PWM generator to control the electronic speed regulator (ESR) to drive the brushless motor.

[0078] The on-board processor is the core component of the unmanned vehicle control system. In the system design, it is responsible for receiving and processing data and controlling the operation of peripheral circuits. When each sensor collects the corresponding data, the data will be transmitted to the on-board processor. The chip calculates the corresponding control quantity through the attitude solution algorithm and control algorithm, and generates a PWM signal to adjust the speed of the motor, thereby accurately controlling the speed and direction of the car model. At the same time, the on-board processor is equipped with multiple USART serial ports to support communication with the on-board computer and other peripheral devices, ensuring real-time data transmission and efficient collaboration between systems.

[0079] The drive control circuit uses the STM32F405RGT6 chip, and uses CubeMX software to configure the chip's peripheral pins and functions, such as Figure 5 As shown. The STM32F405RGT6 to be used has high computing performance and is more suitable for high-speed real-time calculation of unmanned vehicle control data. At the same time, low power consumption is conducive to increasing the endurance of unmanned vehicles. The chip adopts ARM architecture and is based on the Cortex-M4 core. Use Protel / AD circuit design function data, drive control circuit circuit schematic and PCB diagram, as shown Figure 6 shown.

[0080] The drive control circuit is a reversible bipolar bridge driver for the reduction motor made of discrete components. Its power components are composed of N-channel MOSFET tubes. The peak current can reach more than 100A, which greatly improves the working torque and speed of the motor. The circuit diagram is as follows Figure 7 shown.

[0081] In terms of vehicle-mounted processor, the present invention chooses JetsonNano, such as Figure 8As shown, it is an ARM-based microcomputer motherboard. There are 14 USB interfaces and a 10 / 100 Ethernet interface around the card motherboard, which can be connected to a keyboard, mouse and network cable. It also has a TV output interface for video analog signals and an HDMI high-definition video output interface, so it can receive and process video data from the on-board camera. All of the above components are integrated on a motherboard that is only slightly larger than a credit card. It has all the basic functions of a PC. Just connect a TV and a keyboard to perform many functions such as spreadsheets and word processing.

[0082] Compared with common embedded microcontrollers such as STM32, Jetson Nano not only has the same IO pin control function, but also can run a complete operating system, support complex task management and scheduling, and is suitable for higher-level application development. This provides developers with a broad application space. Not only is the choice of development language not limited to C language, but it can also more flexibly connect the underlying hardware with the upper-level application. For example, Jetson Nano can support cloud control and cloud management of the Internet of Things, and can even build a small network server for small test development and services. Jetson Nano is small in size and low in cost, but it can still undertake some traditional PC tasks and applications. Combining its performance in processing performance, scalability and flexibility, Jetson Nano is very suitable for the on-board processor requirements of unmanned vehicles in this project, providing strong support for the complex computing tasks and upper-level application development of unmanned vehicles.

[0083] Furthermore, the chassis of the vehicle model is used as the basic support structure of the unmanned vehicle and provides a mounting platform for other components;

[0084] Mecanum wheels are used to drive the vehicle to move in all directions.

[0085] A control drive circuit is used to receive control instructions sent by the on-board processor and convert them into PWM drive signals suitable for the electronic speed regulator;

[0086] The on-board processor is used to receive control instructions and mission parameters from the control console by connecting to the data link equipment, and send the status information of the unmanned vehicle to the control console; and send motor control signals to the control drive circuit according to the received control instructions and its own calculation processing results; and is also used to communicate and cooperate with other unmanned vehicles through the data link equipment to realize information sharing and collaborative operation among clusters;

[0087] Power supply, used to provide power support for the unmanned vehicle;

[0088] The step-down module is used to convert the higher voltage output by the power supply into the appropriate working voltage required by the motor, control drive circuit, on-board processor, electronic speed regulator, communication module and data link equipment;

[0089] Communication module, used to establish wireless communication links between the unmanned vehicle and the control console and between the unmanned vehicles;

[0090] It is also used to receive the unmanned vehicle status information sent by the on-board processor through data connection with the on-board processor, and transmit the unmanned vehicle status information to the control console through wireless communication, and at the same time receive control instructions and task parameters from the control console and pass them to the on-board processor for processing;

[0091] It is also used to work in coordination with data link equipment. After the data link equipment encodes, modulates and encrypts the data, the processed signal is sent out through a dedicated wireless communication frequency band, and data from the outside is received. After decoding, demodulating and decrypting by the data link equipment, the effective information is passed to the on-board processor. Thus, through the communication module, real-time and reliable data interaction is achieved within the unmanned vehicle cluster and between the unmanned vehicle and the external control center, ensuring that the unmanned vehicle cluster can work in coordination and complete various tasks.

[0092] Furthermore, the unmanned vehicle status information includes position, posture, power, voltage, speed and vehicle distance.

[0093] Furthermore, the vehicle-mounted processor is also used to fuse data from various sensors, perform positioning and attitude calculation, provide accurate positioning position and attitude information for autonomous navigation and motion control of the unmanned vehicle, and transmit the positioning position and attitude information to the control console through the communication module;

[0094] The various sensors include a positioning receiver, a vehicle-mounted camera and a distance measurement and obstacle avoidance module, wherein the vehicle-mounted camera is installed below the chassis of the car model, and the camera lens is set toward the ground, and the positioning receiver and the distance measurement and obstacle avoidance module are installed above the front end of the chassis of the car model;

[0095] The vehicle-mounted camera, the distance measurement and obstacle avoidance module and the positioning receiver are all data-connected to the vehicle-mounted processor;

[0096] An auxiliary light source projecting toward the ground is also installed near the vehicle-mounted camera.

[0097] Specifically, first of all, the chassis of the car model provides a stable installation platform for the components of the unmanned vehicle, and the Mecanum wheel realizes omnidirectional mobility, which improves the maneuverability of the unmanned vehicle. The control drive circuit accurately converts the control instructions of the on-board processor into signals suitable for the electronic speed regulator to ensure the precise operation of the motor. The on-board processor receives the instructions of the control console and sends the status information of the unmanned vehicle. It can also communicate and cooperate with other unmanned vehicles to realize cluster collaborative operation, integrate multi-sensor data for positioning and attitude calculation, provide accurate information for autonomous navigation and motion control and transmit it to the control console. The power supply provides power support, and the step-down module converts the appropriate voltage to meet the needs of each component. The communication module establishes a wireless communication link between the unmanned vehicle and the control console and the unmanned workshop, and works with the data link equipment to ensure the real-time and reliability of data interaction, so that the unmanned vehicle cluster can complete the task collaboratively. At the same time, the comprehensive monitoring of the status information of the unmanned vehicle and the cooperation of sensors such as the on-board camera, positioning receiver, ranging obstacle avoidance module, and the auxiliary light source enhance visual perception, which improves the operation safety and task execution efficiency of the unmanned vehicle in various environments.

[0098] Furthermore, the control console is used to: receive and display the status information and operation process data of the unmanned vehicle in real time, wherein the operation process data includes control instructions, driving path, speed change and vehicle distance, and record them;

[0099] It is also used for operators to manually or automatically set target points for unmanned vehicles according to preset files. The unmanned vehicle autonomously plans the path and drives to the target point according to the target point and control instructions sent by the control console.

[0100] It is also used to calculate the position relationship between vehicles in real time during the operation of unmanned vehicles to determine whether there is a collision risk. When a collision risk is detected, it quickly sends an obstacle avoidance emergency stop command to the relevant unmanned vehicles, and at the same time, it alarms the operator on the interface and makes corresponding target point settings and adjustments to avoid collision accidents.

[0101] It is also used to draw the movement track of the unmanned vehicle in real time on the interface, distinguish vehicles by different colors, and display or hide the track of a specific vehicle. It also supports map operation functions, making it convenient for operators to view the operation status of the unmanned vehicle in more detail or as a whole.

[0102] It is also used to manage serial port communications with unmanned vehicles, including setting baud rates, reading and sending data, and checking and parsing data validity to ensure smooth information exchange.

[0103] It is also used to initialize the system of the unmanned vehicle, which is to send normal initialization instructions or reset the position of the unmanned vehicle after power failure and restart. At the same time, it monitors the communication status in real time, promptly discovers and solves potential communication problems, and ensures the stable operation of the system.

[0104] The above functions run in parallel.

[0105] Specifically, the purpose of the control console is to overcome the shortcomings of existing unmanned vehicle cluster formations, such as poor coordination, low accuracy, and inability to fully visualize the technology. A visualization interface software is proposed that can interact with multiple unmanned vehicles in real time, receive the coordinates and posture of the unmanned vehicles, and store related data, which can greatly improve the execution efficiency of the unmanned vehicle cluster formation. The main functions of the control console's interaction with the unmanned vehicle group include real-time analysis and calculation of the information sent by the unmanned vehicle group, real-time display of the position of the unmanned vehicle group on the map, and providing users with the functions of controlling the unmanned vehicle's driving target point, unmanned vehicle initialization, obstacle avoidance, and data storage. The main functions of the control console are as follows:

[0106] (1) Manually send control commands to the unmanned vehicle group: send basic commands such as target point and emergency stop to any unmanned vehicle.

[0107] (2) Automatically send target points to the unmanned vehicle according to the file content: Read the txt file data at the specified location and send the target points to the unmanned vehicle according to the data content. When a set of target points is reached, the next set of data is sent in sequence until all the target points in the file are sent.

[0108] (3) Automatically send control commands to the unmanned vehicle group: send normal initialization commands to the unmanned vehicle that is started for the first time, send reset position commands to the unmanned vehicle that loses its position information due to power outage and restart, so that it resets its position to the last position before the power outage. Send emergency stop and obstacle avoidance commands to the unmanned vehicle that is about to collide during operation.

[0109] (4) Analysis of data sent by the unmanned vehicle to the control center: The unmanned vehicle group sends information asynchronously. The control center reads all received messages from the serial port data at a certain frequency and analyzes the real-time information of each unmanned vehicle. It also calculates the obstacle avoidance conditions based on the unmanned vehicle's destination and the real-time position of each unmanned vehicle.

[0110] (5) Data recording and visual display: The control console draws the received position and posture information on the map, and can choose to display or hide the track. The original data input from the serial port, the real-time data of each unmanned vehicle, and the control instructions issued by the control console are all recorded in a table. They can be viewed after the control console operation is completed.

[0111] (6) Basic information display: The control console will display some basic information of the unmanned vehicle group. For example, in order to prevent the unmanned vehicle from stopping due to low battery, the unmanned vehicle cluster scheduling and obstacle avoidance software displays the voltage of the unmanned vehicle. The software will also alert the serial port whether it has received any information about the unmanned vehicle.

[0112] The above functions are all functions for real-time interaction with the control console. Considering the interaction of data, displaying the real-time position of the unmanned vehicle, and recording and collecting the data of the unmanned vehicle group, in order to realize the above functions, the following performance requirements must be met: (1) The ability of serial communication to send and receive data (2) The ability of serial two-way wireless communication (3) The ability to draw the car on the map based on the position and posture information (4) Data storage ability (5) The ability to record time.

[0113] According to the analysis of the interactive needs of the control console, the control console operation of the unmanned vehicle can be divided into seven parts, namely: initialization interaction with the unmanned vehicle group, sending specific signals to the unmanned vehicle based on whether it is the first time for the unmanned vehicle to be initialized; receiving information sent by the unmanned vehicle and parsing and displaying it; sending target points to the unmanned vehicle and achieving obstacle avoidance and emergency stop based on the relative positions of the target points and multiple vehicles; users manually stopping the unmanned vehicle; visual display of the global position of the unmanned vehicle on the map; real-time recording of the driving data of the unmanned vehicle group.

[0114] Furthermore, the vehicle-mounted processor has multiple control algorithms built in, including a nonlinear cascade PID control algorithm, an ADRC self-disturbance rejection control algorithm and an optimal control algorithm, and the multiple control algorithms run in parallel.

[0115] Specifically, the vehicle-mounted processor of the present invention introduces a variety of advanced control algorithms, including nonlinear cascade PID control, ADRC self-disturbance rejection control and optimal control modes to adapt to different test requirements. In attitude control, a nonlinear cascade PID control strategy is adopted, the outer loop is used for angle control, and the inner loop is used for angular velocity control, so as to achieve more stable and accurate attitude adjustment. In the embedded field, embedded real-time operating system (RTOS) is being used more and more widely because it can use CPU resources more reasonably and efficiently. Through RTOS, the design of application software can be simplified, the development cycle can be shortened, and the real-time performance and reliability of the system are significantly improved. The present invention uses FreeRTOS as an operating system. FreeRTOS is a completely free operating system with the advantages of open source code, easy portability, scalability and flexible scheduling strategies, and can be easily ported to various single-chip microcomputer platforms for operation. Using FreeRTOS to implement task scheduling can effectively improve system performance, ensure the real-time response and stable operation of each task, and provide reliable support for the overall control system.

[0116] Reference Fig. 9 As shown, a method for coordinated scheduling of unmanned vehicle clusters is based on the above-mentioned unmanned vehicle cluster coordinated scheduling platform, and the method for coordinated scheduling of unmanned vehicle clusters includes the following steps:

[0117] S100, the unmanned vehicle cluster scheduling and obstacle avoidance software reads the serial port information for initialization judgment: the control console reads the information from the serial port, analyzes and judges whether it is valid information sent by the unmanned vehicle group, and pops up an alarm if no valid information is received within six seconds; if the unmanned vehicle is started for the first time, the control console sends a normal initialization command; if the unmanned vehicle is not started for the first time but restarted after power failure, the control console sends the position and posture before power failure to help it start normally;

[0118] S200, the control console analyzes the serial port information display and runs the following functions in parallel:

[0119] Provides a basic information display box for the unmanned vehicle, showing the x-axis, y-axis coordinates, yaw angle attitude and voltage read from the serial port;

[0120] Provide an input box for the target point of the unmanned vehicle. After entering the optional range coordinates and clicking the send button, the control console sends the designated target command to the unmanned vehicle. The unmanned vehicle moves to the target point according to the command. At the same time, the control console calculates the relative distance between the unmanned vehicles and the angle between the destination of the unmanned vehicle and the two unmanned vehicles. When the distance is less than 2 meters and the angle is less than 30°, the control console sends an obstacle avoidance emergency stop command to the corresponding unmanned vehicle.

[0121] Provide automatic target point setting buttons "Start File Sending" and "Start File Continue Sending". After clicking, the txt document content is read from the specified document location at one time and stored, a set of target point locations are sent to the unmanned vehicle and wait, and the next set of target locations are sent after receiving the arrival information sent back by the unmanned vehicle until all target locations are sent. Manual one-click pause can terminate the file sending process. Click "Start File Sending" again to send the target points from the beginning. Click "Start File Continue Sending" to continue sending the target points from the last interruption.

[0122] Provide a manual emergency stop button for the unmanned vehicle, and send an emergency stop command to each unmanned vehicle or all unmanned vehicles at any time; click the draw image button, and the control console will draw four unmanned vehicles on a 500×500 map according to the position and posture information. The map provides the functions of swiping to zoom in and right-clicking to zoom out, and allows operators to enter the unmanned vehicle number and choose to hide or display the specified unmanned vehicle;

[0123] S300, real-time monitoring of basic data during the operation of the unmanned vehicle group and recording: After the serial port starts to receive information, the control console records the serial port input information and the message in the basic information display box of the unmanned vehicle. At the same time, when running many functions in S200 to send instructions to the unmanned vehicle, these instructions are also recorded, and various data during the operation of the unmanned vehicle are recorded, and the data is converted into a txt file when the control console is closed.

[0124] Specifically, refer to Fig.11As shown in Table 1, during the operation of the unmanned vehicle, the control console has only one data transmission hardware, but it needs to complete the two-way data transmission of multiple unmanned vehicles. Therefore, it is necessary to design a data representation to realize the data transmission between the control console and the unmanned vehicle. The data transmission format is shown in Table 1.

[0125]

[0126]

[0127] Table 1

[0128] Detailed design of receiving and parsing data from the control console:

[0129] When receiving information sent by four unmanned vehicles simultaneously through the wireless transmission module, the serial port baud rate is set to 38400. The unmanned vehicle cluster scheduling and obstacle avoidance software reads 1500 bytes of data from the serial port each time, and checks whether the data starts with the letter "N". If not, the beginning of the data is deleted until the beginning of "N" is detected to ensure that the processed information is valid. The data is then split according to "_" and stored as a string array.

[0130] The initialization information or the position information during normal operation sent by the unmanned vehicle consists of 5 strings, so the data parsing is done in groups of 5 strings. The data type is distinguished by the 4th character (num) of the first group of strings: if num is 1, 2, 3 or 4, it indicates the position information sent by the unmanned vehicle. Then, by checking whether the second string is double type data, it is further distinguished whether the unmanned vehicle sends initialization information or position information during normal operation.

[0131] If the initialization information is received, first determine whether it is the first initialization. If it is the first time, send the initialization command to the serial port; if it is a repeated initialization, the system will power off and restart the unmanned vehicle, and send a reset position command through the serial port. If the position information received is during normal operation, the second string represents the x-axis coordinate, the third string represents the y-axis coordinate, the fourth string represents the yaw angle, and the fifth string represents the battery voltage. The unmanned vehicle cluster scheduling and obstacle avoidance software will parse these data and display them in the corresponding window.

[0132] If num is 5, it means that the arrival information has been received, and the system will determine which unmanned vehicle has arrived at the designated location based on the value in the second string.

[0133] Detailed design of manually sending target point information from the control console:

[0134] The control console has four sets of input boxes to set the target point for the unmanned vehicle. The user needs to enter the desired x-axis and y-axis information in the box, and then click the corresponding confirmation button. The control console will send the target of the unmanned vehicle to the unmanned vehicle according to the corresponding data identifier.

[0135] Detailed design of automatic sending of target point information by the control console:

[0136] (1) File reading and storage. When the user clicks the "Start file sending" button, the program will read the four files 1.txt, 2.txt, 3.txt, and 4.txt and store their contents in memory. Each file corresponds to an unmanned vehicle, and the content represents the target point information of the vehicle. Send the target points in groups (2).

[0137] Each set of target points will be sent to four unmanned vehicles at the same time. When sending, the console needs to record the number of the target point group currently being sent (for example, group 1, group 2, etc.). When the target points are sent, the program will enter a waiting state until all four unmanned vehicles send an "arrive" message, indicating that they have arrived at the target point. Once the "arrive" signal from all vehicles is received, the program will automatically send the next set of target points and repeat this process until all target points have been sent.

[0138] (2) Pause and resume. When the user clicks the "Pause" button, the program will immediately stop sending the target point and pause the current sending cycle. At this time, the program will record the target point group number currently being sent so that it can be resumed later. If the user clicks the "Start File Continue Sending" button, the program will continue sending the target point starting from the target point group number at the time of pause. If the user clicks the "Start File Sending" button, the program will start from the beginning and resend from the first group of target points.

[0139] Detailed design of the control console to achieve mutual obstacle avoidance for unmanned vehicles:

[0140] When the control console sends the target point, during operation, the control console will calculate the geometric position between the vehicle and the target point in real time, and give an obstacle avoidance emergency stop command based on the angle and distance valve domain. The distance valve domain is set to 2 meters and the angle valve domain is set to 30°. Fig.10 As shown in the figure, the target point of vehicle A is at point C. When the angle ACB is less than 30° and the distance between vehicles AB is less than 2 meters, the control console will output an emergency stop command to the serial port for vehicle A. After the obstacle avoidance emergency stop command is issued, the content of the target point input box will be cleared and the target point will be cancelled.

[0141] About the detailed design of the unmanned vehicle positioning map on the control console:

[0142] After each data is collected, the control console will update the data in real time in the text box, and the user can choose to draw the track on the map. The map size is 500×500, and the four unmanned vehicles are represented by four colors. The arrows on the unmanned vehicles point to the posture of the unmanned vehicles. When drawing the track, the map saves the latest ten position points of each unmanned vehicle. The user can enter the unmanned vehicle number to choose to display or hide a specific unmanned vehicle track. When the user draws the area he wants to enlarge on the map, the control console will calculate the center point of the area and enlarge the area.

[0143] About the detailed design of control console data recording and communication alarm:

[0144] When the control console starts to receive valid data sent by the unmanned vehicle group, the timer is turned on. The timer will restart when valid data is received, and a judgment will be made every 6 seconds. If no valid data is received within 6 seconds, the communication prompt bar will alarm "no message received". When the control console is turned on, a folder named according to time will be created, containing 6 txt files, named serial port sending information, serial port receiving information, 1 car position information, 2 car position information, 3 car position information, 4 car position information. The serial port sending information txt file writes the original information read by the control console from the serial port. When the control console parses and displays the unmanned vehicle position information, the 1 car position information, 2 car position information, 3 car position information, and 4 car position information txt files record the position information of the 4 vehicles respectively. The serial port sending information txt file records all commands written by the software to the serial port. The txt file is automatically saved when the unmanned vehicle cluster scheduling and obstacle avoidance software is closed.

[0145] A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned unmanned vehicle cluster collaborative scheduling method.

[0146] Specifically, the present invention stores the corresponding computer program in a storage medium. When the processor executes the program, it can implement the collaborative scheduling method of the unmanned vehicle cluster, and then efficiently manage and schedule the unmanned vehicle cluster, including realizing real-time monitoring, precise task allocation, collaborative control and other functions, thereby improving the overall operating efficiency, operational stability and ability to cope with complex working conditions of the unmanned vehicle cluster, and ensuring that the unmanned vehicle can successfully complete tasks in a variety of scenarios.

[0147] A computer device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned unmanned vehicle cluster collaborative scheduling method.

[0148] Specifically, the present invention, by virtue of the memory, processor and corresponding computer program it contains, can implement a method for collaborative scheduling of unmanned vehicle clusters, thereby achieving effective management and control of unmanned vehicle clusters, and can realize functions such as real-time monitoring of the status of unmanned vehicles, reasonable scheduling of tasks, and ensuring the collaborative operation of each unmanned vehicle. It can greatly improve the operating efficiency, operational safety and overall coordination of unmanned vehicle clusters in complex environments, and strongly support the unmanned vehicle clusters to successfully complete various task requirements.

[0149] The following is a specific embodiment of the present invention:

[0150] The present invention mainly realizes an unmanned vehicle cluster collaborative scheduling platform, a set of unmanned vehicle cluster control systems suitable for indoor and outdoor scenes. The system can flexibly adapt to different environments, and through the collaborative work of multiple unmanned vehicles, dynamically present the changing characteristics of the cluster during movement. In the present invention, the control console plays a key role as the main interaction window between the system and the experimenter. It can not only intuitively and in real time display the operating status of the system, but also enable users to clearly observe and control the actions and status of the unmanned vehicle cluster, making it convenient for researchers to monitor and analyze every aspect of the system. Therefore, by using the control console as a starting point, the specific implementation method of the present invention can be clearly explained.

[0151] Console function test:

[0152] The functions of the control console in the present invention are summarized in Table 2:

[0153]

[0154]

[0155] Table 2

[0156] Unmanned vehicle communication function test:

[0157] After turning on the control console, wait for the unmanned vehicle function to start automatically. After the vehicle starts, it will transmit the initial position to the control console through the wireless transmission module. If the control console receives the initial position, it will Fig.12 When the display shows that the vehicle is ready, it means that the communication between the unmanned vehicle and the control console is normal. Fig.13 If the following information is displayed, it indicates that the communication is interrupted.

[0158] Set the target point of the unmanned vehicle:

[0159] On the control console, you can choose to set the target point manually or automatically. Manually set the target point: After inputting the target point coordinates for the specified vehicle, click the one-key send button. The control console transmits the target position coordinates and the unmanned vehicle action instructions through the wireless transmission module. After the unmanned vehicle receives the target point coordinates and action instructions, it will autonomously reach the target point. The process is as follows: Fig.14Automatically set the target point: Click the "Start File Sending" button, the control console will automatically set the target point in the sending area according to the local file content, and transmit the target position coordinates and the unmanned vehicle action instructions through the wireless transmission module. During the unmanned vehicle operation, wait for the arrival information returned by the unmanned vehicle. After receiving the arrival information of all unmanned vehicles, send the next group of target point positions. The process is as follows Fig.15 There is also a "Start File Continue Sending" button, which is used to restart the automatic file sending function after a one-click pause.

[0160] One-click pause:

[0161] The control console is designed with a one-button pause function for each vehicle and all vehicles to prevent unknown risk situations, such as Fig.16 As shown, when the corresponding one-key pause button is clicked, the control console transmits the pause sign through the wireless transmission module, and the vehicle stops running.

[0162] Workshop obstacle avoidance:

[0163] The control console will store the vehicle positions in real time. When the relative distance and angle between vehicles do not meet the safety threshold, it will be judged that a collision is about to occur and the collision vehicle will stop running. Fig.17 As shown, a collision message will be output in the collision alarm bar of the control console and the target point will be deleted.

[0164] Reset coordinates:

[0165] When the vehicle is running, if the onboard computer shuts down for some reason, in order to facilitate the continuation of the test, after the onboard computer is powered on again, the coordinates of the vehicle will remain the coordinates before the onboard computer was shut down. Fig.18 It means that when the vehicle's onboard computer is turned off, no vehicle communication will be received, but the vehicle ready information will still be displayed in the initial frame. Fig.19 It means that after the vehicle's onboard computer is powered on again, the vehicle communication is restored and the initial coordinates are changed. The coordinates have not been reset at this moment. Fig. 20 Indicates that the vehicle coordinates are reset and the vehicle ready information is displayed in the initial frame.

[0166] Real-time display of unmanned vehicle position:

[0167] The right side of the console is the map area, which will display the running posture and target point of each vehicle, such as Fig.21 shown.

[0168] Battery level display

[0169] Reference Fig. 22 As shown, the control console will display the vehicle battery voltage in real time to prevent the vehicle from being unable to return to the origin due to insufficient power.

[0170] In summary, the unmanned vehicle cluster collaborative scheduling platform designed by the present invention has comprehensive and complete functions, and is particularly suitable for unmanned vehicle cluster control and management scenarios in complex indoor and outdoor environments. The platform not only provides efficient control and scheduling capabilities, but also has high flexibility and scalability, and can meet a variety of application requirements.

[0171] In the system architecture, the control console implements a number of core functions, including real-time monitoring, data collection, path planning, and fault diagnosis. Through the real-time monitoring function, test personnel can intuitively grasp the status and position of each unmanned vehicle to ensure accurate control of the entire cluster. The data collection function can record and analyze the operating data of each unmanned vehicle, providing a basis for further optimizing system performance. In addition, the path planning function enables the unmanned vehicle to automatically select the optimal path according to the preset mission objectives, effectively improving the efficiency of mission execution. The fault diagnosis function can quickly detect possible problems in the system, promptly alarm and provide solutions to ensure the safe and stable operation of the system.

[0172] With these advanced functions, the platform of the present invention provides testers with an easy-to-operate and intelligent unmanned vehicle cluster management tool, which can greatly improve the test efficiency and the convenience of system operation. It is not only suitable for application in scientific research and testing scenarios, but also has broad commercial potential and can provide strong support for unmanned vehicle cluster scheduling in the fields of industrial automation, logistics and transportation.

[0173] Beneficial effects of the present invention:

[0174] (1) The unmanned vehicle hardware equipment and software control design of the present invention have the following significant technical advantages:

[0175] In terms of mechanical structure, the present invention adopts a four-motor driven Mecanum wheel omnidirectional chassis. This design gives the unmanned vehicle a unique omnidirectional mobility capability, allowing it to travel freely in any direction without a turning radius, greatly improving the vehicle's maneuverability and flexibility in complex environments. Compared with traditional wheeled vehicles, the multi-directional driving characteristics of the Mecanum wheel enable the unmanned vehicle to easily achieve operations such as left and right translation and in-situ rotation, which is particularly suitable for test scenarios in small spaces or where frequent position adjustments are required.

[0176] In terms of software control, the present invention adopts a nonlinear cascade PID control algorithm that is widely used in attitude control. The algorithm achieves precise control of the vehicle attitude through a double closed-loop design (outer loop and inner loop). The outer loop is responsible for angle control to ensure that the unmanned vehicle remains within the preset attitude range; the inner loop controls the angular velocity to ensure that the attitude adjustment process is fast and smooth. This cascade control structure enables the system to maintain highly stable attitude control when dealing with complex environments or rapid movements, respond quickly and avoid over-adjustment.

[0177] In addition, the system also introduces the Active Disturbance Rejection Control (ADRC) algorithm to enhance its adaptability to interference. ADRC has strong anti-interference characteristics and can dynamically adjust the system's output response when facing unknown or uncertain external interference to ensure stable control effects, further improving the system's robustness and stability.

[0178] (2) The control console designed by the present invention achieves the following significant technical effects and advantages:

[0179] Improved accuracy and safety: The present invention realizes accurate target point transmission and obstacle avoidance mechanism between unmanned vehicles. By calculating the distance and angle between unmanned vehicles in real time, the system can automatically send obstacle avoidance emergency stop instructions when the distance is less than 2 meters and the angle is less than 30° to avoid unmanned vehicle collision accidents. This automatic obstacle avoidance mechanism improves the safety and operation accuracy of unmanned vehicle clusters in complex environments.

[0180] The serial port data reading of the experimental control console adopts a verification mechanism to ensure that each frame of data received is valid, which greatly reduces the risk of data packet damage or erroneous decoding, thereby improving the stability of the system.

[0181] Efficiency improvement: The present invention supports multi-threaded parallel processing, realizes the synchronous operation of functions such as target point sending, obstacle avoidance control, and trajectory drawing, and significantly improves the processing efficiency of the software. Compared with the traditional single-thread scheduling system, the present invention can process more tasks during real-time operation, thereby shortening the total time to complete the task. The automatic target point sending function of the experimental control console enables the unmanned vehicle to complete the task efficiently, avoiding the tedious process of manual point-by-point input. In the experiment, based on the automatic sending mechanism, the overall task completion time of the unmanned vehicle cluster was shortened by about 30%.

[0182] Ease of operation and use: The system provides a user-friendly interface, integrating functions such as manual target point input, automatic sending, one-key pause, emergency stop, and trajectory drawing, simplifying the operation process. Even non-professional users can easily get started, reducing the technical requirements for operators and lowering the learning curve. The function of supporting automatic sending of target points eliminates the need for operators to manually input and confirm target points step by step, greatly simplifying the task configuration process, especially showing significant advantages in multi-vehicle tasks.

[0183] The software recording function saves the operation data of each task as a txt file, which is helpful for subsequent task review and optimization analysis, and avoids the waste of resources caused by paper records.

[0184] Reduce labor intensity: Through automated target point setting and unmanned vehicle obstacle avoidance control, the present invention reduces the need for operator monitoring and intervention. Especially when multiple vehicles are operating, the system can autonomously handle obstacle avoidance and path planning issues, reducing the workload and mental stress of operators.

[0185] In summary, the control console has demonstrated significant advantages in accuracy, safety, efficiency, ease of operation and other aspects through reasonable technical design.

[0186] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned vehicle cluster collaborative dispatching platform, characterized in that: The unmanned vehicle cluster collaborative scheduling platform includes a control console and an intelligent unmanned vehicle cluster. The control console and the intelligent unmanned vehicle cluster have a two-way data connection for realizing real-time monitoring, task scheduling and collaborative control of the unmanned vehicle cluster.

2. The unmanned vehicle cluster collaborative dispatching platform according to claim 1 is characterized in that: Each unmanned vehicle in the intelligent unmanned vehicle cluster includes a vehicle chassis, a control drive circuit, a power supply, a step-down module, an on-board processor, an electronic speed regulator, a motor, a Mecanum wheel, a communication module, a positioning receiver and a data link device. The four Mecanum wheels installed under the chassis of the car model are connected to the corresponding motors through the transmission shaft. The torque output end of the motor is fixedly connected to the torque input end of the Mecanum wheel to achieve power transmission. The power supply, step-down module, control drive circuit, vehicle-mounted processor, electronic speed regulator, communication module and data link equipment are all installed above the chassis of the vehicle model. The power supply provides the required appropriate working voltage for the vehicle-mounted processor, control drive circuit, electronic speed regulator, communication module and data link equipment respectively through the step-down module. The vehicle-mounted processor is respectively connected with the data link equipment, control drive circuit, communication module and data link equipment. The control drive circuit is connected with the motor signal through the electronic speed regulator. The data link equipment is connected with the communication module, and the communication module is connected with the control console.

3. The unmanned vehicle cluster collaborative dispatching platform according to claim 2 is characterized in that: The vehicle chassis is used as the basic support structure of the unmanned vehicle and provides a mounting platform for other components; Mecanum wheels are used to drive the vehicle to move in all directions. A control drive circuit is used to receive control instructions sent by the on-board processor and convert them into PWM drive signals suitable for the electronic speed regulator; The on-board processor is used to receive control instructions and mission parameters from the control console by connecting to the data link equipment, and send the status information of the unmanned vehicle to the control console; and send motor control signals to the control drive circuit according to the received control instructions and its own calculation processing results; and is also used to communicate and cooperate with other unmanned vehicles through the data link equipment to realize information sharing and collaborative operation among clusters; Power supply, used to provide power support for the unmanned vehicle; The step-down module is used to convert the higher voltage output by the power supply into the appropriate working voltage required by the motor, control drive circuit, on-board processor, electronic speed regulator, communication module and data link equipment; The communication module is used to establish a wireless communication link between the unmanned vehicle and the control console and between the unmanned vehicles; It is also used to receive the unmanned vehicle status information sent by the on-board processor through data connection with the on-board processor, and transmit the unmanned vehicle status information to the control console through wireless communication, and at the same time receive control instructions and task parameters from the control console and pass them to the on-board processor for processing; It is also used to work in coordination with data link equipment. After the data link equipment encodes, modulates and encrypts the data, the processed signal is sent out through a dedicated wireless communication frequency band, and data from the outside is received. After decoding, demodulating and decrypting by the data link equipment, the effective information is passed to the on-board processor. Thus, through the communication module, real-time and reliable data interaction is achieved within the unmanned vehicle cluster and between the unmanned vehicle and the external control center, ensuring that the unmanned vehicle cluster can work in coordination and complete various tasks.

4. The unmanned vehicle cluster collaborative dispatching platform according to claim 3 is characterized in that: The unmanned vehicle status information includes position, posture, power, voltage, speed and vehicle distance.

5. The unmanned vehicle cluster collaborative dispatching platform according to claim 4 is characterized in that: The vehicle-mounted processor is also used to fuse data from various sensors, perform positioning and attitude calculation, provide accurate positioning position and attitude information for autonomous navigation and motion control of the unmanned vehicle, and transmit the positioning position and attitude information to the control console through the communication module; The various sensors include a positioning receiver, a vehicle-mounted camera and a distance measurement and obstacle avoidance module, wherein the vehicle-mounted camera is installed below the chassis of the car model, and the camera lens is set toward the ground, and the positioning receiver and the distance measurement and obstacle avoidance module are installed above the front end of the chassis of the car model; The vehicle-mounted camera, the distance measurement and obstacle avoidance module and the positioning receiver are all data-connected to the vehicle-mounted processor; An auxiliary light source projecting toward the ground is also installed near the vehicle-mounted camera.

6. The unmanned vehicle cluster collaborative dispatching platform according to claim 5, characterized in that: The control console is used to: receive and display the status information and operation process data of the unmanned vehicle in real time, and the operation process data includes control instructions, driving path, speed change and vehicle distance, and record them; It is also used for operators to manually or automatically set target points for unmanned vehicles according to preset files. The unmanned vehicle autonomously plans the path and drives to the target point according to the target point and control instructions sent by the control console. It is also used to calculate the position relationship between vehicles in real time during the operation of unmanned vehicles to determine whether there is a risk of collision. When a collision risk is detected, it quickly sends an obstacle avoidance emergency stop command to the relevant unmanned vehicles, and at the same time, it alarms the operator on the interface and makes corresponding target point settings and adjustments to avoid collision accidents. It is also used to draw the movement track of the unmanned vehicle in real time on the interface, distinguish vehicles by different colors, and display or hide the track of a specific vehicle. It also supports map operation functions, making it convenient for operators to view the operation status of the unmanned vehicle in more detail or as a whole. It is also used to manage serial port communications with unmanned vehicles, including setting baud rates, reading and sending data, and checking and parsing data validity to ensure smooth information exchange. It is also used to initialize the system of the unmanned vehicle, which is to send normal initialization instructions or reset the position of the unmanned vehicle after power failure and restart. At the same time, it monitors the communication status in real time, promptly discovers and solves potential communication problems, and ensures the stable operation of the system. The above functions run in parallel.

7. The unmanned vehicle cluster collaborative dispatching platform according to claim 6, characterized in that: The vehicle-mounted processor has multiple control algorithms built in, including a nonlinear cascade PID control algorithm, an ADRC self-disturbance rejection control algorithm and an optimal control algorithm, and the multiple control algorithms run in parallel.

8. A method for coordinated dispatching of unmanned vehicle clusters, based on an unmanned vehicle cluster coordinated dispatching platform according to any one of claims 1 to 7, characterized in that: The unmanned vehicle cluster collaborative scheduling method comprises the following steps: S100, the unmanned vehicle cluster scheduling and obstacle avoidance software reads the serial port information for initialization judgment: the control console reads the information from the serial port, analyzes and judges whether it is valid information sent by the unmanned vehicle group, and pops up an alarm if no valid information is received within six seconds; if the unmanned vehicle is started for the first time, the control console sends a normal initialization command; if the unmanned vehicle is not started for the first time but restarted after power failure, the control console sends the position and posture before power failure to help it start normally; S200, the control console analyzes the serial port information display and runs the following functions in parallel: Provides a basic information display box for the unmanned vehicle, showing the x-axis, y-axis coordinates, yaw angle attitude and voltage read from the serial port; Provide an input box for the target point of the unmanned vehicle. After entering the optional range coordinates and clicking the send button, the control console sends the designated target command to the unmanned vehicle. The unmanned vehicle moves to the target point according to the command. At the same time, the control console calculates the relative distance between the unmanned vehicles and the angle between the destination of the unmanned vehicle and the two unmanned vehicles. When the distance is less than 2 meters and the angle is less than 30°, the control console sends an obstacle avoidance emergency stop command to the corresponding unmanned vehicle. Provide automatic target point setting buttons "Start file sending" and "Start file continuing to send". After clicking, the txt document content is read from the specified document location at one time and stored, a set of target point locations are sent to the unmanned vehicle and wait, and the next set of target locations are sent after receiving the arrival information sent back by the unmanned vehicle until all target locations are sent. Manual one-click pause can terminate the file sending process. Click "Start file sending" again to send the target points from the beginning. Click "Start file continuing to send" to continue sending the target points from the last interruption. Provide a manual emergency stop button for the unmanned vehicle, and send an emergency stop command to each unmanned vehicle or all unmanned vehicles at any time; click the draw image button, and the control console will draw four unmanned vehicles on a 500×500 map according to the position and posture information. The map provides the functions of swiping to zoom in and right-clicking to zoom out, and allows operators to enter the unmanned vehicle number and choose to hide or display the specified unmanned vehicle; S300, real-time monitoring of basic data during the operation of the unmanned vehicle group and recording: After the serial port starts to receive information, the control console records the serial port input information and the message in the basic information display box of the unmanned vehicle. At the same time, when running many functions in S200 to send instructions to the unmanned vehicle, these instructions are also recorded, and various data during the operation of the unmanned vehicle are recorded, and the data is converted into a txt file when the control console is closed.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the unmanned vehicle cluster collaborative scheduling method described in claim 8 is implemented.

10. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a method for collaborative scheduling of unmanned vehicle clusters as described in claim 8.

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