Control equipment for unmanned equipment and unmanned equipment system

Abstract

The invention discloses control equipment for unmanned equipment and an unmanned equipment system, and belongs to the technical field of wearable intelligent equipment. The unmanned equipment comprises a carrier and a holder, and the control system comprises a helmet, a single-hand control lever and a central manager. A display receiving system and an attitude sensor are arranged on the helmet, and the display receiving system can receive image information sent by the holder; the single-hand operating lever comprises a first operating part, a second operating part and a switching operating part; the single-hand operating lever, the attitude sensor, the carrier and the holder are all in communication connection with the central manager; the first operation piece is used for controlling the carrier to move, the switching operation piece can switch the second operation piece and the attitude sensor, so that the second operation piece and the attitude sensor are alternatively used for controlling the movement of the holder, the situation that tasks cannot be completed due to the fact that two hands are occupied is avoided, and the operation difficulty is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable intelligent devices, and in particular to a control device for unmanned equipment and an unmanned equipment system. Background Art

[0002] Currently, the remote control method for drones, unmanned vehicles, unmanned ships, robot dogs and other robots is mainly dual-stick remote control, which uses both hands to control at the same time. In operation, one side of the joystick remote control controls the travel state, and the other side of the joystick remote control controls the visual gimbal aiming. This method occupies both hands, making it impossible to operate or carry other tools to complete the task. In addition, since the buttons of the two joystick remote controls are on the same horizontal operating surface, the operator needs to remember the function of each button, which makes the operation difficult. Summary of the invention

[0003] The purpose of the present invention is to provide a control device for unmanned equipment and an unmanned equipment system, so as to avoid the inability to complete the task due to occupying both hands and reduce the difficulty of operation.

[0004] To achieve this object, the present invention adopts the following technical solutions: A control device for unmanned equipment, the unmanned equipment includes a vehicle and a gimbal, and the control system includes: A helmet, wherein the helmet is provided with a display receiving system and a posture sensor, and the display receiving system is capable of receiving image information sent by the gimbal; A one-handed joystick, comprising a first operating member, a second operating member and a switching operating member; A central manager, the one-hand joystick, the attitude sensor, the vehicle, and the gimbal are all communicatively connected to the central manager; The first operating member is used to control the movement of the vehicle, and the switching operating member can switch the second operating member and the posture sensor, so that the second operating member and the posture sensor are alternatively used to control the movement of the gimbal.

[0005] In some possible implementations, the control system further includes a wearable carrier, and the central manager is disposed on the wearable carrier.

[0006] In some possible implementations, the transmitting antenna of the transmitting module of the one-hand joystick is a folding ruler antenna, and the folding ruler antenna is provided on the wearable carrier.

[0007] In some possible implementations, the wearable carrier is a protective vest.

[0008] In some possible implementations, the helmet is further provided with a first power supply, the protective vest is provided with a second power supply, and the one-hand joystick is powered by the second power supply.

[0009] In some possible implementations, the posture sensor and the central manager are wirelessly connected.

[0010] In some possible implementations, the display receiving system is a monocular display receiving system.

[0011] An unmanned equipment system comprises an unmanned equipment and a control device for the unmanned equipment as described in any one of the above items, wherein the unmanned equipment and the control device are communicatively connected.

[0012] In some possible implementations, the unmanned device further includes a receiver, and the address code in the protocol output by the central manager is consistent with the address code of the receiver.

[0013] In some possible implementations, there are multiple unmanned devices and one control system, and one control system is used to simultaneously control multiple unmanned devices; or, there are multiple control systems and one unmanned device, and multiple control systems are used to control the same unmanned device.

[0014] Beneficial effects of the present invention: The present invention provides a control device and an unmanned equipment system for unmanned equipment. One method is to use only a one-handed joystick for control, that is, the first operating part controls the vehicle, and the second operating part controls the pan-tilt head. The first operating part, the second operating part and the switching operating part of the one-handed joystick can all be operated by the operator's single thumb. Another method is a one-handed joystick and helmet somatosensory control, that is, the first operating part controls the vehicle, the helmet somatosensory controls the pan-tilt head, and the display receiving system on the helmet displays the video sent back by the pan-tilt head, so that it can be aimed synchronously with the operator's head and free one of the operator's hands, one of which is used to control the one-handed joystick and the other hand to perform other tasks. The above structure realizes a multi-mode combined control mode of one-handed control and somatosensory helmet control, and avoids the inability to complete the task due to occupying both hands, thereby reducing the difficulty of operation. In addition, the combined structure of the attitude sensor, the helmet and the display receiving system realizes fast video pan-tilt aiming, realizes the follow-up control mode, reduces the time of aiming at the target, and improves the operation efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of a control device in use provided by a specific embodiment of the present invention; Figure 2 is a schematic diagram of a one-handed joystick and a wearable carrier provided by a specific embodiment of the present invention; Figure 3 is a schematic diagram of a helmet provided by a specific embodiment of the present invention; Figure 4 is an assembly diagram of a one-handed joystick and a wearable carrier provided by a specific embodiment of the present invention; Figure 5 It is a schematic diagram of an unmanned equipment system provided by a specific embodiment of the present invention.

[0016] In the figure: 100, unmanned equipment; 200, terminal processing equipment; 1. Helmet; 11. Folding bracket; 2. Display receiving system; 3. Posture sensor; 4. One-hand joystick; 41. First operating element; 42. Second operating element; 43. Switching operating element; 5. Central manager; 6. Wearable carrier; 7. Folding ruler antenna; 8. First power source; 9. Second power source. DETAILED DESCRIPTION

[0017] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0019] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0020] like Figure 1-Figure 5 As shown, this embodiment provides an unmanned equipment system, including an unmanned equipment 100 and the above-mentioned control device for the unmanned equipment, the unmanned equipment 100 and the control device are connected in communication, and the control device is used to control the unmanned equipment 100. Optionally, the unmanned equipment 100 includes a vehicle and a pan-tilt platform, the pan-tilt platform is provided with an image acquisition system, and the vehicle is an unmanned vehicle chassis, a drone or an unmanned ship, etc.

[0021] This embodiment also provides a control device for unmanned equipment, the control system includes a helmet 1, a one-hand joystick 4 and a central manager 5, the one-hand joystick 4, the attitude sensor 3, the vehicle, and the gimbal are all communicatively connected to the central manager 5. The central manager 5 is a data processing and communication module.

[0022] The helmet 1 is provided with a display receiving system 2 and a posture sensor 3. The display receiving system 2 includes a video glasses assembly and a wireless image receiver. The image acquisition system of the gimbal is connected to the wireless image receiver in a communication manner, so that the display receiving system 2 receives the image information sent by the gimbal, and then the video glasses assembly can display the video sent back by the gimbal. The posture sensor 3 is connected to the central manager 5 in a communication manner, and the posture sensor 3 is used to control the movement of the gimbal through the central manager 5. The combination of the posture sensor 3 and the helmet 1 realizes somatosensory control. Exemplarily, the posture sensor 3 is a nine-axis gyroscope.

[0023] The one-handed joystick 4 includes a first operating member 41, a second operating member 42 and a switching operating member 43. The first operating member 41, the second operating member 42 and the switching operating member 43 are all connected to the central controller for communication. The first operating member 41 is used to control the movement of the vehicle, and the second operating member 42 is used to control the movement of the gimbal through the central controller. The switching operating member 43 can switch the second operating member 42 and the attitude sensor 3, so that the second operating member 42 and the attitude sensor 3 are used to control the movement of the gimbal. According to the specific use requirements, the attitude sensor 3 or the second operating member 42, i.e., the one-handed joystick 4, is selected to control the movement of the gimbal.

[0024] Exemplarily, the second operating member 42 and the attitude sensor 3 are used to control the rotation, pitch and other working modes of the gimbal.

[0025] Exemplarily, the first operating member 41 and the second operating member 42 are both rocker structures, the switching operating member 43 is a button structure, and the rocker structure can control the continuous rotation of the gimbal. Optionally, the one-handed joystick 4 is also provided with a trigger button and / or a safety button, which can be referred to the prior art and will not be described in detail.

[0026] In actual use, one way is to use only the one-hand joystick 4 for control, that is, the first operating member 41 controls the vehicle, and the second operating member 42 controls the gimbal. The first operating member 41 of the one-hand joystick 4 controls the movement of the vehicle, and the second operating member 42 controls the proportional rotation and pitch mode of the gimbal. By switching the operating member 43, it can be switched to the second operating member 42, that is, the continuous rotation mode or the somatosensory helmet 1 control mode. All of the above can be operated by the operator's thumb alone, while the index finger is only responsible for the execution of the task execution trigger button and the unlocking action of the safety button. Relative control operation is more human-machine effective and easy to remember. The remote control peripheral using the one-hand joystick 4 is ergonomic, can be held and operated with one hand, and the control tasks and control positions of the fingers are reasonably allocated, and the movement distance of the fingers is minimized when performing control actions of different operations.

[0027] Another way is to use a single-handed joystick 4 and a somatosensory control on a helmet 1, that is, the first operating member 41 controls the vehicle, the helmet 1 somatosensory controls the pan / tilt, and the display receiving system 2 on the helmet 1 displays the video sent back by the pan / tilt, so that it can be aimed synchronously with the operator's head, and free one hand of the operator, so that one hand is used to control the single-handed joystick 4, and the other hand performs other tasks. The above structure realizes a multi-mode combined control mode of single-handed control and somatosensory helmet 1 control, and avoids the inability to complete tasks due to occupying both hands, thereby reducing the difficulty of operation.

[0028] In addition, the combined structure of the posture sensor 3, the helmet 1 and the display receiving system 2 realizes fast video PTZ aiming, implements a follow-up control mode, reduces the time for aiming at the target, and improves the operating efficiency and accuracy.

[0029] The display receiving system 2 is a monocular display receiving system. While conveniently acquiring the PTZ video feedback, it retains the operator's situational awareness ability, does not affect the operator's walking and observation ability, and can be integrated with the helmet 1 to achieve modular assembly. The video glasses are assembled into a monocular AR display.

[0030] Furthermore, the helmet 1 is provided with a folding bracket 11, and the display receiving system 2 is installed on the folding bracket 11, specifically, the video glasses assembly is installed on the folding bracket 11, and the wireless image receiver is installed on the helmet 1, and the video glasses assembly and the wireless image receiver are installed separately. By folding the folding bracket 11, the video glasses assembly is folded.

[0031] The control system also includes a wearable carrier 6, on which a central manager 5 is arranged. The wearable carrier 6 can be a protective vest or other structure that can be worn on the body, so that the operator can carry the central manager 5. In other embodiments, the central manager 5 can also be placed in the operator's clothing pocket or other locations, without limitation.

[0032] Optionally, the posture sensor 3 and the central manager 5 are wirelessly connected. For example, the control signal of the helmet 1 is paired with the central manager 5 on the protective vest through Bluetooth or other wireless data link modules to realize data interaction. The helmet 1 is also provided with a first power supply 8, which is used to power the posture sensor 3 and the display receiving system 2. Through the above structure, the entire helmet 1 and the body wearing part are free of any power supply or signal transmission line, and there is no restraint or hindrance to the freedom of body movement. Optionally, the first power supply 8 is a 12V battery, which is centrally installed in the backpack of the helmet 1 with the wireless image receiver, the short-range digital communication module, and the 12V battery, wherein the short-range digital communication module is paired with the central manager 5 (i.e., the data processing and communication module) to transmit the posture information of the helmet 1. The helmet 1 is also provided with a noise reduction communication headset.

[0033] The protective vest is provided with a second power source 9, and the one-hand joystick 4 is powered by the second power source 9. The second power source 9 can also power the central manager 5 and other structures. Specifically, the number of second power sources 9 can be appropriately increased according to demand. For example, by extending the wearing capacity of the protective vest, a second power source 9 with a larger capacity can be expanded to improve the battery life. Both the second power source 9 and the first power source 8 can be rechargeable or replaceable batteries.

[0034] The transmitting antenna of the remote control command transmitting module of the one-handed joystick 4 is a folding ruler antenna 7, which is arranged on the wearable carrier 6. Specifically, the folding ruler antenna 7 is arranged at the shoulder position of the protective vest. The folding ruler antenna 7 can be rolled up and folded and inserted into the shoulder strap position at ordinary times. If it is necessary to increase the transmission distance and improve the sensitivity, the folding ruler antenna 7 is fully unfolded to increase the height and length of the transmitting antenna. Compared with the common remote controllers on the market, it can obtain more sensitive antenna signal radiation and reception effects. The second power supply 9 adopts a power supply compatible USB interface, and the power supply interface of the remote control command transmitting module of the one-handed joystick 4 adopts a USB interface, which can be directly powered by the second power supply 9 to extend the standby time.

[0035] On the one hand, the helmet 1 and the protective vest serve as carriers of the entire control system and have a better remote control function for human-computer interaction. In addition, the helmet 1 and the protective vest can also protect the operator and improve the safety of the operator.

[0036] The unmanned device 100 also includes a receiver, and the address code in the protocol output by the central manager 5 is consistent with the address code of the receiver. The communication mode of the entire control system is digital protocol communication, which adopts an extensible digital protocol. In addition to the frequency hopping mechanism, it also adopts a single-handed joystick 4 and a digital ID code for specifying the control robot. Therefore, in the first embodiment, it can be realized that there are multiple unmanned devices 100 and one control system, and one control system is used to control multiple unmanned devices 100 at the same time. Figure 5As shown, in the second embodiment, there are multiple control systems, and one unmanned device 100 is provided. The multiple control systems are used to control the same unmanned device 100. For example, a control system is set at every 1000m or other distance, so as to realize the relay control of the same unmanned device 100. In the third embodiment, there are multiple control systems, and multiple unmanned devices 100 are provided. Multiple control systems control multiple unmanned devices 100. The receiver of each unmanned device 100 only responds to the digital protocol instructions containing its own ID code, so there will be no interference. Because a digital programmable protocol is adopted, the receiver of this system can realize the electronic building block-style collective connection, and simultaneously receive the digital protocol instructions with the same ID code, but only execute the commands of the field part of the protocol instructions belonging to this receiver, thereby realizing the expansion of more control channels.

[0037] By replacing the serial wireless transparent transmission module of the remote control command transmitting module of the single-hand joystick 4 and the serial wireless transparent transmission module of the receiver with an RS485 serial port module, twisted pair cables can be used for long-distance wired data communication to achieve long-distance wired anti-interference control.

[0038] Optionally, the unmanned equipment system further includes a terminal processing device 200, which is communicatively connected with the central manager 5, so as to facilitate the operator to monitor the current system operation status in real time.

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A control device for unmanned equipment, characterized in that: Unmanned equipment includes vehicles and gimbals, and the control system includes: A helmet (1), wherein the helmet (1) is provided with a display receiving system (2) and a posture sensor (3), and the display receiving system (2) is capable of receiving image information sent by the pan-tilt head; A single-handed operating lever (4) comprising a first operating member (41), a second operating member (42) and a switching operating member (43); A central manager (5), the one-hand joystick (4), the attitude sensor (3), the vehicle, and the gimbal are all communicatively connected to the central manager (5); The first operating member (41) is used to control the movement of the vehicle, and the switching operating member (43) is capable of switching the second operating member (42) and the posture sensor (3), so that the second operating member (42) and the posture sensor (3) are alternatively used to control the movement of the gimbal.

2. The control device for unmanned equipment according to claim 1, characterized in that: The control system further comprises a wearable carrier (6), on which the central manager (5) is arranged.

3. The control device for unmanned equipment according to claim 2, characterized in that: The transmitting antenna of the transmitting module of the one-handed joystick (4) is a folding ruler antenna (7), and the folding ruler antenna (7) is arranged on the wearable carrier (6).

4. The control device for unmanned equipment according to claim 2, characterized in that: The wearable carrier (6) is a protective vest.

5. The control device for unmanned equipment according to claim 4, characterized in that: The helmet (1) is also provided with a first power source (8), the protective vest is provided with a second power source (9), and the one-handed joystick (4) is powered by the second power source (9).

6. The control device for unmanned equipment according to claim 1, characterized in that: The posture sensor (3) and the central manager (5) are wirelessly connected.

7. The control device for unmanned equipment according to any one of claims 1 to 6, characterized in that: The display receiving system (2) is a monocular display receiving system.

8. An unmanned equipment system, characterized in that: It comprises an unmanned device (100) and a control device for the unmanned device as claimed in any one of claims 1 to 7, wherein the unmanned device (100) and the control device are communicatively connected.

9. The unmanned equipment system according to claim 8, characterized in that: The unmanned equipment (100) further comprises a receiver, and the address code in the protocol output by the central manager (5) is consistent with the address code of the receiver.

10. The unmanned equipment system according to claim 9, characterized in that: There are multiple unmanned devices (100), and one control system is provided, and one control system is used to control multiple unmanned devices (100) at the same time; or, there are multiple control systems, and one unmanned device (100) is provided, and multiple control systems are used to control the same unmanned device (100).

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