Remote data activation and security processing method
By setting a PWM duty cycle buffer and a remote control activation mechanism, the problems of remote control transmitter joystick drift and receiver initial value abnormality are solved, thereby improving the stability and safety of the remote control system, which is suitable for high-risk scenarios such as unmanned vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- UQI TECH CO LTD
- Filing Date
- 2025-12-02
- Publication Date
- 2026-07-21
Smart Images
Figure CN121393114B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of remote control technology, and in particular to a method for remote control data activation and security processing. Background Technology
[0002] In applications of remote-controlled equipment (such as unmanned vehicles), the stable operation of the remote control system directly affects the operational safety of the equipment. The existing remote control system access method is as follows: the remote transmitter wirelessly sends the action command information from the remote control handle to the remote receiver; the vehicle controller receives the data from the remote receiver via PPM (Power Controller Processor), converts it into corresponding control commands, and performs related operations on the chassis drive, steering, braking, and other modules.
[0003] However, existing remote control systems have two major problems in practical use: 1. Remote Transmitter Joystick Center Drift Issue: The joystick of the remote transmitter may experience center drift at the factory or after a period of use. Taking a dual-centering RC model remote controller used in unmanned vehicles as an example, ideally, when the remote controller is not operated, the joystick automatically returns to center, and the PWM output positive pulse width is 1500µs; when the joystick is pushed to the top, the output positive pulse width is 2000µs (corresponding to the throttle signal, driving the vehicle forward); when the joystick is pulled to the bottom, the output positive pulse width is 1000µs (corresponding to the brake signal, driving the vehicle backward). If, after the joystick returns to center, the receiver output pulse width deviates by 1530µs (not an ideal value), then, without operation, the vehicle controller will calculate based on a 30µs difference, mistakenly driving the vehicle forward, posing a safety hazard.
[0004] 2. Abnormal Initial Values of Remote Control Receiver Channels: Before establishing communication with the remote control transmitter, or after the transmitter is powered off, the default data for the corresponding channels may retain the data from before the power outage or may not be cleared in a timely and effective manner. For example, when the remote control receiver of an unmanned vehicle is powered on again, the default values of some channels (such as the steering control channel) may not be cleared to zero. If the transmitter is not powered on synchronously when the vehicle is powered on, the steering channel may have a maximum value. If the vehicle controller directly uses this value as a valid command, it may cause the steering wheels to operate automatically without any input.
[0005] The two issues mentioned above can lead to serious adverse consequences: the moment the remote control transmitter establishes a connection with the receiver upon power-up, it will transmit offset data or abnormal initial data. The vehicle controller will then react incorrectly by controlling the drive, steering, or braking. At this time, the operator has not yet operated the remote control and is unprepared, posing a significant safety hazard.
[0006] The existing processing methods have obvious shortcomings: for the drift of the telescopic center value, the remote control transmitter needs to be calibrated at zero position at regular intervals, which is cumbersome and cannot avoid the impact of drift in real time; for the abnormal initial value of the receiver, it is only suggested that it needs to be solved from the remote control receiver end, but no specific feasible technical solution is given, and it cannot effectively eliminate the malfunctions caused by the error of the initial data.
[0007] Therefore, there is an urgent need for a safe handling method that can process remote control data anomalies in real time without frequent manual intervention. Summary of the Invention
[0008] The purpose of this invention is to overcome the problems of the prior art and provide a remote control data activation and security processing method to solve the technical problems in the prior art, such as the remote control transmitter joystick being prone to center value drift after leaving the factory or after use, the channel default data not being cleared before the remote control receiver communicates with the transmitter or after the transmitter is powered off, and abnormal data at the moment of power-on causing the vehicle controller to malfunction, resulting in incorrect response of the drive, steering or braking modules, and the operator not being prepared, which poses a safety hazard.
[0009] The above objectives are achieved through the following technical solutions: A remote control data activation and security processing method, applied to a remote control system including a remote control transmitter, a remote control receiver, and a vehicle controller, includes the following steps: Step (1): The remote control transmitter sends the action command information of the remote control handle to the remote control receiver wirelessly; Step (2): The vehicle controller receives data transmitted by the remote control receiver via PPM and configures a data processing strategy to resolve malfunctions caused by abnormal remote control data. The data processing strategy includes: To address the issue of joystick median drift in the remote control transmitter, a PWM duty cycle buffer is set up: the vehicle controller acquires the PWM duty cycle of the corresponding channel of the remote control, sets a minimum effective duty cycle offset ΔPWM, and only when the difference between the PWM duty cycle corresponding to the joystick action and the median exceeds the minimum effective duty cycle offset ΔPWM will the vehicle controller convert the PWM duty cycle into a control command. To address the issue of abnormal initial channel values in the remote control receiver, a remote control activation mechanism is designed: After the vehicle controller is powered on, it checks whether there is a preset valid remote control action. The valid remote control action is when multiple buttons on the remote control transmitter are pressed simultaneously or when the channel value of a certain joystick changes to a set threshold. If the valid remote control action is detected, an activation flag is set, and only then does the vehicle controller use the data transmitted by the remote control receiver. Step (3): The vehicle controller converts the qualified PWM duty cycle into control commands and performs operations on the chassis drive, steering and braking modules.
[0010] Furthermore, in step (2), the minimum effective duty cycle offset ΔPWM is set based on the factory data of the remote control transmitter and the actual offset after use, ensuring that the normal offset generated by the remote control transmitter during normal use is less than the minimum effective duty cycle offset ΔPWM.
[0011] Furthermore, in step (2), the vehicle controller has a recognition range of 0% to 100% for the PWM duty cycle, and the accuracy of this recognition range can be adjusted by software according to the model and output characteristics of the remote control transmitter.
[0012] Furthermore, in step (2), the effective remote control action of pressing multiple buttons simultaneously is based on the preset button combination according to the actual application scenario. The button combination must meet the condition that the operator can easily trigger it and is not easy to accidentally touch it.
[0013] Furthermore, in step (2), during an effective remote control action in which the change of a certain remote control channel value reaches a set threshold, the difference between the set threshold and the median value of the PWM duty cycle of the remote control channel is greater than the minimum effective duty cycle offset ΔPWM set in step (2).
[0014] Furthermore, the remote control transmitter is a dual-return center-mounted model aircraft remote controller. The up and down movement of the right joystick of the dual-return center-mounted model aircraft remote controller corresponds to the throttle and brake signals of the unmanned vehicle: when the joystick is moved upward from the center position, a throttle signal is output, with a corresponding PWM positive pulse width range of 1500~2000us; when the joystick is moved downward from the center position, a brake signal is output, with a corresponding PWM positive pulse width range of 1000~1500us.
[0015] Further, in step (2), the effective remote control action is to pull the right joystick to the lowest position. At this time, the PWM positive pulse width output by the remote control transmitter is close to 1000us. When the vehicle controller detects the PWM positive pulse width, it determines that the remote control data is activated.
[0016] Further, in step (2), the difference in PWM positive pulse width corresponding to the lowest effective duty cycle offset ΔPWM is 50us, that is, when the difference between the PWM positive pulse width after the right joystick returns to center and 1500us is within 50us, the vehicle controller does not respond to the signal corresponding to the PWM positive pulse width.
[0017] Furthermore, in step (2), when the activation flag is in the state of "inactive", the vehicle controller does not process any data transmitted by the remote control receiver. Only after the activation flag is updated to "activated" will it parse and convert the subsequently received data.
[0018] Furthermore, in step (2), after the remote control receiver establishes a communication connection with the remote control transmitter, it will automatically refresh the initial channel value (including the data retained before the power failure or the data that has not been cleared), and the process of automatically refreshing the initial channel value is completed before the vehicle controller detects a valid remote control action.
[0019] The remote control data activation and security processing method provided by this invention can effectively solve the problems of remote joystick center value drift and abnormal receiver initial value. By setting a PWM duty cycle buffer to filter offset data, and ensuring the use of normal data through the remote control activation mechanism, it eliminates the need for frequent calibration, avoids power-on malfunctions, effectively improves the safety and reliability of remote control, is compatible with various devices, and is easy to implement, effectively reducing maintenance costs and safety risks. Compared with the prior art, the specific beneficial effects are as follows: 1. Eliminate the influence of remote joystick median drift: By setting a PWM duty cycle buffer, small offset data during normal use of the remote joystick is filtered out. There is no need to perform frequent zero-position calibration, which can avoid malfunctions when there is no operation in real time, reduce manual maintenance costs, and improve the ease of use of the equipment. 2. Resolve the issue of abnormal initial values in the receiver: The remote control activation mechanism ensures that the vehicle controller only uses the normal data refreshed after communication is established, eliminating malfunctions caused by abnormal initial data (retaining power-down data, data that has not been cleared), and improving the stability of the remote control system; 3. Significantly improves operational safety: The dual protection of buffer filtering and activation verification avoids erroneous actions of the equipment when the operator is not prepared at the moment of power-on, reducing the risk of equipment collision and personnel injury, and is especially suitable for high-risk scenarios such as unmanned vehicles and heavy remote-controlled machinery; 4. High adaptability and flexibility: The value of △PWM, the type of effective activation action (multi-button combination, joystick threshold), PWM duty cycle recognition accuracy and other parameters can all be adjusted by software according to the remote control transmitter model and application scenario, making it widely applicable; 5. Standardized process, easy to implement: The standardized processing flow (activation judgment → data acquisition → validity judgment → instruction issuance) can be directly integrated into the control program of the vehicle controller without additional hardware costs, which facilitates industrial application and promotion. Attached Figure Description
[0020] Figure 1 This diagram illustrates the connection relationship between the remote control transmitter, remote control receiver, and vehicle controller in the remote control data activation and security processing method described in this invention. The diagram also shows the control relationship between the vehicle controller and the chassis module. Figure 2 This is a flowchart of a remote control data activation and security processing method according to the present invention. Detailed Implementation
[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0022] This solution provides a method for remote control data activation and security processing, applicable to a remote control system comprising a remote control transmitter, a remote control receiver, and a vehicle controller. The basic connection and data transmission methods of this remote control system are as follows: like Figure 1 As shown, the remote control transmitter sends the action command information (such as joystick angle and button status) on the remote control handle to the remote control receiver via wireless means (such as radio frequency, Bluetooth, etc.); the vehicle controller receives the data transmitted by the remote control receiver via PPM (pulse position modulation), which contains the PWM (pulse width modulation) duty cycle information of each channel. The vehicle controller can convert this data into control commands for the chassis drive, steering, and braking modules.
[0023] This method addresses the PWM duty cycle buffer setting for remote control center drift: Taking a single remote control channel as an example, the vehicle controller obtains the PWM duty cycle of that channel via PPM, with a recognition range of 0% to 100%. A minimum effective duty cycle offset ΔPWM (i.e., buffer / dead zone) is set. The value of ΔPWM needs to be comprehensively set based on the actual remote control transmitter's factory data (such as the factory-set median deviation range) and the actual offset after use, ensuring that the normal offset generated by the remote control transmitter during normal use is less than ΔPWM.
[0024] The buffer works as follows: regardless of whether the remote control channel joystick actually drifts, the vehicle controller will only convert the PWM duty cycle into a valid control command when the joystick is moved to a certain angle such that the difference between the corresponding PWM duty cycle and the midpoint exceeds the minimum effective duty cycle offset ΔPWM. If the difference does not exceed the minimum effective duty cycle offset ΔPWM, it is determined to be invalid offset data and no action is performed to avoid erroneous actions when there is no operation.
[0025] Taking a dual-return remote controller for an unmanned vehicle as an example, the ideal positive PWM pulse width corresponding to the median value of the right joystick is 1500µs, and the pulse width difference corresponding to the minimum effective duty cycle offset ΔPWM is set to 50µs; then: When the PWM positive pulse width after the joystick returns to center is in the range of 1450 to 1550 μs (the difference from the median value of 1500 μs is ≤50 μs), the vehicle controller does not respond; The command is converted to forward or reverse only when the pulse width exceeds 1550us (throttle signal when the joystick is up) or is below 1450us (brake signal when the joystick is down).
[0026] If the joystick drift causes the return pulse width to be 1530us, the controller will not respond because the difference is 30us≤50us, thus avoiding accidental driving of the vehicle forward.
[0027] This method addresses the remote control activation mechanism for receiver initial value anomalies: After the vehicle controller is powered on, it does not directly use the data transmitted by the remote control receiver, but instead enters an "inactive" state. Remote control activation is triggered by a preset "valid remote control action," and the specific process is as follows: 1. Preset valid remote control action: It can be set to "multiple buttons on the remote control transmitter are pressed at the same time" (such as the combination of "function key + emergency stop key") or "the value of a certain joystick channel changes to a set threshold" (such as the brake joystick being pulled to the lowest position, the corresponding PWM pulse width is close to 1000us). This set threshold must be greater than the minimum effective duty cycle offset ΔPWM mentioned above to ensure the effectiveness of the action. 2. Activation Detection: The vehicle controller monitors the data transmitted by the remote control receiver in real time to determine whether there is a preset valid remote control action; 3. Activation and Data Activation: If a valid remote control action is detected, the activation flag is set (status is updated to "activated"), and then the vehicle controller begins to parse and use the subsequently received remote control receiver data; if no valid remote control action is detected, the activation flag remains "inactive", and the controller does not process any receiver data.
[0028] This mechanism ensures that the remote control transmitter and receiver have established stable communication (activation requires a normal connection between the two to be triggered), and that any abnormal initial values in the receiver due to power-on failure (such as the maximum value of the steering channel) have been refreshed to normal values (the receiver will automatically refresh the channel data after communication is established). At this point, all data used is genuine remote control operation data, avoiding malfunctions caused by initial abnormal data. For example, when the vehicle is powered on, the transmitter is not powered on, and the steering channel has a maximum value; after the transmitter is powered on and establishes communication with the receiver, the channel data is refreshed to normal values; when the operator pulls the brake lever to its lowest position (effective activation), the controller detects a PWM pulse width of approximately 1000µs, sets the activation flag, and subsequent steering and drive commands are all normal operation data.
[0029] like Figure 2 As shown, taking the activation method of the channel PWM duty cycle reaching a threshold as an example, the remote control data processing flow of the present invention specifically includes: Step (1) Process Startup: The vehicle controller is powered on, and the activation flag is initialized to "not activated"; Step (2) Activation judgment: Determine whether the activation flag is "1" (activated). If not, proceed to step (3); if yes, proceed to step (5). Step (3) Data acquisition: Obtain the PWM duty cycle or combination button of a certain channel of the remote control receiver (such as the channel corresponding to the brake lever); Step (4) Activate trigger: Determine whether the PWM duty cycle exceeds the set threshold (e.g., duty cycle close to 1000us). If yes, activate remote control and set activation flag to "1". If no, return to step (3) and continue detection. Step (5) Valid data judgment: Obtain the PWM duty cycle of each channel (drive, steering, braking) of the remote control, and determine whether the difference between the PWM duty cycle of each channel and the median value exceeds the minimum effective duty cycle offset ΔPWM. Step (6) Instruction issuance: If the difference exceeds the minimum effective duty cycle offset ΔPWM, the PWM duty cycle is converted into the corresponding control instruction and issued to the chassis drive, steering or braking module; otherwise, the instruction is not executed and the process returns to step (5).
[0030] As a specific embodiment of this solution, the remote control system of this embodiment is applied to an unmanned vehicle, and the core component parameters are as follows: Remote transmitter: Dual-return RC model remote controller, right joystick controls throttle and brake, left joystick controls steering; PWM pulse width parameters: The PWM positive pulse width corresponding to the middle value of the right joystick is 1500us (no operation state), the pulse width is 2000us when pushed up to the maximum (maximum throttle, vehicle moves forward at full speed), and the pulse width is 1000us when pulled down to the maximum (maximum braking, vehicle stops or reverses); The PWM positive pulse width corresponding to the middle value of the left joystick is 1500us (straight driving), the pulse width is 1000us when turned fully to the left (maximum left turn), and the pulse width is 2000us when turned fully to the right (maximum right turn); Buffer parameter (△PWM): Set the pulse width difference corresponding to △PWM to 50us, that is, when the pulse width of the right joystick is 1450~1550us and the pulse width of the left joystick is 1450~1550us, it is judged as invalid data; Activation method: Set "right joystick pulled to the lowest position (pulse width close to 1000us)" as the effective activation action, and set the activation threshold to "PWM positive pulse width ≤ 1050us" (ensure that it exceeds △PWM to avoid false activation).
[0031] Implementation process: 1. System power-on initialization When the vehicle controller of the unmanned vehicle is powered on, the initial activation flag is "0" (not activated); at this time, the remote control transmitter is not powered on, the steering channel of the remote control receiver retains the maximum value before the last power failure (such as the corresponding PWM pulse width of 2000us), and the drive channel data is not cleared.
[0032] 2. Remote control connection and data refresh The operator turns on the remote transmitter, which establishes communication with the remote receiver wirelessly. After communication is established, the receiver will automatically refresh the data of each channel. The maximum value of the steering channel is refreshed to the median value of 1500us, and the data of the drive channel is cleared to zero.
[0033] 3. Remote activation The operator pulls the right joystick to the lowest position, and the remote control transmitter outputs a PWM positive pulse width of approximately 1000us. The vehicle controller obtains this pulse width data, determines that it is ≤1050us (activation threshold), sets the activation flag to "1" (activated), and completes the remote control activation.
[0034] 4. Normal Operation and Data Processing Forward operation: The operator pushes the right joystick upward to the 1600us pulse width position. The controller calculates that the difference between this pulse width and the median value of 1500us is 100us, which exceeds △PWM (50us). It is determined to be valid data, converted into a forward command, and sent to the drive module, and the vehicle moves forward. Steering operation: The operator turns the left joystick to the right to the 1800us pulse width position. The difference of 300us > 50us is converted into a right turn command and sent to the steering module, and the vehicle turns to the right. No operation state: When the operator releases the joystick, the right joystick returns to center at 1520us (drift 30us), and the left joystick returns to center at 1480us (drift 20us). The difference between the two values is ≤50us. The controller does not execute any commands, and the vehicle remains stationary.
[0035] 5. Abnormal scenario verification Joystick drifting scenario: After the right joystick returns to center, the vehicle drifts to 1540us (difference 40us ≤ 50us), the controller does not respond, to prevent the vehicle from moving forward accidentally; Initial data anomaly scenario: When the vehicle is powered on, the transmitter is not powered on, and the steering channel has a maximum value; if the remote control is not activated, the controller will not process this data; after the transmitter is powered on, refreshes the data, and is activated, the steering command responds normally and there are no erroneous actions.
[0036] As can be seen from the above implementation process, the method of the present invention can effectively solve the problem of abnormal remote control data and ensure the safety and reliability of remote control operation of unmanned vehicles.
[0037] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for remote control data activation and security processing, applied to a remote control system comprising a remote control transmitter, a remote control receiver, and a vehicle controller, characterized in that, Includes the following steps: Step (1): The remote control transmitter sends the action command information of the remote control handle to the remote control receiver wirelessly; Step (2): The vehicle controller receives data transmitted by the remote control receiver via PPM and configures a data processing strategy to resolve malfunctions caused by abnormal remote control data. The data processing strategy includes: To address the issue of joystick median drift in the remote control transmitter, a PWM duty cycle buffer is set up: the vehicle controller acquires the PWM duty cycle of the corresponding channel of the remote control, sets a minimum effective duty cycle offset ΔPWM, and only when the difference between the PWM duty cycle corresponding to the joystick action and the median exceeds the minimum effective duty cycle offset ΔPWM will the vehicle controller convert the PWM duty cycle into a control command. To address the issue of abnormal initial channel values in the remote control receiver, a remote control activation mechanism is designed: After the vehicle controller is powered on, it checks whether there is a preset valid remote control action. The valid remote control action is when multiple buttons on the remote control transmitter are pressed simultaneously or when the channel value of a certain joystick changes to a set threshold. If the valid remote control action is detected, an activation flag is set, and only then does the vehicle controller use the data transmitted by the remote control receiver. Step (3): The vehicle controller converts the qualified PWM duty cycle into control commands and performs operations on the chassis drive, steering and braking modules.
2. The remote control data activation and security processing method according to claim 1, characterized in that, In step (2), the minimum effective duty cycle offset ΔPWM is set based on the factory data of the remote control transmitter and the actual offset after use, to ensure that the normal offset generated by the remote control transmitter during normal use is less than the minimum effective duty cycle offset ΔPWM.
3. A remote control data activation and security processing method according to claim 1 or 2, characterized in that, In step (2), the vehicle controller has a recognition range of 0% to 100% for PWM duty cycle, and the accuracy of this recognition range can be adjusted by software according to the model and output characteristics of the remote control transmitter.
4. The remote control data activation and security processing method according to claim 1, characterized in that, In step (2), the effective remote control action of pressing multiple buttons at the same time is based on the preset button combination according to the actual application scenario. The button combination must meet the condition that the operator can easily trigger it and is not easy to accidentally touch it.
5. The remote control data activation and security processing method according to claim 1, characterized in that, In step (2), during an effective remote control action in which the change of a certain joystick channel value reaches a set threshold, the difference between the set threshold and the median value of the PWM duty cycle of the joystick channel is greater than the minimum effective duty cycle offset ΔPWM set in step (2).
6. The remote control data activation and security processing method according to claim 1, characterized in that, The remote control transmitter is a dual-return center-mounted model aircraft remote controller. The up and down movement of the right joystick of the dual-return center-mounted model aircraft remote controller corresponds to the throttle and brake signals of the unmanned vehicle: when the joystick is moved upward from the center position, a throttle signal is output, and the corresponding PWM positive pulse width range is 1500~2000us; when the joystick is moved downward from the center position, a brake signal is output, and the corresponding PWM positive pulse width range is 1000~1500us.
7. The remote control data activation and security processing method according to claim 6, characterized in that, In step (2), the effective remote control action is to pull the right joystick to the lowest position. At this time, the PWM positive pulse width output by the remote control transmitter is close to 1000us. When the vehicle controller detects the PWM positive pulse width, it determines that the remote control data is activated.
8. The remote control data activation and security processing method according to claim 6, characterized in that, In step (2), the difference in PWM positive pulse width corresponding to the lowest effective duty cycle offset ΔPWM is 50us. That is, when the difference between the PWM positive pulse width after the right joystick returns to center and 1500us is within 50us, the vehicle controller does not respond to the signal corresponding to the PWM positive pulse width.
9. The remote control data activation and security processing method according to claim 1, characterized in that, In step (2), when the activation flag is in the state of "not activated", the vehicle controller does not process any data transmitted by the remote control receiver. Only after the activation flag is updated to "activated" will the subsequent received data be parsed and converted.
10. The remote control data activation and security processing method according to claim 1, characterized in that, In step (2), after the remote control receiver establishes a communication connection with the remote control transmitter, it will automatically refresh the initial channel value, and the process of automatically refreshing the initial channel value is completed before the vehicle controller detects a valid remote control action.