Remote control interaction management method and system for unmanned surface vehicle, electronic equipment and storage medium

Abstract

The invention provides a remote control interaction management method and system for an unmanned surface vehicle, electronic equipment and a storage medium. Belongs to the technical field of ship navigation control. The system comprises an input module, a processing module, a communication module and a display module. The method comprises the following steps: establishing two-way wireless communication, converting physical operation of a user into a bottom layer control instruction, sending the bottom layer control instruction to the unmanned ship, and receiving state information such as longitude and latitude, navigational speed, engine rotating speed and oil and electricity quantity fed back by the unmanned ship; and displaying the analyzed data on a display module in real time. The switching logic that the priority of the remote control mode is higher than that of the autonomous mode is specially designed, and the take-over safety under the emergency condition is ensured; an ARM framework and an OLED screen are adopted in hardware, and a full-watertight engineering plastic shell is matched, so that the problems of poor visibility under outdoor strong light and marine environment corrosion are solved. According to the invention, the real-time performance, the accuracy and the environment adaptability of unmanned ship control are effectively improved.

Description

[0001] This application claims priority to Chinese Patent Application No. 202411964067.7, filed with the Chinese Patent Office on December 30, 2024, entitled “Remote Control Interactive Management Module and Ship Components”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention belongs to the field of ship navigation and control technology, and particularly relates to a remote control interactive management method, system, electronic device and storage medium for unmanned surface vehicles. Background Technology

[0003] With the development of marine engineering and intelligent equipment, unmanned surface vehicles (USVs) are increasingly being used in fields such as marine surveying, security patrols, and water quality monitoring. The main control methods for USVs include remote control and autonomous navigation.

[0004] However, existing unmanned surface vessel remote control and interactive management technologies face many challenges:

[0005] 1. Poor environmental adaptability: Traditional remote control equipment is easily corroded and damaged in the high humidity and salt spray environment at sea; and under strong outdoor light, the visibility of ordinary LCD screens is extremely poor, making it impossible for operators to see the transmitted data.

[0006] 2. Simple control logic: Existing remote controllers can only perform simple heading control and lack fine control over underlying devices such as engine start / stop and power management. Furthermore, they are prone to conflicts when switching between autonomous and remote control modes and lack a clear priority protection mechanism.

[0007] 3. Incomplete information feedback: Many remote control systems only provide one-way control, and operators cannot obtain the precise location, remaining fuel / battery level, and engine health status of the unmanned surface vessel in real time, which poses a risk of "blind operation".

[0008] 4. Communication reliability: In complex aquatic environments, limited communication bandwidth, signal interference, and delays seriously affect operational safety.

[0009] Therefore, there is an urgent need for a remote control and interactive management solution for unmanned surface vessels that is highly integrated, environmentally adaptable, has two-way interactive capabilities, and a sound safety mechanism. Summary of the Invention

[0010] The purpose of this invention is to provide a remote control interactive management method and system for unmanned surface vehicles, so as to solve the shortcomings of the existing technology in terms of environmental adaptability, interaction depth and security.

[0011] The first aspect of this invention discloses a remote control interactive management method for an unmanned surface vehicle, the method being applied to a remote control interactive management terminal, comprising the following steps:

[0012] Establish a two-way wireless communication connection between the remote control interactive management terminal and the unmanned surface vehicle;

[0013] The system receives user operation commands through a human-machine interface, including navigation control commands, equipment start / stop commands, and mode switching commands.

[0014] The command management unit converts the operation commands into control signals that can be recognized by the unmanned surface vehicle's underlying control system, and sends them to the unmanned surface vehicle via the wireless communication connection.

[0015] Receive status data fed back by the unmanned surface vehicle, the status data including navigation attitude information, actuator status information and energy status information;

[0016] The status data is parsed using an information management unit, and the parsed status information is displayed in real time using a display unit.

[0017] When the mode switching command is triggered, the control mode of the unmanned surface vehicle is switched between remote control mode and autonomous navigation mode according to the preset permission level logic, and the remote control mode has a higher control priority than the autonomous navigation mode.

[0018] Preferably, the step of converting the operation command into a control signal specifically includes:

[0019] When a navigation control command is received, the analog or digital changes in the input unit are collected and mapped to the thruster speed signal and the vector nozzle steering signal.

[0020] When a device start / stop command is received, discrete control signals are generated for the engine, generator, or power manager.

[0021] When a mode switching command is received, a control takeover signal is generated. The takeover signal is used to forcibly interrupt the upper-level autonomous planning command of the unmanned surface vehicle, so that the lower-level control system can directly respond to the control signal of the remote control interactive management terminal.

[0022] Preferably, the step of receiving and displaying status data specifically includes:

[0023] It receives latitude, longitude, heading, and speed data, and plots the trajectory of the unmanned surface vehicle in real time on the electronic chart of the display unit;

[0024] It receives engine speed and rudder angle feedback values ​​and displays them visually on the instrument panel;

[0025] It receives battery power and fuel tank level data, and triggers an alarm when the values ​​are lower than a preset threshold.

[0026] Verify the integrity of the status data; if the verification fails, trigger a communication anomaly alarm.

[0027] Preferably, the method is implemented based on a layered software architecture, which includes:

[0028] At the hardware layer, low-level driver support is provided based on ARM architecture processors;

[0029] At the system level, a runtime environment is built upon the Android operating system.

[0030] The communication layer is used to parse communication protocols and process real-time streaming data and command transmission and reception.

[0031] The code layer includes logic protection algorithms and user permission management modules;

[0032] The user layer provides a graphical user interface for information display and command input.

[0033] A second aspect of this invention discloses a remote control and interactive management system for unmanned surface vehicles, the system comprising:

[0034] The input module is configured to collect physical operation signals from the user, including signals generated by toggle switches, joysticks, or knobs.

[0035] The processing module is configured to run a remote control interaction management program, which includes a remote control command management unit and a remote control information management unit.

[0036] The communication module is configured to interact with the unmanned surface vehicle via a wireless data radio.

[0037] The display module is configured to use self-illuminating display technology to display the status feedback information of the unmanned surface vehicle.

[0038] The processing module runs on a hardware platform based on Cortex-A series and Cortex-M series cores. The remote control command management unit is used to convert physical operation signals into navigation and equipment control commands. The remote control information management unit is used to parse the returned navigation data and equipment status data.

[0039] Preferably, the display module uses an OLED display screen, which is configured with a high-contrast display mode to adapt to strong outdoor light environments;

[0040] The input module includes:

[0041] Direction control unit, used to control the direction of water jet propulsion;

[0042] The power control unit is used to control the power output and gear shift.

[0043] The equipment control unit is used to control the start and stop of the left and right engines, generators, and power supply.

[0044] Preferably, the system further includes a hardware protection structure:

[0045] The shell is made of engineering plastic and has sealing rings at the seams to achieve watertightness.

[0046] Interface protection: The charging and data interfaces adopt a watertight plug structure.

[0047] For the protection of the operating components, sealing gaskets are installed at the base of the switch and rocker arm of the input module;

[0048] The hardware protection structure enables the system to resist salt spray and rust.

[0049] Preferably, the system supports compatibility with multiple brand remote control platforms, and can establish connections with remote control transmission devices of different brands by configuring different communication protocol interfaces;

[0050] The system is also configured to have a simulation test mode, which loads virtual map information and displays the simulated navigation trajectory through the UI interface when connected to the simulation platform.

[0051] A third aspect of this invention discloses an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of a remote control interactive management method for an unmanned surface vehicle according to any one of the first aspects of this disclosure.

[0052] A fourth aspect of this invention discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a remote control interactive management method for an unmanned surface vehicle according to any one of the first aspects of this disclosure.

[0053] The beneficial effects of this invention are as follows:

[0054] 1. Improved control accuracy and efficiency: Through two-way interaction, operators can not only issue instructions, but also obtain real-time execution results and hull status, realizing closed-loop control.

[0055] 2. Enhanced environmental adaptability: The use of an OLED screen solves the visibility problem under strong light, and the fully sealed design solves the waterproof and corrosion resistance problems, making it adaptable to harsh sea conditions.

[0056] 3. Safety Assurance: Clear mode switching priorities and emergency stop functions ensure the safety of the unmanned surface vessel when abnormalities occur during autonomous navigation.

[0057] 4. High scalability: Based on the Android system and layered architecture, it facilitates software iteration and integration of advanced functions such as multi-device collaboration and path planning. Attached Figure Description

[0058] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0059] Figure 1 A flowchart illustrating a remote control interactive management method for an unmanned surface vehicle according to an embodiment of the present invention;

[0060] Figure 2 This is a functional structure diagram of the remote control interaction management module in an embodiment of the present invention;

[0061] Figure 3 This is an information connection diagram of the remote control interaction management module in an embodiment of the present invention;

[0062] Figure 4 This is a schematic diagram of the hardware interface in an embodiment of the present invention;

[0063] Figure 5 This is a software layered architecture diagram in an embodiment of the present invention;

[0064] Figure 6 This is a structural diagram of a remote control interactive management system for an unmanned surface vehicle according to an embodiment of the present invention;

[0065] Figure 7 This is a structural diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0067] The first aspect of this invention discloses a remote control interactive management method for unmanned surface vehicles. Figure 1 Here is a flowchart of a remote control interactive management method for an unmanned surface vehicle according to an embodiment of the present invention, such as... Figure 1 and Figure 2 As shown, the method is applied to a remote control interactive management terminal and includes the following steps:

[0068] Step S1: Establish a two-way wireless communication connection between the remote control interactive management terminal and the unmanned surface vehicle;

[0069] Step S2: Receive user operation commands through the human-machine interface, including navigation control commands, equipment start / stop commands, and mode switching commands;

[0070] When the mode switching command is triggered, the control mode of the unmanned surface vehicle is switched between remote control mode and autonomous navigation mode according to the preset permission level logic, and the remote control mode has a higher control priority than the autonomous navigation mode.

[0071] Step S3: The command management unit converts the operation command into a control signal that can be recognized by the unmanned surface vehicle's underlying control system, and sends it to the unmanned surface vehicle through the wireless communication connection.

[0072] In step S3, the step of converting the operation command into a control signal specifically includes:

[0073] When a navigation control command is received, the analog or digital changes in the input unit are collected and mapped to the thruster speed signal and the vector nozzle steering signal.

[0074] When a device start / stop command is received, discrete control signals are generated for the engine, generator, or power manager.

[0075] When a mode switching command is received, a control takeover signal is generated. The takeover signal is used to forcibly interrupt the upper-level autonomous planning command of the unmanned surface vehicle, so that the lower-level control system can directly respond to the control signal of the remote control interactive management terminal.

[0076] Specifically, remote control commands can be sent while in remote control interaction management module mode, and the system can switch between remote control interaction management module mode and upper-level autonomous mode. The status of manned driving mode, upper-level mode, and remote control interaction management module mode is displayed on the screen. By default, driving mode switching permissions are higher than upper-level autonomous mode, and the permission level of the remote control interaction management module can be set according to user functional requirements.

[0077] Step S4: Receive the status data fed back by the unmanned surface vehicle, the status data including navigation attitude information, actuator status information and energy status information;

[0078] Step S5: Use the information management unit to parse the status data and display the parsed status information in real time through the display unit;

[0079] Specifically, the step of receiving and displaying status data includes:

[0080] It receives latitude, longitude, heading, and speed data, and plots the trajectory of the unmanned surface vehicle in real time on the electronic chart of the display unit;

[0081] It receives engine speed and rudder angle feedback values ​​and displays them visually on the instrument panel;

[0082] It receives battery power and fuel tank level data, and triggers an alarm when the values ​​are lower than a preset threshold.

[0083] Verify the integrity of the status data; if the verification fails, trigger a communication anomaly alarm.

[0084] In some specific embodiments, by sending control commands, operators can remotely control the navigation and attitude of the unmanned surface vessel (USV) within visual range. Operators can start and stop the onboard engine by toggling switches; control the direction of the water jet propulsion by cranking a directional joystick; and control the power output and forward / reverse direction by cranking a gear lever or rotating a gear knob. The switches, joysticks, and knobs can be designed according to user specifications, ensuring comprehensive functionality while retaining user-defined operating habits.

[0085] In addition, the remote control interactive management system is equipped with several toggle switches to control the start and stop of the left engine, right engine, generator, and power manager. Simultaneously, the underlying control box can acquire equipment operating status information and, after equipment startup, feed back the actual operating status to the remote control interactive management module, displaying it on the screen to ensure closed-loop control. Several reserved switches are also provided, which can be configured with corresponding functions as needed, such as auxiliary equipment start / stop and deployment / retrieval control.

[0086] like Figure 5 As shown, in some specific embodiments, the method is implemented based on a layered software architecture, which includes:

[0087] At the hardware layer, low-level driver support is provided based on ARM architecture processors;

[0088] At the system level, a runtime environment is built upon the Android operating system.

[0089] The communication layer is used to parse communication protocols and process real-time streaming data and command transmission and reception.

[0090] The code layer includes logic protection algorithms and user permission management modules;

[0091] The user layer provides a graphical user interface for information display and command input.

[0092] The second aspect of this invention discloses a remote control and interactive management system for unmanned surface vehicles.

[0093] Example 1: Overall System Architecture

[0094] Figure 6 This is a structural diagram of a remote control and interactive management system for an unmanned surface vehicle according to an embodiment of the present invention; as shown below. Figure 6 As shown, the system 100 includes:

[0095] Input module 101 is configured to collect physical operation signals from the user, including signals generated by toggle switches, rockers, or knobs;

[0096] Processing module 102 is configured to run a remote control interaction management program, the program including a remote control command management unit and a remote control information management unit;

[0097] The communication module 103 is configured to interact with the unmanned surface vehicle via a wireless data radio.

[0098] Display module 104 is configured to display status feedback information of unmanned surface vehicles using self-illuminating display technology;

[0099] The processing module runs on a hardware platform based on Cortex-A series and Cortex-M series cores. The remote control command management unit is used to convert physical operation signals into navigation and equipment control commands. The remote control information management unit is used to parse the returned navigation data and equipment status data.

[0100] The display module 104 uses an OLED display screen, which is equipped with a high-contrast display mode to adapt to strong outdoor light environments.

[0101] The input module 101 includes:

[0102] Direction control unit, used to control the direction of water jet propulsion;

[0103] The power control unit is used to control the power output and gear shift.

[0104] The equipment control unit is used to control the start and stop of the left and right engines, generators, and power supply.

[0105] Specifically, the system also includes a hardware protection structure:

[0106] The shell is made of engineering plastic and has sealing rings at the seams to achieve watertightness.

[0107] Interface protection: The charging and data interfaces adopt a watertight plug structure.

[0108] For the protection of the operating components, sealing gaskets are installed at the base of the switch and rocker arm of the input module;

[0109] The hardware protection structure enables the system to resist salt spray and rust.

[0110] In addition, the system 100 supports compatibility with multiple brands of remote control platforms. By configuring different communication protocol interfaces, it can establish connections with remote control transmission devices of different brands. The system is also configured to have a simulation test mode. When connected to a simulation platform, it loads virtual map information through the UI interface and displays the simulated navigation trajectory.

[0111] Example 2: Hardware Architecture of Remote Interactive Management System

[0112] According to the system provided in the second aspect of the present invention, in some specific embodiments, such as Figure 3 and Figure 6 As shown in the figure, this embodiment provides a handheld remote control interactive management terminal.

[0113] Processing module (core processing unit): The hardware platform adopts a heterogeneous or high-performance single-chip solution using ARM Cortex-M4 and Cortex-A5 (with a main frequency of up to 1.8GHz). Cortex-M4 is responsible for low-level I / O control with high real-time requirements (such as joystick signal acquisition and PWM generation), while Cortex-A5 is responsible for running the Android 9.0 operating system and UI interaction software.

[0114] Input module: Includes a direction joystick for controlling the direction of the water jet propulsion system, a gear joystick (or knob) for controlling power output / forward / reverse, and several toggle switches for controlling the start / stop of the left and right engines, generator, and power manager. Additionally, auxiliary equipment switches and an emergency stop button are provided.

[0115] Display module: Employs an OLED display screen. Compared to traditional LCDs, OLEDs are self-emissive, consume less power, have higher brightness and contrast, and are particularly effective at preventing backlighting, ensuring clear visibility even under strong sunlight at sea. Figure 4 As shown.

[0116] Communication interfaces: Manages the screen, battery, and wireless module via interfaces such as SPI, I2C, and MIPI. Communicates with the submarine's control via a wireless data radio.

[0117] Protective Design: The shell is made entirely of engineering plastic with an internal sealing ring for water tightness; the shoulder strap and antenna are made of rust-proof plastic; the charging port uses a water-tight plug; and the switch is equipped with a sealing gasket. The overall design meets waterproof and salt spray resistance standards.

[0118] Example 3: Remote Control Interactive Management Method and Software Logic

[0119] According to the system provided in the second aspect of the present invention, in some specific embodiments, such as Figure 3 and Figure 5 As shown, the software is developed based on Android 9.0 and consists of a five-layer architecture:

[0120] Hardware layer: Adapting to ARM chip drivers.

[0121] System layer: Android's underlying architecture, providing a general runtime environment.

[0122] Communication layer: Responsible for parsing communication protocols.

[0123] Downlink (Control): Encapsulates touch commands from the UI layer or joystick signals from the hardware layer into control protocol packets. For example, it converts the X / Y axis offset of the joystick into thrust / rudder angle commands ranging from -100% to +100%.

[0124] Uplink (feedback): Parses NMEA format navigation data or proprietary protocol device status data from the underlying layer.

[0125] Code layer: Contains business logic.

[0126] Command Management Unit: Completes the conversion of navigation control commands and engine start / stop commands.

[0127] Information Management Unit: Processes navigation information (longitude, latitude, heading, speed), actuator information (engine speed), and energy information (battery charge, fuel tank level).

[0128] Access Control: The remote control mode is set to have higher priority than the autonomous mode. When the user switches the "Mode Switch" to the remote control position, the system forcibly issues a takeover command, disabling the output of the autonomous navigation algorithm.

[0129] User Interface (UI): The interface displays electronic charts, trajectories, dashboard data, and alarm information.

[0130] Example 4: Workflow and Interaction

[0131] According to the system provided in the second aspect of the present invention, in some specific embodiments, the specific workflow and interaction of the remote control interactive management system for unmanned surface vehicles are as follows:

[0132] Connection and Startup: The operator turns on the terminal, the system performs a self-test and establishes a connection with the boat. The screen displays "Connected" and transmits the current battery and fuel levels.

[0133] Equipment Start-up: The operator toggles the "Left Engine Start" switch, and the terminal sends a start command. The boat-end actuator activates, and the sensor feeds back "Left Engine Speed ​​800 rpm." The corresponding engine icon on the terminal screen illuminates and displays the engine speed, achieving closed-loop confirmation.

[0134] Navigation control:

[0135] Remote control mode: The operator pushes the gear lever to accelerate the unmanned surface vessel. The screen updates the speed (e.g., 15 knots) and heading in real time.

[0136] Autonomous mode: The operator sets waypoints on the screen and switches to autonomous mode, and the unmanned surface vessel navigates automatically.

[0137] Emergency takeover: If an obstacle is detected ahead, the operator can directly operate the joystick or switch the mode, and the system will immediately interrupt autonomous cruise and respond to manual commands to avoid the obstacle.

[0138] Abnormal alarm: When the returned oil level is below 20% or the communication delay exceeds the threshold, a red alarm box will pop up on the UI interface, accompanied by vibration / sound prompts.

[0139] Example 5: Simulation and Compatibility

[0140] According to the system provided in the second aspect of the present invention, in some specific embodiments, the system software can not only run on self-developed hardware, but is also compatible with mature remote control platforms such as Siyi, Panasonic, FrSky, and Yunzhuo. By building a simulation T-control platform, the software can be connected to a simulation environment on a PC.

[0141] In simulation mode, the signals from the input module are sent to the simulator, and the virtual boat's pose and state data calculated by the simulator are transmitted back to the terminal. The UI loads map information and displays the vehicle's navigation trajectory in the simulation test in real time, which is used for operator training or algorithm verification.

[0142] The effects of the remote control and interactive management system for unmanned surface vehicles provided by this invention are as follows:

[0143] 1. Improved operational accuracy and efficiency: By improving remote control and interactive management methods, delays and interference during operation can be reduced, and the accuracy and real-time performance of command transmission can be improved. Operators can respond to changes in the unmanned surface vessel's status more quickly and control its movement more accurately, thereby improving operational efficiency.

[0144] 2. Enhancing the autonomy and intelligence of unmanned surface vessels (USVs): Improved remote control and interactive management methods can introduce more advanced perception and decision-making algorithms, enabling USVs to better perceive the environment, understand mission requirements, and make more intelligent decisions. This will reduce reliance on manual operation and improve the autonomy and adaptability of USVs.

[0145] 3. Enhance multi-vehicle collaboration and cooperation capabilities: By improving multi-vehicle collaboration and cooperation mechanisms, efficient cooperation among multiple unmanned surface vessels (USVs) can be achieved, such as task allocation, path planning, and information sharing. This will improve the efficiency and flexibility of mission execution and expand the scope of USV applications.

[0146] 4. Enhanced reliability and security of data transmission and communication: Improved remote control and interactive management methods can utilize more efficient data transmission and communication technologies, such as enhanced radio communication, satellite communication, and encrypted communication. This will improve the reliability and real-time performance of data transmission and enhance communication security, preventing unauthorized access and manipulation.

[0147] 5. Enhanced Security and Privacy Protection: Improved remote control and interactive management methods can introduce stronger security and privacy protection mechanisms to prevent unmanned surface vessel (USV) systems from being illegally attacked or maliciously interfered with. This will enhance the security of USVs and protect the confidentiality and integrity of relevant data and information.

[0148] 6. Reduce operator workload: Improved remote control and interactive management methods can reduce operator workload through automation and intelligent technologies. For example, introducing automatic path planning and obstacle avoidance algorithms reduces the operator's direct control over the unmanned surface vessel's movement, allowing them to focus more on monitoring and decision-making, thereby improving work efficiency.

[0149] This invention improves operational accuracy, efficiency, and safety, enhances the autonomy and intelligence of unmanned surface vessels (USVs), enables multi-vehicle collaboration and cooperation, reduces operator workload, and expands the application areas of USVs. This will drive the development and application of USV technology, promoting their widespread use in marine surveying, maritime rescue, and underwater exploration.

[0150] A third aspect of this invention discloses an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the remote control interactive management method for an unmanned surface vehicle according to any one of the first aspects of this invention.

[0151] Figure 7 This is a structural diagram of an electronic device according to an embodiment of the present invention, such as... Figure 7As shown, the electronic device includes a processor, memory, communication interface, display screen, and input device connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, Near Field Communication (NFC), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input device can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0152] Those skilled in the art will understand that Figure 7 The structure shown is merely a structural diagram of the part related to the technical solution of this disclosure and does not constitute a limitation on the electronic device to which the solution of this application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0153] A fourth aspect of this invention discloses a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a remote-controlled interactive management method for an unmanned surface vehicle according to any one of the first aspects of this invention.

[0154] Please note that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0155] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A remote control interactive management method for unmanned surface vehicles, characterized in that, The method is applied to a remote control interactive management terminal and includes the following steps: Establish a two-way wireless communication connection between the remote control interactive management terminal and the unmanned surface vehicle; The system receives user operation commands through a human-machine interface that includes an input unit. These operation commands include navigation control commands, equipment start / stop commands, and mode switching commands. The command management unit converts the operation commands into control signals that can be recognized by the unmanned surface vehicle's underlying control system, and sends them to the unmanned surface vehicle via the wireless communication connection. Receive status data fed back by the unmanned surface vehicle, the status data including navigation attitude information, actuator status information and energy status information; The status data is parsed using an information management unit, and the parsed status information is displayed in real time using a display unit. When the mode switching command is triggered, the control mode of the unmanned surface vehicle is switched between remote control mode and autonomous navigation mode according to the preset permission level logic, and the remote control mode has a higher control priority than the autonomous navigation mode.

2. The method according to claim 1, characterized in that, The step of converting operation commands into control signals specifically includes: When a navigation control command is received, the analog or digital changes in the input unit are collected and mapped to the thruster speed signal and the vector nozzle steering signal. When a device start / stop command is received, discrete control signals are generated for the engine, generator, or power manager. When a mode switching command is received, a control takeover signal is generated. The takeover signal is used to forcibly interrupt the upper-level autonomous planning command of the unmanned surface vehicle, so that the lower-level control system can directly respond to the control signal of the remote control interactive management terminal.

3. The method according to claim 1, characterized in that, The steps of receiving and displaying status data specifically include: It receives latitude, longitude, heading, and speed data, and plots the trajectory of the unmanned surface vehicle in real time on the electronic chart of the display unit; It receives engine speed and rudder angle feedback values ​​and displays them visually on the instrument panel; It receives battery power and fuel tank level data, and triggers an alarm when the values ​​are lower than a preset threshold. Verify the integrity of the status data; if the verification fails, trigger a communication anomaly alarm.

4. The method according to claim 1, characterized in that, The method is implemented based on a layered software architecture, which includes: At the hardware layer, low-level driver support is provided based on ARM architecture processors; At the system level, a runtime environment is built upon the Android operating system. The communication layer is used to parse communication protocols and process real-time streaming data and command transmission and reception. The code layer includes logic protection algorithms and user permission management modules; The user layer provides a graphical user interface for information display and command input.

5. A remote control and interactive management system for unmanned surface vehicles, characterized in that, The system includes: The input module is configured to collect physical operation signals from the user, including signals generated by toggle switches, joysticks, or knobs. The processing module is configured to run a remote control interaction management program, which includes a remote control command management unit and a remote control information management unit. The communication module is configured to interact with the unmanned surface vehicle via a wireless data radio. The display module is configured to use self-illuminating display technology to display the status feedback information of the unmanned surface vehicle. The processing module runs on a hardware platform based on Cortex-A series and Cortex-M series cores. The remote control command management unit is used to convert physical operation signals into navigation and equipment control commands. The remote control information management unit is used to parse the returned navigation data and equipment status data.

6. The system according to claim 5, characterized in that, The display module uses an OLED display screen, which is equipped with a high-contrast display mode to adapt to strong outdoor light environments. The input module includes: Direction control unit, used to control the direction of water jet propulsion; The power control unit is used to control the power output and gear shift. The equipment control unit is used to control the start and stop of the left and right engines, generators, and power supply.

7. The system according to claim 5, characterized in that, The system also includes a hardware protection structure: The shell is made of engineering plastic and has sealing rings at the seams to achieve watertightness. Interface protection: The charging and data interfaces adopt a watertight plug structure. For the protection of the operating components, sealing gaskets are installed at the base of the switch and rocker arm of the input module; The hardware protection structure enables the system to resist salt spray and rust.

8. The system according to claim 5, characterized in that, The system supports compatibility with multiple brands of remote control platforms. By configuring different communication protocol interfaces, it can establish connections with remote control transmission devices from different brands. The system is also configured to have a simulation test mode, which loads virtual map information and displays the simulated navigation trajectory through the UI interface when connected to the simulation platform.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the steps of the remote control interactive management method for an unmanned surface vehicle according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the remote control interactive management method for an unmanned surface vehicle according to any one of claims 1 to 4.

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