Unmanned vehicle control system

Abstract

The utility model belongs to the technical field of unmanned vehicles, and discloses an unmanned vehicle control system, which comprises an ROS system serving as a brain for automatic control of an unmanned vehicle and undertaking an operation role; the vehicle control unit is used for receiving and analyzing the code instruction sent by the ROS system and generating a corresponding communication protocol signal; the 2.4 GHZ remote control system is used for man-machine interaction and can be switched between an automatic mode and a manual mode; the RS485 communication control equipment is used for receiving an RS485 protocol signal generated by the vehicle control unit and executing a corresponding control action; and the CAN communication control equipment is used for receiving the CAN protocol signals generated by the vehicle control unit and executing corresponding control actions. According to the scheme, through the 2.4 GHZ control link of the 2.4 GHZ remote control system, connection between the CAN equipment and other communication equipment is established, fusion of several kinds of equipment with different communication is better integrated, the function of the unmanned vehicle is more powerful, and the development period is shorter.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned vehicles, and more specifically, to an unmanned vehicle control system. Background Art

[0002] As the demand for unmanned equipment grows, the demand for diversified equipment on unmanned vehicles increases, and more functions integrated into existing platforms are a demand we often encounter; generally, existing unmanned vehicles use 2.4GHZ remote controls as command sending devices, and receive commands through 2.4GHZ receivers to control the vehicle.

[0003] When using this type of remote control to control a vehicle, it is relatively easy to simply control the vehicle's forward, backward, left, and right movements. However, with the diversification of platforms, some components that require CAN communication or RS485 are difficult to control via a model aircraft remote control. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes an unmanned vehicle control system.

[0005] In order to solve the above problems, the utility model adopts the following technical solutions:

[0006] An unmanned vehicle control system, comprising:

[0007] The ROS system, as the brain of the automated control of the unmanned vehicle, plays a computing role;

[0008] The vehicle controller is used to receive and analyze the code instructions issued by the ROS system and generate corresponding communication protocol signals;

[0009] 2.4GHZ remote control system for human-machine interaction and capable of switching between automatic and manual modes;

[0010] RS485 communication control equipment, used to receive RS485 protocol signals generated by the vehicle controller and perform corresponding control actions;

[0011] CAN communication control equipment is used to receive CAN protocol signals generated by the vehicle controller and perform corresponding control actions.

[0012] As a further description of the above technical solution: the ROS system communicates with the vehicle controller via serial port signals.

[0013] As a further description of the above technical solution: when the 2.4GHZ remote control system is switched to automatic mode, the vehicle controller recognizes the code instructions issued by the ROS system, and generates CAN and RS485 protocol signals to communicate with the RS485 and CAN communication control devices, and controls the relevant devices to implement corresponding control actions.

[0014] When the 2.4GHZ remote control system is switched to manual mode, the unmanned vehicle can only send RS485 or CAN signals to the vehicle controller through the 2.4GHZ remote control system, and then the vehicle controller sends them to the corresponding control equipment to achieve manual takeover control.

[0015] As a further description of the above technical solution: the vehicle controller can automatically adjust the sending of communication protocol signals according to the mode switching of the 2.4GHZ remote control system to adapt to the automatic or manual control mode.

[0016] The vehicle controller in automatic mode gives priority to parsing code instructions of the ROS system. The vehicle controller in manual mode gives priority to parsing instructions of the 2.4GHZ remote control system.

[0017] As a further description of the above technical solution: the 2.4GHZ remote control system includes a user interface for displaying the status information of the unmanned vehicle and for the user to perform mode switching and control operations.

[0018] As a further description of the above technical solution: the ROS system is capable of processing sensor data in real time and generating control instructions according to preset algorithms and logic.

[0019] As a further description of the above technical solution: the RS485 communication control device and the CAN communication control device both include a fault detection and self-diagnosis module, which feeds back the device status to the vehicle controller and the ROS system.

[0020] As a further description of the above technical solution: the ROS system includes a data recording module for recording the operating data and control instructions of the unmanned vehicle to facilitate subsequent analysis and troubleshooting.

[0021] As a further description of the above technical solution: the ROS system also includes a wireless transmission module, which is used to exchange data with a remote server to achieve remote monitoring and control.

[0022] As a further description of the above technical solution: the ROS system, the vehicle controller, the 2.4GHZ remote control system, the RS485 communication control device and the CAN communication control device are connected and communicated with each other via wired or wireless means.

[0023] Compared with the prior art, the advantages of the present invention are:

[0024] 1. This solution establishes the connection between CAN devices and other communication devices through the 2.4GHZ control link of the 2.4GHZ remote control system, better integrates the integration of several devices with different communications, makes the unmanned vehicle more powerful and shortens the development cycle.

[0025] 2. This solution realizes the automatic and manual switching modes of the unmanned vehicle through signal conversion. It can realize both manual takeover and ROS-based autonomous driving program execution. It can avoid timely takeover when a certain mode fails, making the system run safer and reducing the accident rate.

[0026] 3. This solution achieves interoperability among multiple protocols, avoids a large amount of repeated development, reduces product development cycle, and reduces the cost of finished products. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is one of the system diagrams of the utility model;

[0028] Figure 2 This is the second system diagram of the present utility model. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model.

[0030] See also Figure 1-2 , an unmanned vehicle control system, including: ROS system, vehicle controller, 2.4GHZ remote control system, RS485 communication control equipment and CAN communication control equipment.

[0031] ROS system: As the brain of the unmanned vehicle's automated control, it plays a computing role; the ROS system can process sensor data in real time and generate control instructions based on preset algorithms and logic.

[0032] Vehicle controller: used to receive and parse the code instructions issued by the ROS system and generate corresponding communication protocol signals. The ROS system communicates with the vehicle controller through serial port signals.

[0033] 2.4GHZ remote control system: used for human-machine interaction, and can switch between automatic mode and manual mode. The vehicle controller can automatically adjust the transmission of communication protocol signals according to the mode switching of the 2.4GHZ remote control system to adapt to the automatic or manual control mode. And according to the type and content of the received signal, select the appropriate communication protocol to communicate with the corresponding communication control device.

[0034] When the 2.4GHZ remote control system switches to automatic mode, the vehicle controller recognizes the code instructions issued by the ROS system, and generates CAN and RS485 protocol signals to communicate with RS485 and CAN communication control devices, controlling related devices to implement corresponding control actions.

[0035] When the 2.4GHZ remote control system is switched to manual mode, the unmanned vehicle can only send RS485 or CAN signals to the vehicle controller through the 2.4GHZ remote control system, and then the vehicle controller sends them to the corresponding control equipment to achieve manual takeover control.

[0036] Among them, the whole vehicle controller, in automatic mode, gives priority to parsing the code instructions of the ROS system; in manual mode, the whole vehicle controller gives priority to parsing the instructions of the 2.4GHZ remote control system.

[0037] The 2.4GHZ remote control system includes a user interface for displaying status information of the unmanned vehicle and for the user to perform mode switching and control operations.

[0038] RS485 communication control device: used to receive RS485 protocol signals generated by the vehicle controller and perform corresponding control actions;

[0039] CAN communication control device: used to receive the CAN protocol signal generated by the vehicle controller and perform corresponding control actions.

[0040] Wherein, the RS485 communication control device and the CAN communication control device both include a fault detection and self-diagnosis module, which feeds back the device status to the vehicle controller and the ROS system.

[0041] In addition, the ROS system also includes a data recording module and a wireless transmission module. The data recording module is used to record the operation data and control instructions of the unmanned vehicle for subsequent analysis and troubleshooting. The wireless transmission module is used to exchange data with the remote server to achieve remote monitoring and control.

[0042] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. An unmanned vehicle control system, characterized in that: include: The ROS system, as the brain of the automated control of the unmanned vehicle, plays a computing role; The vehicle controller is used to receive and parse the code instructions issued by the ROS system; 2.4GHZ remote control system for human-machine interaction and capable of switching between automatic and manual modes; RS485 communication control device, used to receive RS485 protocol signals generated by the vehicle controller; CAN communication control device, used to receive CAN protocol signals generated by the vehicle controller.

2. The unmanned vehicle control system according to claim 1, characterized in that: The ROS system communicates with the vehicle controller via serial port signals.

3. The unmanned vehicle control system according to claim 1, characterized in that: When the 2.4GHZ remote control system switches to automatic mode, the vehicle controller recognizes the code instructions issued by the ROS system, and generates CAN and RS485 protocol signals to communicate with RS485 and CAN communication control devices, controlling related devices to implement corresponding control actions.

4. The unmanned vehicle control system according to claim 1, characterized in that: When the 2.4GHZ remote control system is switched to manual mode, the unmanned vehicle can only send RS485 or CAN signals to the vehicle controller through the 2.4GHZ remote control system, and then the vehicle controller sends them to the corresponding control equipment to achieve manual takeover control.

5. The unmanned vehicle control system according to any one of claims 1 to 4, characterized in that: The vehicle controller can automatically adjust the sending of communication protocol signals according to the mode switching of the 2.4GHZ remote control system.

6. The unmanned vehicle control system according to claim 5, characterized in that: The vehicle controller, in automatic mode, gives priority to parsing code instructions of the ROS system; The vehicle controller, in manual mode, gives priority to parsing instructions from the 2.4 GHZ remote control system.

7. The unmanned vehicle control system according to claim 1, characterized in that: The 2.4GHZ remote control system includes a user interface for displaying status information of the unmanned vehicle and for the user to perform mode switching and control operations.

8. The unmanned vehicle control system according to claim 1, characterized in that: The RS485 communication control device and the CAN communication control device both include a fault detection and self-diagnosis module, which feeds back the device status to the vehicle controller and the ROS system.

9. The unmanned vehicle control system according to claim 1, characterized in that: The ROS system includes a data recording module for recording the operating data and control instructions of the unmanned vehicle for subsequent analysis and troubleshooting.

10. The unmanned vehicle control system according to claim 9, characterized in that: The ROS system also includes a wireless transmission module, which is used to exchange data with a remote server to achieve remote monitoring and control.

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