CN108023862A - A kind of unmanned vehicle group system and control method based on Zigbee remote controls - Google Patents

Abstract

The invention relates to an unmanned vehicle cluster system based on Zigbee remote control, comprising a host (1), a Kinect device (2) and an unmanned vehicle cluster. The unmanned vehicle cluster includes a plurality of unmanned vehicles, and the unmanned vehicle includes a vehicle body, a Zigbee communication module 5 arranged on the vehicle body, a core controller (32) and a drive motor (33). The core controller (32) is connected with the Zigbee communication module 5 and the driving motor (33) respectively, and the host computer (1) has the Zigbee communication module 5 and a USB interface. The Kinect device (2) is connected to the host computer (1) through a USB interface, and each Zigbee communication module 5 self-organizes a network to add unmanned vehicles in real time and dynamically. Kinect device (2) is used for receiving action signal and sends to host computer (1), and host computer (1) is used for identifying instruction and instruction is sent to core controller (32) by Zigbee network, and core controller (32) is used for controlling Drive motor (33). Compared with the prior art, the invention has the advantages of good safety, strong flexibility and the like.

Description

An unmanned vehicle cluster system and control method based on Zigbee remote control

technical field

The invention relates to a wireless communication equipment system, in particular to an unmanned vehicle cluster system and a control method based on Zigbee remote control.

Background technique

With the rapid development of computer and microelectronic technology, the application range of intelligent technology has also been greatly expanded. With the rapid development of automotive electronics technology as the background, the smart car system covers multiple disciplines such as electronics, computers, machinery, and sensor technology, and requires comprehensive use of computer, sensor, information, communication, navigation, artificial intelligence, and automatic control. , is a high-tech that realizes environmental perception, planning decision-making and automatic driving.

Unmanned vehicles, as the research difficulties and hotspots of smart cars, are suitable for work in high-risk environments, including high temperature, extreme cold, nuclear industry operations, explosive discharge, dust and other environments. On the military side, smart vehicles could be used to clear roadside bombs and find and destroy landmines. In terms of civilian use, it can detect chemical leaks, put out fires in subways, and search for buried people in the ruins after a strong earthquake. On the other hand, there are many safety drawbacks in industrial sites. Under high-risk operations, if the environment is harsh or even flammable and explosive, it will be extremely harmful to personal safety. Protect the operator's safety. In addition, most common unmanned vehicles use close-range control and can only be controlled by a single person, resulting in redundancy and waste of personnel and hardware resources. Therefore, using remote control, wireless communication, and cooperative control of unmanned vehicles is the best solution to the above problems.

Contents of the invention

The purpose of the present invention is to provide a Zigbee-based remote control unmanned vehicle cluster system and control method with strong controllability in order to overcome the above-mentioned defects in the prior art.

The purpose of the present invention can be achieved through the following technical solutions:

A kind of unmanned vehicle cluster system based on Zigbee remote control, including main frame, Kinect equipment and unmanned vehicle cluster, described unmanned vehicle cluster includes a plurality of unmanned vehicles, described unmanned vehicle comprises car body, is arranged on Zigbee communication module 5, core controller and drive motor on the car body, described core controller is connected with Zigbee communication module 5 and drive motor respectively, described main frame has Zigbee communication module 5, described Kinect equipment and host connection,

Described Zigbee communication module 5 ad hoc networks, add unmanned vehicle in real time, dynamically, and described Kinect equipment receives action signal and sends to host computer, and host computer recognizes instruction and sends instruction to core controller through Zigbee network, and core control The controller controls the drive motor.

The unmanned vehicle is provided with an obstacle avoidance module connected with the core controller.

The obstacle avoidance module is an ultrasonic obstacle avoidance module.

The unmanned vehicle is provided with a camera and a wireless router, and the wireless router is connected with the camera and the core controller respectively, and is used to send the video data captured by the camera to the host computer.

The core controller is an Arduino single-chip microcomputer burned into the program in advance, and different pins of the Arduino single-chip microcomputer correspond to 4 different electric frequency signals composed of 0 and 1, which are used to control the rotation of the drive motor.

A method of using the Zigbee remote control-based unmanned vehicle cluster system to carry out unmanned vehicle control, the method includes: the host computer remotely controls the unmanned vehicle through the Zigbee network, and the remote control includes voice control, gesture control and key Mouse control, in the voice control, the host receives the voice signal through the microphone and converts it into an instruction, and sends it to the core controller; in the gesture control, the Kinect device receives the action signal and converts it into an instruction, and the host sends it to As for the core controller, in the keyboard and mouse control, the host obtains control instructions through the keyboard or mouse and sends them to the core controller.

The method also includes: the unmanned vehicle runs in an autonomous mode, that is, the path program stored in the core controller controls the driving motor to travel on a specified path, and avoids obstacles through the obstacle avoidance module.

The described remote control process comprises the following steps:

S1, the power of the equipment on the unmanned vehicle is turned on;

S2, the Zigbee communication module 5 on the unmanned vehicle sends a networking request and performs password pairing with the Zigbee network, if the pairing is successful, then enter step S4, otherwise enter step S3;

S3, drive the motor to run at idle speed and return to step S2;

S4, if the core controller on the unmanned vehicle does not receive the control signal sent by the host, it will enter step S5; if it receives the control signal sent by the host, it will drive according to the mode type and instruction information contained in the control signal, and use Check the Zigbee network at a set period. If the networking status is normal, return to step S4. If the networking is not normal, return to step S3. Among them, the mode types include remote control mode and autonomous mode, and the command information contains and does not The sign position corresponding to the vehicle;

S5, the core controller enters the standby mode, and detects the Zigbee network at a set period, and returns to step S4 if the networking status is normal; otherwise, returns to step S3.

For an unmanned vehicle equipped with a camera, in remote control, the camera sends video data to the host. The process includes: after the camera is powered on, it captures the current environment video in real time and transmits it to the wireless router. The host accesses the corresponding wireless router through the corresponding WIFI. port to obtain real-time video data, which is used to guide the operator to further control the unmanned vehicle for operations.

Compared with the prior art, the present invention has the following advantages:

(1) Zigbee communication module 5 self-organizing network, adding unmanned vehicles in real time and dynamically, the instructions are sent to the core controller through the Zigbee network, and the core controller is used to control the drive motor, so that the operator is isolated from the working environment, ensuring that the operator Safety, the Zigbee communication method is stable, and can ensure the effective and rapid transmission of instructions.

(2) The unmanned vehicle is equipped with an obstacle avoidance module connected to the core controller, which allows the unmanned vehicle to drive in autonomous mode to ensure safety.

(3) The video data captured by the camera is sent to the host, so that the operator can understand the remote environmental information, guide the operator to further control the operation of the unmanned vehicle, and improve the safety of the unmanned vehicle.

(4) Compared with other development boards, Arduino and its peripheral products are relatively cheap and of high quality and low in cost. The burning code does not need a burner, and the download can be completed with a USB cable.

(5) Strong controllability. The unmanned vehicle used in the present invention has multiple control methods: voice recognition control, gesture recognition control, host mouse/keyboard control, etc. If a control method fails, the operator can still choose other control methods for manipulation.

(6) Unmanned vehicles joining the cluster need to be paired, that is, password verification, to ensure the communication security of the unmanned vehicle cluster.

(7) When the core controller does not receive a control signal, it runs in a standby mode with low power consumption.

(8) High practicality. Multiple operators can simultaneously control different unmanned vehicles to perform operations on the same control terminal, and distinguish unmanned vehicles through the flags in the instructions, making the operation process more efficient and practical.

Description of drawings

Fig. 1 is the structural representation of unmanned vehicle cluster system of the present embodiment;

FIG. 2 is a schematic flow chart of the remote control process in this embodiment;

Fig. 3 is the schematic flow chart of the present embodiment unmanned vehicle camera sending data to host computer;

Fig. 4 is a schematic structural diagram of a single unmanned vehicle in this embodiment.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

Example

An unmanned vehicle cluster system based on Zigbee remote control, including a host computer 1, a Kinect device 2 and an unmanned vehicle cluster, the unmanned vehicle cluster includes a plurality of unmanned vehicles 3, and the unmanned vehicle 3 includes a vehicle body and is arranged on the vehicle body Zigbee communication module 5, core controller 32 and drive motor 33 on the board, core controller 32 is connected with Zigbee communication module 5 and drive motor 33 respectively, host computer 1 has Zigbee communication module 5 and USB interface, Kinect device 2 passes USB interface Connect with the host 1, each Zigbee communication module 5 ad hoc network, add unmanned vehicle 3 in real time and dynamically, the Kinect device 2 is used to receive the action signal and send it to the host 1, and the host 1 is used to recognize the command and pass the command through the Zigbee network Sent to the core controller 32, the core controller 32 is an Arduino single-chip microcomputer burned into the program in advance, and the different pins of the Arduino single-chip microcomputer correspond to 4 different electric frequency signals composed of 0 and 1 for controlling the drive motor 33.

The unmanned vehicle 3 is also provided with a camera 35, a wireless router 36, an obstacle avoidance module 34 connected with the core controller 32, the obstacle avoidance module 34 is an ultrasonic obstacle avoidance module, and the wireless router 36 is connected with the camera 35 and the core controller 32 respectively , for sending the video data captured by the camera 35 to the host 1 .

In this embodiment, the unmanned vehicle is a crawler vehicle, and each equipment on the vehicle is supported by the vehicle board.

A method for controlling the unmanned vehicle 3 using the above-mentioned unmanned vehicle cluster system. In the method, the host 1 remotely controls the unmanned vehicle 3 through the Zigbee network. The remote control includes voice control, gesture control, and keyboard and mouse control. During control, the host 1 receives voice signals through the microphone and converts them into instructions, which are sent to the core controller 32. During gesture control, the Kinect device 2 receives motion signals and converts them into instructions, which are sent to the core controller 32 by the host 1. In mouse control, the host computer 1 obtains control instructions through the keyboard or mouse, and sends them to the core controller 32 .

The path program stored in the core controller 32 controls the driving motor 33 to travel on a prescribed path, and avoid obstacles through the obstacle avoidance module.

As shown in Figure 2, the remote control process includes the following steps:

S1, the device power on the unmanned vehicle 3 is turned on;

S2, the Zigbee communication module 5 on the unmanned vehicle 3 sends a networking request and performs password pairing with the Zigbee network, if the pairing is successful, then enter step S4, otherwise enter step S3;

S3, the drive motor 33 runs at an idle speed and returns to step S2;

S4, if the core controller 32 on the unmanned vehicle 3 does not receive the control signal sent by the host 1, then enter step S5; if it receives the control signal sent by the host 1, then proceed according to the mode type and instruction information contained in the control signal Driving, and check the Zigbee network at a set period, if the networking status is normal, then return to step S4, if the networking is not normal, then return to step S3, wherein the mode types include remote control mode and autonomous mode, command information Contains the flag corresponding to the unmanned vehicle 3;

S5, the core controller 32 enters the standby mode, and detects the Zigbee network at a set period, if the networking status is normal, then returns to step S4; otherwise, returns to step S3.

The Zigbee communication module 5 connected to the host 1 searches for all the surrounding Zigbee terminals and automatically forms a network to perform password pairing with them. If the password pairing is successful, the unmanned vehicle will be added to the unmanned vehicle cluster. The operator sends an action command to the Kinect device 2, and the host 1 broadcasts the command through the Zigbee communication module 5 in the ad hoc network segment after analyzing and processing. All the unmanned vehicles in the network segment recognize the instructions through the Zigbee communication module 5, and then send the instructions to the Arduino microcontroller for processing, and then control the motor drive to output the corresponding electric frequency to control the unmanned vehicles.

As shown in Figure 3, the process of sending video data from the camera 35 on the unmanned vehicle 3 to the host 1 includes: after the camera 35 is powered on, it captures the current environmental video in real time and transmits it to the wireless router 36, and the host 1 accesses the wireless router by connecting to the corresponding WIFI. The corresponding port of the router 36 acquires real-time video data, which is used to guide the operator to further control the unmanned vehicle 3 to perform operations.

As shown in Figure 4, the camera 35 is connected to the wireless router 36 and powered by the power supply 4 to form a video return module; the Zigbee communication module 57 is connected to the core controller 32, and the core controller 32 is connected to the drive motor 33 and the obstacle avoidance module 34, and the drive motor 33 is powered by the power supply 4, and the drive motor 33 controls the tracked wheels 10 to perform operations, forming a communication module between the unmanned vehicle and the control terminal; and these components are all supported by the vehicle plate 8.

Claims (9)

1. an unmanned vehicle cluster system based on Zigbee remote control, is characterized in that, comprises main frame (1), Kinect equipment (2) and unmanned vehicle cluster, and described unmanned vehicle cluster comprises a plurality of unmanned vehicles, Described unmanned vehicle comprises car body, is arranged on the Zigbee communication module on car body, core controller (32) and drive motor (33), and described core controller (32) is connected with Zigbee communication module and drive motor respectively (33) connect, and described main frame (1) has Zigbee communication module and USB interface, and described Kinect equipment (2) is connected with main frame (1), The Zigbee communication module self-organizing network adds unmanned vehicles in real time and dynamically, and the Kinect device (2) receives an action signal and sends it to the host (1), and the host (1) recognizes the instruction and passes the instruction through the Zigbee network Send to the core controller (32), and the core controller (32) controls the drive motor (33). 2. a kind of unmanned vehicle cluster system based on Zigbee remote control according to claim 1, is characterized in that, described unmanned vehicle is provided with the obstacle avoidance module (34) that is connected with core controller (32) . 3. a kind of unmanned vehicle cluster system based on Zigbee remote control according to claim 2, is characterized in that, described obstacle avoidance module (34) is ultrasonic obstacle avoidance module. 4. a kind of unmanned vehicle cluster system based on Zigbee remote control according to claim 1, is characterized in that, described unmanned vehicle is provided with camera (35) and wireless router (36), and described wireless The router (36) is connected with the camera (35) and the core controller (32) respectively, and is used to send the video data taken by the camera (35) to the host computer (1). 5. a kind of unmanned vehicle cluster system based on Zigbee remote control according to claim 1, is characterized in that, described core controller (32) is the Arduino single-chip microcomputer that burns into program in advance, the different pins of Arduino single-chip microcomputer Corresponding to 4 different electric frequency signals composed of 0 and 1, used to control the rotation of the driving motor (33). 6. a method for carrying out unmanned vehicle control using the unmanned vehicle cluster system based on Zigbee remote control described in any one of claims 1 to 5, it is characterized in that, the method comprises: host computer (1) controls unmanned vehicle by Zigbee network People and vehicles are remotely controlled, and the remote control includes voice control, gesture control and keyboard and mouse control. In the voice control, the host (1) receives voice signals through a microphone and converts them into instructions, and sends them to the core controller (32) , in the gesture control, the Kinect device (2) receives the action signal and converts it into an instruction, which is sent to the core controller (32) by the host (1), and in the keyboard and mouse control, the host (1) uses the keyboard or The mouse obtains the control instruction and sends it to the core controller (32). 7. The method according to claim 6, characterized in that, the method also includes: the unmanned vehicle travels in autonomous mode, that is, the path program stored in the core controller (32) controls the drive motor (33) to Drive on a prescribed path and avoid obstacles through the obstacle avoidance module. 8. The method according to claim 6, wherein the remote control process comprises the following steps: S1, the power of the equipment on the unmanned vehicle is turned on; S2, the Zigbee communication module on the unmanned vehicle sends a networking request and performs password pairing with the Zigbee network, if the pairing is successful, then enter step S4, otherwise enter step S3; S3, the drive motor (33) runs at an idle speed and returns to step S2; S4, if the core controller (32) on the unmanned vehicle does not receive the control signal sent by the host (1), then enter step S5; if the control signal sent by the host (1) is received, then according to the mode contained in the control signal type and command information to drive, and to detect the Zigbee network at a set period, if the networking status is normal, then return to step S4, if the networking is not normal, then return to step S3, wherein the mode types include remote control mode and In autonomous mode, the instruction information contains the flag corresponding to the unmanned vehicle; S5, the core controller (32) enters the standby mode, and detects the Zigbee network at a set period, if the networking state is normal, then returns to step S4; otherwise, returns to step S3. 9. A method for carrying out unmanned vehicle control using the unmanned vehicle cluster system based on Zigbee remote control according to claim 4, characterized in that, the method comprises: the host computer (1) remotely controls the unmanned vehicle through the Zigbee network Control, remote control includes voice control, gesture control and keyboard and mouse control, in the described voice control, the host (1) receives the voice signal through the microphone and converts it into an instruction, and sends it to the core controller (32), the described In the gesture control, the Kinect device (2) receives the action signal and converts it into an instruction, which is sent to the core controller (32) by the host (1). In the keyboard and mouse control, the host (1) obtains the control instruction through the keyboard or mouse , and sent to the core controller (32), in the remote control, after the camera (35) on the unmanned vehicle is powered on, it will capture the current environment video in real time and send it to the wireless router (36), the host (1) corresponds to the WIFI accesses the corresponding port of the wireless router (36) to obtain real-time video data, which is used to guide the operator to further control the unmanned vehicle to perform operations.