CN112729017A - Unmanned target vehicle control system - Google Patents
Unmanned target vehicle control system Download PDFInfo
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- CN112729017A CN112729017A CN202011496349.0A CN202011496349A CN112729017A CN 112729017 A CN112729017 A CN 112729017A CN 202011496349 A CN202011496349 A CN 202011496349A CN 112729017 A CN112729017 A CN 112729017A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/02—Land-based targets, e.g. inflatable targets supported by fluid pressure
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Abstract
The invention provides a control system of an unmanned target vehicle, which comprises a control system, a target vehicle control system and a target vehicle control system, wherein the control system comprises a control module; remotely controlling the base station; a monitoring system, a navigation system and a remote control system which link the remote control base station with the target vehicle; the target vehicle and the remote control base station transmit real-time instructions, images and data in a wireless transmission mode to realize the control of the driving direction and speed of the target vehicle; the navigation system is used for constructing a path of the target vehicle and transmitting information of the target vehicle running on the path to the remote control base station in real time; the monitoring system is arranged on the target vehicle and can feed back the road conditions around the target vehicle to the remote control base station in real time. The invention provides various driving schemes, and is matched with the use of a remote control base station, and an unmanned target vehicle is adopted, so that the traveling route has higher flexibility.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control system of an unmanned target vehicle.
Background
At present, the known unmanned control target vehicle technology is to utilize a satellite and a digital map to carry out navigation control on a vehicle, when in use, equipment such as a video collector, a radar sensor, a laser range finder and the like are used for knowing the traffic condition around the vehicle, and the map is used for navigating the vehicle, so that the automatic driving of the vehicle is completed. However, the vehicle which completes automatic driving according to the technical scheme needs to run on a standard road, and cannot automatically run on the ground of a non-standard road or a road without manual construction.
Disclosure of Invention
The invention aims to provide a control system of an unmanned target vehicle, which provides various driving schemes, is matched with a remote control base station for use, and has larger flexibility in the advancing route by adopting the unmanned target vehicle.
The invention provides a control system of an unmanned target vehicle, which comprises
Remotely controlling the base station;
a monitoring system, a navigation system and a remote control system which link the remote control base station with the target vehicle; real-time instructions, images and data are transmitted between the target vehicle and the remote control base station in a wireless transmission mode to realize the control of the driving direction and speed of the target vehicle;
the navigation system is used for constructing a path of the target vehicle and transmitting information of the target vehicle running on the path to the remote control base station in real time;
the monitoring system is arranged on the target vehicle and can feed road conditions around the target vehicle back to the remote control base station in real time.
In a preferred embodiment of the invention, the remote control system guarantees the normal operation of the target vehicle through system monitoring, system remote control, manual intervention and preset safety limit values.
In a preferred embodiment of the present invention, the remote control system and the control system of the target vehicle mutually send heartbeat messages through a UDP protocol to detect whether the systems of the two parties are operating normally, and when the control system of the target vehicle cannot receive the messages within a specified time, the control system of the target vehicle controls the vehicle to stop suddenly.
In a preferred embodiment of the invention, the control software is used for split-screen display to respectively display the images of the cameras and the system parameters on two display interfaces of the remote control base station, wherein the main display is positioned in front of the front view of an operator of the remote control base station, so that the front road condition images of the target vehicle, the vehicle speed of the target vehicle, the engine speed and other information can be visually seen; in the remote control operation mode, an operator can control the actions of ignition, flameout, forward movement, backward movement, steering, parking and the like of the target vehicle to finish the remote control driving of the target vehicle;
video images and system data on two sides of the target vehicle are displayed on the auxiliary display, and the erection and display content of the whole display system can be adjusted according to the requirements of users.
In a preferred embodiment of the present invention, the control software has 4 camera video monitoring modules, and is controlled by 4 modules; after each module is started, an independent monitoring window is formed, and screen splitting information can be realized by respectively moving 4 windows to different display screens, so that different display interfaces are respectively displayed; the camera transmits the video signal back to the control software through the TCP protocol.
In a preferred embodiment of the invention, constructing the path of the target vehicle comprises at least three ways:
the automatic driving according to the planned path comprises the steps that an operator plans the path of the target vehicle by using a base station computer or other terminals, the operator sets parameters by using the remote control base station computer, starts and stops the operation, and the target vehicle is controlled to automatically drive according to the planned path.
In a preferred embodiment of the present invention, the driving according to the path is further divided into two operation modes, the first mode is to drive the target vehicle to collect a route map, and the specific mode is as follows: after the target vehicle arrives at the site, determining the position of a remote control base station, starting a remote control driving system, driving the target vehicle to drive the route of the site once, and obtaining a route map on a remote control base station computer; when driving according to the planned path, setting a driving path of the target vehicle on the collected route map;
the other mode is that on a remote control base station computer, a map on software is used for planning the longitude and latitude information of a starting point route and a destination route of the target vehicle, then the longitude and latitude path information is loaded into a target vehicle control system, and after the driving speed information is set, the target vehicle can be driven in an autonomous program control mode according to the planned path.
In a preferred embodiment of the present invention, the remote control base station is internally provided with a computer and four displays, wherein: two display screens are installed in simulation steering wheel control hand the place ahead, and one of them display screen is used for showing the road image and the key operating parameter that high definition digtal camera gathered, and two other display screens are installed in host computer operation hand the place ahead, and the display content of display screen, control interface layout can set up according to the further detailed demand of user.
In a preferred embodiment of the invention, a reference transmitting radio station and an antenna are erected on a remote control base station, a receiving radio station and an antenna are installed on a target vehicle, the remote control base station and the target vehicle simultaneously acquire the position information of the target vehicle from a satellite, and the target vehicle is calibrated through a difference correction number and positioning information acquired by a receiver to acquire more accurate position information of the target vehicle.
In a preferred embodiment of the invention, the remote base station antenna of the remote base station is up to 10m and the drone vehicle antenna is up to 3 m.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an initial state of an unmanned drone vehicle control system provided by an embodiment of the present invention;
fig. 2 is a block diagram of a satellite navigation system according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The unmanned target vehicle control system comprises a remote control base station; a monitoring system, a navigation system and a remote control system which link the remote control base station with the target vehicle; the target vehicle and the remote control base station transmit real-time instructions, images and data in a wireless transmission mode to realize the control of the driving direction and speed of the target vehicle; the navigation system is used for constructing a path of the target vehicle and transmitting information of the target vehicle running on the path to the remote control base station in real time; the monitoring system is arranged on the target vehicle and can feed the road conditions around the target vehicle back to the remote control base station in real time.
Example 1:
specifically, as shown in fig. 1, the unmanned target vehicle control system comprises a remote control base station; a monitoring system, a navigation system and a remote control system which link the remote control base station with the target vehicle; real-time instructions, images and data are transmitted between the target vehicle and the remote control base station in a wireless transmission mode to realize the control of the driving direction and speed of the target vehicle; the navigation system is used for constructing a path of the target vehicle and transmitting information of the target vehicle running on the path to the remote control base station in real time; the monitoring system is arranged on the target vehicle and can feed back the road conditions around the target vehicle to the remote control base station in real time.
The working principle of the invention is as follows:
the working mode is as follows: under the remote control of a tester on a control remote control base station, the remote control target car moves at a high speed along a preset track to provide a necessary moving target for the weapon to strike. Real-time instructions, images and data are transmitted between the remote control target vehicle and the remote control base station in a wireless transmission mode so as to realize the control of the driving direction and speed of the target vehicle.
1. The working mode of the remote control target car system is as follows:
(1) moving the target car in place: two approaches may be used. The remote control target vehicle is driven to the starting point of the target range road by a driver, and can be driven to the starting point of the target range road through manual remote control.
(2) Automatic driving of the moving target vehicle: the method has two modes of autonomous program control driving and manual remote control driving.
2. The working mode of the remote control system is as follows: the remote control is a central nerve hub of the whole remote control target vehicle, and the normal operation of the target vehicle is ensured through system monitoring, system remote control, manual intervention, preset safety limit values and other modes.
(1) System monitoring: the upper computer ensures that the target vehicle does not deviate from the preset track by calculating, comparing and issuing a deviation rectifying instruction in real time through the Beidou track of the moving target vehicle and the preset route; the operation parameters, the operation tracks and the operation state of the target vehicle are monitored in real time by the images transmitted back by the operating personnel and the reference personnel through the vehicle-mounted camera.
(2) Remote control of the system: under the remote control mode, the remote control target car autonomously runs according to the collected road condition information or the prefabricated map information and working parameters preset by an upper computer, and simultaneously returns a front image and vehicle running parameters; and the upper computer on the remote control base station receives and sends action instructions including operations of gear shifting, advancing, backing, accelerating, braking and the like to the tractor in real time according to the returned image, the operation parameters, the track deviation correction information and the like.
(3) Manual intervention and preset safety limit value: when the remote control target car is automatically driven, if an emergency situation or an emergency occurs, the command control system can quickly take emergency precautionary measures to prevent an accident. When the vehicle is in the autonomous program-controlled driving mode, an operator can switch to the manual remote control mode at any time to intervene in driving; the unmanned system of the mobile target vehicle has an overrun automatic parking function, and an overrun index can be preset in an upper computer system.
The control system of the target vehicle comprises a navigation controller, the navigation main control system takes a main control board card as a controller of a core device, and forms a navigation control system with a CAN bus server, a serial server, a network interface and an industrial exchanger to complete the acquisition or processing of the state information of the tractor, the control instructions of all parts and signals. Through which the exchange of data between the switch, bridge and remote station monitoring system is also accomplished. The controller and the upper computer send heartbeat messages to each other, the connection state of the data network is detected, and if the heartbeat message time exceeds the preset parking time of the controller, the controller automatically completes the safe parking of the tractor.
The main control system adopts an embedded Linux _ RT real-time operating system, and develops main control navigation software through a Linux development environment of the upper computer. The core hardware of the navigation main control system selects a Tronglong development board TL5728, and the external interface mainly comprises: SD card, USB3.0, debug serial, RS485, RS232, CAN, 2UART, ETH0, ETH1(RJ-45), etc. The main functions of each interface are: RS485 receives Beidou signals, an Ethernet (ETH) interface is used for data and video transmission, and CAN is used for motor control and relay control.
The programming environment of the main control system is an eclipse + gcc cross compiling tool chain, and the compiled executable file is downloaded to the embedded main control board, so that unmanned driving is realized.
The master control system realizes control over a steering wheel, an accelerator and gears based on CAN communication; and the control of ignition, flameout and braking is realized through the I/O module.
The network I/O module is used for controlling and collecting field I/O signals, such as signals of a camera, a manual/remote control change-over switch and the like, the redundant I/O interface is more than or equal to 5 paths, and the network I/O module selects KonNaD/Connade C2000-A2-SDD4040-AD 4.
The controller which takes the main control board card as a core device, the CAN bus server, the serial server, the network interface and the industrial switch form a navigation control system to complete the acquisition or processing of the state information of the tractor, the control instructions of all parts and signals.
Through which the exchange of data between the switch, bridge and remote station monitoring system is also accomplished.
The controller and the upper computer send heartbeat messages to each other, the connection state of the data network is detected, and if the heartbeat message time exceeds the preset parking time of the controller, the controller automatically completes the safe parking of the tractor.
Example 2:
the remote control base station is composed of a computer and four displays (a keyboard and a mouse are fixed on an operation table). Wherein: two display screens are installed in simulation steering wheel control hand the place ahead, and wherein a display screen is used for showing the road image and the key operating parameter that high definition digtal camera gathered, and two display screens are installed in host computer operation hand the place ahead in addition, and the display content of display screen, control interface layout can set up according to the further detailed demand of user.
Through observing the road display screen, the participant can obtain information such as the current direction, speed, accelerator, brake, road conditions and the like and the running track of the tractor directly perceivedly, and can look at the coincidence degree of the tractor fitting running track and the preset track under the autonomous program control driving mode.
Through the operation interface, the test personnel can start the vehicle in a remote control operation mode, and the simulated driving device is utilized to command the tractor to finish target shooting. In addition, once the tractor is not controlled or does not drive according to the preset track, alarm information can be popped up on the display to remind and command the participants to carry out emergency treatment, and the participants can take emergency braking measures to prevent the vehicle from working abnormally through an emergency stop button set by software.
The simulated driving device adopts a simulated driving cabin system of Robotic G29, and the device is arranged in a remote control base station and is used for an operator to manually remotely control and drive the tractor, or the operator takes emergency measures to ensure the safety of the tractor in emergency. The simulated cockpit system of the Luntucky G29 has a steering wheel, an accelerator, a brake and gears similar to those of a common automobile, can well restore the driving feeling of the automobile, and an operator can operate the device after short-time adaptive training as long as the operator can drive the automobile. Under the manual remote control driving mode, the device can convert driving information such as steering, braking, acceleration and the like into digital signals in real time, and the digital signals are sent to a main control board on the tractor through an upper computer and a picture transmission system, so that remote control driving of the tractor is realized.
Example 3:
as shown in fig. 2, the navigation system is the core of autonomous programmed driving of the entire vehicle. A reference transmitting radio station and an antenna are erected on the remote control base station, and a receiving radio station and an antenna are installed on the target car. The remote control base station and the target vehicle acquire own position information from the satellite at the same time, and the tractor is calibrated through the difference correction number and the positioning information acquired by the receiver to acquire more accurate position information of the target vehicle.
The functions of orientation and positioning are completed by calculating the real-time positioning information of the two differential antennas. The satellite positioning antenna is respectively arranged in the center of the vehicle head and the vehicle tail, theoretically, the longer the distance between the base lines of the two antennas is, the smaller the orientation error is, and when the antenna is 5 kilometers away from a base station and the length of the base line is 7m (namely, the distance between the two antennas is 7m), the orientation error along the base line is less than 0.0286 degrees.
The method for calculating the directional error of the remote control target vehicle with the armored chassis comprises the following steps:
yaw angle arctg (positioning error/base length)
During navigation, the map coordinate information actually referred by the remote control target car is satellite coordinate information, so that when a high-precision satellite differential signal is used, more accurate vehicle positioning information and error information can be obtained. The error information is input into a fuzzy control system, the steering wheel adjustment amount is obtained through calculation according to a fuzzy control rule, and an executing mechanism can finish the correction of the target direction according to the adjustment amount. After the navigation is finished, the deviation condition of the navigation can be calculated through the actual running track of the remote control target car, and the subsequent path optimization or parameter adjustment work is carried out.
In addition, in the test preparation stage, the prefabricated autonomous programmed driving map is realized by two ways: one is a test path obtained by collecting a map along a test route under a manual driving condition, recording satellite positioning information in the driving process and fitting; and secondly, directly prefabricating a test path through a satellite map.
In the whole navigation process, under the condition of short-term loss of satellite signals, the system can adjust the state of the vehicle according to the information of the fiber-optic gyroscope, and in the inertial navigation, the gyroscope is used for keeping the stability and the accuracy of pointing. In addition, when the satellite signal is normal, more accurate position and course information can be obtained by fusing Beidou satellite information and information of the fiber-optic gyroscope.
Example 4:
the antenna is high, the communication distance and the effect of the wireless network bridge are greatly influenced by landform, and the ideal condition of transmission is to see through and keep a certain angle with the ground. In the project, as the autonomous program-controlled driving is required to reach 5km farthest, a straight road has certain radian influence in consideration of the geometric characteristics of the earth, and the influence of the curvature of the earth on the antenna frame height is estimated by taking a place as an example. The height of the armored chassis is 2.8m, so that the image transmission antenna frame can be seen from the height position of the cargo hold theoretically without other shelters. However, in actual situations, vegetation, undulation, and local swelling inevitably exist on the ground, and in order to reduce ground clutter interference and ensure good communication effect, it is generally necessary to maintain a certain height between the antenna and the ground. In the scheme, the command car antenna is supposed to be elevated to 10m, and the armored chassis antenna is supposed to be elevated to 3 m.
Further, the technical characteristics of the invention are as follows:
1. the electronic fence is used for determining the real-time position of the target vehicle by commanding the GPS position origin of the vehicle roof, orienting to the positive direction of the X axis in the east direction and orienting to the positive direction of the Y axis in the north direction, and when the deviation between the current position of the target vehicle and the transverse distance of a preset position is overlarge (exceeding 1m), the vehicle is controlled to stop emergently through a program, so that the safety is ensured.
2. The command vehicle control system and the target vehicle control system mutually send heartbeat messages through a UDP (user datagram protocol) protocol to detect whether the other side system normally operates or not, and when the target vehicle control system cannot receive the heartbeat messages of the command vehicle control system within a specified time, the target vehicle control system controls the vehicle to stop emergently to ensure safety.
3. The target vehicle control system is communicated with the PLC for detection, the PLC device receives heartbeat messages sent by the target vehicle control system at regular time through a TCP protocol to detect whether the target vehicle control system normally operates, and if the PLC does not receive the heartbeat messages of the target vehicle control system within 10ms of a specified time, the PLC controls the vehicle to stop emergently through hardware, so that safety is guaranteed.
4. The target vehicle control system is communicated with the GPS for detection, the target vehicle control system judges the real-time position of the vehicle by receiving and analyzing the GPS data, when the target vehicle control system cannot receive the GPS data or cannot perform positioning through the GPS data, direction control can be performed through a gyroscope firstly, and if the GPS cannot be recovered within the specified 30s, the vehicle is controlled to perform emergency stop, so that safety is guaranteed.
5. And (4) manual intervention operation, wherein when the vehicle is in remote control driving or automatic driving, a driver on the command vehicle can control the target vehicle to emergently stop through an emergency stop command vehicle control system interface or an emergency stop button on the operating platform.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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| CN113883968A (en) * | 2021-09-01 | 2022-01-04 | 河北汉光重工有限责任公司 | Engine starting system and remote unmanned target vehicle |
| CN114237105A (en) * | 2021-12-06 | 2022-03-25 | 首都经济贸易大学 | Unmanned vehicle control system |
| CN115357007A (en) * | 2022-08-23 | 2022-11-18 | 河北汉光重工有限责任公司 | Remote automatic flameout control system for high-speed moving target car |
| CN117991693A (en) * | 2024-01-17 | 2024-05-07 | 东莞东晟装备科技有限公司 | Unmanned moving target vehicle travel control method and system |
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Application publication date: 20210430 |
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