CN-121995957-A - Multi-mode cooperative control system and method for unmanned vehicle

CN121995957ACN 121995957 ACN121995957 ACN 121995957ACN-121995957-A

Abstract

The invention discloses a multimode cooperative control system and method for an unmanned vehicle, wherein the multimode cooperative control system comprises a control end, a control command data frame, a unmanned vehicle main control box, a hardware state and a system, wherein the control end and the unmanned vehicle main control box maintain a communication link and judge the communication state of the communication link, the control end generates a control command data frame containing a software control end marker bit, the unmanned vehicle main control box analyzes the data frame to acquire the software marker bit and reads the hardware state of a physical deflector switch to acquire a hardware control mode, consistency check is carried out on the software control mode and the hardware control mode, a control command is executed when the consistency check is carried out, the system further ensures the communication reliability through heartbeat detection, and interaction and management of an operation state and a navigation task state are realized through a refined state machine. The invention radically eliminates control right conflict through software and hardware dual authentication, improves system robustness by using a heartbeat mechanism and a security policy, enhances task controllability and man-machine cooperation efficiency by means of careful interaction of a state machine, and has good platform expansibility.

Inventors

JIA YUAN
WANG JIAWEI
Zhao Shangjun
ZHANG HAO
YOU XIU
YANG ZIJIAN
LI HUIJUAN
Deng can

Assignees

航天物联网技术有限公司

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. The multimode cooperative control method for the unmanned vehicle is characterized by comprising the following steps of: a communication link is maintained between the control end and the unmanned vehicle main control box, and the communication state of the communication link is judged in real time; when the communication link is in a normal communication state, the control end generates a control instruction data frame comprising a software control end zone bit and sends the control instruction data frame to the unmanned vehicle main control box; The unmanned vehicle main control box receives and analyzes the control instruction data frame, extracts a software control end zone bit, reads the hardware state of a physical deflector rod switch connected with the unmanned vehicle main control box and acquires a hardware control mode; When the software control end zone bit is consistent with the hardware control mode, the unmanned vehicle main control box executes the control instruction so as to realize multi-mode cooperative control of the unmanned vehicle.
2. The method of claim 1, wherein the communication link is determined in real time by periodic heartbeat interaction data between the control terminal and the drone master control box, and wherein the communication link is determined to be in an interrupted state when the drone master control box does not receive valid heartbeat packets from the control terminal within a preset time window.
3. The method of claim 1, wherein the control side generating a control instruction data frame including a control side flag bit comprises: when the control end is a short-range control end, writing a first preset value in a preset byte position of the control instruction data frame to represent a short-range control mode; and when the control terminal is a remote control terminal, writing a second preset value in the preset byte position of the control instruction data frame to represent a remote control mode.
4. The method of claim 1, wherein the drone master box reads a hardware state of a physical lever switch connected to itself, comprising: Reading the level state of the physical deflector rod switch through an input/output interface of the unmanned vehicle main control box; based on the level state, it is determined that the current hardware control mode is a short-range control mode or a long-range control mode.
5. The method of claim 2, wherein the drone master box controls the drone to implement a security policy when the communication link is determined to be in an interrupted state, the security policy including cutting off an enable signal of a motor driver and triggering an audible and visual alert.
6. The method according to claim 1, wherein the method further comprises: And the unmanned vehicle main control box sends the running state information and the navigation task state information of the unmanned vehicle to the control end, and the running state information and the navigation task state information of the unmanned vehicle are received and displayed by the control end.
7. The method of claim 6, wherein the operational status information includes unconnected offline, idle, executing tasks, failed, and charging; the migration logic of the running state comprises: after the connection is established with the control end, the state is migrated from the unconnected offline state to the idle state; When in an idle state, the control end can issue a navigation task, and the state is transferred to an execution task; when a battery, motor or sensor fault is detected, the state is migrated to the fault; when the charging signal is monitored, the state is shifted to charging; When the running state is in fault or charging, the control end is forbidden to issue navigation tasks.
8. The method of claim 7, wherein the navigational task status information comprises idle, waypoint underway, on-hold to waypoints, on-hold to obstacles detouring, obstacle path planning failure status; the migration logic of the navigation task state comprises: after the navigation task is issued, the state is migrated from idle to navigation point navigation; When the position distance between the unmanned vehicle and the target waypoint is smaller than a first preset threshold value, the state is migrated to the waiting state of reaching the waypoint; When the obstacle cannot reach the target waypoint but is located in a second preset threshold range nearby the target waypoint, the state is migrated to wait nearby the arrival waypoint; When detecting that an obstacle exists in the route, the state is migrated to the obstacle detour; when the obstacle avoidance duration exceeds a first time threshold and the position is unchanged, the state is migrated to an obstacle path planning failure state; the obstacle path planning failure state comprises an obstacle avoidance waiting state and a task ending state; When the state is in the obstacle avoidance waiting state and the obstacle avoidance cannot be successfully performed after the second time threshold is continued, the state is migrated to a task ending state; when the unmanned aerial vehicle is in the obstacle path planning failure state, the unmanned aerial vehicle main control box pauses the current navigation task and waits for a new instruction from the control end.
9. A multimode cooperative control system facing an unmanned vehicle, for implementing the method as set forth in any one of claims 1 to 8, comprising a control end and an unmanned vehicle main control box; the control end and the unmanned vehicle main control box are provided with communication modules for periodically exchanging heartbeat data and judging the communication state of the communication link in real time; The control end is configured to generate a control instruction data frame containing a software control end zone bit when the communication link is in a normal communication state and send the control instruction data frame to the unmanned vehicle main control box; the unmanned aerial vehicle master control case includes: The analysis module is used for receiving and analyzing the control instruction data frame to obtain a software control end zone bit; the state reading module is used for reading the hardware state of the physical deflector rod switch connected with the unmanned vehicle main control box so as to acquire a hardware control mode; the verification module is used for carrying out consistency verification on the software control end zone bit and the hardware control mode; and the execution module is used for executing the control instruction when the verification result is consistent.
10. The system of claim 9, wherein the drone master box further comprises a security processing module to control the drone to implement a security policy when the communication link is determined to be in an interrupted state, the security policy including disabling an enable signal of the motor driver and triggering an audible and visual alert.

Description

Multi-mode cooperative control system and method for unmanned vehicle Technical Field The invention belongs to the technical field of unmanned vehicle remote control, and particularly relates to a multimode cooperative control system and method for an unmanned vehicle. Background With the progress of technology, unmanned vehicles are increasingly used in special tasks such as industrial detection, hazardous material treatment, emergency rescue, agricultural monitoring and border patrol. Unmanned vehicles need not only autonomous navigation and environmental awareness capabilities, but also the ability to perform complex and high-risk tasks through remote or short-range remote control. Current unmanned vehicles have been studied and developed primarily in the area of remote control and autonomous navigation. The remote control allows an operator to control the vehicle from outside the safe distance, is suitable for dangerous or difficult-to-reach areas, and autonomous navigation allows the unmanned vehicle to complete tasks without human intervention, thereby improving the working efficiency and reducing the labor cost. In the field of autonomous navigation, unmanned vehicles need not only to have autonomous navigation capability, but also to be able to make quick and accurate decisions according to real-time environmental changes and to interact with operators or other systems in a detailed manner. The condition monitoring of the unmanned vehicle covers the change of the health condition of the vehicle itself and the surrounding environment. Careful interaction means that the drone should be able to communicate this information to the control center or operator in a timely and accurate manner to facilitate their further decision making. Furthermore, in the face of complex mission environments, the drone must be able to process large amounts of data and make optimal choices in a short time. Short-range remote control of unmanned vehicles is currently relatively inadequate, particularly with respect to control strategies involving switching between short-range and long-range. Such switching control is particularly important for ensuring continuity and safety of the drone in different modes of operation. For example, in some specific application scenarios such as precise operation, close-range interaction or man-machine cooperation, the remote control needs to be switched to close-range control, and especially when the close-range control and the remote control are online simultaneously, the unmanned vehicle needs to avoid the occurrence of a plurality of control signals caused by switching to cause instruction errors. The stability of the communication link is the core of safe and accurate control of the unmanned vehicle, and is important for remote control operation depending on instruction transmission. Whether long-range or short-range control, stable, low-delay and high-bandwidth communication is a guarantee for ensuring accurate delivery of operation instructions and real-time return of vehicle state and environment sensing information. Command delays, sluggish responses, poor communication quality, etc. can result in control commands becoming disjointed from vehicle responses, even in high risk environments, causing serious accidents. The patent with publication number CN114879650A discloses a multi-mode switching dynamic control method for an unmanned tracked vehicle, wherein different control modes can be entered in software by adopting an interrupt method according to the comparison of an interrupt flag bit and a mode instruction. This approach is that if a failure or loss of signal occurs during a mode switch, it may cause the system to enter an unknown state or fail to switch correctly to the specified mode. The patent with the publication number of CN112835348A discloses a control method and a control system of an unmanned vehicle, wherein after the unmanned vehicle gives a plurality of motion instructions, the method collects the motion state of the unmanned vehicle in each motion mode and records the motion state in mapping relation data, and then the control method and the control system achieve a better effect when the unmanned vehicle is controlled to run based on the mapping relation. The method realizes state information detection at the software level, but lacks a hardware detection module to detect the communication state, and can better realize state detection and task delivery of the unmanned vehicle if the method combining software and hardware is used. The patent with the publication number CN115617031A discloses a safety control method and a system for remote driving of an unmanned vehicle in a low-speed environment. The method lacks detailed information description of the unmanned vehicle state, and early warning information cannot be accurately analyzed when the unmanned vehicle triggers emergency braking. Disclosure of Invention In order to solve the technical problems, the invent