CN103309356A - Car-mounted robot - Google Patents
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- CN103309356A CN103309356A CN2013102503119A CN201310250311A CN103309356A CN 103309356 A CN103309356 A CN 103309356A CN 2013102503119 A CN2013102503119 A CN 2013102503119A CN 201310250311 A CN201310250311 A CN 201310250311A CN 103309356 A CN103309356 A CN 103309356A
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Abstract
The invention discloses a car-mounted robot comprising a robot body and a control system arranged on the robot body. The robot body comprises a body and arms on the body. The control system comprises a shooting device, a warning module and a drive device, wherein the shooting device is used for shooting driving videos of cars, the warning module is used for judging whether the car deviates the lane or not through analyzing the driving videos, and when the car is judged to deviate the lane, the drive device is controlled to drive the arms to display corresponding warning and/or prompting actions according to deviated direction. Therefore, the vivid and vigorous robot, and warnings and prompts displayed through arm actions when the car deviates from the lane are more visualized and humanized, and more acceptable to drivers.
Description
Technical field
The present invention relates to the vehicle technology field, especially relate to a kind of on-vehicle machines people.
Background technology
When vehicle when travel in highway or the less highway section of surrounding environment change because brain lacks enough stimulations, the phenomenon of distraction very easily occurs in the driver.Sometimes, the driver receive calls or with process that the passenger exchanges in, also can dispersion attention.In these situations, driving very easily occuring depart from the situation in original track, brings great risk to traffic safety.Therefore, existing drive recorder, when registration of vehicle advances overall process, also integrated lane departure warning function.It detects the lane line position by the travel video image in the place ahead of collection vehicle, provides the warning that vehicle lane departs from conjunction with current vehicle heading again.
But existing drive recorder profile is a small-sized video camera, designs inflexible lackluster; When deviation occurs, only give a warning by sounding, form luminous or vibration, seem stiff and inflexible, not hommization and visualize; Drive recorder can only collection vehicle the place ahead video, function singleness.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of on-vehicle machines people, be intended to lively image, more visualize, hommization the driver is carried out lane departure warning.
To achieve these objectives, the present invention proposes a kind of on-vehicle machines people, comprises robot body and the control system that is installed on robot body, and described robot body comprises trunk and is connected in the arm of trunk, described control system comprises filming apparatus, alert module and drive unit, wherein:
Filming apparatus: the driving video that is used for taking vehicle;
Alert module: be used for judging whether run-off-road of described vehicle by analyzing described driving video, when judging described automotive run-off-road, control described drive unit according to offset direction and drive that described arm is made corresponding warning or/and the prompting action.
Preferably, described control system also comprises the analysis judge module, and it is used for the collection vehicle status information, and judges that according to described car status information whether described vehicle is toward preset direction active run-off-road, if then close described alert module, then open if not described alert module.
Preferably, described control system also comprises analyzes judge module and display device, wherein:
Analyze judge module, be used for the collection vehicle status information, and judge the motion state of described vehicle according to described car status information, travel forward if judge described vehicle, then control the driving video that described filming apparatus is taken working direction; Travel if judge described vehicle backward, then control the driving video that described filming apparatus is taken direction of retreat;
Display device is for the driving video that shows the vehicle rollback direction.
Preferably, described filming apparatus comprises front filming apparatus and rear filming apparatus, the motion state that described analysis judge module travels forward or travels backward according to described vehicle is controlled the driving video that described front filming apparatus is taken the driving video of working direction or controlled described rear filming apparatus shooting direction of retreat accordingly.
Preferably, described robot body also comprises the head that is connected in described trunk, described filming apparatus is installed on described head, the motion state that described analysis judge module travels forward or travels backward according to described vehicle, control accordingly that described drive unit drives that described head rotates forward so that described filming apparatus rotates forward or backward so that described filming apparatus backwards.
Preferably, if described analysis judge module is judged described vehicle stop operation, then control described drive unit and drive described end rotation, take monitor video to control described filming apparatus.
Preferably, described robot body also comprises the base that is connected in described trunk, and described analysis judge module is controlled described drive unit and driven described trunk lifting to reach specified altitude assignment.
Preferably, described control system also comprises voice device, when described alert module is judged described automotive run-off-road, controls described voice device according to offset direction and sends corresponding warning or/and prompt tone.
Preferably, described control system also comprises apparatus for receiving audio, and it is used for receiving phonetic order.
Preferably, described control system also comprises voice device, described alert module has judged whether unusual condition by analyzing described monitor video, controls then when being determined with unusual condition that described voice device gives a warning or/and send warning to driver's portable terminal.
A kind of on-vehicle machines people provided by the present invention, its robot profile is more vivid, has more modernity and science and technology sense, and gives a warning during to automotive run-off-road by arm action and point out, and more visualize and hommization easilier accepted by the driver.
By detecting the status information of Vehicle Driving Cycle, realize that the pattern of making video recording of intelligence is switched.When vehicle to overtake the time, mainly carry out forward direction and make video recording; When reversing, carry out backward making video recording, and demonstration retreats image in real time, the driver assistance reversing; Work as vehicle stop, under the state that the driver leaves, enter 360 ° of degree monitoring and make video recording, situation around the registration of vehicle is carried out record to possible vehicle destruction, convenient later investigation and evidence collection.
When detecting vehicle unusual condition is arranged by the analysis monitoring video, in time the portable terminal to the driver sends warning, so that the driver can in time take measures, reduces the loss.
Description of drawings
Fig. 1 is the structural representation of on-vehicle machines people one embodiment of the present invention;
Fig. 2 is the structured flowchart of on-vehicle machines people's control system among Fig. 1;
Fig. 3 is the structured flowchart of the voice device among Fig. 2;
Fig. 4 is the structured flowchart of the drive unit among Fig. 2;
Fig. 5 is the structured flowchart of on-vehicle machines people's of the present invention CPU (central processing unit) one embodiment.
The realization of the object of the invention, functional characteristics and advantage are described further with reference to accompanying drawing in connection with embodiment.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
On-vehicle machines people of the present invention is installed on vehicle cab, for vehicle provides driving recording and security monitoring, and gives the alarm and points out to the driver during automotive run-off-road when driving, improves vehicle safety.
Referring to Fig. 1-Fig. 5, on-vehicle machines people one embodiment of the present invention is proposed, wherein Fig. 1 is on-vehicle machines people's structural representation, Fig. 2 is the structured flowchart of on-vehicle machines people's control system, Fig. 3 is the structured flowchart of voice device in the control system, Fig. 4 is the structured flowchart of drive unit in the control system, and Fig. 5 is the structured flowchart of CPU (central processing unit) in the control system.Described on-vehicle machines people comprises robot body and is installed on the control system 200 of robot body, described robot body comprises head 110, trunk 120, arm 130 and base 140, wherein head 110 and base 140 are connected to trunk 120 two ends, arm 130 comprises left hand arm and right arm, be connected to trunk 120 left and right sides, base 140 is fixed in the pilothouse of vehicle, preferably is fixed in the middle part of Vehicular instrument panel; Described control system 200 comprises drive unit 230, filming apparatus 240, alert module 220, analyzes judge module 210, display device 250, voice device 260 and apparatus for receiving audio 270, wherein:
Apparatus for receiving audio 270: namely be installed on the microphone of robot head 110, be equivalent to the ear of robot, it is used for receiving outside phonetic order and other sound, in the time of recording voice information, provides interface for control the on-vehicle machines people with voice.
Voice device 260: comprise voice synthetic module 262 and sound-producing device 261.Voice synthetic module 262 is for the synthesis of giving a warning and the voice of indicating correct travel direction; Sound-producing device 261 is used for give a warning sound and prompt tone, can be installed on robot head 110, is equivalent to the face of robot.Also can comprise sound identification module 263, be used for the phonetic order that identification apparatus for receiving audio 270 receives, to realize mutual with the on-vehicle machines people by voice.
Filming apparatus 240: the video capture device that namely is installed on robot head 110, the eyes that are equivalent to robot, be used for taking driving video and the monitor video of vehicle, and being stored in local storage, described local storage can adopt the memory storages such as card type reservoir, USB storage, magnetic medium hard disk, solid hard disk.Two video capture devices can be installed, realize stereoscopic vision.Because in process is made video recording in driving, need to preferably imaging effect be arranged nearby and relatively at a distance to vehicle front, generally select the large (〉 6mm of diaphragm diameter), angle of visibility large (〉 120 degree) video capture device.If video capture device with automatic focusing function, need to shield it.
Display device 250: be used for showing the driving video of filming apparatus 240 shootings, can adopt the display modules such as LCD, OLED, preferably be installed on robot trunk 120 middle parts.As use touch-screen, then can be undertaken alternately by touch-control and robot.
Drive unit 230: be used for 110 rotations of control head, arm 130 motion and trunk 120 liftings, comprise a plurality of motors 232 and motor driver 233, be located at respectively the connecting portion of connecting portion, arm 130 and trunk 120 of head 110 and trunk 120 and the connecting portion of trunk 120 and base 140.
Alert module 220: pass through USB, the interfaces such as IEEE1394 obtain the driving video that filming apparatus 240 is taken, and this driving video analyzed, and then judge whether run-off-road of vehicle, when judging described automotive run-off-road, control the described arm 120 of described drive unit 230 drivings according to offset direction and make corresponding warning or/and the prompting action.Idiographic flow is as follows:
And then alert module 220 is carried out irrelevance and is detected.Can judge whether to occur deviation from the slope of two nearest lane lines of vehicle according to (but being not limited to).
Analyze judge module 210: by vehicle control bus (as: CAN bus) or entire car controller, and interface collection vehicle status information and the audio, video data such as USB.
Analyze judge module 210 and judge that according to the car status information that collects described vehicle whether toward preset direction run-off-road initiatively, if then cut out described alert module 220, then opens described alert module 220 if not.Analyze judge module 210 and obtain the vehicle turn signal status information from the vehicle control bus, and judgement steering indicating light state, if vehicle turn signal is opened and consistent with the deviation direction, open such as the left steering lamp, the while vehicle is run-off-road left, illustrate that the driver is initiatively carrying out the lane line conversion, analyze judge module 210 with temporary close alert module 220 this moment, until detecting vehicle turn signal, analysis judge module 210 closes, then again open alert module 220, thereby avoid erroneous judgement disconnected and give the alarm, cause the interference to the driver.If steering indicating light and deviation direction are inconsistent, perhaps steering indicating light is in closed condition and the track is departed from, and then keeps alert module 220 to open.Alert module 220 provides real-time lane detection status information to analyzing judge module 210 simultaneously, near if because occlusion, inclement weather or other factors cause the reliability decrease of lane detection to certain threshold value, analyze 210 of judge modules and close alert module 220, and driver.
Analyze judge module 210 and also judge the motion state of described vehicle according to the car status information that collects, travel forward if judge described vehicle, then control described filming apparatus 240 and take the driving video of working direction; Travel if judge described vehicle backward, then control described filming apparatus 240 and take the driving video of direction of retreat; If judge described vehicle stop operation, then control described filming apparatus 240 and take the conduct monitoring at all levels video.Concrete:
If vehicle in common forward direction transport condition, then enters the forward direction pattern of making video recording.Analyze judge module 210 and send instructions to drive unit 230, namely the electric machine controller 231 to 110 rotations of control head sends instruction (sense of rotation and the anglec of rotation) and sends instruction (direction of motion and distance) to the electric machine controller 231 of controlling trunk 120 liftings.The electric machine controller 231 of control head 110 rotations is by 232 rotations of corresponding motor driver 233 drive motor, so that head 110 turns to vehicle front and impel filming apparatus 240 towards the place ahead; The electric machine controller 231 of control trunk 120 liftings is by corresponding motor driver 233 drive motor 232, so that trunk 120 reaches the specified altitude assignment of forward direction photography with avoiding shelter, and then control filming apparatus 240 is taken the driving video of working direction.
When if vehicle is in the reversing state, then enter the backward pattern of making video recording.Analyzing judge module 210 sends instructions to drive unit 230, namely the electric machine controller 231 to 110 rotations of control head sends instruction (sense of rotation and the anglec of rotation), by corresponding motor driver 233 drive motor 232, control head 110 rotate backward and so that filming apparatus 240 towards the rear; Simultaneously, electric machine controller 231 to 120 liftings of control trunk sends instruction (direction of motion and distance), by corresponding motor driver 233 drive motor 232, the specified altitude assignment that control trunk 120 reaches the backward pattern of making video recording is with avoiding shelter, and then control filming apparatus 240 is taken the driving video of direction of retreat.At this moment, the driving video of display device 250 simultaneous display vehicle rollback directions, so both can make video recording to the reversing overall process, the driver also can move backward according to the display device 250 at robot trunk 120 positions, does not finish reversing and do not need continuous rotary head to observe the vehicle rear situation.In addition, the adjustable height of the anglec of rotation of robot head 110 and trunk 120 also can manually be controlled by the driver, filming apparatus 240 will be made video recording according to shooting angle and direction that the driver sets this moment, so can make things convenient for the driver to take when driving the driving video of different visual angles, improve dirigibility.
If the vehicle stop operation then enters the parking monitoring mode.Analyze judge module 210 and send instruction to drive unit 230, send 360 ° of rotate instructions namely for the electric machine controller 231 of control head 110 rotations, electric machine controller 231 rotates by motor driver 233 drive motor 232, and then so that head 110 with the rotation of certain speed, record the vehicle's surroundings video, record when the driver not the time event that sabotages vehicle that might occur.At this moment, alert module 220 has judged whether unusual condition by analyzing described monitor video, when being determined with unusual condition, then controlling described voice device 260 and give a warning,
As send ear-piercing alarm song; Simultaneously with portable terminal such as the mobile phone transmission warning of communication to the driver, such as alarm song or warning message.
After above-mentioned driving video and monitor video carried out sound, Video coding, deposit local storage in, video can adopt the video encoders such as H264, MPEG, and audio frequency can adopt the audio coders such as MP3, AAC.Above-mentioned analysis judge module 210 also can directly connect motor driver, and saves electric machine controller.
Described filming apparatus 240 also can be two, comprises front filming apparatus and rear filming apparatus, is installed on respectively the front and back of robot body, with towards vehicle front and rear.When vehicle travels forward, analyze the front filming apparatus of 210 controls of judge module and take the driving video of working direction; When vehicle travelled backward, filming apparatus was taken the driving video of direction of retreat after 210 controls of analysis judge module, rotated thereby need not to control head 110.
The functional modules such as above-mentioned alert module 220, the voice synthetic module 262 of analyzing judge module 210, voice device 260 and sound identification module 263 also can be integrated into a CPU (central processing unit) 280, realize with flush bonding processors such as ARM.Described CPU (central processing unit) 280 is for the treatment of input, send steering order, wherein input comprises the video data that filming apparatus 240 collects at least, the vehicle status data that the vehicle bus interface receives (such as vehicle turn signal state, vehicle heading status data etc.), also can comprise the voice data that apparatus for receiving audio 270 collects, the geographic coordinate data of GPS module etc.Described CPU (central processing unit) can also further comprise the collision prevention of vehicle module 281 based on video, its driving video data by collecting, automatically the object such as identification the place ahead pedestrian, vehicle and estimate object and this spacing, the probability that bumps according to this car speed of a motor vehicle, travel direction estimation again, and send caution.Simultaneously also can comprise vision guided navigation module 282, the driving video data that this module basis collects, judgement is worked as the affiliated geographic position of vehicle in front and is indicated in conjunction with the navigation of GPS delivering.
In sum, on-vehicle machines people of the present invention has the following advantages:
1), the robot profile is more vivid, has more modernity and science and technology sense.
2), give a warning during to automotive run-off-road by arm action and point out, more directly perceived and hommization is easilier accepted by the driver.
3), by detecting the status information of Vehicle Driving Cycle, the pattern of the making video recording switching of realization intelligence.When vehicle to overtake the time, mainly carry out forward direction and make video recording; When reversing, carry out backward making video recording, and demonstration retreats image in real time, the driver assistance reversing; Work as vehicle stop, under the state that the driver leaves, enter 360 ° of degree monitoring and make video recording, situation around the registration of vehicle is carried out record to possible vehicle destruction, convenient later investigation and evidence collection.
When 4) detecting vehicle unusual condition is arranged by the analysis monitoring video, in time the portable terminal to the driver sends warning, so that the driver can in time take measures, reduces the loss.
Should be understood that; below only be the preferred embodiments of the present invention; can not therefore limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. on-vehicle machines people, it is characterized in that, comprise robot body and the control system that is installed on robot body, described robot body comprises trunk and is connected in the arm of trunk, described control system comprises filming apparatus, alert module and drive unit, wherein:
Filming apparatus: the driving video that is used for taking vehicle;
Alert module: be used for judging whether run-off-road of described vehicle by analyzing described driving video, when judging described automotive run-off-road, control described drive unit according to offset direction and drive that described arm is made corresponding warning or/and the prompting action.
2. on-vehicle machines people according to claim 1, it is characterized in that, described control system also comprises the analysis judge module, it is used for the collection vehicle status information, and judge that according to described car status information described vehicle is whether toward preset direction run-off-road initiatively, if then close described alert module, then open if not described alert module.
3. on-vehicle machines people according to claim 1 is characterized in that, described control system also comprises analyzes judge module and display device, wherein:
Analyze judge module, be used for the collection vehicle status information, and judge the motion state of described vehicle according to described car status information, travel forward if judge described vehicle, then control the driving video that described filming apparatus is taken working direction; Travel if judge described vehicle backward, then control the driving video that described filming apparatus is taken direction of retreat;
Display device is for the driving video that shows the vehicle rollback direction.
4. on-vehicle machines people according to claim 3, it is characterized in that, described filming apparatus comprises front filming apparatus and rear filming apparatus, the motion state that described analysis judge module travels forward or travels backward according to described vehicle is controlled the driving video that described front filming apparatus is taken the driving video of working direction or controlled described rear filming apparatus shooting direction of retreat accordingly.
5. on-vehicle machines people according to claim 3, it is characterized in that, described robot body also comprises the head that is connected in described trunk, described filming apparatus is installed on described head, the motion state that described analysis judge module travels forward or travels backward according to described vehicle, control accordingly that described drive unit drives that described head rotates forward so that described filming apparatus rotates forward or backward so that described filming apparatus backwards.
6. on-vehicle machines people according to claim 5 is characterized in that, if described analysis judge module is judged described vehicle stop operation, then controls described drive unit and drives described end rotation, takes monitor video to control described filming apparatus.
7. on-vehicle machines people according to claim 3 is characterized in that, described robot body also comprises the base that is connected in described trunk, and described analysis judge module is controlled described drive unit and driven described trunk lifting to reach specified altitude assignment.
8. each described on-vehicle machines people according to claim 1-7, it is characterized in that, described control system also comprises voice device, when described alert module is judged described automotive run-off-road, controls described voice device according to offset direction and sends corresponding warning or/and prompt tone.
9. each described on-vehicle machines people is characterized in that according to claim 1-7, and described control system also comprises apparatus for receiving audio, and it is used for receiving phonetic order.
10. on-vehicle machines people according to claim 6, it is characterized in that, described control system also comprises voice device, described alert module has judged whether unusual condition by analyzing described monitor video, controls then when being determined with unusual condition that described voice device gives a warning or/and send warning to driver's portable terminal.
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| CN109720355A (en) * | 2017-12-15 | 2019-05-07 | 蔚来汽车有限公司 | Method and apparatus for realizing human-computer interaction inside the vehicle |
| CN110389699A (en) * | 2018-04-16 | 2019-10-29 | 比亚迪股份有限公司 | Vehicle, on-vehicle machines people interactive system and the exchange method based on on-vehicle machines people |
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| CN110871446A (en) * | 2018-08-31 | 2020-03-10 | 比亚迪股份有限公司 | Vehicle-mounted robot, control method and system thereof, vehicle and storage medium |
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| CN110633011A (en) * | 2019-08-21 | 2019-12-31 | 中国第一汽车股份有限公司 | Vehicle-mounted robot, control method, control device and storage medium |
| CN111326004B (en) * | 2020-03-02 | 2021-10-08 | 东风小康汽车有限公司重庆分公司 | Vehicle-mounted intelligent lovely pet interaction method and device |
| CN111326004A (en) * | 2020-03-02 | 2020-06-23 | 东风小康汽车有限公司重庆分公司 | Vehicle-mounted intelligent lovely pet interaction method and device |
| CN113076394A (en) * | 2021-03-25 | 2021-07-06 | 浙江天畅智链科技有限公司 | Interactive robot |
| CN113276861A (en) * | 2021-06-21 | 2021-08-20 | 上汽通用五菱汽车股份有限公司 | Vehicle control method, vehicle control system, and storage medium |
| CN113524214A (en) * | 2021-07-16 | 2021-10-22 | 广东汇天航空航天科技有限公司 | Interaction method, interaction device, manned equipment and medium |
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