CN106155059A - The Intelligent unattended control loop of view-based access control model - Google Patents
The Intelligent unattended control loop of view-based access control model Download PDFInfo
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- CN106155059A CN106155059A CN201610674889.0A CN201610674889A CN106155059A CN 106155059 A CN106155059 A CN 106155059A CN 201610674889 A CN201610674889 A CN 201610674889A CN 106155059 A CN106155059 A CN 106155059A
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- 230000000007 visual effect Effects 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 238000012795 verification Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention provides the Intelligent unattended control loop of a kind of view-based access control model, mainly include primary processor (1), underlay network device (3), wireless communication apparatus (6), perform device (8), stereo visual system (11), overall view visual system (12) and shooting control system, wherein said shooting control system is made up of The Cloud Terrace driver (15) and camera pan-tilt (16), described primary processor (1) respectively with underlay network device (3), wireless communication apparatus (6), stereo visual system (11), overall view visual system (12) and shooting control system connect, described Intelligent unattended control loop also includes monitoring computer (7).The present invention can obtain good detect and track effect by experimental verification, and possesses higher real-time, and loss is low, strong robustness.
Description
Technical field
The present invention relates to the Intelligent unattended control loop of a kind of view-based access control model, particularly relate to a kind of nothing based on monocular vision
People drives vehicle platform, belongs to unmanned vehicle or unmanned field.
Background technology
Along with socioeconomic further development and the quickening of urbanization process, the universal and trip number of motor vehicles
Substantial increase, the road network traffic capacity is difficult to meet the needs that the volume of traffic is growing, causes vehicle accident to take place frequently, congested in traffic
The present situations such as aggravation.Safety and the conevying efficiency problem of highway communication become to become increasingly conspicuous, and many countries have changed thinking, from
Extension road network scale is gradually transferred to use new and high technology to transform existing road traffic system and management system.Intelligent automobile
Being an important component part in intelligent transportation system, intelligent automobile collection environment sensing, programmed decision-making, many grades auxiliary are driven
It is integrated etc. multi-functional, concentrates and used modern sensing, computer, communication, information fusion, artificial intelligence and the skill such as automatically controlled
Art, it is possible to the environment residing for autonomous identifying vehicle and state, makes analysis according to the information obtained by each sensor and judges, carrying
For the foundation of next step decision-making, quite varied in the range of application of the aspects such as civilian, military and space industry.Intelligent vehicle lane line
Recognition methods generally can be divided into two big classes, and a class is the recognition methods of feature based, and another kind of is recognition methods based on model.
The lane detection being currently based on vision there is also the difficult point of the following aspects: the complexity of scene and the real-time of algorithm.
This two large problems is the Major Difficulties hindering the unmanned application of intelligent vehicle, needs to study recognizer further.
Summary of the invention
In place of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide the Intelligent unattended of a kind of view-based access control model
Control loop.
In order to achieve the above object, this invention takes techniques below scheme:
The Intelligent unattended control loop of a kind of view-based access control model, mainly includes primary processor, underlay network device, wireless telecommunications dress
Putting, perform device, stereo visual system, overall view visual system and shooting control system, wherein shooting control system is by The Cloud Terrace
Driver and camera pan-tilt are constituted, primary processor respectively with underlay network device, wireless communication apparatus, stereo visual system,
Overall view visual system and shooting control system connect, and Intelligent unattended control loop also includes monitoring computer, and wireless telecommunications fill
Putting and monitor computer and be connected, primary processor is also connected with GPS and IMU, and primary processor passes through network interface and wireless communication apparatus
Connect.
Preferably, above-mentioned primary processor connects shooting control system by RS232 interface.
Preferably, above-mentioned primary processor connects GPS and IMU by RS232 interface.
Preferably, above-mentioned primary processor connects stereo visual system and overall view visual system by pci interface.
Preferably, above-mentioned underlay network device connects an execution device.
Preferably, above-mentioned Intelligent unattended control loop also includes a collision alarm processor and a collision detection sensor,
Collision detection sensor is connected with collision alarm processor, and collision alarm processor is connected with underlay network device.
Compared to prior art, the Intelligent unattended control loop of the view-based access control model that the present invention provides, it is provided that a kind of realization
Lane detection and the Unmanned Systems of tracking, can obtain good detect and track effect by experimental verification, and
Possessing higher real-time, loss is low, strong robustness.
Accompanying drawing explanation
Fig. 1 is the Intelligent unattended control loop structural representation of view-based access control model of the present invention.
Reference: 1-primary processor；2-network interface；3-underlay network device；4-RS232 interface；5-PCI interface；
6-wireless communication apparatus；7-monitors computer；8-performs device；9-collision alarm processor；10-collision detection sensor；11-
Stereo visual system；12-overall view visual system；13-GPS；14-IMU；15-The Cloud Terrace driver；16-camera pan-tilt.
Detailed description of the invention
The present invention provides the Intelligent unattended control loop of a kind of view-based access control model, for make the purpose of the present invention, technical scheme and
Effect is clearer, clear and definite, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should be appreciated that herein
Described specific embodiment, only in order to explain the present invention, is not intended to limit the present invention.
The Intelligent unattended control loop of the view-based access control model that the present invention provides is broadly divided into acquisition of vision information and processing module
With the motion-control module of unmanned vehicle, after two module independent design complete, need the exchange of the information that carries out, complete " knowledge-certainly
Plan-control " task of three aspects.Acquisition of vision information and processing module obtain the real time information in real scene, by analyzing
And process, sending next step assignment instructions, be transferred to motion-control module, motion-control module also includes processor and the property held
Mechanism, after collecting instruction, drives intelligent vehicle to complete task.As it is shown in figure 1, the present invention specifically include mainly include primary processor 1,
Underlay network device 3, wireless communication apparatus 6, execution device 8, stereo visual system 11, overall view visual system 12 and shooting control
System processed, wherein shooting control system be made up of The Cloud Terrace driver 15 and camera pan-tilt 16, primary processor 1 respectively with underlying network
Network equipment 3, wireless communication apparatus 6, stereo visual system 11, overall view visual system 12 and shooting control system connect, intelligence
Unmanned Systems also includes monitoring computer 7, and wireless communication apparatus 6 is connected with monitoring computer 7, and primary processor 1 is also connected with
GPS13 and IMU14, primary processor 1 is connected with wireless communication apparatus 6 by network interface 2.
Wherein, primary processor 1 connects shooting control system by RS232 interface 4.Primary processor 1 is by RS232 interface 4
Connect GPS13 and IMU14.Primary processor 1 connects stereo visual system 11 and overall view visual system 12 by pci interface 5.Bottom
The network equipment 3 connects an execution device 8.Intelligent unattended control loop also includes collision alarm processor 9 and a collision inspection
Surveying sensor 10, collision detection sensor 10 is connected with collision alarm processor 9, and collision alarm processor 9 sets with bottom-layer network
Standby 3 connect.
Choosing of photographic head mainly considers the parameter such as lens focus, the angle of visual field, mainly considers its height, angle of pitch during installation
Etc. parameter.Lens focus and the angle of visual field are the preset parameters of photographic head, directly affect the field range of photographic head and become picture element
Amount quality.The Cloud Terrace is the articles between unmanned vehicle and video camera.Direction and the attitude of video camera can be changed by The Cloud Terrace,
Meet the demand of different scene.
The Intelligent unattended control loop of the view-based access control model that the present invention provides, it is provided that one realizes lane detection and tracking
Unmanned Systems, good detect and track effect can be obtained by experimental verification, and possess higher real-time,
Loss is low, strong robustness.
It is understood that for those of ordinary skills, can be according to technical scheme and invention structure thereof
Think in addition equivalent or change, and all these change or replace the protection model that all should belong to appended claims of the invention
Enclose.
Claims (6)
1. the Intelligent unattended control loop of a view-based access control model, it is characterised in that: described Intelligent unattended control loop mainly includes
Primary processor (1), underlay network device (3), wireless communication apparatus (6), execution device (8), stereo visual system (11), panorama
Visual system (12) and shooting control system, wherein said shooting control system is by The Cloud Terrace driver (15) and camera pan-tilt
(16) constitute, described primary processor (1) respectively with underlay network device (3), wireless communication apparatus (6), stereo visual system
(11), overall view visual system (12) and shooting control system connect, described Intelligent unattended control loop also include monitoring calculate
Machine (7), described wireless communication apparatus (6) is connected with monitoring computer (7), and described primary processor (1) is also connected with GPS(13) and
IMU(14), described primary processor (1) is connected with wireless communication apparatus (6) by network interface (2).
2. the Intelligent unattended control loop of view-based access control model as claimed in claim 1, it is characterised in that: described primary processor (1)
Shooting control system is connected by RS232 interface (4).
3. the Intelligent unattended control loop of view-based access control model as claimed in claim 1, it is characterised in that: described primary processor (1)
GPS(13 is connected by RS232 interface (4)) and IMU(14).
4. the Intelligent unattended control loop of view-based access control model as claimed in claim 1, it is characterised in that: described primary processor (1)
Stereo visual system (11) and overall view visual system (12) is connected by pci interface (5).
5. the Intelligent unattended control loop of view-based access control model as claimed in claim 1, it is characterised in that: described underlay network device
(3) connection has an execution device (8).
6. the Intelligent unattended control loop of view-based access control model as claimed in claim 1, it is characterised in that: described Intelligent unattended is driven
System also includes a collision alarm processor (9) and a collision detection sensor (10), described collision detection sensor (10) with
Collision alarm processor (9) connects, and collision alarm processor (9) is connected with underlay network device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610674889.0A CN106155059A (en) | 2016-08-16 | 2016-08-16 | The Intelligent unattended control loop of view-based access control model |
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| CN201610674889.0A CN106155059A (en) | 2016-08-16 | 2016-08-16 | The Intelligent unattended control loop of view-based access control model |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018032385A1 (en) * | 2016-08-16 | 2018-02-22 | 邹霞 | Vision-based intelligent unmanned driving system |
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2016
- 2016-08-16 CN CN201610674889.0A patent/CN106155059A/en active Pending
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| JP4448024B2 (en) * | 2002-05-31 | 2010-04-07 | 富士通株式会社 | Remote operation robot and robot self-position identification method |
| CN102135766A (en) * | 2011-01-04 | 2011-07-27 | 北京林业大学 | Autonomous operation forestry robot platform |
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Application publication date: 20161123 |