CN107544493B - Intelligent navigation method and system based on unmanned driving - Google Patents
Intelligent navigation method and system based on unmanned driving Download PDFInfo
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Abstract
An intelligent navigation method based on unmanned driving further comprises the following steps: the processing device controls the first camera to shoot the images in the automobile and analyzes whether passengers exist according to the images; if yes, acquiring panel information of the audio-visual system and analyzing whether navigation is performed according to the panel information; if yes, acquiring navigation information and analyzing whether the navigation information is in an unknown road section or not; if the unmanned aerial vehicle is in the position, extracting the navigation route and outputting the navigation route to the unmanned aerial vehicle; controlling the storage device to be started and controlling the unmanned aerial vehicle to fly along the unknown road section; the processing device controls the second camera to shoot the image of the unknown road section and analyzes whether the second camera flies to the known road section or not according to the navigation route; if so, analyzing the route from the unknown road section to the known road section and transmitting the route to a video system panel for navigation; the processing device controls the unmanned aerial vehicle to hover and utilizes the second camera to shoot the road image; analyzing whether the automobile reaches the position of the unmanned aerial vehicle or not according to the known road section image; if the unmanned aerial vehicle arrives, the unmanned aerial vehicle is controlled to fly into the storage device and the storage device is controlled to be closed.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to an intelligent navigation method and system based on unmanned driving.
Background
Along with the progress of scientific technology, the requirements of people on living standard are higher and higher, meanwhile, along with the rapid development of scientific technology, the domestic automobile occupancy rate is continuously rising, the requirements of people on automobiles not only stay on convenience and comfort, but also put forward higher requirements on safety and intellectualization, and meanwhile, because the application of the traditional mechanical device and technology in the automobile field tends to be mature, the application of automobile electronics and digital technology on the whole automobile and parts of the automobile is wider and wider.
With the continuous development of information technologies such as computers, the internet of things, 3G and cloud computing, people continuously change the original living habits, the traditional physical transactions are less and less, and intelligent living services, virtual commodity transactions and the like which take informatization as the leading factor become indispensable components of daily life of people. Meanwhile, the rhythm of the daily life of people is continuously accelerated, and how to conveniently and quickly solve the service problem of the daily life is very important.
However, in the prior art, if the car navigation system finds that the current road section information is in an unknown state, a new navigation route is planned again, so that a user needs to drive a car for a plurality of roads, and how to plan the optimal walking route on the basis of the unknown road section after the car navigation system detects the unknown road section is a problem which needs to be solved urgently at present.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an intelligent navigation method based on unmanned driving and a system thereof, which can effectively solve the problems related to the background art.
Technical scheme
An intelligent unmanned-based navigation method, the method further comprising the steps of:
after the unmanned automobile starts to run, the processing device controls a first camera arranged at the inner position of the unmanned automobile to capture an image in the unmanned automobile in real time and analyzes whether passengers exist in the unmanned automobile or not according to the image;
if yes, the processing device acquires audio-video system panel information of the unmanned automobile and analyzes whether the unmanned automobile is in a navigation state or not according to the audio-video system panel information;
if so, the processing device acquires the navigation state information and analyzes whether the unmanned automobile is in an unknown road section according to the navigation state information;
if the unmanned aerial vehicle is in the navigation state information, the processing device extracts the navigation route in the navigation state information and transmits the navigation route to the unmanned aerial vehicle arranged in the storage device at the top of the unmanned aerial vehicle by using a wireless device;
the processing device controls the storage device to be started when detecting that the navigation route is transmitted completely, and controls the unmanned aerial vehicle to fly along an unknown road section according to the navigation route by using a wireless device;
when the processing device controls the unmanned aerial vehicle to fly by using the wireless device, the processing device controls a second camera arranged below the unmanned aerial vehicle to shoot images of unknown road sections in real time by using the wireless device and analyzes whether the unmanned aerial vehicle flies to the known road sections according to the navigation route information;
if so, the processing device analyzes the route information from the unknown road section to the known road section according to the image of the unknown road section and transmits the route information to a video and audio system panel of the unmanned automobile for navigation;
the processing device controls the unmanned aerial vehicle to hover at a position above a known road section by using a wireless device and captures an image of the known road section below by using the second camera;
the processing device analyzes whether the unmanned vehicle reaches a position below the unmanned vehicle or not according to the known road section image;
if the unmanned aerial vehicle arrives, the processing device controls the unmanned aerial vehicle to fly into a storage device at the top of the unmanned aerial vehicle by using a wireless device and controls the storage device to be closed.
As a preferable mode of the present invention, after the unmanned vehicle starts running, the method further includes the steps of:
the processing device utilizes a third camera arranged outside the unmanned automobile to capture a driving image in real time and analyzes whether the unmanned automobile has an accident or not according to the image;
if so, the processing device positions the accident position by utilizing a first positioning device arranged at the inner position of the unmanned automobile and acquires accident positioning data;
and the processing device transmits the accident image and the accident positioning data to an alarm center by using a wireless device.
As a preferred aspect of the present invention, after the processing device analyzes that there is a transmission accident in the unmanned vehicle based on the accident image, the method further includes:
the processing device utilizes the first camera to shoot the internal image of the unmanned automobile and analyzes whether casualties exist according to the accident image and the internal image of the unmanned automobile;
if yes, the processing device utilizes the first positioning device to position the accident position and acquire wounded positioning data;
the processing device transmits the accident image, the unmanned automobile internal image and the wounded positioning data to an emergency center by using a wireless device.
As a preferred mode of the present invention, after the processing device controls a second camera disposed below the unmanned aerial vehicle to capture the image of the unknown route in real time by using the wireless device, the method further includes the following steps:
the processing device analyzes whether a traffic accident happens to the unknown road section according to the captured image of the unknown road section;
if so, the processing device controls the unmanned aerial vehicle to hover above the traffic accident road section by using a wireless device and controls a second positioning device in the unmanned aerial vehicle to position the traffic accident road section by using the wireless device so as to obtain traffic accident positioning data;
the processing device acquires the accident location data of the second location device using a wireless device and transmits the image of the accident section and the accident location data to an alarm center.
As a preferred aspect of the present invention, after the processing means transmits the image of the accident road section and the accident location data to the alarm center, the method further comprises the steps of:
the processing device controls the unmanned aerial vehicle to fly around the accident positioning data as a center by spreading a preset radius around the accident positioning data by using a wireless device, and takes an image of a lower road section in real time by using the second camera;
and the processing device analyzes the route information of the unmanned automobile bypassing the traffic accident road section according to the road section image and transmits the route information to a video and audio system panel of the unmanned automobile for navigation.
An intelligent navigation system based on unmanned driving comprises an unmanned automobile, a storage device, an unmanned aerial vehicle, a first camera, a second camera, a third camera, a first positioning device, a second positioning device and a processing device, wherein the storage device comprises a storage bin and a telescopic door, the storage bin is arranged at the position of the top of the unmanned automobile and used for storing the unmanned aerial vehicle, and the telescopic door is arranged at the position above the storage bin and used for sealing the storage bin; the unmanned aerial vehicle is arranged inside the storage bin; the first camera is arranged at the position inside the unmanned automobile and used for shooting an image inside the unmanned automobile; the second camera is arranged at the position below the unmanned aerial vehicle and used for shooting an image below the unmanned aerial vehicle during flying; the third camera is arranged at the outer surface of the unmanned automobile and used for shooting an external image of the unmanned automobile; the first positioning device is arranged at the inner position of the unmanned automobile and used for positioning the position of the unmanned automobile; the second positioning device is arranged at an internal position of the unmanned aerial vehicle and used for positioning the position of the unmanned aerial vehicle; the processing device set up in unmanned vehicle internal position, processing device includes:
the automobile starting module is used for starting the unmanned automobile;
the first shooting module is used for controlling a first camera arranged at the inner position of the unmanned automobile to shoot images;
the passenger analysis module is used for analyzing whether passengers exist in the unmanned automobile or not according to the images of the interior of the unmanned automobile shot by the first camera;
the video and audio acquisition module is used for acquiring the video and audio system panel information of the unmanned automobile;
the navigation analysis module is used for analyzing whether the unmanned automobile is in a navigation state or not according to the panel information of the audio-visual system;
the navigation acquisition module is used for acquiring navigation state information of the unmanned automobile audio-video system panel;
the unknown analysis module is used for analyzing whether the unmanned automobile is in an unknown road section or not according to the navigation state information of the audio-visual system panel;
the navigation extraction module is used for extracting a navigation route in the navigation state information of the video system panel;
the wireless device is used for connecting the unmanned aerial vehicle, the second camera, the second positioning device, the alarm center, the first-aid center and the network;
the navigation transmission module is used for transmitting the navigation route to the unmanned aerial vehicle arranged in the storage device at the top of the unmanned aerial vehicle by using the wireless device;
the transmission detection module is used for detecting whether the navigation route is transmitted;
the storage opening module is used for controlling the opening of a retractable door of a storage device arranged at the top of the unmanned vehicle;
the flight module is used for controlling the unmanned aerial vehicle to fly by utilizing the wireless device;
the second shooting module is used for controlling a second camera arranged below the unmanned aerial vehicle to shoot images by utilizing the wireless device;
the known analysis module is used for analyzing whether the unmanned aerial vehicle flies to a known road section or not according to the navigation route information;
the route analysis module is used for analyzing the route information from the unknown road section to the known road section according to the unknown road section image;
the route transmission module is used for transmitting the route information from the unknown road section to the known road section to a video and audio system panel of the unmanned automobile for navigation;
the hovering module is used for controlling the unmanned aerial vehicle to hover by utilizing the wireless device;
the arrival analysis module is used for analyzing whether the unmanned vehicle arrives at the position below the unmanned vehicle or not according to the known road section image;
the return module is used for controlling the unmanned aerial vehicle to fly to a storage device at the top of the unmanned aerial vehicle by using the wireless device;
and the storage closing module is used for controlling the closing of a telescopic door of a storage device arranged at the top of the unmanned automobile.
As a preferable aspect of the present invention, the processing apparatus further includes:
the third shooting module is used for shooting images by utilizing a third camera arranged outside the unmanned automobile;
the accident analysis module is used for analyzing whether the unmanned automobile has accidents or not according to the shot driving image of the unmanned automobile;
the first positioning module is used for positioning by utilizing a first positioning device and acquiring accident positioning data;
and the alarm transmission module is used for transmitting the accident image and the accident positioning data to an alarm center by using a wireless device.
As a preferable aspect of the present invention, the processing apparatus further includes:
the casualty analysis module is used for analyzing whether casualties exist according to the accident images shot by the third camera and the images shot by the first camera inside the unmanned automobile;
the first-aid transmission module is used for transmitting the accident image shot by the third camera, the image shot by the first camera in the unmanned vehicle and the wounded positioning data to the first-aid center by using the wireless device.
As a preferable aspect of the present invention, the processing apparatus further includes:
the traffic accident analysis module is used for analyzing whether a traffic accident happens to the unknown road section according to the image of the unknown road section shot by the second camera;
the second positioning module is used for positioning by utilizing a second positioning device and acquiring positioning data;
the positioning acquisition module is used for acquiring the traffic accident positioning data of the second positioning device by utilizing the wireless device;
and the traffic accident transmission module is used for transmitting the image of the traffic accident section shot by the second camera and the traffic accident positioning data to the alarm center.
As a preferable aspect of the present invention, the processing apparatus further includes:
the surrounding flying module is used for controlling the unmanned aerial vehicle to fly around the accident positioning data as a center to spread a preset radius all around;
the detour analysis module is used for analyzing the route information of the unmanned automobile detouring the traffic accident road section according to the road section image shot by the second camera;
and the bypassing transmission module is used for transmitting the route information to a video and audio system panel of the unmanned automobile for navigation.
The invention realizes the following beneficial effects: 1. after an unmanned vehicle runs, the intelligent navigation system utilizes a first camera to capture an image inside the unmanned vehicle, then whether a passenger sits in the unmanned vehicle or not is analyzed according to the image, if the passenger exists, the intelligent navigation system obtains the current navigation state of an audio-visual system panel of the unmanned vehicle, then whether the unmanned vehicle is in an unknown road section or not is analyzed according to the navigation state information, if the unmanned vehicle is in the unknown road section, a navigation route in the navigation state information is transmitted to the unmanned vehicle, then a storage device is opened and the unmanned vehicle is controlled to go to the unknown road section to capture the image, then a second camera below the unmanned vehicle is controlled to capture the image of the unknown road section and analyze whether the unmanned vehicle flies to the known road section or not according to the image of the unknown road section, if the unmanned vehicle arrives, the intelligent navigation system analyzes the route information from the unknown road section to the known road section according to the image of the unknown road section and transmits the route information to Navigating in the audio-visual system panel of car, then controlling unmanned aerial vehicle hovers in the air and waits unmanned aerial vehicle arrives, detects unmanned aerial vehicle arrives unmanned aerial vehicle position department after, control unmanned aerial vehicle returns inside and control the flexible door of storage device top and close.
2. After the unmanned automobile starts to run, the intelligent navigation system utilizes a third camera arranged outside the unmanned automobile to shoot a running image and analyzes whether the unmanned automobile has an accident or not according to the image, if the accident occurs, a first positioning device is utilized to position the current accident position and obtain positioning data, and then the intelligent navigation system transmits the accident image and the positioning data of the accident to an alarm center to prevent the accident from blocking.
3. The intelligent navigation system analyzes that the unmanned vehicle has an accident, the intelligent navigation system utilizes a first camera arranged in the unmanned vehicle to take the internal image of the unmanned vehicle and analyzes whether the image is an casualty or not, if the casualty is an accident, a first positioning device is utilized to position the current accident position and acquire the positioning data of the casualty, and then the intelligent navigation system transmits the positioning data of the accident image and the casualty to an emergency center to remind the rescue personnel to go to the rescue in time.
4. After the intelligent navigation system controls a second camera arranged below the unmanned aerial vehicle to shoot an unknown route image in real time, if the intelligent navigation system analyzes that a car accident occurs on the unknown road section according to the image, the intelligent navigation system controls a second positioning device inside the unmanned aerial vehicle to position the car accident road section and obtain positioning data of the car accident, and then the intelligent navigation system transmits the car accident positioning data and the image of the car accident road section to an alarm center.
5. After the intelligent navigation system transmits the traffic accident positioning data and the image of the traffic accident section to an alarm center, the intelligent navigation system controls the unmanned aerial vehicle to fly around the traffic accident positioning data as the center and to spread a distance with a preset radius to the periphery, the intelligent navigation system takes the image of the section below the unmanned aerial vehicle during flying, and then the intelligent navigation system analyzes the route information of the unmanned aerial vehicle bypassing the traffic accident section according to the image and transmits the route information to a video and audio system panel of the unmanned aerial vehicle for navigation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart of a method for intelligent unmanned based navigation according to an exemplary embodiment of the present invention;
FIG. 2 is a flow chart of a method for unmanned vehicle accident detection according to one example of the present invention;
FIG. 3 is a flow chart of a method for casualty detection provided by one example of the present invention;
fig. 4 is a flowchart of a method for detecting a car accident using a drone according to one embodiment of the present invention;
FIG. 5 is a flow chart of a method for detecting a detour from a car accident according to an exemplary embodiment of the present invention;
fig. 6 is an architecture diagram of an intelligent unmanned based navigation system according to an example of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1, fig. 1 is a flowchart of an intelligent unmanned-based navigation method according to an example of the present invention.
Specifically, the present embodiment provides an intelligent navigation method based on unmanned driving, and the method further includes the following steps:
s1, after the unmanned automobile 1 is started to run, the processing device 9 controls the first camera 4 installed at the inner position of the unmanned automobile 1 to capture the image in the unmanned automobile 1 in real time and analyzes whether a passenger is in the unmanned automobile 1 according to the image;
s2, if yes, the processing device 9 obtains the audio-visual system panel information of the driverless car 1 and analyzes whether the driverless car 1 is in the navigation state according to the audio-visual system panel information;
s3, if yes, the processing device 9 obtains the navigation status information and analyzes whether the unmanned vehicle 1 is in an unknown road segment according to the navigation status information;
s4, if so, the processing device 9 extracts the navigation route in the navigation status information and transmits the navigation route to the drone 3 disposed in the top storage device 2 of the drone automobile 1 by using the wireless device 98;
s5, if the processing device 9 detects that the transmission of the navigation route is completed, the processing device 9 controls the storage device 2 to be opened and controls the drone 3 to fly along an unknown road segment according to the navigation route by using the wireless device 98;
s6, when the processing device 9 controls the unmanned aerial vehicle 3 to fly by using the wireless device 98, the processing device 9 controls the second camera 5 disposed below the unmanned aerial vehicle 3 to capture an image of an unknown road segment in real time by using the wireless device 98 and analyzes whether the unmanned aerial vehicle 3 flies to the known road segment according to the navigation route information;
s7, if yes, the processing device 9 analyzes the route information from the unknown road segment to the known road segment according to the image of the unknown road segment and transmits the route information to the audio/video system panel of the driverless car 1 for navigation;
s8, the processing device 9 controls the drone 3 to hover at a position above the known road segment by using the wireless device 98 and captures an image of the known road segment below by using the second camera 5;
s9, the processing device 9 analyzes whether the unmanned vehicle 1 reaches a position below the unmanned vehicle 3 according to the known road image;
and S10, if the unmanned aerial vehicle arrives, the processing device 9 controls the unmanned aerial vehicle 3 to fly into the storage device 2 at the top of the unmanned aerial vehicle 1 by using the wireless device 98 and controls the storage device 2 to be closed.
The video and audio system panel information comprises an interface and state information of a video and audio system panel; the navigation state information comprises a navigation route, marks on the navigation route, speed limiting information on the navigation route and navigation end point information; the unknown road section refers to a road section which is not recorded in the navigation process, a road section which cannot receive satellite signals in the navigation process or a road section which cannot be networked by a navigation device; the control of the opening of the storage device 2 means that the retractable door 21 above the storage device 2 is controlled to retract so that the unmanned aerial vehicle 3 flies out; the step of controlling the unmanned aerial vehicle 3 to fly along the unknown road section means that the unmanned aerial vehicle 3 is controlled to run along the route of the unknown road section and all routes capable of running on the unknown road section are explored once; the known road section refers to a road section which is marked in the navigation route and can provide automobile driving; the route information from the unknown road section to the known road section refers to the route which has the least driving distance and is the safest from the unknown road section to a straight road section; the step of controlling the unmanned aerial vehicle 3 to hover at a position above a known road segment means that after the unmanned aerial vehicle 3 is detected to fly to the known road segment, the unmanned aerial vehicle 3 is controlled to suspend and stop at the current position so as to wait for the unmanned automobile 1 to drive; the step of controlling the storage device 2 to be closed refers to controlling a retractable door 21 above the storage device 2 to extend to seal the storage device 2 so as to store the unmanned aerial vehicle 3; after the unmanned aerial vehicle 3 finds all route information of an unknown road section reaching a known road section and transmits the route to a navigation system in a video system panel, the navigation system stores the route information and transmits the route information to a server of the navigation system for route supplement so as to be used by a user using the navigation system.
In S1, specifically, after the vehicle start module 90 controls the unmanned vehicle 1 to start driving, the first capturing module 91 controls the first camera 4 installed at an internal position of the unmanned vehicle 1 to capture an internal image of the unmanned vehicle 1 in real time, and then the passenger analyzing module 92 analyzes whether a passenger is inside the unmanned vehicle 1 according to the captured internal image.
In S2, specifically, after the passenger analysis module 92 analyzes that there is a passenger inside the unmanned vehicle 1, the audio-video acquisition module 93 acquires the audio-video system panel information of the unmanned vehicle 1, and then the navigation analysis module 94 analyzes whether the unmanned vehicle 1 is in the navigation state according to the interface and the state information in the audio-video system panel.
In S3, specifically, after the navigation analysis module 94 analyzes that the unmanned vehicle 1 is in the navigation state, the navigation acquisition module 95 acquires the navigation state information, and then the unknown analysis module 96 analyzes whether the unmanned vehicle 1 is in an unknown road segment according to the navigation state information, that is, whether the unmanned vehicle 1 is in a road segment that is not included in the navigation or a road segment that does not receive satellite signals in the navigation or a road segment that cannot be networked by the navigation device is detected in real time.
In S4, specifically, after the unknown road segment is analyzed by the unknown analysis module 96, the navigation extraction module 97 extracts the navigation route in the navigation status information, and then the navigation transmission module 99 transmits the navigation route to the drone 3 disposed in the storage device 2 on the top of the drone automobile 1 by using the wireless device 98 through the wireless device 98, so as to drive the drone 3 for exploration.
In S5, specifically, after the transmission detection module 100 detects that the navigation route is completely transmitted, the storage opening module 101 controls the retractable door 21 of the storage device 2 to retract so that the drone 3 flies out, and then the flight module 102 controls the drone 3 to fly along an unknown road segment according to the navigation route by using the wireless device 98, so as to search for all road segment information included in the unknown road segment.
In S6, specifically, when the flight module 102 controls the drone 3 to fly using the wireless device 98, the second capturing module 103 controls the second camera 5 disposed below the drone 3 to capture the route image of the unknown road segment in real time using the wireless device 98, and then the known analysis module 104 analyzes whether the drone 3 has flown to the known road segment according to the navigation route information.
In S7, specifically, after the known analysis module 104 analyzes that the unmanned aerial vehicle 3 reaches a known road segment, the route analysis module 105 analyzes the route information from the unknown road segment to the known road segment according to the image of the unknown road segment captured by the second camera 5, and then the route transmission module 106 transmits the route information to the video system panel of the unmanned vehicle 1 for navigation, so that the unmanned vehicle 1 can guide the unknown road segment into a normal road segment for driving.
In S8, specifically after the route transmission module 106 completes the transmission, the hovering module 107 controls the drone 3 to hover at a position above the known road segment by using the wireless device 98, and then the second camera module captures an image of the known road segment below by using the second camera 5.
In S9, specifically, after the second camera module captures the image of the known road segment, the arrival analysis module 108 analyzes whether the unmanned vehicle 1 arrives at a position below the unmanned vehicle 3 according to the image of the known road segment, so that the unmanned vehicle 3 returns to the storage bin 20 of the storage device 2.
In S10, specifically arrive analysis module 108 and analyze out unmanned vehicle 1 arrives after unmanned vehicle 3 below the position, return module 109 and utilize wireless device 98 control unmanned vehicle 3 flies to in unmanned vehicle 1 top storage device 2 ' S the storage silo 20, then storage closing module 110 control storage device 2 ' S flexible door 21 closes, with sealed unmanned vehicle 3 prevents that it is rainy in the rainwater gets into storage device 2 ' S the storage silo 20.
Example two
Referring to fig. 2, fig. 2 is a flowchart of an accident detection method for an unmanned vehicle according to an example of the present invention.
Specifically, the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, after the driverless automobile 1 starts to run, the method further includes the following steps:
s11, the processing device 9 uses the third camera 6 disposed outside the unmanned vehicle 1 to capture a driving image in real time and analyze whether an accident occurs in the unmanned vehicle 1 according to the driving image;
s12, if yes, the processing device 9 uses the first positioning device 7 disposed at the internal position of the unmanned vehicle 1 to position the accident position and obtain accident positioning data;
s13, the processing device 9 transmits the accident image and the accident positioning data to an alarm center by using the wireless device 98.
Specifically, after the vehicle starting module 90 controls the unmanned vehicle 1 to start driving, the third capturing module 111 captures a driving image of the unmanned vehicle 1 in real time by using the third camera 6 disposed outside the unmanned vehicle 1, the accident analyzing module 112 analyzes whether an accident occurs in the unmanned vehicle 1 according to the driving image captured by the third camera 6, if the accident analyzing module 112 analyzes that the accident occurs in the unmanned vehicle 1, the first positioning module 113 positions the accident position by using the first positioning device 7 disposed in the internal position of the unmanned vehicle 1, and obtains positioning data of the accident position at the same time, and the alarm transmitting module 114 transmits the accident image captured by the third camera 6 and the accident position to the alarm center by using the wireless device 98, the system can remind a road rescue center or a police station to go to the road rescue center or the police station to process immediately, so that the road congestion is avoided.
EXAMPLE III
Referring to fig. 3, fig. 3 is a flow chart of an accident victim detection method according to an example of the present invention.
Specifically, the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, after the processing device 9 analyzes that the unmanned vehicle 1 has a transmission accident according to the accident image, the method further includes the following steps:
s110, the processing device 9 captures an internal image of the unmanned automobile 1 by using the first camera 4 and analyzes whether casualties exist according to the accident image and the internal image of the unmanned automobile 1;
s111, if the accident position exists, the processing device 9 utilizes the first positioning device 7 to position the accident position and acquire wounded positioning data;
s112, the processing device 9 transmits the accident image, the image of the interior of the unmanned vehicle 1 and the wounded positioning data to the emergency center by using the wireless device 98.
Specifically, after the accident analysis module 112 analyzes that an accident occurs in the unmanned vehicle 1 according to the driving image captured by the third camera 6, the first capture module 91 captures the internal image of the unmanned vehicle 1 by using the first camera 4 disposed at the internal position of the unmanned vehicle 1, then the casualty analysis module 115 analyzes whether there is an casualty according to the accident image captured by the third camera 6 and the internal image of the unmanned vehicle 1 captured by the first camera 4, if there is an casualty analyzed by the casualty analysis module 115, the first positioning module 113 positions the position of the casualty by using the first positioning device 7 disposed at the internal position of the unmanned vehicle 1, and obtains the positioning data of the position of the casualty at the same time, and then the emergency transmission module 116 captures the accident image captured by the third camera 6 by using the wireless device 98, The locating data transmission of the inside image of unmanned vehicle 1 and the wounded position that first camera 4 shot to first aid center to remind first aid personnel in time to go to wounded position department carries out the first aid to it, avoids the second casualty of wounded.
Example four
Referring to fig. 4, fig. 4 is a flowchart illustrating a method for detecting a car accident using an unmanned aerial vehicle according to an exemplary embodiment of the present invention.
Specifically, the present embodiment is substantially the same as the first embodiment, except that in the present embodiment, after the processing device 9 utilizes the wireless device 98 to control the second camera 5 disposed below the drone 3 to capture the unknown route image in real time, the method further includes the following steps:
s60, the processing device 9 analyzes whether there is a car accident on the unknown road section according to the captured image of the unknown road section;
s61, if yes, the processing device 9 controlling the drone 3 to hover over the traffic accident road segment by using the wireless device 98 and controlling the second positioning device 8 in the drone 3 to position the traffic accident road segment by using the wireless device 98 to obtain the traffic accident positioning data;
s62, the processing device 9 acquires the accident positioning data of the second positioning device 8 using the wireless device 98 and transmits the image of the accident road section and the accident positioning data to the alarm center.
Specifically, after the second capturing module 103 controls the second camera 5 disposed below the drone 3 to capture the route image of the unknown road segment in real time by using the wireless device 98, the car accident analysis module 117 analyzes whether a car accident occurs in the unknown road segment according to the image of the unknown road segment captured by the second camera 5, if the car accident analysis module 117 analyzes that a car accident occurs in the unknown road segment, the hovering module 107 controls the drone 3 to hover over the car accident road segment by using the wireless device 98, the second positioning module 118 controls the second positioning device 8 in the drone 3 to position the car accident road segment by using the wireless device 98, and simultaneously obtains the positioning data of the car accident position, the positioning obtaining module 119 obtains the car accident positioning data of the second positioning device 8 by using the wireless device 98, and the car accident transmission module 120 obtains the image of the car accident road segment captured by the second camera 5 and the positioning obtaining module 119 The second positioning module 118 transmits the positioning data of the accident location to the alarm center using the second positioning means 8.
EXAMPLE five
Referring to fig. 5, fig. 5 is a flowchart illustrating a method for detecting a traffic accident detour according to an example of the present invention.
Specifically, the present embodiment is substantially identical to the first embodiment except that, after the processing device 9 transmits the image of the accident road segment and the accident location data to the alarm center, the method further comprises the following steps:
s63, the processing device 9 controls the drone 3 to fly around the accident location data by spreading a preset radius around the drone using the wireless device 98, and captures the image of the lower section of road in real time using the second camera 5;
s64, the processing device 9 analyzes the route information of the unmanned vehicle 1 bypassing the traffic accident road according to the road image and transmits the route information to the video and audio system panel of the unmanned vehicle 1 for navigation.
Wherein the preset radius is 0-200 km, preferably 10 km in the embodiment.
Specifically, the traffic accident transmission module 120 transmits the image of the traffic accident road section captured by the second camera 5 and the positioning data of the traffic accident position obtained by the positioning acquisition module 119 to the alarm center by using the second positioning device 8, the surrounding flight module 121 controls the unmanned aerial vehicle 3 to fly by spreading the positioning data of the traffic accident position around the center by a radius of 10 km by using the wireless device 98, the surrounding flight module 103 captures the image of the road section detoured below in real time by using the second camera 5 disposed below the unmanned aerial vehicle 3, the detour analysis module 122 analyzes the route information of the unmanned aerial vehicle 1 which detour the traffic accident road section with the shortest travel distance according to the image of the detour road section captured by the second camera 5, and the detour transmission module 123 transmits the route information to the video and audio system panel of the unmanned aerial vehicle 1 for navigation, to drive the unmanned vehicle 1 to detour the traffic accident section by the shortest distance.
EXAMPLE six
Referring to fig. 6, fig. 6 is an architecture diagram of an intelligent unmanned based navigation system according to an example of the present invention.
Specifically, the present embodiment provides an intelligent navigation system based on unmanned driving, including an unmanned vehicle 1, a storage device 2, an unmanned aerial vehicle 3, a first camera 4, a second camera 5, a third camera 6, a first positioning device 7, a second positioning device 8, and a processing device 9, where the storage device 2 includes a storage bin 20 and a retractable door 21, the storage bin 20 is disposed at a roof position of the unmanned vehicle 1 and used for storing the unmanned aerial vehicle 3, and the retractable door is disposed at a position above the storage bin 20 and used for sealing the storage bin 20; the unmanned aerial vehicle 3 is arranged inside the storage bin 20; the first camera 4 is arranged at an internal position of the unmanned automobile 1 and is used for capturing an internal image of the unmanned automobile 1; the second camera 5 is arranged below the unmanned aerial vehicle 3 and used for shooting an image below the unmanned aerial vehicle 3 during flying; the third camera 6 is arranged at an outer surface of the unmanned automobile 1 and is used for capturing an external image of the unmanned automobile 1; the first positioning device 7 is arranged at an internal position of the unmanned automobile 1 and used for positioning the unmanned automobile 1; the second positioning device 8 is arranged at an internal position of the unmanned aerial vehicle 3 and used for positioning the unmanned aerial vehicle 3; the processing device 9 is disposed at an internal position of the unmanned vehicle 1, and the processing device 9 includes:
a vehicle start module 90 for starting the unmanned vehicle 1;
the first shooting module 91 is used for controlling the first camera 4 arranged at the inner position of the unmanned automobile 1 to shoot images;
the passenger analysis module 92 is configured to analyze whether a passenger is in the unmanned automobile 1 according to the image of the interior of the unmanned automobile 1 captured by the first camera 4;
the video and audio acquisition module 93 is used for acquiring video and audio system panel information of the unmanned automobile 1;
the navigation analysis module 94 is used for analyzing whether the unmanned automobile 1 is in a navigation state or not according to the audio-visual system panel information;
the navigation acquisition module 95 is used for acquiring navigation state information of the audio-video system panel of the unmanned automobile 1;
the unknown analysis module 96 is used for analyzing whether the unmanned automobile 1 is in an unknown road section according to the navigation state information of the audio-visual system panel;
the navigation extraction module 97 is used for extracting a navigation route in the navigation state information of the audio-visual system panel;
the wireless device 98 is used for connecting the unmanned aerial vehicle 3, the second camera 5, the second positioning device 8, the alarm center, the first-aid center and the network;
a navigation transmission module 99 for transmitting the navigation route to the unmanned aerial vehicle 3 disposed in the storage device 2 on the top of the unmanned vehicle 1 by using the wireless device 98;
a transmission detection module 100, configured to detect whether transmission of the navigation route is completed;
the storage opening module 101 is used for controlling the opening of a retractable door 21 of a storage device 2 arranged on the top of the unmanned automobile 1;
a flight module 102 for controlling the drone 3 to fly using the wireless device 98;
a second shooting module 103, configured to control, by using the wireless device 98, the second camera 5 disposed below the unmanned aerial vehicle 3 to shoot an image;
a known analysis module 104, configured to analyze whether the unmanned aerial vehicle 3 flies to a known road segment according to the navigation route information;
a route analysis module 105, configured to analyze route information from an unknown road segment to a known road segment according to the unknown road segment image;
the route transmission module 106 is used for transmitting the route information from the unknown road section to the known road section to the audio-visual system panel of the unmanned automobile 1 for navigation;
a hovering module 107 for controlling the drone 3 to hover using the wireless device 98;
the arrival analysis module 108 is used for analyzing whether the unmanned vehicle 1 arrives at a position below the unmanned vehicle 3 according to the known road section image;
a return module 109 for controlling the drone 3 to fly into the storage device 2 at the top of the drone vehicle 1 using the wireless device 98;
and the storage closing module 110 is used for controlling the retractable door 21 of the storage device 2 arranged on the top of the unmanned automobile 1 to close.
As a preferred aspect of the present invention, the processing device 9 further includes:
a third shooting module 111, configured to shoot an image with a third camera 6 disposed outside the unmanned vehicle 1;
the accident analysis module 112 is configured to analyze whether an accident occurs in the unmanned vehicle 1 according to the captured driving image of the unmanned vehicle 1;
the first positioning module 113 is configured to perform positioning by using the first positioning device 7 and obtain accident positioning data;
and an alarm transmission module 114 for transmitting the accident image and the accident positioning data to an alarm center by using the wireless device 98.
As a preferred aspect of the present invention, the processing device 9 further includes:
the casualty analysis module 115 is used for analyzing whether casualties exist according to the accident images shot by the third camera 6 and the images shot by the first camera 4 in the unmanned automobile 1;
and the first-aid transmission module 116 is used for transmitting the accident image shot by the third camera 6, the image inside the unmanned automobile 1 shot by the first camera 4 and the wounded positioning data to the first-aid center by using the wireless device 98.
As a preferred aspect of the present invention, the processing device 9 further includes:
a car accident analysis module 117 for analyzing whether a car accident occurs on the unknown road section according to the image of the unknown road section captured by the second camera 5;
a second positioning module 118, configured to perform positioning by using the second positioning device 8 and obtain positioning data;
a location acquisition module 119 for acquiring the accident location data of the second location means 8 using the wireless means 98;
and a car accident transmission module 120 for transmitting the image of the car accident section photographed by the second camera 5 and the car accident location data to the alarm center.
As a preferred aspect of the present invention, the processing device 9 further includes:
the surrounding flying module 121 is used for controlling the unmanned aerial vehicle 3 to fly around the accident positioning data as a center to spread a preset radius;
a detour analysis module 122 for analyzing route information of the unmanned vehicle 1 detouring the traffic accident road section according to the road section image captured by the second camera 5;
and the bypassing transmission module 123 is configured to transmit the route information to the audio/video system panel of the unmanned vehicle 1 for navigation.
It should be understood that, in the sixth embodiment, the specific implementation process of each module described above may correspond to the description of the above method embodiments (embodiment one to embodiment five), and is not described in detail here.
The system provided in the sixth embodiment is only illustrated by dividing the functional modules, and in practical applications, the above-mentioned functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An intelligent navigation method based on unmanned driving is characterized by comprising the following steps:
after the unmanned automobile starts to run, the processing device controls a first camera arranged at the inner position of the unmanned automobile to capture an image in the unmanned automobile in real time and analyzes whether passengers exist in the unmanned automobile or not according to the image;
if yes, the processing device acquires audio-video system panel information of the unmanned automobile and analyzes whether the unmanned automobile is in a navigation state or not according to the audio-video system panel information;
if so, the processing device acquires the navigation state information and analyzes whether the unmanned automobile is in an unknown road section according to the navigation state information;
if the unmanned aerial vehicle is in the navigation state information, the processing device extracts the navigation route in the navigation state information and transmits the navigation route to the unmanned aerial vehicle arranged in the storage device at the top of the unmanned aerial vehicle by using a wireless device;
the processing device controls the storage device to be started when detecting that the navigation route is transmitted completely, and controls the unmanned aerial vehicle to fly along an unknown road section according to the navigation route by using a wireless device;
when the processing device controls the unmanned aerial vehicle to fly by using the wireless device, the processing device controls a second camera arranged below the unmanned aerial vehicle to shoot images of unknown road sections in real time by using the wireless device and analyzes whether the unmanned aerial vehicle flies to the known road sections according to the navigation route information;
if so, the processing device analyzes the route information from the unknown road section to the known road section according to the image of the unknown road section and transmits the route information to a video and audio system panel of the unmanned automobile for navigation;
the processing device controls the unmanned aerial vehicle to hover at a position above a known road section by using a wireless device and captures an image of the known road section below by using the second camera;
the processing device analyzes whether the unmanned vehicle reaches a position below the unmanned vehicle or not according to the known road section image;
if the unmanned aerial vehicle arrives, the processing device controls the unmanned aerial vehicle to fly into a storage device at the top of the unmanned aerial vehicle by using a wireless device and controls the storage device to be closed.
2. The intelligent unmanned-based navigation method according to claim 1, wherein after the unmanned vehicle starts driving, the method further comprises the following steps:
the processing device utilizes a third camera arranged outside the unmanned automobile to capture a driving image in real time and analyzes whether the unmanned automobile has an accident or not according to the image;
if so, the processing device positions the accident position by utilizing a first positioning device arranged at the inner position of the unmanned automobile and acquires accident positioning data;
the processing device transmits the accident image and the accident positioning data to the alarm center by using the wireless device.
3. The intelligent unmanned-based navigation method according to claim 2, wherein after the processing device analyzes the unmanned vehicle according to the image, the method further comprises the following steps:
the processing device utilizes the first camera to shoot the internal image of the unmanned automobile and analyzes whether casualties exist according to the accident image and the internal image of the unmanned automobile;
if yes, the processing device utilizes the first positioning device to position the accident position and acquire wounded positioning data;
the processing device transmits the accident image, the unmanned automobile internal image and the wounded positioning data to an emergency center by using a wireless device.
4. The intelligent unmanned-based navigation method according to claim 1, wherein after the processing device controls a second camera disposed below the unmanned aerial vehicle to capture images of unknown road segments in real time by using the wireless device, the method further comprises the following steps:
the processing device analyzes whether a traffic accident happens to the unknown road section according to the captured image of the unknown road section;
if so, the processing device controls the unmanned aerial vehicle to hover above the traffic accident road section by using a wireless device and controls a second positioning device in the unmanned aerial vehicle to position the traffic accident road section by using the wireless device so as to obtain traffic accident positioning data;
the processing device acquires the accident location data of the second location device using a wireless device and transmits the image of the accident section and the accident location data to an alarm center.
5. The intelligent unmanned-based navigation system of claim 4, wherein after the processing means transmits the image of the accident section and the accident location data to the alarm center, the method further comprises the steps of:
the processing device controls the unmanned aerial vehicle to fly around the accident positioning data as a center by spreading a preset radius around the accident positioning data by using a wireless device, and takes an image of a lower road section in real time by using the second camera;
and the processing device analyzes the route information of the unmanned automobile bypassing the traffic accident road section according to the road section image and transmits the route information to a video and audio system panel of the unmanned automobile for navigation.
6. An intelligent navigation system based on unmanned driving comprises an unmanned automobile, a storage device, an unmanned aerial vehicle, a first camera, a second camera, a third camera, a first positioning device, a second positioning device and a processing device, wherein the storage device comprises a storage bin and a telescopic door, the storage bin is arranged at the position of the top of the unmanned automobile and used for storing the unmanned aerial vehicle, and the telescopic door is arranged at the position above the storage bin and used for sealing the storage bin; the unmanned aerial vehicle is arranged inside the storage bin; the first camera is arranged at the position inside the unmanned automobile and used for shooting an image inside the unmanned automobile; the second camera is arranged at the position below the unmanned aerial vehicle and used for shooting an image below the unmanned aerial vehicle during flying; the third camera is arranged at the outer surface of the unmanned automobile and used for shooting an external image of the unmanned automobile; the first positioning device is arranged at the inner position of the unmanned automobile and used for positioning the position of the unmanned automobile; the second positioning device is arranged at an internal position of the unmanned aerial vehicle and used for positioning the position of the unmanned aerial vehicle; the processing apparatus set up in unmanned vehicle internal position, its characterized in that, processing apparatus includes:
the automobile starting module is used for starting the unmanned automobile;
the first shooting module is used for controlling a first camera arranged at the inner position of the unmanned automobile to shoot images;
the passenger analysis module is used for analyzing whether passengers exist in the unmanned automobile or not according to the images of the interior of the unmanned automobile shot by the first camera;
the video and audio acquisition module is used for acquiring the video and audio system panel information of the unmanned automobile;
the navigation analysis module is used for analyzing whether the unmanned automobile is in a navigation state or not according to the panel information of the audio-visual system;
the navigation acquisition module is used for acquiring navigation state information of the unmanned automobile audio-video system panel;
the unknown analysis module is used for analyzing whether the unmanned automobile is in an unknown road section or not according to the navigation state information of the audio-visual system panel;
the navigation extraction module is used for extracting a navigation route in the navigation state information of the video system panel;
the wireless device is used for connecting the unmanned aerial vehicle, the second camera, the second positioning device, the alarm center, the first-aid center and the network;
the navigation transmission module is used for transmitting the navigation route to the unmanned aerial vehicle arranged in the storage device at the top of the unmanned aerial vehicle by using the wireless device;
the transmission detection module is used for detecting whether the navigation route is transmitted;
the storage opening module is used for controlling the opening of a retractable door of a storage device arranged at the top of the unmanned vehicle;
the flight module is used for controlling the unmanned aerial vehicle to fly by utilizing the wireless device;
the second shooting module is used for controlling a second camera arranged below the unmanned aerial vehicle to shoot images by utilizing the wireless device;
the known analysis module is used for analyzing whether the unmanned aerial vehicle flies to a known road section or not according to the navigation route information;
the route analysis module is used for analyzing the route information from the unknown road section to the known road section according to the unknown road section image;
the route transmission module is used for transmitting the route information from the unknown road section to the known road section to a video and audio system panel of the unmanned automobile for navigation;
the hovering module is used for controlling the unmanned aerial vehicle to hover by utilizing the wireless device;
the arrival analysis module is used for analyzing whether the unmanned vehicle arrives at the position below the unmanned vehicle or not according to the known road section image;
the return module is used for controlling the unmanned aerial vehicle to fly to a storage device at the top of the unmanned aerial vehicle by using the wireless device;
and the storage closing module is used for controlling the closing of a telescopic door of a storage device arranged at the top of the unmanned automobile.
7. The intelligent unmanned-based navigation system of claim 6, wherein the processing device further comprises:
the third shooting module is used for shooting images by utilizing a third camera arranged outside the unmanned automobile;
the accident analysis module is used for analyzing whether the unmanned automobile has accidents or not according to the shot driving image of the unmanned automobile;
the first positioning module is used for positioning by utilizing a first positioning device and acquiring accident positioning data;
and the alarm transmission module is used for transmitting the accident image and the accident positioning data to an alarm center by using a wireless device.
8. The intelligent unmanned-based navigation system of claim 6, wherein the processing device further comprises:
the casualty analysis module is used for analyzing whether casualties exist according to the accident images shot by the third camera and the images shot by the first camera inside the unmanned automobile;
the first-aid transmission module is used for transmitting the accident image shot by the third camera, the image shot by the first camera in the unmanned vehicle and the wounded positioning data to the first-aid center by using the wireless device.
9. The intelligent unmanned-based navigation system of claim 6, wherein the processing device further comprises:
the traffic accident analysis module is used for analyzing whether a traffic accident happens to the unknown road section according to the image of the unknown road section shot by the second camera;
the second positioning module is used for positioning by utilizing a second positioning device and acquiring positioning data;
the positioning acquisition module is used for acquiring the traffic accident positioning data of the second positioning device by utilizing the wireless device;
and the traffic accident transmission module is used for transmitting the image of the traffic accident section shot by the second camera and the traffic accident positioning data to the alarm center.
10. The intelligent unmanned-based navigation system of claim 6, wherein the processing device further comprises:
the surrounding flying module is used for controlling the unmanned aerial vehicle to fly around the accident positioning data as a center to spread a preset radius all around;
the detour analysis module is used for analyzing the route information of the unmanned automobile detouring the traffic accident road section according to the road section image shot by the second camera;
and the bypassing transmission module is used for transmitting the route information bypassing the traffic accident road section to a video and audio system panel of the unmanned automobile for navigation.
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| CN113093811B (en) * | 2021-06-04 | 2021-09-07 | 宁波均联智行科技股份有限公司 | Unmanned aerial vehicle control method and system based on intelligent cabin system |
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Effective date of registration: 20200601 Address after: 325200 urban and rural distribution center, Yunzhou street, Ruian City, Wenzhou City, Zhejiang Province 525 (Qiaomao town) Applicant after: Zhejiang Zhizhuo industrial robot Co.,Ltd. Address before: Room 303, Building 8, Huasheng Wuyuan, Taicang Economic Development Zone, Suzhou City, Jiangsu Province Applicant before: Tang Qingjia |
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Application publication date: 20180105 Assignee: Wenzhou Ruizhi door & Window Co.,Ltd. Assignor: Zhejiang Zhizhuo industrial robot Co.,Ltd. Contract record no.: X2022330000220 Denomination of invention: An intelligent navigation method and system based on unmanned driving Granted publication date: 20200623 License type: Exclusive License Record date: 20220615 |
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