CN110853389B - Drive test monitoring system suitable for unmanned commodity circulation car - Google Patents
Drive test monitoring system suitable for unmanned commodity circulation car Download PDFInfo
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- CN110853389B CN110853389B CN201911145208.1A CN201911145208A CN110853389B CN 110853389 B CN110853389 B CN 110853389B CN 201911145208 A CN201911145208 A CN 201911145208A CN 110853389 B CN110853389 B CN 110853389B
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- logistics vehicle
- unmanned logistics
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention provides a road test monitoring system suitable for an unmanned logistics vehicle, which comprises the unmanned logistics vehicle and a monitoring platform, wherein the monitoring platform is communicated with the unmanned logistics vehicle through a wireless network; the unmanned logistics vehicle is used for acquiring image information of an area in front of the unmanned logistics vehicle and transmitting the image information to the monitoring platform in real time; the monitoring platform is used for receiving the image information sent by the unmanned logistics vehicle and displaying the image information in real time so as to enable a security officer to judge the security risk on site; the unmanned logistics vehicle is further provided with a remote controller, and the remote controller is used for controlling the unmanned logistics vehicle to change the current driving state when the safety risk in the area in front of the unmanned logistics vehicle is judged. The road test monitoring system can remove potential safety hazards caused by forward blind areas.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to a road test monitoring system suitable for an unmanned logistics vehicle.
Background
Automatic driving utilizes artificial intelligence technology to make the vehicle independently travel to liberate human driver, and promote the security, is the direction of application that artificial intelligence field is very promising at present. With the continuous progress of logistics technology and the continuous expansion of the application field of artificial intelligence, people have higher and higher requirements on the intellectualization of logistics systems, and the combination of automatic driving and the logistics systems gradually becomes one of the important directions for the development of logistics enterprises, such as unmanned logistics vehicles.
At present, in the research and development process of unmanned logistics vehicles, drive tests are indispensable key links, and research and development personnel need to improve an automatic driving system according to problems found in the drive tests. Specifically, the road test means that an unmanned logistics vehicle starts automatic driving on a test road in a park; meanwhile, a safety worker supervises on the site, and in case of a dangerous condition, the remote controller is used for taking over the control right of the unmanned logistics vehicle in time, so that the test risk is avoided.
In the prior art, the specific supervision mode of a safety officer in the drive test process includes: two safety personnel drive a car with the rear of unmanned commodity circulation car, and a safety personnel is responsible for driving, and a safety personnel is responsible for supervising the travel state of unmanned commodity circulation car, and in case there is the safety risk, the safety personnel takes over the vehicle at any time through operating the remote controller handle. However, this method has a blind area, and the security officer cannot see the area in front of the unmanned logistics vehicle in a short distance, so that there is a security risk.
Therefore, in the long-term research and development, the inventor has conducted a great deal of research on the safety of the unmanned logistics vehicle in the drive test stage, and has proposed a drive test monitoring system suitable for the unmanned logistics vehicle to solve one of the above technical problems.
Disclosure of Invention
The present invention is directed to a drive test monitoring system for an unmanned logistics vehicle, which can solve at least one of the above-mentioned problems. The purpose of the invention is realized by the following scheme:
a road test monitoring system suitable for an unmanned logistics vehicle comprises the unmanned logistics vehicle and a monitoring platform, wherein the monitoring platform is communicated with the unmanned logistics vehicle through a wireless network; the unmanned logistics vehicle is used for acquiring image information of an area in front of the unmanned logistics vehicle in real time and transmitting the image information to the monitoring platform; the monitoring platform is used for receiving the image information sent by the unmanned logistics vehicle and displaying the image information in real time so as to be used by security personnel for carrying out safety risk judgment on the site; the unmanned logistics vehicle is further provided with a remote controller, and the remote controller is used for controlling the unmanned logistics vehicle to change the current driving state when the safety risk in the area in front of the unmanned logistics vehicle is judged.
Optionally, the unmanned logistics vehicle includes an FPV camera installed on the unmanned logistics vehicle, and the FPV camera is used for acquiring video data of an area in front of the unmanned logistics vehicle and encoding the video data.
Optionally, unmanned commodity circulation car is including installing in the FPV transmitter of unmanned commodity circulation car automobile body, the FPV transmitter be used for with image data transmits for monitor platform.
Optionally, the monitoring platform further includes an FPV receiver, and the FPV receiver communicates with the FPV transmitter through a wireless network, and is configured to receive, in real time, video data transmitted by the FPV transmitter.
Optionally, the monitoring platform further comprises an image display device, and the image display device is used for displaying the video in front of the unmanned logistics vehicle to the security officer in real time.
Optionally, the monitoring platform is further configured to display reference environment information, a reference driving state and a next reference driving state of the unmanned logistics vehicle in the drive test process.
Optionally, the monitoring platform is a movable monitoring platform, and the speed of the movable monitoring platform can reach the speed of the unmanned logistics vehicle.
Optionally, the monitoring platform includes, but is not limited to, a balance car, an electric vehicle, a motorcycle, and an automobile.
Optionally, the drive test monitoring system further includes an ADAS device, the ADAS device includes a processing module and a sensing module, and the sensing module is disposed on the unmanned logistics vehicle and is configured to collect environmental data in front of the unmanned logistics vehicle and transmit the environmental data to the processing module; the processing module is arranged on the monitoring platform and used for analyzing the environmental data and outputting a safety warning signal to remind a security officer.
Optionally, the ADAS device may not be provided with the sensing module, and the processing module is configured to directly acquire and analyze the image information received by the monitoring vehicle and output a safety warning signal.
Compared with the prior art, the scheme of the embodiment of the invention adopts an FPV (First Person is called main viewing angle) system to transmit the image data in front of the unmanned logistics vehicle to a security officer in real time, so that potential safety hazards caused by forward blind areas can be eliminated; meanwhile, a safety worker can be actively reminded by installing the ADAS device, potential safety hazards caused by negligence of the safety worker are further eliminated, and therefore the safety of the whole drive test stage is greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 shows a schematic structural diagram of a drive test monitoring system suitable for an unmanned logistics vehicle according to an embodiment of the invention.
Fig. 2 is a schematic diagram illustrating a connection relationship between devices in a drive test monitoring system for an unmanned logistics vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating connection relationships among devices in a drive test monitoring system for an unmanned logistics vehicle according to another embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present invention, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and similarly the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.
Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment provides a drive test monitoring system suitable for an unmanned logistics vehicle, including an unmanned logistics vehicle 1 and a monitoring platform 2, where the monitoring platform 2 and the unmanned logistics vehicle 1 communicate through a wireless network.
The unmanned logistics vehicle 1 is an automatic driving vehicle for end logistics, namely an automatic driving vehicle for performing logistics distribution for the last three kilometers in a park. The unmanned logistics vehicle 1 is provided with a cargo compartment, also has normal running functions of braking, accelerating, backing, turning and the like, only has no cockpit, and therefore must run through automatic driving or remote control by a remote controller. In an embodiment of the present invention, the unmanned logistics vehicle 1 is automatically driven. When the unmanned logistics vehicle 1 is in an automatic driving state, the unmanned logistics vehicle 1 collects image information of a near-distance front area in real time and transmits the image information to the monitoring platform 2 in real time. Optionally, the speed per hour of the unmanned logistics vehicle 1 can reach up to 25 km/h.
Specifically, as shown in fig. 2, the unmanned logistics vehicle 1 includes an image acquisition device 11 and an image transmission device 12. The image acquisition device 11 is installed in front of the unmanned logistics vehicle 1, and is typically located on the front and rear bumpers, side view mirrors, the interior of a driving rod or a windshield of the vehicle. The image acquisition device 11 is used for acquiring video data of a near-distance front area in the automatic driving process of the unmanned logistics vehicle 1. The mode of collecting the video data comprises the following steps: and receiving and executing a control instruction of the unmanned logistics vehicle 1, or manually operating the image acquisition device 11 to acquire. The video data information includes: and various environmental data such as intersection traffic lights, pedestrians, obstacles and the like which can influence the safe driving of the unmanned logistics vehicle 1.
The image acquisition device 11 comprises a visual sensor and a visual processor, wherein the visual sensor is connected with the input end of the visual processor and is used for carrying out digital coding processing on data acquired by the visual sensor. In an embodiment of the present invention, the image capturing device 11 includes a CMOS camera or a CCD camera.
The image transmission device 12 is connected to the image acquisition device 11, and is configured to receive the video data processed by the image acquisition device 11 and transmit the video data to the monitoring platform 2 through a 5 ghz link. In an embodiment of the present invention, the image transmission device 12 is an FPV transmitter, and the FPV transmitter is equipped with an antenna, and transmits the video data on the FPV transmitter to the monitoring platform 2 through the antenna.
The monitoring platform 2 is used for monitoring the automatic driving process of the unmanned logistics vehicle 1, and a security officer can judge the risk through the monitoring platform 2. In an embodiment of the present invention, the monitoring platform 2 is a movable monitoring platform, and the speed of the movable monitoring platform can reach the speed of the unmanned logistics vehicle 1. The movable monitoring platform includes but is not limited to balance cars, electric cars, motorcycles, and automobiles. Of course, in other embodiments, the monitoring platform 2 may also be fixed as long as the unmanned logistics vehicle 1 and the monitoring platform 2 can realize remote communication.
Specifically, the monitoring platform 2 includes an image receiving device 21 and an image display device 22. Specifically, the image receiving device 21 is fixed to the monitoring platform 2, and communicates with the image transmission device 12 through radio waves, so as to receive the image information returned by the image transmission device 12 in real time and decode the image information. In an embodiment of the present invention, the image receiving device 21 is an FPV receiver, and the FPV receiver is used in conjunction with an FPV transmitter to reduce the delay time of the video data during transmission.
The image display device 22 is connected to the image receiving device 21, and is configured to display the image information decoded by the image receiving device 21 to a security officer, so that the security officer can perform security risk judgment on site. It can be understood that the environmental information in the front of the unmanned logistics vehicle 1 in a close distance is displayed to the security officers in real time, so that the blind areas of the visual fields of the security officers can be compensated. The image display device 22 may be any device with a display function, such as a tablet computer, a mobile phone, a computer, etc. In other embodiments, the image display device 22 may be coupled to the same device as the image receiving device 21, and the device has both receiving and displaying functions, so that the number of devices can be reduced, and the device is convenient to use.
Further, the monitoring platform 2 further includes a reference display device 23, and the reference display device 23 is configured to display one or more of reference environment information, a reference driving state, a next reference driving state and other reference information given by the automatic driving system in the drive test process, so that a security officer can determine a site security risk according to the reference information. Specifically, the monitoring platform 2 stores information such as the reference environment information, the reference driving state, and the reference driving state of the next step in advance, and the reference display device 23 acquires various reference information stored in advance and displays the reference information in real time through an interface. The reference environment information comprises intersections, obstacles, uphill slopes, downhill slopes and the like; the reference driving state comprises straight driving when the traffic signal lamp is green, ascending acceleration, descending deceleration and the like. For example, the unmanned logistics vehicle 1 will pass through an intersection, the reference display device 23 displays that the unmanned logistics vehicle will continue to run at the intersection, but the security officer can forcibly take over the unmanned logistics vehicle 1 at this moment if the security officer sees that the intersection ahead is a red light in the video displayed by the image display device 22, so as to avoid an accident.
In other embodiments, the reference display device 23 may be coupled to the image display device 22, in which case the image display device 22 includes a first display screen for displaying the image information and a second display screen for displaying the reference environment information, the reference driving state, and the reference driving state of the next step.
Further, the drive test monitoring System includes an ADAS (Advanced Driving assistance System) device 24, where the ADAS device 24 is an embedded device including software and hardware (chip/circuit board), and collects environmental data inside and outside the vehicle at the first time by using various sensors installed on the unmanned logistics vehicle, and performs technical processes such as identification, detection, tracking and the like of static and dynamic objects, so that a security officer can perceive possible dangers at the fastest time to draw attention and improve the active security technology of security.
Specifically, the ADAS device includes a sensing module 241 and a processing module 242, where the sensing module 241 is disposed on the unmanned logistics vehicle 1, and is configured to collect environmental data in front of the unmanned logistics vehicle 1 and transmit the environmental data to the processing module 242; the processing module 242 is disposed on the monitoring platform 2, and is configured to analyze the environmental data and output a safety warning signal to remind the security officer. In an embodiment of the present invention, the sensing module 241 may be an ultrasonic sensor, a laser sensor, a CCD sensor, or the like, and the environment data includes image data, ultrasonic data, or the like. The processing module 242 may be a chip or a circuit board. The processing module 242 processes the environmental data and outputs various safety warning signals such as Lane Departure Warning (LDW) and Forward Collision Warning (FCW).
Further, the safety warning signal can be outputted to a security officer through an output device (not shown). The security officer can not only see the video on the image display device 22, but also can obtain the security warning signal, and at the moment, the security officer can further judge according to the security warning signal on the basis of subjective judgment according to video data, so that the risk careless omission caused by the security officer due to self reasons can be avoided, double guarantee is provided for test safety, and more risks are further avoided. The output device (not shown) may be a speaker, such as a sound box or a headset.
Since the ADAS device 24 can process video data and the image capturing device 11 has captured the video data in front of the unmanned logistics vehicle, the ADAS device 24 may not be provided with the sensing module 241. In another embodiment of the present invention, as shown in fig. 3, the ADAS device 24 does not include the sensing module 241, and the processing module 242 is connected to the image receiving module 21, and directly obtains and analyzes the image information received by the monitoring vehicle and outputs a safety warning signal. Specifically, the processing module 242 is connected to the FPV receiver, and the FPV receiver directly inputs the received video data into the processing module 242 for analysis.
The unmanned logistics vehicle 1 is further provided with a remote controller 3, and the remote controller 3 is used for controlling the unmanned logistics vehicle 1 to change the current running state when the safety risk in the area in front of the unmanned logistics vehicle 1 is judged. Specifically, when the security officer determines that there is a security risk according to the display information of the reference display device and the image display device, the remote controller 3 may be operated, so as to control the driving state of the unmanned logistics vehicle 1.
Finally, the road test monitoring system suitable for the unmanned logistics vehicle provided by the embodiment of the invention adopts an FPV system, image data in front of the unmanned logistics vehicle is transmitted to a security officer in real time, and potential safety hazards caused by forward blind areas can be removed; meanwhile, a safety worker can be actively reminded by installing the ADAS device, potential safety hazards caused by negligence of the safety worker are further eliminated, and therefore the safety of the whole drive test stage is greatly improved.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A road test monitoring system suitable for an unmanned logistics vehicle is characterized by comprising the unmanned logistics vehicle and a monitoring platform, wherein the monitoring platform is communicated with the unmanned logistics vehicle through a wireless network; the monitoring platform stores various reference information in advance, wherein the reference information comprises reference environment information, a reference driving state and a next reference driving state;
the unmanned logistics vehicle is used for acquiring image information of an area in front of the unmanned logistics vehicle and transmitting the image information to the monitoring platform in real time;
the monitoring platform is used for receiving the image information sent by the unmanned logistics vehicle, displaying the image information in real time, and displaying various pre-stored reference information at the same time, so that a security officer can judge security risks by combining the image information and the reference information on site;
the unmanned logistics vehicle is further provided with a remote controller, and the remote controller is used for controlling the unmanned logistics vehicle to change the current driving state when the safety risk in the area in front of the unmanned logistics vehicle is judged.
2. The drive test monitoring system according to claim 1, wherein the unmanned logistics vehicle comprises an FPV camera mounted on the unmanned logistics vehicle, and the FPV camera is configured to collect and encode the image information of an area in front of the unmanned logistics vehicle.
3. The drive test monitoring system according to claim 1, wherein the unmanned logistics vehicle comprises an FPV transmitter arranged on a body of the unmanned logistics vehicle, and the FPV transmitter is used for transmitting the image information to the monitoring platform.
4. The drive test monitoring system according to claim 3, wherein the monitoring platform further comprises an FPV receiver, and the FPV receiver is in communication with the FPV transmitter via a wireless network and is configured to receive the image information transmitted by the FPV transmitter in real time.
5. The drive test monitoring system according to claim 1, wherein the monitoring platform further comprises an image display device for displaying the image information in front of the unmanned logistics vehicle to the security officer in real time.
6. The drive test monitoring system according to claim 1, wherein the monitoring platform is a movable monitoring platform, and the traveling speed of the movable monitoring platform can reach the traveling speed of the unmanned logistics vehicle.
7. The drive test monitoring system of claim 1, wherein the monitoring platform includes, but is not limited to, balance cars, electric cars, motorcycles, and automobiles.
8. The drive test monitoring system according to claim 1, further comprising an ADAS device, wherein the ADAS device comprises a processing module and a sensing module, and the sensing module is disposed on the unmanned logistics vehicle and is configured to collect environmental data in front of the unmanned logistics vehicle and transmit the environmental data to the processing module; the processing module is arranged on the monitoring platform and used for analyzing the environmental data and outputting a safety warning signal to remind a security officer.
9. The drive test monitoring system according to claim 8, wherein the ADAS device is not provided with the sensing module, and the processing module is configured to directly acquire and analyze the image information received by the monitoring platform and output a safety warning signal.
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| CN115457786B (en) * | 2022-09-05 | 2023-09-26 | 白犀牛智达(北京)科技有限公司 | Method for passing through intersection of unmanned low-speed vehicle |
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