CN111683220A

CN111683220A - Unmanned vehicle monitoring and taking-over scheme based on 4-way fixed-focus camera and 1-way pan-tilt zoom camera

Info

Publication number: CN111683220A
Application number: CN201910246705.4A
Authority: CN
Inventors: 李雪峰; 池贤士; 胡正明
Original assignee: Wuhan Xiaoshi Technology Co ltd
Current assignee: Wuhan Xiaoshi Technology Co ltd
Priority date: 2019-03-11
Filing date: 2019-03-11
Publication date: 2020-09-18

Abstract

The invention provides an unmanned vehicle monitoring and taking-over scheme based on 4-path fixed-focus cameras and 1-path pan-tilt-zoom cameras. The data processing platform collects image data through the pan-tilt camera and the 4-path fixed-focus camera, and the image data is uploaded to the server side through mobile network communication after special compression coding conversion. The server stores and distributes the data to each corresponding monitoring platform, the monitoring platforms acquire target data by selecting corresponding terminal IDs, the acquired video data in multiple directions are spliced into a ring view, and vehicle state information is displayed. Wherein 4 way fixed focus cameras are as no dead angle control under the conventional environment, and when 4 way fixed focus cameras detected that the surrounding environment is unusual, carry out accurate control to appointed target through control platform operation cloud platform camera by backstage monitoring personnel. When necessary, monitoring personnel and the monitoring platform take over the running of the vehicle to control the automatic driving vehicle to be separated from the high-risk environment.

Description

Unmanned vehicle monitoring and taking-over scheme based on 4-way fixed-focus camera and 1-way pan-tilt zoom camera

Technical Field

The invention relates to the field of unmanned driving, in particular to an unmanned vehicle monitoring and taking-over scheme based on 4-way fixed-focus cameras and 1-way pan-tilt-zoom cameras.

Background

In recent years, with the rapid development of the automatic driving technology, the number of automatic driving automobiles for various scenes is increasing. However, current autopilot technology is not stable and cannot reach the level of autopilot at level L5 in the visible future. Therefore, on the basis of a certain automatic driving technology, a parallel driving concept matched with real-time remote monitoring and taking over is generated.

For the monitor or recorder of the existing vehicle, there are problems of poor image acquisition quality, too high network data transmission delay, high cost, incomplete vehicle state information, etc. in different degrees, so the vehicle remote monitoring and control system with simple research and development structure, low cost, high image acquisition quality, capability of acquiring vehicle state information and low network transmission delay is especially important for developing the automatic driving technology. Aiming at the problems, the invention provides a scheme for monitoring and taking over the unmanned vehicle based on 4-path fixed-focus cameras and 1-path pan-tilt-zoom cameras, and the problems are effectively solved.

Disclosure of Invention

A monitoring data acquisition system terminal is composed of a data processing platform, a holder camera and 4 paths of fixed-focus cameras.

The data processing platform is mainly used for reading image data around the vehicle body acquired by the camera, acquiring vehicle state information such as current position information, task targets and battery power of the vehicle through the serial bus interface, performing special coding, and uploading the coded data to the server through mobile network communication.

The cloud deck camera mainly has the advantages that the video data in the target direction can be checked in a man-made controllable mode, the cloud deck camera is connected to a network card of the data processing platform through the super-five network cables, the video data are transmitted in an rtsp streaming mode, and the cloud deck camera is good in instantaneity.

The main function of the 4-path fixed-focus cameras is that the visual angle covers most of the area around the vehicle body, and the analog camera signals are transmitted to the data processing platform through the BNC lines.

The data receiving and distributing server of the monitoring data acquisition system terminal comprises: the method comprises the steps that different terminals upload collected data to a server through a mobile network, the server stores the collected video data in different time periods according to terminal numbers, a monitoring platform obtains the data according to the terminal numbers, the server helps the monitoring platform to be connected with corresponding terminals, intercommunication of a vehicle control instruction set is carried out, remote control of vehicles is achieved, and vehicle states can be known in detail.

The monitoring platform of the data receiving and distributing server comprises: and acquiring target terminal data, splicing the received video data into a panoramic view angle through special processing, and displaying vehicle state information beside a video to supervise the vehicle in a more intuitive mode.

This design adopts the mode of uploading data to the server end, carries out the distribution and the save of data by the server, has abandoned traditional use net twine or data line to carry out the transmission of surveillance video, can carry out real time monitoring to the vehicle of traveling to can acquire vehicle control right at any time.

Through the design scheme, the invention can bring the following effects: the camera that this scheme used is the customization camera, and the definition is high, and anti highlight, backlight, dazzle light ability reinforce, and can use different cameras to change according to the demand, can guarantee that the data of gathering possess sufficient quality. The vehicle body is covered by a plurality of cameras, so that the wide coverage of image data can be ensured. The cloud deck camera is connected with the image processing unit through a super-five type network cable, and the fixed-focus camera is connected with the image processing unit through a BNC cable, so that the reliability is high. The data volume is greatly reduced through a special video coding mode, and the real-time performance of transmission through a mobile network is high. Wherein 4 way fixed focus cameras are as no dead angle control under the conventional environment, and when 4 way fixed focus cameras detected that the surrounding environment is unusual, carry out accurate control to appointed target through control platform operation cloud platform camera by backstage monitoring personnel. When necessary, monitoring personnel and the monitoring platform take over the running of the vehicle to control the automatic driving vehicle to be separated from the high-risk environment.

Drawings

The invention is further illustrated by the following figures and examples. The drawings in the following description are directed to merely some embodiments of the invention.

Fig. 1 is a schematic connection diagram of the present invention, in which 1 is a monitoring target vehicle; 2 is an image processing unit; a tripod head camera 3; 4, 5, 6 and 7 are four paths of fixed-focus cameras; 8 is a server; and 9, a monitoring platform.

Fig. 2 is a flowchart.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in the figure, the invention provides a vehicle remote monitoring and control system which comprises a data processing platform (1), a pan-tilt camera (2), a 4-way fixed-focus camera (3), a data receiving and distributing server (4) and a monitoring platform (5).

The cloud platform camera, the main effect is that the video data of gathering the target angle need place at the vehicle outside to fix through the support, the support is then fixed at the vehicle top through the bolt.

The 4-path fixed-focus camera is mainly used for collecting image data around the vehicle body, needs to be placed on 4 surfaces of the vehicle body in the horizontal direction, covers the periphery of the vehicle body at a larger angle, and can be embedded into a vehicle body frame in an embedded mode.

The data processing platform is mainly used for reading road image data collected by the camera and uploading the road image data to the server side through mobile network communication. The data processing platform is fixed in the vehicle, the platform is connected with the camera through the network cable and the BNC cable, and vehicle state and control information are exchanged with the vehicle through the serial bus.

The data receiving and distributing server unit of the vehicle remote monitoring and control system has the main functions that data collected by different terminals are uploaded to the server side through a mobile network, the server side stores the collected video data in different time periods according to terminal numbers and time, if a monitoring platform requests, the server side checks the number of the terminal equipment, corresponding data distribution is carried out, and the monitoring platform is helped to be connected with the terminals. The server can be erected at any place and connected with a public network. Each terminal and server form a star topology.

The monitoring platform has the main functions of interacting, displaying and splicing corresponding data with the server by selecting different terminal equipment numbers. The 4-path fixed-focus cameras are used for dead-angle-free monitoring in a conventional environment, and when the 4-path fixed-focus cameras detect abnormal surrounding environment, background monitoring personnel operate the cloud deck cameras through the monitoring platform to accurately monitor the designated target. When necessary, monitoring personnel and the monitoring platform take over the running of the vehicle to control the automatic driving vehicle to be separated from the high-risk environment, wherein the control mode is sent in a special control instruction set mode. The monitoring platform can be installed on most mainstream systems and connected with a public network. Each monitoring platform and the server form a star topology.

Instructions for use: the corresponding vehicle number is selected to the lower pull-down column in the right lower side of the monitoring platform, the left side of the display can display the all-around video of the vehicle, the video of the camera of the holder can be displayed above the display, and the button of the direction key is arranged in the upper right side of the display and used for controlling the movement of the visual angle of the holder. On the right side, current status information of the vehicle, such as destination, battery level, driving status, etc., is displayed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included therein.

Claims

1. The utility model provides a scheme is taken over in unmanned vehicle control based on 4 way fixed focus cameras and 1 way cloud platform zoom camera, its characterized in that includes: the system comprises a vehicle monitoring data acquisition system terminal, an image processing platform, a receiving and distributing server and a monitoring platform. The 4 paths of fixed-focus cameras are connected with the image processing unit after being connected into the video acquisition card through coaxial cables, and the tripod head zooming camera is directly connected with the image processing unit.

2. The 4-way fixed-focus camera according to claim 1, wherein: the wide-angle fixed-focus cameras are adopted, the horizontal angle of each camera exceeds 120 degrees, the cameras are distributed around the vehicle, have certain night vision capability, and are connected with the image processing unit through the video acquisition card.

3. The 1-way pan-tilt-zoom camera according to claim 1, wherein: the camera comprises a holder function, can freely rotate in the horizontal direction and the vertical direction, can zoom in multiple times, and has certain night vision capability.

4. The data processing platform of claim 1, wherein: the small embedded computing platform supports audio and video coding and decoding and is provided with a plurality of universal serial bus interfaces, hundred-megabyte network card interfaces, an SD card slot, an SIM card slot and a mobile communication module.

5. The unmanned vehicle monitoring and takeover scheme of claim 1, wherein: the 4 ways of fixed focus cameras are distributed around the vehicle, and the 1 way of pan-tilt cameras are placed at the top of the front end of the vehicle and are connected with the vehicle body through the fixed support.

6. The data reception and distribution server according to claim 1, wherein: the data uploaded by the data acquisition terminals can be checked, the data are stored in the server according to the time period and the terminal ID, if the data connection application of the monitoring platform exists, the data are distributed through the corresponding terminal ID, and the connection between the monitoring platform and the terminal is established.

7. The monitoring and takeover platform of claim 1 wherein: and communicating the data receiving and distributing server to obtain the corresponding terminal ID monitoring data. And checking the real-time video of the corresponding terminal, and carrying out remote vehicle control by transmitting a special instruction set through data interaction.