CN112363490A - Road condition identification obstacle avoidance vehicle with remote information transmission and positioning functions - Google Patents
Road condition identification obstacle avoidance vehicle with remote information transmission and positioning functions Download PDFInfo
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Abstract
The invention relates to a road condition identification obstacle avoidance vehicle with remote information transmission and positioning functions, and belongs to the technical field of remote information transmission, positioning and control. The user is in contact with the master control center module, and the family members participate in the control of the obstacle avoidance vehicle and contact the user through the remote control unit; the user can also set the information autonomously. The main control center module executes a planned route after receiving the instruction of the remote control unit or the control panel, and the vehicle driving module drives the obstacle avoidance vehicle to advance at a proper speed and controls the road condition identification module to track and shoot the surrounding environment. The main control center module continuously uploads the real-time information of the user to the remote control unit in the driving process, so that family members or police can master the information of the user in real time, and meanwhile, the main control center module comprehensively judges to provide accurate obstacle avoidance service for the user. The emergency module judges whether to start an emergency mode according to the feedback of the user and the self state of the obstacle avoidance vehicle. The obstacle avoidance vehicle has stronger dependence; the user position and the surrounding environment can be obtained in real time.
Description
Technical Field
The invention relates to a road condition identification obstacle avoidance vehicle with remote information transmission and positioning functions, and belongs to the technical field of remote information transmission, positioning and control.
Background
Along with the improvement of science and technology and the improvement of the living standard of people, the development of intelligent equipment gradually changes the living habits of people, and people hope that own equipment can become more intelligent, so that people can more intelligently face some difficulties in life in the era with fast pace.
An intelligent device (intelligent device) refers to any device, instrument, or machine having computing processing capabilities. The smart device with complete functions must have sensitive and accurate sensing function, correct thinking and judging function and effective execution function. The intelligent equipment is a product combining traditional electrical equipment with computer technology, data processing technology, control theory, sensor technology, network communication technology, power electronic technology and the like.
Nowadays, china has become the world with the largest number of aged people worldwide, and the degree of aging is still increasing dramatically. Accordingly, the number of visually impaired people and people with difficulty in traveling is also increasing sharply. Training a blind guide dog may take approximately 1 and a half years, may take approximately 10 ten thousand yuan, is extremely costly, and is limited by the default degree of the dog and the user. The guide dog is usually controlled in public environments such as supermarkets and the like, and the action of the guide dog in a new environment is limited.
Obviously, the intelligent device capable of replacing the guide dog can change the life style of the blind or the disabled with impaired vision. I aim to provide a road condition identification obstacle avoidance vehicle. The obstacle avoidance vehicle can be adjusted in an environment which changes at any time and is not easily limited by a public environment. The price is cheap, convenient to use and difficult to be disturbed by the environment, and can contact family members and alarm in time when an emergency happens. The invention can greatly improve the trip quality of the blind, the person with low eyesight and the old.
Disclosure of Invention
The invention aims to enable more people with low eyesight or disabled to use lower-cost and more convenient equipment to improve the quality of life of the people, even recover the level of going on a journey basically equal to that of normal people, improve the road condition identification and remote monitoring capabilities, further enhance the practicability of the obstacle avoidance vehicle, enhance the information communication between a user and a family member, and provide the road condition identification obstacle avoidance vehicle with the remote information transmission and positioning functions.
The core idea of the invention is as follows: the user establishes contact with the main control center module through the control panel, and the family members can participate in the control of the obstacle avoidance vehicle through the remote control unit and contact with the user; the user can also set the above information autonomously through the control panel. The main control center module receives an instruction of the remote control unit or the control panel, then executes route planning through the navigation module, controls the vehicle driving module to drive the obstacle avoidance vehicle to advance at a proper speed, and controls the road condition identification module to track and shoot the surrounding environment. The main control center module continuously uploads the real-time information of the user to the remote control unit through the information transmission module in the driving process, so that family members or police can master the information of the user in real time, and meanwhile, the main control center module provides accurate obstacle avoidance service for the user through comprehensive judgment of the road condition identification module and the like. Meanwhile, the emergency module can judge whether the emergency mode needs to be started according to the feedback of the user and the state of the obstacle avoidance vehicle.
The obstacle car is kept away in road conditions discernment includes: the system comprises a main control center module, a navigation module, a road condition identification module, a vehicle driving module, an information broadcasting module, an information transmission module, a power supply module, an emergency module, a remote control unit and a control panel;
the remote control unit is an intelligent terminal loaded with an APP; the intelligent terminal is one of a smart phone, a computer, an IPAD and other mobile equipment; the control panel comprises a keyboard input unit, a voice input unit and an emergency button; the power supply module comprises a storage battery, a solar charging unit and a standby power supply; the navigation module comprises a map storage unit and a GPS unit; the information transmission module comprises a 5G transmission unit, a 4G transmission unit and a wireless signal transceiving submodule; the road condition identification module comprises a video shooting submodule, an image storage unit and an information processing submodule; the number of the video shooting sub-modules is n, the video shooting sub-modules are marked as a video shooting sub-module 1 to a video shooting sub-module n, and each video shooting sub-module independently shoots a video or an image; the vehicle running module comprises a processor unit, a driving submodule, an illuminating submodule, a steering submodule and a braking submodule; the number of the drive submodules is k, and the drive submodules are marked as drive submodules 1 to k; the number of the braking submodules is m, and the number of the braking submodules is marked as from the braking submodule 1 to the braking submodule m; the number of the lighting sub-modules is p, and the lighting sub-modules are marked as lighting sub-modules 1 to p; the information broadcasting module comprises a buzzer, a warning lamp and a voice broadcasting unit; the emergency module comprises an emergency processing unit and an emergency protection unit;
the connection relation between each module and each unit in the road condition identification obstacle avoidance vehicle is as follows:
the power supply module is connected with the main control center module, the navigation module, the road condition identification module, the vehicle running module, the information broadcasting module, the information transmission module, the emergency module, the remote control unit and the control panel; the main control center module is connected with the navigation module, the road condition identification module, the vehicle driving module, the information broadcasting module, the information transmission module, the power supply module, the emergency module, the remote control unit and the control panel; a video shooting submodule in the road condition identification module is connected with an image storage unit, and the image storage unit is connected with an information processing submodule; the information processing submodule is connected with the main control center module; in the information transmission module, a 5G transmission unit and a 4G transmission unit are connected with a wireless signal transceiving submodule; the emergency processing unit in the emergency module is connected with the emergency protection unit and is also connected to an emergency button on the control panel; a buzzer, a warning lamp and a voice broadcasting unit in the information broadcasting unit are respectively and independently connected with the main control center module;
the GPS unit in the navigation module is connected with the map storage unit, the driving submodule, the lighting submodule, the steering submodule and the braking submodule in the vehicle driving module are independent respectively and connected with the processor unit, and the processor unit is connected with the main control center module; an emergency button in the control panel is respectively connected with the emergency module and the main control center module; the solar charging unit in the power module is connected with the storage battery;
the functions of each module in the road condition identification obstacle avoidance vehicle are as follows:
the remote control unit communicates with a wireless signal transceiving submodule in the information transmission module to obtain the location and surrounding conditions of a user in real time; the family members issue instructions to the main control center module through the remote control unit, and then the main control center module regulates and controls other modules according to the instructions; the remote control unit sends out warnings to family members and police after receiving the emergency information warning, and shares position information and real-time image information with the police;
the vehicle driving module receives the instruction of the main control center module, and the processor unit performs the following operations according to the instruction:
1) after the processor unit receives the advancing instruction, the driving sub-module is enabled to work to drive the obstacle avoidance vehicle to advance;
2) after the processor unit receives the light supplement instruction, the lighting submodule is started to carry out lighting light supplement on the environment;
3) after the processor unit receives the steering instruction, the steering submodule is started to change the advancing direction of the obstacle avoidance vehicle;
4) after the processor unit receives a brake or emergency instruction, the brake submodule is started to decelerate the obstacle avoidance vehicle;
the GPS unit in the GPS module compares the received GPS signal with the map in the map storage unit to determine the specific position of the user and transmits the specific position to the main control center module, and the main control center module transmits the received specific position of the user to the wireless signal transceiver module and finally uploads the specific position to the remote control unit;
the video shooting submodule is used for shooting the environment around the obstacle avoidance vehicle in real time; and the image processing submodule transmits the shot image to the main control center module after splicing, blurring removal and denoising treatment. The main control center module subtracts frames from the image information, compresses the image information and stores the compressed image information in the image storage unit, and when the remote control unit needs to check a real-time image or in an emergency mode, the main control center module calls the image information in the image storage unit and uploads the image information to the remote control unit through the information transmission module;
the wireless signal receiving and transmitting sub-module receives the information of the main control center module and uploads the received information to the remote control unit; the 4G transmission unit is used for information transmission under the conditions of small information transmission quantity and low speed requirement; the 5G transmission unit is used for quickly uploading information transmitted by the main control center module to the remote control unit in an emergency mode, wherein the information transmission amount is large, the speed requirement is high, or the information is transmitted by the main control center module in the emergency mode;
the emergency module processes the received emergency information of the master control center module; the emergency processing unit processes the information to judge the type of the emergency; the emergency protection unit can make a decision according to the type of the emergency and send a further action instruction to the main control center module;
the information broadcasting module receives the instruction of the main control center module and carries out the following operations:
1) after the information broadcasting module receives the voice broadcasting instruction, the voice broadcasting unit broadcasts corresponding information according to the instruction;
2) after the information broadcasting module receives a buzzer warning instruction, the buzzer rings;
3) after the information broadcasting module receives a warning lamp flickering instruction, the warning lamp flickers or is normally on according to the instruction;
the working modes of the obstacle avoidance vehicle comprise a preset destination mode, a user-defined route mode and an emergency mode;
the preset destination mode and the user-defined route mode are daily working modes;
presetting a destination mode, comprising the following steps:
the method comprises the following steps: the method comprises the steps that the obstacle avoidance vehicle is subjected to self-inspection before use, if abnormal conditions occur, the main control center module transmits the abnormal conditions of the self-inspection of the obstacle avoidance vehicle to a remote control unit through an information transmission module, and a voice broadcasting sub-module in the information broadcasting module is started to remind a user of the fault occurrence of the obstacle avoidance vehicle; if no abnormal condition exists, the user inputs preset information through the control panel or the family members through the remote control unit, the information transmission module is started, and the main control center module inquires whether emergency information is received or not at intervals of T3. If the emergency information is received, starting an emergency mode; otherwise, the following steps are carried out:
wherein the period T3 ranges from 1 second to 60 minutes; the preset information includes, but is not limited to, a general route, a route, an exit time and a return time, and is input by a voice or a keyboard of a remote control unit or a control panel;
step two: the navigation module receives preset information, plans a route based on a prestored map, uploads the planned route and the preset information to the remote control unit through the information transmission module, and informs the family user of travel information through the remote control unit;
step three: the vehicle driving module drives the sub-module to work according to the planned route output in the step two, drives the obstacle avoidance vehicle to move forward, and meanwhile, the GPS unit, the information transmission module, the road condition identification module and the main control center module work;
step four: the GPS unit carries out real-time positioning, and the information transmission module transmits positioning information acquired in real time to the remote control unit;
step five: the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information by the information processing submodule to obtain road condition information and transmit the road condition information to the main control center module; the main control center module receives the image information transmitted by the road condition identification module, compresses and subtracts frames, stores the frames into an image storage unit, and performs corresponding operation according to the road condition information;
the processing of the information processing submodule includes but is not limited to splicing, deblurring and denoising; the road condition information comprises normal road conditions, low-light-intensity road conditions and emergency road conditions, wherein the emergency road conditions comprise but are not limited to pit holes in the road surface, icy road surfaces, wet and slippery road surfaces and front obstacles;
carrying out corresponding operation according to the road condition information, which specifically comprises the following steps:
the master control center module detects normal road conditions and returns to the step four;
the master control center module detects a low-light-intensity road condition, sends a light supplementing instruction to the lighting sub-module to turn on light, and returns to the fourth step;
fifthly, the master control center module detects an emergency road condition, transmits an obstacle avoidance instruction to the vehicle driving module to avoid obstacles, and simultaneously transmits the emergency road condition information to the emergency module to skip to the sixth step;
step six: the emergency protection unit in the emergency module issues an instruction to the main control center module, so that the warning lamp of the information broadcasting module flickers, the voice broadcasting unit reminds a user of the change of the driving direction and the speed, the user is helped to control the obstacle avoidance vehicle, and the step four is returned after the obstacle is avoided.
The user-defined route mode is as follows:
step 1: the method comprises the steps that the obstacle avoidance vehicle is subjected to self-inspection before use, if abnormal conditions occur, the main control center module transmits the abnormal conditions of the self-inspection of the obstacle avoidance vehicle to a remote control unit through an information transmission module, and a voice broadcasting sub-module in the information broadcasting module is started to remind a user of the fault occurrence of the obstacle avoidance vehicle; if no abnormal condition exists, a user inputs preset information through the control panel and starts the information transmission module, the main control center module inquires whether emergency information is received every period T4, and if the emergency information is received, the emergency mode is started; otherwise, the following steps are carried out:
wherein the period T4 ranges from 1 second to 60 minutes; the preset information includes but is not limited to a common route, a voice input by a control panel or a keyboard input;
step 2: the navigation module receives preset information, plans a route based on a prestored map, uploads the planned route and the preset information to the remote control unit through the information transmission module, and informs the family user of travel information through the remote control unit;
and step 3: the vehicle driving module drives the sub-module to work according to the planned route output in the step 2, drives the obstacle avoidance vehicle to move forward, and meanwhile, the GPS unit, the information transmission module, the road condition identification module and the main control center module work;
and 4, step 4: the GPS unit carries out real-time positioning, and the information transmission module transmits positioning information acquired in real time to the remote control unit;
and 5: the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information by the information processing submodule to obtain road condition information and transmit the road condition information to the main control center module; the main control center module receives the image information transmitted by the road condition identification module, compresses and subtracts frames, stores the frames into an image storage unit, and performs corresponding operation according to the road condition information;
the processing of the information processing submodule includes but is not limited to splicing, deblurring and denoising; the road condition information comprises normal road conditions, low-light-intensity road conditions and emergency road conditions, wherein the emergency road conditions comprise but are not limited to pit holes in the road surface, icy road surfaces, wet and slippery road surfaces and front obstacles;
carrying out corresponding operation according to the road condition information, which specifically comprises the following steps:
5, the main control center module A detects normal road conditions and returns to the step 4;
5, the main control center module B detects a low-light-intensity road condition, sends a light supplementing instruction to the lighting sub-module to turn on light, and returns to the step 4;
5, the C main control center module detects an emergency road condition, transmits an obstacle avoidance instruction to the vehicle driving module to avoid obstacles, simultaneously transmits the emergency road condition information to the emergency module, and jumps to the step 6;
step 6: the emergency protection unit in the emergency module issues an instruction to the main control center module, so that the warning lamp of the information broadcasting module flickers, the voice broadcasting unit reminds users of the change of the traveling direction and the speed, the users are helped to control the obstacle avoidance vehicle, and the step 4 is returned after the obstacles are avoided.
The emergency mode is an operation of the emergency processing unit in the emergency module for judging that the user has an emergency, and specifically includes the following two conditions:
an emergency A, when a user has abnormal conditions, reporting the abnormal conditions to an emergency module through a control panel, sending instructions to upload received image information and position information to a remote control unit through a main control center module by an emergency protection unit through an information transmission module, triggering warning, and starting an information broadcasting module to work;
among them, abnormal conditions include, but are not limited to, falls, traffic accidents, and acute sudden disorders;
and emergency B: insufficient electric quantity of the blind guiding vehicle or faults of the storage battery module: the power module sends the fault information to the emergency module, the emergency protection unit sends information to the power module to activate the standby power supply, and meanwhile, the power failure information is sent to the main control center module: the main control center module plans a return route through the navigation module and controls the vehicle driving module to drive the obstacle avoidance vehicle to a preset destination.
Advantageous effects
Compared with the existing blind guiding vehicles and similar obstacle avoidance equipment in the market, the road condition identification obstacle avoidance vehicle with the remote information transmission function has the following beneficial effects:
1. the working mode of the obstacle avoidance vehicle can completely imitate the working mode of a guide dog, and compared with the existing obstacle avoidance vehicle with a push type working mode and similar products, the obstacle avoidance vehicle has stronger dependence;
2. the remote control unit of the obstacle avoidance vehicle can enable family members to obtain the position and the surrounding environment of a user in real time, and meanwhile, messages can be obtained at the first time of an emergency accident, and compared with the existing blind guiding vehicle and obstacle avoidance equipment in the market, the design of the module can enable the user to really achieve the purpose of independent action;
3. the road condition identification system of the obstacle avoidance vehicle can clearly and comprehensively shoot the surrounding environment of a user, has the advantage of low misjudgment probability, can enable the user to avoid danger in time, can be matched with the information transmission module to realize remote transmission of image information, and can provide a more accurate walking route for the user compared with the existing blind guide vehicle and obstacle avoidance equipment on the market;
4. according to the invention, by combining market demands, the remote control unit and the information transmission module are matched for use, so that real-time monitoring of a user by family members can be realized, and switching of 5G and 4G signals in different working modes can save flow and electric quantity and ensure real-time property of information content not to be delayed; meanwhile, the emergency module can upload emergency information in time according to the judgment of the emergency situation and can help a user to seek help to a certain extent, so that the user can be free from the dependence on family members and meet the requirement on the obstacle avoidance vehicle in the market.
Drawings
Fig. 1 is a schematic diagram illustrating the components and connections of a road condition recognition obstacle avoidance vehicle with remote information transmission according to the present invention;
fig. 2 is a schematic connection diagram of a road condition identification module and a main control center module of the road condition identification obstacle avoidance vehicle with remote information transmission according to the present invention;
FIG. 3 is a schematic diagram illustrating the components and connections of a vehicle driving module in a road condition recognition obstacle avoidance vehicle with remote information transmission according to the present invention;
fig. 4 is a flowchart of a daily mode (including a preset destination mode and a user-defined route mode) of the road condition recognition obstacle avoidance vehicle with remote information transmission according to the present invention;
fig. 5 is a flowchart illustrating an emergency mode of a road condition recognition obstacle avoidance vehicle with telematics according to an embodiment of the present invention.
Detailed Description
The road condition identification obstacle avoidance vehicle with remote information transmission according to the present invention will be described in detail with reference to the following embodiments and accompanying drawings.
Example 1
The embodiment describes the specific implementation of applying the road condition identification obstacle avoidance vehicle with remote information transmission to provide the blind guiding service for the blind group with the autonomous action capability and cooperating with the APP on the family mobile phone to work cooperatively.
As shown in fig. 1, the system is composed of a road condition recognition obstacle avoidance vehicle which can be used for guiding blind people. As can be seen from the figure, the obstacle avoidance vehicle comprises a main control center module, a navigation module, a road condition identification module, a vehicle driving module, an information broadcasting module, an information transmission module, a power supply module, an emergency module, a remote control unit and a control panel;
wherein, the remote control unit is the APP that the terminal corresponds. The control panel comprises a keyboard input unit, a voice input unit and an emergency button; the power supply module comprises a storage battery, a solar charging unit and a standby power supply; the main control center module is connected with all other modules; the navigation module comprises a map storage unit and a GPS unit; the road condition identification module comprises a video shooting submodule, an image storage unit and an information processing submodule; the vehicle driving module comprises a driving submodule, an illuminating submodule, a steering submodule and a braking submodule; the information broadcasting module comprises a buzzer, a warning lamp and a voice broadcasting unit; the information transmission module comprises a 4G transmission unit, a 5G transmission unit and a wireless signal transceiving submodule; the emergency module comprises an emergency protection unit and an emergency processing unit.
During specific implementation, an instruction is sent to the obstacle avoidance vehicle through the APP on the remote terminal, the destination and the planned route are determined, and a user can input the destination through voice of the control panel, so that the route is obtained. APP on the remote terminal has the advantage of friendly man-machine interaction, the family members can acquire position information and surrounding environment image information of a user in real time through the APP and the wireless signal receiving and transmitting devices on the obstacle avoidance vehicle, and meanwhile, the family members send instructions to the obstacle avoidance vehicle through the APP to plan a route and a path place for the user.
The road condition identification module comprises a video shooting submodule, an image storage unit and an information processing submodule. The vehicle driving module comprises a driving submodule, an illuminating submodule, a transformation submodule and a braking submodule. The connection relation between each module and each unit in the obstacle avoidance vehicle is as follows:
the power supply module is connected with the main control center module, the navigation module, the road condition identification module, the vehicle running module, the information broadcasting module, the information transmission module, the emergency module, the remote control unit and the control panel; the main control center module is connected with the navigation module, the road condition identification module, the vehicle driving module, the information broadcasting module, the information transmission module, the power supply module, the emergency module, the remote control unit and the control panel; a video shooting submodule in the road condition identification module is connected with an image storage unit, and the image storage unit is connected with an information processing submodule; the information processing submodule is connected with the main control center module; in the information transmission module, a 5G transmission unit and a 4G transmission unit are connected with a wireless signal transceiving submodule; the emergency processing unit in the emergency module is connected with the emergency protection unit; a buzzer, a warning lamp and a voice broadcasting unit in the information broadcasting unit are respectively and independently connected with the main control center module; a GPS unit in the navigation module is connected with a map storage unit, and a driving submodule, an illuminating submodule, a steering submodule and a braking submodule in the vehicle driving module are respectively and independently connected with the master control center module; an emergency button in the control panel is respectively connected with the emergency module and the main control center module; and the solar charging unit in the power module is connected with the storage battery.
Fig. 2 is a schematic diagram of the connection between the traffic identification module and the main control center module. In fig. 2, the images collected by n wide-angle cameras in the video shooting submodule are transmitted to the main control center module for processing through the image recognition submodule, the image processing submodule and the image uploading submodule in the information processing submodule, and then are stored in the image storage unit. During specific implementation, the images acquired by the n wide-angle cameras in the video shooting submodule can be directly stored in the image storage unit according to road condition, user and family setting, or stored in the image storage unit through the image recognition submodule, the image processing submodule and the image uploading submodule in the information processing submodule. Preferably, n is 3.
The wide-angle camera 1 … and the wide-angle camera n respectively correspond to the video shooting submodule 1 … in the invention content, and the number of n is more than or equal to 3;
fig. 3 is a schematic diagram of the components and connections of a vehicle driving module in a road condition identification obstacle avoidance vehicle with remote information transmission according to the present invention. As can be seen from the figure, the vehicle driving module comprises a processor unit, a driving sub-module, an illumination sub-module, a steering sub-module and a braking sub-module; the processor unit is respectively connected with the driving submodule, the lighting submodule, the steering submodule and the braking submodule.
When the processor unit is implemented, the processor adopts an STM32 singlechip; when the drive sub-module is implemented, the drive sub-module comprises an L293D motor drive unit and k wheels; the brake submodule comprises brake pads 1 to m; and m is less than or equal to k; preferably, k is 4 and m is 2.
Wherein, the wheel 1 … wheel n respectively corresponds to the drive submodule 1 … drive submodule n in the invention content; the brake block 1 … and the brake block m respectively correspond to the brake submodule 1 … in the invention content; the vehicle lamp 1 … vehicle lamp p corresponds to the lighting sub-module 1 … lighting sub-module p in the summary of the invention. The number of p is 4 or more.
Fig. 4 is a flow chart of the operation of the obstacle avoidance vehicle in the user-defined destination mode and the preset destination mode;
as can be seen from fig. 4, in the specific implementation, the obstacle avoidance vehicle performs vehicle self-inspection before use, and after the self-inspection, according to a self-inspection result, if the self-inspection result is a fault, the main control center module transmits the abnormal self-inspection condition of the obstacle avoidance vehicle to the remote control unit through the information transmission module, and starts the voice broadcast sub-module in the information broadcast module to remind a user that the obstacle avoidance vehicle has the fault; if no abnormal condition exists, inputting preset information, and starting an information transmission module; the preset information comprises a common route, a route, the time of going out and the time of returning, and is input by a voice input or a keyboard of a remote control unit or a control panel. Meanwhile, the main control center module inquires whether the emergency information is received every 'period T1'. If the emergency information is received, starting an emergency mode; if the emergency information party does not work normally, the emergency information party works normally. The "period T1" is implemented in a range from 1 second to 10 minutes according to the current road condition or the user setting.
After the navigation module receives the preset information, the navigation module plans a route based on a prestored map, and uploads the planned route and the preset information to the remote control unit through the information transmission module. The advancing mode of the obstacle avoidance vehicle simulates the mode that the blind guide dog drives the blind to advance, and the working characteristics of the blind guide dog can be reserved to the maximum extent. Meanwhile, the GPS unit, the road condition identification module and the main control center module work. And the vehicle driving module drives the sub-module to work according to the planned route, and drives the obstacle avoidance vehicle to move forward. The GPS unit carries out real-time positioning, and meanwhile, the information transmission module transmits positioning information to the remote control unit in a period T2; the "period T2" is implemented in a range from 1 second to 10 minutes according to the current road condition or the user setting.
If the main control center module detects normal road conditions, repeating the following processes:
the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information through the information processing submodule to obtain the road condition information and transmit the road condition information to the main control center module, the main control center module compresses image information transmitted by the road condition identification module and stores the image information into the image storage unit at a frame reduction rate, and when a family member wants to obtain road condition images around the user through the remote control unit, the main control center sends real-time image information stored in the image storage unit to the remote control unit through the information transmission module. In the implementation process, when the remote control unit does not request the image information from the main control center module, the information transmission module uses the 4G transmission unit for transmission. If the main control center receives the image demanding instruction and has 5G transmission conditions, the information transmission module preferentially uses the 5G transmission unit for information transmission, otherwise, the information transmission module still uses the 4G transmission unit for transmission. And simultaneously, corresponding operation is carried out according to the road condition information. The family members of the users hope to give the users the freedom of action to the maximum extent, the real-time monitoring of the family members on the users can be realized by the cooperative use of the remote control unit and the information transmission module, and the GPS signals and the 4G and 5G transmission units used in the process just can meet the requirement. And for a remote area or a weak signal area not covered by 5G signals, the existence of the 4G transmission unit can also ensure the basic information transmission of a user and the uploading warning of emergency. In the invention, the identification of the image information simulates the judgment of the guide dog on the road surface, traffic lights and stream of people, can identify more complex road conditions, and can carry out accurate judgment and analysis, thus being more extensive and accurate than the identification of the guide dog on the road conditions.
When emergent road conditions occur, the obstacle avoidance vehicle correspondingly acts according to the type of the emergent conditions:
1. the main control center module detects low light intensity information and issues a light supplementing instruction to the lighting submodule to start light;
2. the main control center module detects an emergency road condition, transmits an obstacle avoidance command to the vehicle driving module to avoid obstacles, and simultaneously transmits the information of the emergency road condition to the emergency module;
as can be seen from fig. 5, the emergency mode in this embodiment operates as follows: the emergency protection unit receives the emergency instruction of the main control center module and quickly analyzes the type of the emergency after receiving the emergency reported by the user through the emergency button. There are two common emergency situations:
an emergency A, when a user has abnormal conditions, reporting the abnormal conditions to an emergency module through a control panel, sending instructions to upload received image information and position information to a remote control unit through a main control center module by an emergency protection unit through an information transmission module, triggering warning, and starting an information broadcasting module to work;
among them, abnormal conditions include, but are not limited to, falls, traffic accidents, and acute sudden disorders;
and emergency B: insufficient electric quantity of the blind guiding vehicle or faults of the storage battery module: the power module sends the fault information to the emergency module, the emergency protection unit sends information to the power module to activate the standby power supply, and meanwhile, the power failure information is sent to the main control center module: the main control center module plans a return route through the navigation module and controls the vehicle driving module to drive the obstacle avoidance vehicle to a preset destination. In case of emergency, the main control center will send the real-time image information stored in the image storage unit through the information transmission module and continuously update the image information at the remote control unit end with the period T4. And the update frequency of the real-time location will also be continuously updated at the period T4. If the 5G transmission condition is met, the 5G signal transmission is preferentially used, otherwise, the 4G signal is still used.
Here T4 should range between 200ms and 1 s;
the emergency information is quickly uploaded to the family members of the user in real time, the control of the user can be enhanced, meanwhile, the remote control unit can give instructions to the blind guiding vehicle, and the reliability and the convenience of man-machine interaction are enhanced. The selection of the 5G and 4G signals can ensure the high-speed uploading of information, and can adapt to the information transmission of various environments, thereby ensuring that a user can accurately and quickly transmit own information and contact with family members under any signal condition.
Example 2
The embodiment describes the specific implementation of the automatic driving manned blind guiding vehicle which is provided with the road condition identification obstacle avoidance vehicle with remote information transmission and provides blind guiding service for the low-vision group without the autonomous driving ability.
Fig. 1 shows a system for automatically driving a manned blind-guiding vehicle. As can be seen from the figure, the obstacle avoidance vehicle comprises a main control center module, a navigation module, a road condition identification module, a vehicle driving module, an information broadcasting module, an information transmission module, a power supply module, an emergency module, a remote control unit and a control panel;
wherein, the remote control unit is the APP that the terminal corresponds. The control panel comprises a keyboard input unit, a voice input unit and an emergency button; the power supply module comprises a storage battery, a solar charging unit and a standby power supply; the main control center module is connected with all other modules; the navigation module comprises a map storage unit and a GPS unit; the road condition identification module comprises a video shooting submodule, an image storage unit and an information processing submodule; the vehicle driving module comprises a driving submodule, an illuminating submodule, a steering submodule and a braking submodule; the information broadcasting module comprises a buzzer, a warning lamp and a voice broadcasting unit; the information transmission module comprises a 4G transmission unit, a 5G transmission unit and a wireless signal transceiving submodule; the emergency module comprises an emergency protection unit and an emergency processing unit. The added precise positioning obstacle avoidance sub-module comprises a position estimator unit, a radar unit and a top laser radar unit;
during specific implementation, an instruction is sent to the obstacle avoidance vehicle through the APP on the remote terminal, the destination and the planned route are determined, and a user can input the destination through voice of the control panel, so that the route is obtained. APP on the remote terminal has the advantage of being friendly to human-computer interaction, the family members can acquire position information and surrounding environment image information of a user in real time through the APP and the wireless signal receiving and transmitting devices on the obstacle avoidance vehicle, and meanwhile, the family members can send instructions to the obstacle avoidance vehicle through the APP to plan a route and a path place for the user.
The road condition identification module comprises a video shooting submodule, an image storage unit, an information processing submodule and an accurate positioning obstacle avoidance submodule. The vehicle driving module comprises a driving submodule, an illuminating submodule, a transformation submodule and a braking submodule. The connection relationship between each module and each unit in the obstacle avoidance vehicle system is as follows:
the power supply module provides energy for the blind guiding vehicle; the main control center module is respectively connected with the navigation module, the road condition identification module, the vehicle driving module, the information broadcasting module, the information transmission module, the emergency module, the remote control unit and the control panel;
specifically, in the road condition identification module, a video shooting submodule is connected with an image storage unit, and the image storage unit, an accurate positioning obstacle avoidance submodule and an information processing submodule are connected; the information processing submodule is used for carrying out information transmission with the main control center module; the information processing submodule is used for carrying out information transmission with the main control center module; in the information transmission module, a 5G transmission unit and a 4G transmission unit are connected with a wireless signal transceiving submodule; in the emergency module, an emergency processing unit is connected with an emergency protection unit, and an emergency button on a control panel is connected with the module; the buzzer, the warning lamp and the voice broadcasting unit in the information broadcasting unit are independent respectively, receive the instruction obtained by the information broadcasting module from the main control center module and work independently; in the navigation module, a GPS unit is connected with a map storage unit, a driving submodule, an illuminating submodule, a steering submodule and a braking submodule in the vehicle running module are respectively independent, and receive an instruction obtained from a main control center module and work independently; in the control panel, a voice input unit, a keyboard input unit and an emergency button are mutually independent and send instructions to the main control center module through the use of a user; and the solar charging unit in the power module is connected with the storage battery.
Fig. 2 is a schematic diagram of the connection between the traffic identification module and the main control center module. In fig. 2, the images collected by n wide-angle cameras in the video shooting submodule are transmitted to the main control center module for processing through the image recognition submodule, the image processing submodule and the image uploading submodule in the information processing submodule, and then are stored in the image storage unit. During specific implementation, the images acquired by the n wide-angle cameras in the video shooting submodule can be directly stored in the image storage unit according to road condition, user and family setting, or stored in the image storage unit through the image recognition submodule, the image processing submodule and the image uploading submodule in the information processing submodule. Preferably, n is 3.
The wide-angle camera 1 … and the wide-angle camera n respectively correspond to the video shooting submodule 1 … in the invention content, and the number of n is more than or equal to 3;
fig. 3 is a schematic diagram of the components and connections of a vehicle driving module in a road condition identification obstacle avoidance vehicle with remote information transmission according to the present invention. As can be seen from the figure, the vehicle driving module comprises a processor unit, a driving sub-module, an illumination sub-module, a steering sub-module and a braking sub-module; the processor unit is respectively connected with the driving submodule, the lighting submodule, the steering submodule and the braking submodule.
When the processor unit is implemented, the processor adopts an STM32 singlechip; when the drive sub-module is implemented, the drive sub-module comprises an L293D motor drive unit and k wheels; the brake submodule comprises brake pads 1 to m; and m is less than or equal to k; preferably, k is 4 and m is 4.
Wherein, the wheel 1 … wheel n respectively corresponds to the drive submodule 1 … drive submodule n in the invention content; the brake block 1 … and the brake block m respectively correspond to the brake submodule 1 … in the invention content; the vehicle lamp 1 … vehicle lamp p corresponds to the lighting sub-module 1 … lighting sub-module p in the summary of the invention.
In specific implementation, the newly-added accurate obstacle avoidance sub-modules are set in detail as follows:
the 4 position estimator units are marked as the position estimator unit 1 to the position estimator unit 4, are respectively positioned on four wheels of the obstacle avoidance vehicle and help the GPS unit to accurately determine the position of the vehicle; the number of the radar units is 8, the radar units are respectively marked as radar units 1 to 8, the radar units are respectively positioned in front of the obstacle avoidance vehicle by 3, at the back of the obstacle avoidance vehicle by three, and the distance between the two sides of the obstacle avoidance vehicle is 1, so that the judgment of the distance of the obstacle is facilitated; the number of the laser radar units is 1, the laser radar units are positioned on the roof of the vehicle, and the laser radar units rotationally sense the conditions of obstacle areas within a distance of 100 meters around the obstacle avoidance vehicle;
as can be seen from fig. 4, in the specific implementation, the obstacle avoidance vehicle performs vehicle self-inspection before use, and after the self-inspection, according to a self-inspection result, if the self-inspection result is a fault, the main control center module transmits the abnormal self-inspection condition of the obstacle avoidance vehicle to the remote control unit through the information transmission module, and starts the voice broadcast sub-module in the information broadcast module to remind a user that the obstacle avoidance vehicle has the fault; if no abnormal condition exists, inputting preset information, and starting an information transmission module; the preset information comprises a common route, a route, the time of going out and the time of returning, and is input by a voice input or a keyboard of a remote control unit or a control panel. Meanwhile, the main control center module inquires whether the emergency information is received every 'period T1'. If the emergency information is received, starting an emergency mode; if the emergency information party does not work normally, the emergency information party works normally. The "period T1" is implemented in a range from 1 second to 10 minutes according to the current road condition or the user setting.
After the navigation module receives the preset information, the navigation module plans a route based on a prestored map, and uploads the planned route and the preset information to the remote control unit through the information transmission module. Meanwhile, the GPS unit, the road condition identification module and the main control center module work. And the vehicle driving module drives the sub-module to work according to the planned route, and drives the obstacle avoidance vehicle to move forward. The GPS unit carries out real-time positioning, and meanwhile, the information transmission module transmits positioning information to the remote control unit in a period T2; the "period T2" is implemented in a range from 1 second to 10 minutes according to the current road condition or the user setting.
If the main control center module detects normal road conditions, repeating the following processes:
the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information through the information processing submodule to obtain the road condition information and transmit the road condition information to the main control center module, the main control center module compresses image information transmitted by the road condition identification module and stores the image information into the image storage unit at a frame reduction rate, and when a family member wants to obtain road condition images around the user through the remote control unit, the main control center sends real-time image information stored in the image storage unit to the remote control unit through the information transmission module. In the implementation process, when the remote control unit does not request the image information from the main control center module, the information transmission module uses the 4G transmission unit for transmission. If the main control center receives the image demanding instruction and has 5G transmission conditions, the information transmission module preferentially uses the 5G transmission unit for information transmission, otherwise, the information transmission module still uses the 4G transmission unit for transmission. And simultaneously, corresponding operation is carried out according to the road condition information. The obstacle avoidance vehicle capable of helping disabled people who do not have independent action capacity go out is needed in the market, real-time monitoring of the user by family members can be achieved through cooperation of the remote control unit and the information transmission module, and the GPS signal used in the process and the 4G and 5G transmission units can just meet the requirement. And for a remote area or a weak signal area not covered by 5G signals, the existence of the 4G transmission unit can also ensure the basic information transmission of a user and the uploading warning of emergency. The added positioning and obstacle avoidance sub-module in the embodiment can provide more accurate positioning and obstacle avoidance services. Meanwhile, the obstacle avoidance vehicle can really have the unmanned function by using the sub-modules, and the independent traveling capability of a user is ensured. In the invention, the identification of the image information simulates the judgment of the guide dog on the road surface, traffic lights and stream of people, can identify more complex road conditions, and can carry out accurate judgment and analysis, thus being more extensive and accurate than the identification of the guide dog on the road conditions.
When emergent road conditions occur, the obstacle avoidance vehicle correspondingly acts according to the type of the emergent conditions:
1. the main control center module detects low light intensity information and issues a light supplementing instruction to the lighting submodule to start light;
2. the main control center module detects an emergency road condition, transmits an obstacle avoidance command to the vehicle driving module to avoid obstacles, and simultaneously transmits the information of the emergency road condition to the emergency module;
fig. 5 is a flow chart of an emergency mode of the obstacle avoidance vehicle. As can be seen from fig. 5, the emergency mode works as follows: the emergency protection unit receives the emergency instruction of the main control center module and quickly analyzes the type of the emergency after receiving the emergency reported by the user through the emergency button. There are two common emergency situations:
an emergency A, when a user has abnormal conditions, reporting the abnormal conditions to an emergency module through a control panel, sending instructions to upload received image information and position information to a remote control unit through a main control center module by an emergency protection unit through an information transmission module, triggering warning, and starting an information broadcasting module to work;
among them, abnormal conditions include, but are not limited to, falls, traffic accidents, and acute sudden disorders;
and emergency B: insufficient electric quantity of the blind guiding vehicle or faults of the storage battery module: the power module sends the fault information to the emergency module, the emergency protection unit sends information to the power module to activate the standby power supply, and meanwhile, the power failure information is sent to the main control center module: the main control center module plans a return route through the navigation module and controls the vehicle driving module to drive the obstacle avoidance vehicle to a preset destination. And in the action process, the main control center module determines the number and the distance of obstacles around the obstacle avoidance vehicle at any time according to the accurate positioning obstacle avoidance sub-modules. In case of emergency, the main control center will send the real-time image information stored in the image storage unit through the information transmission module and continuously update the image information at the remote control unit end with the period T5. And the update frequency of the real-time location will also be continuously updated at the period T5. If the 5G transmission condition is met, the 5G signal transmission is preferentially used, otherwise, the 4G signal is still used.
Here T5 should range between 200ms and 1 s;
the emergency information is uploaded to the family members of the user in real time, so that the control of the user can be enhanced, and the reliability of man-machine interaction is enhanced. The accurate positioning obstacle avoidance sub-module that the obstacle avoidance vehicle possesses can greatly strengthen user's trip possibility, and the accurate positioning obstacle avoidance sub-module also can provide more reliable autopilot function with the synergism of other modules simultaneously. The interference of the remote control unit on the obstacle avoidance vehicle can strengthen the control of family members on users, and a better communication channel can be established between the family members and the users. The selection of the 5G and 4G signals can ensure the high-speed uploading of information, can adapt to the information transmission of various environments, and can save the flow.
Example 3
The embodiment describes specific actions of the obstacle avoidance vehicle after the main control center module detects that the user falls down or a traffic accident occurs:
the user reports emergency to the emergency module through the emergency button on the control panel, and the emergency protection unit issues the instruction through the main control center module, and the following modules make corresponding actions according to the instruction:
1) the warning light scintillation of information broadcast module control voice broadcast unit, the buzzer rings, broadcasts help seeking information and seeks help around:
2) the information transmission module uploads the received position information to the remote control unit at a frequency and triggers an alarm;
3) the information transmission module is cooperated with the main control center module to transmit the image information stored in the storage unit to the remote control unit;
4) the vehicle driving module drives the sub-module to stop working, and the braking sub-module is started to decelerate until stopping.
Example 4
The embodiment describes the operation of the obstacle avoidance vehicle after the main control center module detects that the electric quantity of the obstacle avoidance vehicle is insufficient.
When keeping away the barrier car and detecting that the power module electric quantity is not enough or when breaking down in the driving process, the urgent protection unit issues the instruction through the main control center module, and the main control center module broadcasts the instruction with the electric quantity is not enough for the voice broadcast unit in the information broadcast module promptly, reports the not enough information of electric quantity and tells the user and prepares to return to the user, and meanwhile, the main control center module drive keeps away the barrier car and makes following operation:
1) a GPS unit in the navigation module determines a real-time position, and a return route is planned according to a pre-stored map of a map storage unit and a home address;
2) the information transmission module uploads a return route planned by the navigation module in the step 1) and a real-time position determined by the GPS unit to the remote control unit and triggers warning;
3) the obstacle avoidance vehicle uploads the real-time position and the image information processed by the main control center to the remote control unit in the process of returning.
While the foregoing is directed to the preferred embodiment of the present invention, it is not intended that the invention be limited to the embodiment and the drawings disclosed herein. Equivalents and modifications may be made without departing from the spirit of the disclosure, which is to be considered as within the scope of the invention.
Claims (10)
1. The utility model provides a road conditions discernment that possesses remote information transmission and locate function keeps away barrier car which characterized in that: the method comprises the following steps: the system comprises a main control center module, a navigation module, a road condition identification module, a vehicle driving module, an information broadcasting module, an information transmission module, a power supply module, an emergency module, a remote control unit and a control panel;
the power supply module comprises a storage battery, a solar charging unit and a standby power supply; the navigation module comprises a map storage unit and a GPS unit; the information transmission module comprises a 5G transmission unit, a 4G transmission unit and a wireless signal transceiving submodule; the road condition identification module comprises a video shooting submodule, an image storage unit and an information processing submodule; the number of the video shooting sub-modules is n, and each video shooting sub-module independently shoots a video or an image; the vehicle running module comprises a processor unit, a driving submodule, an illuminating submodule, a steering submodule and a braking submodule; the number of the drive sub-modules is k; the number of the braking submodules is m; the number of the lighting sub-modules is p; the information broadcasting module comprises a buzzer, a warning lamp and a voice broadcasting unit; the emergency module comprises an emergency processing unit and an emergency protection unit;
the connection relation between each module and each unit in the road condition identification obstacle avoidance vehicle is as follows:
the power supply module is connected with the main control center module, the navigation module, the road condition identification module, the vehicle running module, the information broadcasting module, the information transmission module, the emergency module, the remote control unit and the control panel; the main control center module is connected with the navigation module, the road condition identification module, the vehicle driving module, the information broadcasting module, the information transmission module, the power supply module, the emergency module, the remote control unit and the control panel; a video shooting submodule in the road condition identification module is connected with an image storage unit, and the image storage unit is connected with an information processing submodule; the information processing submodule is connected with the main control center module; in the information transmission module, a 5G transmission unit and a 4G transmission unit are connected with a wireless signal transceiving submodule; the emergency processing unit in the emergency module is connected with the emergency protection unit and is also connected to an emergency button on the control panel; a buzzer, a warning lamp and a voice broadcasting unit in the information broadcasting unit are respectively and independently connected with the main control center module;
the GPS unit in the navigation module is connected with the map storage unit, the driving submodule, the lighting submodule, the steering submodule and the braking submodule in the vehicle driving module are independent respectively and connected with the processor unit, and the processor unit is connected with the main control center module; an emergency button in the control panel is respectively connected with the emergency module and the main control center module; the solar charging unit in the power module is connected with the storage battery;
the functions of each module in the road condition identification obstacle avoidance vehicle are as follows:
the remote control unit communicates with a wireless signal transceiving submodule in the information transmission module to obtain the location and surrounding conditions of a user in real time; the family members issue instructions to the main control center module through the remote control unit, and then the main control center module regulates and controls other modules according to the instructions; the remote control unit sends out warnings to family members and police after receiving the emergency information warning, and shares position information and real-time image information with the police;
the vehicle driving module receives the instruction of the main control center module, and the processor unit performs the following operations according to the instruction:
1) after the processor unit receives the advancing instruction, the driving sub-module is enabled to work to drive the obstacle avoidance vehicle to advance;
2) after the processor unit receives the light supplement instruction, the lighting submodule is started to carry out lighting light supplement on the environment;
3) after the processor unit receives the steering instruction, the steering submodule is started to change the advancing direction of the obstacle avoidance vehicle;
4) after the processor unit receives a brake or emergency instruction, the brake submodule is started to decelerate the obstacle avoidance vehicle;
the GPS unit in the GPS module compares the received GPS signal with the map in the map storage unit to determine the specific position of the user and transmits the specific position to the main control center module, and the main control center module transmits the received specific position of the user to the wireless signal transceiver module and finally uploads the specific position to the remote control unit;
the video shooting submodule is used for shooting the environment around the obstacle avoidance vehicle in real time; the image processing submodule transmits the shot image to the main control center module after splicing, blurring removal and denoising treatment; the main control center module subtracts frames from the image information, compresses the image information and stores the compressed image information in the image storage unit, and when the remote control unit needs to check a real-time image or in an emergency mode, the main control center module calls the image information in the image storage unit and uploads the image information to the remote control unit through the information transmission module;
the wireless signal receiving and transmitting sub-module receives the information of the main control center module and uploads the received information to the remote control unit; the 4G transmission unit is used for information transmission under the conditions of small information transmission quantity and low speed requirement; the 5G transmission unit is used for quickly uploading information transmitted by the main control center module to the remote control unit in an emergency mode, wherein the information transmission amount is large, the speed requirement is high, or the information is transmitted by the main control center module in the emergency mode;
the emergency module processes the received emergency information of the master control center module; the emergency processing unit processes the information to judge the type of the emergency; the emergency protection unit can make a decision according to the type of the emergency and send a further action instruction to the main control center module;
the information broadcasting module receives the instruction of the main control center module and carries out the following operations:
1) after the information broadcasting module receives the voice broadcasting instruction, the voice broadcasting unit broadcasts corresponding information according to the instruction;
2) after the information broadcasting module receives a buzzer warning instruction, the buzzer rings;
3) after the information broadcasting module receives a warning lamp flickering instruction, the warning lamp flickers or is normally on according to the instruction;
the working modes of the obstacle avoidance vehicle comprise a preset destination mode, a user-defined route mode and an emergency mode;
the preset destination mode and the user-defined route mode are daily working modes;
presetting a destination mode, comprising the following steps:
the method comprises the following steps: the method comprises the steps that the obstacle avoidance vehicle is subjected to self-inspection before use, if abnormal conditions occur, the main control center module transmits the abnormal conditions of the self-inspection of the obstacle avoidance vehicle to a remote control unit through an information transmission module, and a voice broadcasting sub-module in the information broadcasting module is started to remind a user of the fault occurrence of the obstacle avoidance vehicle; if no abnormal condition exists, a user inputs preset information through a control panel or a family member through a remote control unit, and starts an information transmission module, the main control center module inquires whether emergency information is received every period T3, and if the emergency information is received, an emergency mode is started; otherwise, the following steps are carried out:
the preset information includes but is not limited to a common route, a route, the time of going out and the time of returning, and is input by a voice input or a keyboard of a remote control unit or a control panel;
step two: the navigation module receives preset information, plans a route based on a prestored map, uploads the planned route and the preset information to the remote control unit through the information transmission module, and informs the family user of travel information through the remote control unit;
step three: the vehicle driving module drives the sub-module to work according to the planned route output in the step two, drives the obstacle avoidance vehicle to move forward, and meanwhile, the GPS unit, the information transmission module, the road condition identification module and the main control center module work;
step four: the GPS unit carries out real-time positioning, and the information transmission module transmits positioning information acquired in real time to the remote control unit;
step five: the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information by the information processing submodule to obtain road condition information and transmit the road condition information to the main control center module; the main control center module receives the image information transmitted by the road condition identification module, compresses and subtracts frames, stores the frames into an image storage unit, and performs corresponding operation according to the road condition information;
carrying out corresponding operation according to the road condition information, which specifically comprises the following steps:
the master control center module detects normal road conditions and returns to the step four;
the master control center module detects a low-light-intensity road condition, sends a light supplementing instruction to the lighting sub-module to turn on light, and returns to the fourth step;
fifthly, the master control center module detects an emergency road condition, transmits an obstacle avoidance instruction to the vehicle driving module to avoid obstacles, and simultaneously transmits the emergency road condition information to the emergency module to skip to the sixth step;
step six: the emergency protection unit in the emergency module sends an instruction to the main control center module to enable a warning lamp of the information broadcasting module to flicker, and the voice broadcasting unit reminds a user of the change of the driving direction and speed by voice, helps the user to control the obstacle avoidance vehicle, and returns to the fourth step after the obstacle is avoided;
the user-defined route mode is as follows:
step 1: the method comprises the steps that the obstacle avoidance vehicle is subjected to self-inspection before use, if abnormal conditions occur, the main control center module transmits the abnormal conditions of the self-inspection of the obstacle avoidance vehicle to a remote control unit through an information transmission module, and a voice broadcasting sub-module in the information broadcasting module is started to remind a user of the fault occurrence of the obstacle avoidance vehicle; if no abnormal condition exists, a user inputs preset information through the control panel, and starts the information transmission module, and the main control center module inquires whether emergency information is received or not at intervals of T4;
if the emergency information is received, starting an emergency mode; otherwise, the following steps are carried out:
step 2: the navigation module receives preset information, plans a route based on a prestored map, uploads the planned route and the preset information to the remote control unit through the information transmission module, and informs the family user of travel information through the remote control unit;
and step 3: the vehicle driving module drives the sub-module to work according to the planned route output in the step 2, drives the obstacle avoidance vehicle to move forward, and meanwhile, the GPS unit, the information transmission module, the road condition identification module and the main control center module work;
and 4, step 4: the GPS unit carries out real-time positioning, and the information transmission module transmits positioning information acquired in real time to the remote control unit;
and 5: the road condition identification module acquires road condition information through the video shooting submodule and processes the road condition information by the information processing submodule to obtain road condition information and transmit the road condition information to the main control center module; the main control center module receives the image information transmitted by the road condition identification module, compresses and subtracts frames, stores the frames into an image storage unit, and performs corresponding operation according to the road condition information;
the processing of the information processing submodule includes but is not limited to splicing, deblurring and denoising; the road condition information comprises normal road conditions, low-light-intensity road conditions and emergency road conditions, wherein the emergency road conditions comprise but are not limited to pit holes in the road surface, icy road surfaces, wet and slippery road surfaces and front obstacles;
carrying out corresponding operation according to the road condition information, which specifically comprises the following steps:
5, the main control center module A detects normal road conditions and returns to the step 4;
5, the main control center module B detects a low-light-intensity road condition, sends a light supplementing instruction to the lighting sub-module to turn on light, and returns to the step 4;
5, the C main control center module detects an emergency road condition, transmits an obstacle avoidance instruction to the vehicle driving module to avoid obstacles, simultaneously transmits the emergency road condition information to the emergency module, and jumps to the step 6;
step 6: the emergency protection unit in the emergency module issues an instruction to the main control center module, so that the warning lamp of the information broadcasting module flickers, the voice broadcasting unit reminds users of the change of the traveling direction and the speed, the users are helped to control the obstacle avoidance vehicle, and the step 4 is returned after the obstacles are avoided.
2. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the remote control unit is an intelligent terminal loaded with an APP; the intelligent terminal is one of a smart phone, a computer, an IPAD and other mobile devices.
3. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the control panel comprises a keyboard input unit, a voice input unit and an emergency button.
4. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the number of the video shooting sub-modules is n, the video shooting sub-modules are marked as a video shooting sub-module 1 to a video shooting sub-module n, the number of the driving sub-modules is k, and the driving sub-modules are marked as a driving sub-module 1 to a driving sub-module k; the number of the braking submodules is m, and the number of the braking submodules is marked as from the braking submodule 1 to the braking submodule m; the number of lighting sub-modules is p, denoted as lighting sub-module 1 to lighting sub-module p.
5. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the period T3 ranges from 1 second to 60 minutes.
6. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the period T4 ranges from 1 second to 60 minutes.
7. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the emergency mode is an operation of the emergency processing unit in the emergency module for judging that the user has an emergency, and specifically includes the following two conditions:
emergency A: when the user has abnormal conditions, the abnormal conditions are reported to the emergency module through the control panel, the emergency protection unit sends instructions through the main control center module to upload the received image information and position information to the remote control unit through the information transmission module and trigger warning, and meanwhile, the information broadcasting module is started to work;
and emergency B: insufficient electric quantity of the blind guiding vehicle or failure of a power supply module: the power module sends the fault information to the emergency module, the emergency protection unit sends information to the power module to activate the standby power supply, and meanwhile, the power failure information is sent to the main control center module: the main control center module plans a return route through the navigation module and controls the vehicle driving module to drive the obstacle avoidance vehicle to a preset destination.
8. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the processing of the information processing submodule comprises but is not limited to splicing, deblurring and denoising; the road condition information includes normal road conditions, low light intensity road conditions, and emergency road conditions, including but not limited to potholes, icy roads, slippery roads, and obstacles ahead.
9. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: the preset information includes, but is not limited to, a general route, a voice input from a control panel, or a keyboard input.
10. The road condition recognition obstacle avoidance vehicle with the remote information transmission and positioning functions as claimed in claim 1, wherein: abnormal conditions include, but are not limited to, falls, traffic accidents, and acute emergency conditions.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010342832 | 2020-04-27 | ||
| CN2020103428327 | 2020-04-27 |
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| CN112363490A true CN112363490A (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011371602.XA Pending CN112363490A (en) | 2020-04-27 | 2020-11-30 | Road condition identification obstacle avoidance vehicle with remote information transmission and positioning functions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715943A (en) * | 2021-08-30 | 2021-11-30 | 山东新一代信息产业技术研究院有限公司 | Intelligent auxiliary method, device, equipment and storage medium for bicycle riding |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715943A (en) * | 2021-08-30 | 2021-11-30 | 山东新一代信息产业技术研究院有限公司 | Intelligent auxiliary method, device, equipment and storage medium for bicycle riding |
| CN113715943B (en) * | 2021-08-30 | 2023-02-03 | 山东新一代信息产业技术研究院有限公司 | Intelligent auxiliary method, device, equipment and storage medium for bicycle riding |
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