CN207274661U - Unmanned vehicle context aware systems - Google Patents
Unmanned vehicle context aware systems Download PDFInfo
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- CN207274661U CN207274661U CN201721339935.8U CN201721339935U CN207274661U CN 207274661 U CN207274661 U CN 207274661U CN 201721339935 U CN201721339935 U CN 201721339935U CN 207274661 U CN207274661 U CN 207274661U
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Abstract
The utility model discloses a kind of unmanned vehicle context aware systems, including the first detecting system for detecting the whether there are obstacles around unmanned vehicle in the first distance range, for gathering the second detecting system of the azimuth information of second distance range of motion target around unmanned vehicle, for have enough to meet the need around scan mode collection unmanned vehicle the 3rd detecting system of image information in the range of set angle in the 3rd distance range, wherein, the 3rd distance is more than second distance and second distance is more than the first distance.It realizes the multi-level environment sensing of more distances, and first detecting system be used for detect whether there are obstacles in short-range, to carry out anticollision early warning, second detecting system is used for the azimuth information of the moving target in the range of distance in detecting, detection and anticollision early warning beneficial to the moving obstacle during running at high speed, 3rd detecting system is used for the image detection of remote narrow viewing angle, and the locking beneficial to remote control and specific objective monitors.
Description
Technical field
Unmanned vehicle control field is the utility model is related to, especially, is related to a kind of unmanned vehicle context aware systems.
Background technology
For unmanned vehicle in order to realize its unpiloted purpose, environment sensing ability is crucial.Context aware systems pass through more
Kind sensor carries out the work such as the collection, processing, semantic meaning representation of surrounding enviroment parameter.By gathering the parameter with analysis environments,
The expression of surrounding environment semantic level can be provided, be the important input parameter of automatic controller.
For environment sensing sensor according to principle can be divided into visual sensor, laser sensor, microwave remote sensor,
Four class of ultrasonic sensor.Visual sensor obtains vehicle-surroundings environment two dimension or three-dimensional image information by machine vision, leads to
Graphical analysis identification technology is crossed to perceive running environment.Laser sensor obtains vehicle-surroundings environment two by laser radar
Dimension or three-dimensional distance information, perceive running environment by distance analysis identification technology.Laser sensor is according to scanning
It is a variety of that laser line number can be divided into single line, 4 lines, 8 lines, 16 lines, 32 lines and 64 lines etc. again.Microwave remote sensor and ultrasonic wave and laser
Sensor is similar, and obtains range information.
The environment sensing scheme of current mainstream can be divided into two classes according to master reference：Laser radar class and machine vision
Class.Laser radar is mainly by launching laser beam, to detect the characteristic quantities such as the position of target, speed.Mobile lidar is general
All over multiple laser emitters and receiver is used, three-dimensional point cloud atlas is established, so as to achieve the purpose that real time environment perceives.From current
From the point of view of mobile lidar, mechanical more harness laser radars are mainstream schemes.The advantage of laser radar is that it detects model
Enclose wider, detection accuracy higher.But the shortcomings that laser radar, is also apparent from：The poor-performing under the extreme weathers such as sleet mist；
The data volume of collection is excessive；It is sufficiently expensive.
The context aware systems of machine vision class are more in line with understanding of the people to the world, and the cost of vision products is low,
Can largely it install；But currently without the environment sensing algorithm of a good machine vision class；And to the adaptation of environment
It is indifferent, it can be affected in sleety weather and night effect.
And it is unmanned as the technology that can substitute pilot steering from now on, its have to have it is a set of can it is round-the-clock,
The context aware systems of more distance work.This is that simple laser radar scheme and machine vision scheme can not meet.
Utility model content
The utility model provides a kind of unmanned vehicle context aware systems, is limited with solving existing unmanned vehicle environment sensing
In sensor working range and can not meet more distances, round-the-clock, 360 degree of monitoring requirements technical problem.
The technical solution adopted in the utility model is as follows：
A kind of unmanned vehicle context aware systems, including for detecting whether there is in the first distance range around unmanned vehicle
First detecting system of barrier, for gather the azimuth information of second distance range of motion target around unmanned vehicle second
Detecting system, for have enough to meet the need around scan mode collection unmanned vehicle in the 3rd distance range image information in the range of set angle
The 3rd detecting system, wherein, the 3rd distance is more than second distance and second distance and is more than the first distance.
Further, further include what is communicated to connect with the first detecting system, the second detecting system and the 3rd detecting system
Processor, processor are used to receive at least one of the first detecting system, the second detecting system and the 3rd detecting system detection letter
Cease and generate the instruction for controlling unmanned vehicle.
Further, the first detecting system includes the multiple ultrasonic radars being arranged in around unmanned vehicle vehicle body, Duo Gechao
Sound radar is through ultrasonic wave controller connection processing device.
Further, the detection of obstacles information generation for being configured to be fed back according to multiple ultrasonic radars on processor is anti-
The first processing module of anti-collision warning instruction.
Further, the second detecting system includes being used to gather the more of the three-dimensional point cloud of multiple moving targets around unmanned vehicle
Multiple millimetre-wave radars of line laser radar and/or the azimuth information for obtaining unmanned vehicle peripheral motor target.
Further, multiple millimetre-wave radars include being installed on before the long range of unmanned vehicle car body front end to millimetre-wave radar
And it is installed on the lateral short distance millimetre-wave radar of unmanned vehicle body rear end.
Further, it is configured to be believed according to the detection of multi-line laser radar and multiple millimetre-wave radars feedback on processor
Breath generates the Second processing module of instant map.
Further, the 3rd detecting system includes being arranged at steady as holder and surely as the band of holder on unmanned vehicle car body
Visible Light Camera, infrared light camera and the laser range finder of dynamic lower synchronous turnover scanning.
Further, the 3rd detecting system further includes controller, and controller connection is surely as holder, Visible Light Camera, infrared
Light camera and laser range finder, controller are connected with processor communication, for controlling surely as the turnover of holder acts and will be seen that
Processor is fed back to after the detection information fusion of light camera, infrared light camera and laser range finder.
Further, processor is equipped with the telecommunication port being used for the communication connection of remote control terminal, for inciting somebody to action
The detection information of 3rd detecting system generation is uploaded to remote monitoring terminal and receives the telecommand that remote monitoring terminal issues.
The utility model has the advantages that：
The utility model unmanned vehicle context aware systems, by setting the first detecting system, the second inspection on unmanned vehicle
Examining system and the 3rd detecting system, realize the multi-level environment sensing of more distances, and the first detecting system is used to detect short distance
The whether there are obstacles from the range of, to carry out anticollision early warning, the second detecting system is used for the fortune in the range of distance in detecting
The azimuth information of moving-target, detection and anticollision early warning beneficial to the moving obstacle during running at high speed, the 3rd detection system
Image detection of the system for remote narrow viewing angle, the locking beneficial to remote control and specific objective monitor.With reference to three kinds apart from layer
Secondary detecting system, realizes multi-functional environment sensing, is with a wide range of applications.
In addition to objects, features and advantages described above, the utility model also has other purposes, feature and excellent
Point.Below with reference to accompanying drawings, the utility model is described in further detail.
Brief description of the drawings
The attached drawing for forming the part of the application is used to provide a further understanding of the present invention, the utility model
Schematic description and description is used to explain the utility model, does not form the improper restriction to the utility model.In attached drawing
In：
Fig. 1 is the principle block diagram of the preferred embodiment in the utility model unmanned vehicle context aware systems；
Fig. 2 is the principle block diagram of the unmanned vehicle context aware systems of another embodiment of the utility model；
Fig. 3 is the principle block diagram of the unmanned vehicle context aware systems of another embodiment of the utility model.
Description of reference numerals：
10th, the first detecting system；11st, ultrasonic radar；12nd, ultrasonic wave controller；
20th, the second detecting system；21st, multi-line laser radar；22nd, millimetre-wave radar；
30th, the 3rd detecting system；31st, Visible Light Camera；32nd, infrared light camera；33rd, laser range finder；34th, controller；
40th, processor；41st, telecommunication port.
Embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The utility model will be described in detail below with reference to the accompanying drawings and embodiments.
With reference to Fig. 1, the preferred embodiment of the utility model provides a kind of unmanned vehicle context aware systems, including for examining
Survey the first detecting system 10 of the whether there are obstacles around unmanned vehicle in the first distance range, for gathering around unmanned vehicle
Second detecting system 20 of the azimuth information of second distance range of motion target, for have enough to meet the need scan mode collection unmanned vehicle
Around in the 3rd distance range in the range of set angle image information the 3rd detecting system 30, wherein, the 3rd distance is more than the
Two distance and second distance be more than the first distance.
The present embodiment unmanned vehicle context aware systems, by setting the first detecting system 10, second to examine on unmanned vehicle
20 and the 3rd detecting system 30 of examining system, realizes the multi-level environment sensing of more distances, and the first detecting system 10 is used to examine
Whether there are obstacles in short-range is surveyed, to carry out anticollision early warning.Second detecting system 20 is used in detecting apart from model
The azimuth information of moving target in enclosing, detection and anticollision early warning beneficial to the moving obstacle during running at high speed.The
Three detecting systems 30 are used for the image detection of remote narrow viewing angle, and the locking beneficial to remote control and specific objective monitors.With reference to
Three kinds of detecting systems apart from level, realize multi-functional environment sensing, are with a wide range of applications.
In the present embodiment, with reference to Fig. 2, which further includes examines with the first detecting system 10, second
The processor 40 that 20 and the 3rd detecting system 30 of examining system communicates to connect, processor 40 be used for receive the first detecting system 10,
At least one of second detecting system 20 and the 3rd detecting system 30 detection information simultaneously generate the instruction for being used for controlling unmanned vehicle.
Referring to Fig. 3, in the present embodiment, the first detecting system 10 includes the multiple ultrasonic waves being arranged in around unmanned vehicle vehicle body
Radar 11, multiple ultrasonic radars 11 are through 12 connection processing device 40 of ultrasonic wave controller.Preferably, the quantity of ultrasonic radar 11
For 12, vehicle body surrounding is distributed in, specifically, Chinese herbaceous peony 4,4 after car, each 1 on each wheel, 12 ultrasonic radars connect
On ultrasonic wave controller 12, collection is controlled by the ultrasonic wave controller 12, ultrasonic wave controller 12 is through RS-232 and processor
40 communication connections, for detection data to be issued processor 40.In the present embodiment, ultrasonic radar 11 is used to detect car surrounding 3
Barrier in rice.The detection of obstacles information generation for being configured to be fed back according to multiple ultrasonic radars 11 on processor 40 is anti-
The first processing module of anti-collision warning instruction.The first processing module plays the intelligence of closely barrier during unmanned vehicle traveling
Energy detection and the purpose of anticollision early warning.Preferably, ultrasonic wave controller 12 can be according to the feedback signal of ultrasonic radar 11
Obtain the distance and bearing data of closely barrier, and the distance and bearing data are fed back into first processing module, first
Processing module is used for unmanned vehicle according to the generation of the distance and bearing data of the barrier of reception and carries out route avoidance or slow down to control
The instruction of system.
In the present embodiment, the second detecting system 20 includes being used for the three-dimensional point cloud for gathering multiple moving targets around unmanned vehicle
Multi-line laser radar 21 and/or the azimuth information for obtaining unmanned vehicle peripheral motor target multiple millimetre-wave radars 22.
Specifically, multi-line laser radar 21 is communicated to connect through Ethernet and processor 40, it can directly acquire 100 meters of vehicle body 360 degree
Within three-dimensional point cloud, for follow-up obstacle recognition and high accuracy matching positioning.Multi-line laser radar 21 herein includes
But it is not limited to 16 lines, 32 lines, 64 line laser radars.In the present embodiment, multiple millimetre-wave radars 22 include being installed on unmanned vehicle car
To millimetre-wave radar ESR and two lateral short distance millimeter wave thunders of unmanned vehicle body rear end are installed on before the long range of body front end
Up to RSDS, by the combination of ESR and two RSDS, can obtain moving target within 100 meters of unmanned vehicle 360 degree distance,
The information such as orientation, speed.Preferably, it is configured on processor 40 according to multi-line laser radar 21 and multiple millimetre-wave radars 22
The detection information of feedback is generated at the second of instant map SLAM (Simultaneous localization and mapping)
Module is managed, consequently facilitating high-precision three-dimensional map match positions, detection of obstacles and moving obstacle during running at high speed
Detection and anticollision early warning.The present embodiment unmanned vehicle is under the intelligent control of the Second processing module, it is possible to achieve unmanned vehicle exists
The speed of more than 60KM/h carries out automatic control traveling.
In the present embodiment, the 3rd detecting system 30 includes being arranged at steady as holder and in steady picture holder on unmanned vehicle car body
Drive under synchronously have enough to meet the need the Visible Light Camera 31, infrared light camera 32 and laser range finder 33 of scanning.3rd detecting system
30 further include controller 34, and controller 34 connects steady as holder, Visible Light Camera 31, infrared light camera 32 and laser range finder
33, controller 34 is communicated to connect with processor 40, for controlling surely as the turnover of holder acts and will be seen that light camera 31, infrared
Processor 40 is fed back to after the fusion of the detection information of light camera 32 and laser range finder 33.In the present embodiment, it is seen that light camera 31
Detection Method in Optical Image Sequences for the gathering target either scene infrared light camera 32 that (works by day) is used to gather target or field
The infrared image sequence (can work double tides) of scape, laser range finder 33 are used for the distance (work double tides) for measuring target, Ke Yishi
The tasks such as existing 360 ° patrols round the clock are scouted, highest priority tracks, highest priority high magnification is stared.Steady picture cradle head control visible ray phase
Machine, infrared light camera and laser range finder carry out 360 ° of rotation, it is seen that light camera is used for daytime, infrared light camera and laser
Range finder can be with work double tides (principle decision).Preferably, it is seen that light camera is furnished with powerful continuous magnification lens, therefore can
To realize that the high magnification of highest priority is stared.Preferably, processor Built-in Image tracking card, is used for realization Visible Light Camera and red
The tracking of target in outer smooth camera.
Preferably, in the present embodiment, processor 40 is equipped with the telecommunication being used for the communication connection of remote control terminal
Port 41, the detection information for the 3rd detecting system 30 to be generated are uploaded to remote monitoring terminal and receive remote monitoring terminal
The telecommand issued.Telecommunication port 41 herein can be WIFI either 4G or other similar to wireless mobile communications mould
Block.
Preferably, a kind of unmanned vehicle is also provided, includes the unmanned vehicle context aware systems of above-described embodiment, so that should
Unmanned vehicle can meet the multi-level environment sensing demand of more distances.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on, should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of unmanned vehicle context aware systems, it is characterised in that including for detecting around unmanned vehicle in the first distance range
Whether there are obstacles the first detecting system (10), for gathering second distance range of motion target around unmanned vehicle
The second detecting system (20) of azimuth information, for being set with having enough to meet the need around scan mode collection unmanned vehicle in the 3rd distance range
3rd detecting system (30) of image information in angular range, wherein, the 3rd distance is more than the second distance and described
Second distance is more than first distance.
2. unmanned vehicle context aware systems according to claim 1, it is characterised in that
Further include equal with first detecting system (10), second detecting system (20) and the 3rd detecting system (30)
The processor (40) of communication connection, the processor (40) are used to receive first detecting system (10), second detection
At least one of system (20) and the 3rd detecting system (30) detection information simultaneously generate the finger for being used for controlling the unmanned vehicle
Order.
3. unmanned vehicle context aware systems according to claim 2, it is characterised in that
First detecting system (10) includes the multiple ultrasonic radars (11) being arranged in around unmanned vehicle vehicle body, the multiple
Ultrasonic radar (11) connects the processor (40) through ultrasonic wave controller (12).
4. unmanned vehicle context aware systems according to claim 3, it is characterised in that
The detection of obstacles information for being configured to be fed back according to the multiple ultrasonic radar (11) on the processor (40) is given birth to
Into the first processing module of anticollision alarm command.
5. unmanned vehicle context aware systems according to claim 2, it is characterised in that
Second detecting system (20) includes being used to gather the more of the three-dimensional point cloud of multiple moving targets around the unmanned vehicle
Multiple millimetre-wave radars of line laser radar (21) and/or the azimuth information for obtaining the unmanned vehicle peripheral motor target
(22)。
6. unmanned vehicle context aware systems according to claim 5, it is characterised in that
The multiple millimetre-wave radar (22) includes being installed on before the long range of the unmanned vehicle car body front end to millimetre-wave radar
And it is installed on the lateral short distance millimetre-wave radar of the unmanned vehicle body rear end.
7. unmanned vehicle context aware systems according to claim 6, it is characterised in that
It is configured on the processor (40) according to multi-line laser radar (21) and the multiple millimetre-wave radar (22) feedback
Detection information generate the Second processing module of instant map.
8. unmanned vehicle context aware systems according to claim 2, it is characterised in that
3rd detecting system (30) includes being arranged at steady as holder and described steady as holder on the unmanned vehicle car body
Drive under synchronously have enough to meet the need the Visible Light Camera (31), infrared light camera (32) and laser range finder (33) of scanning.
9. unmanned vehicle context aware systems according to claim 8, it is characterised in that
3rd detecting system (30) further includes controller (34), controller (34) connection it is described it is steady as holder, it is described
Visible Light Camera (31), the infrared light camera (32) and the laser range finder (33), the controller (34) and the place
Manage device (40) communication connection, for control it is described surely as holder turnover action and by the Visible Light Camera (31), described red
The processor (40) is fed back to after the fusion of the detection information of outer smooth camera (32) and the laser range finder (33).
10. unmanned vehicle context aware systems according to claim 9, it is characterised in that
The processor (40) is equipped with the telecommunication port (41) being used for the communication connection of remote control terminal, for by institute
The detection information for stating the generation of the 3rd detecting system (30) is uploaded to remote monitoring terminal and receives the remote monitoring terminal and issues
Telecommand.
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| CN201721339935.8U CN207274661U (en) | 2017-10-18 | 2017-10-18 | Unmanned vehicle context aware systems |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650908A (en) * | 2017-10-18 | 2018-02-02 | 长沙冰眼电子科技有限公司 | Unmanned vehicle context aware systems |
| CN110501709A (en) * | 2018-05-18 | 2019-11-26 | 财团法人工业技术研究院 | Object detection system, autonomous vehicle and its object detection method |
| CN113299043A (en) * | 2021-04-20 | 2021-08-24 | 泛博科技(中山)有限公司 | Visual self-checking distance alarm system for aviation boarding and maintenance operation ladder frame |
| CN115985109A (en) * | 2022-10-17 | 2023-04-18 | 上海伯镭智能科技有限公司 | Unmanned mine car environment sensing method and system |
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2017
- 2017-10-18 CN CN201721339935.8U patent/CN207274661U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107650908A (en) * | 2017-10-18 | 2018-02-02 | 长沙冰眼电子科技有限公司 | Unmanned vehicle context aware systems |
| CN107650908B (en) * | 2017-10-18 | 2023-07-14 | 长沙冰眼电子科技有限公司 | Unmanned vehicle environment sensing system |
| CN110501709A (en) * | 2018-05-18 | 2019-11-26 | 财团法人工业技术研究院 | Object detection system, autonomous vehicle and its object detection method |
| CN110501709B (en) * | 2018-05-18 | 2023-03-07 | 财团法人工业技术研究院 | Target detection system, autonomous vehicle, and target detection method thereof |
| CN113299043A (en) * | 2021-04-20 | 2021-08-24 | 泛博科技(中山)有限公司 | Visual self-checking distance alarm system for aviation boarding and maintenance operation ladder frame |
| CN115985109A (en) * | 2022-10-17 | 2023-04-18 | 上海伯镭智能科技有限公司 | Unmanned mine car environment sensing method and system |
| CN115985109B (en) * | 2022-10-17 | 2023-11-07 | 上海伯镭智能科技有限公司 | Unmanned mine car environment sensing method and system |
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