CN208224845U - A kind of unmanned vehicle navigation system of omnibearing visual angle - Google Patents
A kind of unmanned vehicle navigation system of omnibearing visual angle Download PDFInfo
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- CN208224845U CN208224845U CN201820862227.0U CN201820862227U CN208224845U CN 208224845 U CN208224845 U CN 208224845U CN 201820862227 U CN201820862227 U CN 201820862227U CN 208224845 U CN208224845 U CN 208224845U
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Abstract
The utility model discloses a kind of unmanned vehicle navigation systems of omnibearing visual angle, wherein, including unmanned vehicle and unmanned plane, unmanned vehicle is equipped with vehicle-mounted camera, car is equipped with vehicle condition module, microprocessor module and control module, vehicle-mounted camera acquires road conditions image in front of unmanned vehicle, and image is transferred to microprocessor module, vehicle condition module acquires unmanned vehicle driving direction, speed and acceleration information, and the information is transferred to microprocessor module, airborne camera is installed on unmanned plane, flight control system and wireless communication module, the road conditions image of airborne camera acquisition unmanned vehicle surrounding, and image is transferred to microprocessor module by wireless communication module, the image that the image and airborne camera that microprocessor module is transmitted by vehicle-mounted camera transmit, obtain omnibearing visual angle image, and according to the omnibearing visual angle Image control control module drives unmanned vehicle, and wireless control flight control system drives unmanned plane.
Description
Technical field
The utility model belongs to unmanned vehicle navigation technical field, and in particular to a kind of unmanned vehicle navigation system of omnibearing visual angle
System.
Background technique
Currently, most of unmanned vehicle is all to carry out road conditions using modes such as vehicle-mounted camera, radar, laser in the market
Information collection, there are narrow-mindednesses and locality in the identification to the road conditions of road, and unmanned vehicle DAS (Driver Assistant System) in recent years
Accident continuously emerge, illustrate that there is also some potential safety problemss in unmanned vehicle navigation system now.Therefore raw in reality
In work, need a kind of safety higher, the more accurate unmanned vehicle navigation system of road condition analyzing.
Utility model content
The utility model aim is, provides a kind of unmanned vehicle navigation system, it can solve present in current techniques
The problem of tunnel vision, realizes the higher unmanned vehicle navigation of safety.
To realize the above-mentioned technical purpose, the technical solution that the utility model is taken are as follows:
A kind of unmanned vehicle navigation system of omnibearing visual angle, wherein including unmanned vehicle and unmanned plane, unmanned vehicle is equipped with vehicle
Camera is carried, car is equipped with vehicle condition module, microprocessor module and control module, and vehicle-mounted camera acquires road in front of unmanned vehicle
Condition image, and image is transferred to microprocessor module, vehicle condition module acquires unmanned vehicle driving direction, speed and acceleration letter
Breath, and the information is transferred to microprocessor module, airborne camera, flight control system and wireless telecommunications are installed on unmanned plane
Module, the road conditions image of airborne camera acquisition unmanned vehicle surrounding, and image is transferred to micro process by wireless communication module
Device module, the image that the image and airborne camera that microprocessor module is transmitted by vehicle-mounted camera transmit obtain comprehensive
Multi-view image, and unmanned vehicle is driven according to the omnibearing visual angle image control control module, wireless control flight control system drives nothing
It is man-machine.
To optimize above-mentioned technical proposal, the concrete measure taken further include:
Above-mentioned vehicle-mounted camera and airborne camera are 3D depth camera.
Above-mentioned vehicle condition module includes the speed measuring coder being connected with unmanned vehicle driving motor and is fixedly mounted on nobody
Acceleration transducer on vehicle, speed measuring coder add for measuring unmanned vehicle speed, acceleration transducer for detecting unmanned vehicle
Speed and acceleration direction.
Above-mentioned microprocessor module is vehicle-mounted computer.
The front-wheel of above-mentioned unmanned vehicle is deflecting roller, and rear-wheel is driving wheel, and control module includes steering engine and unmanned vehicle driving
Motor, steering engine are mounted on unmanned vehicle front, are sequentially connected with the deflecting roller of unmanned vehicle, and steering engine and microprocessor module signal connect
It connects, microprocessor module controls steering engine and turns to deflecting roller, and unmanned vehicle driving motor and driving wheel are sequentially connected, unmanned vehicle driving
Motor is connect with microprocessor module, and microprocessor module can control the running of unmanned vehicle driving motor, makes driving wheel with pre- constant speed
Degree rotation.
Avoidance radar is installed, avoidance radar is connect with flight control system signal, and flight control system includes on above-mentioned unmanned plane
Flight main control module, signal condition and interface module, data acquisition module and flight servo driving module, flight main control module
It is connect respectively with avoidance radar, signal condition and interface module, data acquisition module and flight servo driving module, flight rudder
Machine drive module for controlling unmanned plane during flying direction and flying speed, the signal that microprocessor module transmits through signal condition and
Interface module is transferred to flight main control module, and flight main control module passes through the signal of microprocessor module and the letter of avoidance radar
It number determines unmanned plane during flying direction and speed, and controls flight servo driving module drive unmanned plane and fly according to the predetermined direction with speed
Row.
Above-mentioned airborne camera is connect by wireless communication module with a server module signal, server module with it is micro-
The road conditions image of the connection of processor die block signal, the unmanned vehicle surrounding of airborne camera acquisition is first transmitted to server module, then
Microprocessor module is forwarded to by server module.
Above-mentioned server module is the network server based on Transmission Control Protocol, and wireless communication module uses ESP8266 mould
Block.
Control panel is fixedly installed in above-mentioned unmanned vehicle, microprocessor module and acceleration transducer are each attached to control
On panel processed, battery is installed in unmanned vehicle, battery respectively with vehicle-mounted camera, vehicle condition module, microprocessor module and control
Molding block is connected and is powered for it.
Above-mentioned vehicle-mounted camera is mounted at the top of unmanned vehicle, and airborne camera is mounted on uav bottom.
The server module of the utility model is the network server based on Transmission Control Protocol, is the friendship of data for convenience
Stream obtains image information etc. with us.Vehicle condition module forms biography by encoder, steering engine voltage value and acceierometer sensor
The data processing returned obtains speed, the direction of wheel and the size of acceleration of unmanned vehicle traveling, so that it is determined that trolley is current
Traveling vehicle condition.Microprocessor module is mainly that the image for utilizing video camera to acquire forms comprehensive a road conditions and unmanned vehicle
Driving direction, and utilize the letter such as the unmanned vehicle speed of the obtained vehicle of various kinds of sensors, steering, acceleration in vehicle condition module
These Data Integrations are carried out an optimal path planning by breath.Flight control system module mainly includes main control module, signal tune
Reason and interface module, data acquisition module and servo driving module, there is high accuracy gyroscope instrument, compass compass, barometer
Deng, in conjunction with data and GPS positioning that light stream sensor is passed back, realizes good positioning and accurately make a return voyage, the control of winged control
What system mainly using microprocessor passed the information of server back to realize unmanned plane follows flight.Control module is by steering engine and electricity
Machine composition, the steering engine are mounted on the front end of unmanned vehicle, and the angle by controlling steering engine realizes the direction controlling of deflecting roller, motor
In the rear end of unmanned vehicle, the driving wheel of unmanned vehicle is controlled, realizes the normally travel of unmanned vehicle.On carrying platform among unmanned plane
Equipped with flight control system, surrounding is equipped with avoidance radar, can be realized the function of self avoidance.Wireless communication module mainly by
There is ESP8266 module composition serial ports using AT instruction is concisely and efficiently, to provide safeguard at a distance for the real-time Transmission of data；
3D depth camera obtains same field using two video cameras separated by a distance using the method for binocular ranging simultaneously
The two images of scape find corresponding pixel in two images by Stereo Matching Algorithm, are then calculated according to triangle principle
Time difference information out, thus image made of conversion.
A kind of unmanned vehicle navigation system of omnibearing visual angle is gathered around there are two camara module, one of camara module
It is mounted on the uav bottom of high-altitude flight, the autonomous flight control based on unmanned plane realizes unmanned vehicle periphery deep vision figure
The acquisition of picture compensates for vehicle-mounted camera in narrow-mindedness problem present on the visual field well, is capable of providing road more abundant
Road information can judge emergency case, the generation to avoid traffic accident in advance；Another camara module is then peace
Mounted in the top of unmanned vehicle, the specifying information of road conditions in front of unmanned vehicle is acquired, comprehensive road is obtained by the processing of microprocessor
Condition information provides most important guarantee in the traveling of unmanned vehicle；The unmanned vehicle navigation system of the utility model mainly solves
The problem of existing unmanned vehicle tunnel vision, provides a kind of completely new unmanned vehicle navigation way of thinking, is the peace of unmanned vehicle navigation
Full property provides a safety belt.
Detailed description of the invention
Fig. 1 is the control flow chart of unmanned vehicle navigation system.
Fig. 2 is the navigation example scene figure of trolley.
Fig. 3 is the structure chart of the unmanned vehicle model of the utility model.
Fig. 4 is the trolley model structure of unmanned plane.
Appended drawing reference therein are as follows: unmanned vehicle 1, vehicle-mounted camera 11, vehicle condition module 12, speed measuring coder 12a, acceleration
Sensor 12b, microprocessor module 13, control module 14, control panel 15, battery 16, steering engine 14a, unmanned vehicle driving motor
14b, unmanned plane 2, airborne camera 21, flight control system 22, wireless communication module 23, avoidance radar 24, other vehicles 3, zebra
Line and traffic lines 4.
Specific embodiment
The embodiments of the present invention are described in further detail below in conjunction with attached drawing.
A kind of unmanned vehicle navigation system of the omnibearing visual angle of the utility model, wherein including unmanned vehicle 1 and unmanned plane 2,
Unmanned vehicle 1 is equipped with vehicle-mounted camera 11, and car is equipped with vehicle condition module 12, microprocessor module 13 and control module 14, vehicle
It carries camera 11 and acquires 1 front road conditions image of unmanned vehicle, and image is transferred to microprocessor module 13, vehicle condition module 12 acquires
1 driving direction of unmanned vehicle, speed and acceleration information, and the information is transferred to microprocessor module 13, pacify on unmanned plane 2
Equipped with airborne camera 21, flight control system 22 and wireless communication module 23, airborne camera 21 acquires the road of 1 surrounding of unmanned vehicle
Condition image, and image is transferred to microprocessor module 13 by wireless communication module 23, microprocessor module 13 passes through vehicle-mounted
The image that the image and airborne camera 21 that camera 11 transmits transmit obtains omnibearing visual angle image, and comprehensive according to this
Multi-view image controls control module 14 and drives unmanned vehicle 1, and wireless control flight control system 22 drives unmanned plane 2.
In embodiment, vehicle-mounted camera 11 and airborne camera 21 are 3D depth camera.
In embodiment, vehicle condition module 12 includes and the unmanned vehicle driving motor 14b speed measuring coder 12a being connected and fixation
The acceleration transducer 12b being mounted on unmanned vehicle 1, speed measuring coder 12a are for measuring 1 speed of unmanned vehicle, acceleration sensing
Device 12b is for detecting 1 acceleration of unmanned vehicle and acceleration direction.
In embodiment, microprocessor module 13 is vehicle-mounted computer.
In embodiment, the front-wheel of unmanned vehicle 1 is deflecting roller, and rear-wheel is driving wheel, and control module 14 includes steering engine 14a and nothing
People's vehicle driving motor 14b, steering engine 14a are mounted on 1 front of unmanned vehicle, are sequentially connected with the deflecting roller of unmanned vehicle 1, steering engine 14a with
The connection of 13 signal of microprocessor module, microprocessor module 13 control steering engine 14a and turn to deflecting roller, unmanned vehicle driving motor
14b and driving wheel are sequentially connected, and unmanned vehicle driving motor 14b is connect with microprocessor module 13, and microprocessor module 13 can be controlled
Unmanned vehicle driving motor 14b running processed, rotates driving wheel at a predetermined velocity.
In embodiment, avoidance radar 24 is installed on unmanned plane 2, avoidance radar 24 is connect with 22 signal of flight control system, is flown
Control system 22 includes flight main control module, signal condition and interface module, data acquisition module and flight servo driving module,
Flight main control module respectively with avoidance radar 24, signal condition and interface module, data acquisition module and flight servo driving
Module connection, for controlling unmanned plane during flying direction and flying speed, microprocessor module 13 transmits flight servo driving module
Signal be transferred to flight main control module through signal condition and interface module, flight main control module passes through microprocessor module 13
The signal of signal and avoidance radar 24 determines 2 heading of unmanned plane and speed, and controls flight servo driving module drive
Unmanned plane flies with speed according to the predetermined direction.
In embodiment, airborne camera 21 is connect by wireless communication module 23 with a server module signal, server
Module is connect with 13 signal of microprocessor module, and the road conditions image for 1 surrounding of unmanned vehicle that airborne camera 21 acquires first is transmitted to
Server module, then microprocessor module 13 is forwarded to by server module.
In embodiment, server module is the network server based on Transmission Control Protocol, and wireless communication module 23 uses
ESP8266 module.
In embodiment, control panel 15, microprocessor module 13 and acceleration transducer are fixedly installed in unmanned vehicle 1
12b is each attached on control panel 15, is equipped with battery 16 in unmanned vehicle 1, battery 16 respectively with vehicle-mounted camera 11, vehicle condition mould
Block 12, microprocessor module 13 and control module 14 are connected and are powered for it.
In embodiment, vehicle-mounted camera 11 is mounted on 1 top of unmanned vehicle, and airborne camera 21 is mounted on 2 bottom of unmanned plane.
The implementation of the utility model includes vehicle-mounted camera 11 in Fig. 1, airborne camera 21, server module, micro-
Processor module 13, acceleration transducer 12b, steering engine 14a, motor 14b and flight control system 22.Airborne camera 21 and server
Module connection, the image captured are uploaded directly on server, and server passes through wireless communication module 23 again and is sent to micro- place
It manages in device module 13, realizes and the road conditions of trolley ambient enviroment are captured and the information collection of road grade, improve we nobody
The visual field of vehicle provides better pre-alerting ability for our unmanned vehicle；Vehicle-mounted camera 11 is connected with microprocessor module 13,
Primarily to the road information of acquisition 1 front end of unmanned vehicle, the road conditions travelled for unmanned vehicle 1 provide a number more in all directions
It is believed that breath；Acceleration transducer 12b is to provide the current situation of remote of unmanned vehicle 1, the mainly current speed of acquisition unmanned vehicle 1
The information such as degree, acceleration and deflecting roller direction；Microprocessor module 13 by two camara module acquired image data into
Row image procossing realizes the acquisition of a comprehensive road conditions, and the sensors such as accelerometer obtain in recycling vehicle condition module 12
Situation of remote makes complete path planning；The flight path of unmanned plane 2 can also be passed through wireless telecommunications by microprocessor module 13
Module 23 is transmitted back to server module, is then forwarded to flight control system 22, realizes unmanned plane in conjunction with the basis of unmanned plane radar avoidance
Autonomous flight；Steering engine 14a is mounted on the front end of unmanned vehicle 1, and the angle by controlling steering engine 14a realizes that the direction of deflecting roller is controlled
System, unmanned vehicle driving motor 14b control the driving wheel of unmanned vehicle 1 in the rear end of unmanned vehicle 1, realize the normal row of unmanned vehicle 1
It sails；The data processing that speed measuring coder 12a, acceleration transducer 12b and steering engine voltage value are passed back obtains the traveling of unmanned vehicle 1
The size of speed, the direction of wheel and acceleration, so that it is determined that the traveling vehicle condition that trolley is current.
It is the scene figure of unmanned vehicle traveling in Fig. 2, is mainly utilized using the traveling of unmanned plane 2 in the overhead of unmanned vehicle 1
Two camara modules carry out Image Acquisition, other vehicles 3 in road pavement, the identification of zebra stripes and traffic lines 4 etc., to do
Outbound path planning, realizes the safe driving of unmanned vehicle.
It is the trolley model structure of unmanned vehicle in Fig. 3,
It is the structure chart of our unmanned plane model in Fig. 4, unmanned plane mainly has using the unmanned plane of quadrotor
Unmanned plane motor module, airborne camera 21, flight control system 22, wireless communication module 23, avoidance radar 24 and bracket composition, it is main
If carrying out the control of unmanned plane during flying by flight control system 22, avoidance radar 24 is then the collision in order to avoid unmanned plane, airborne
Camera 21 carries out the acquisition of image, is transferred to the microprocessor on trolley by the wireless communication module 23 in flight control system 22
In module 13.
Above are merely preferred embodiments of the utility model, the protection scope of the utility model is not limited merely to above-mentioned
Embodiment, technical solution belonging to the idea of the present invention belong to the protection scope of the utility model.It should be pointed out that pair
For those skilled in the art, several improvements and modifications without departing from the principle of the utility model,
It should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of unmanned vehicle navigation system of omnibearing visual angle, it is characterized in that: including unmanned vehicle (1) and unmanned plane (2), it is described
Unmanned vehicle (1) is equipped with vehicle-mounted camera (11), and car is equipped with vehicle condition module (12), microprocessor module (13) and control mould
Block (14), the vehicle-mounted camera (11) acquires road conditions image in front of unmanned vehicle (1), and image is transferred to microprocessor mould
Block (13), the vehicle condition module (12) acquire unmanned vehicle (1) driving direction, speed and acceleration information, and by the information
Be transferred to microprocessor module (13), be equipped on the unmanned plane (2) airborne camera (21), flight control system (22) and
Wireless communication module (23), the road conditions image of described airborne camera (21) acquisition unmanned vehicle (1) surrounding, and image is passed through
Wireless communication module (23) is transferred to microprocessor module (13), and the microprocessor module (13) passes through vehicle-mounted camera
(11) image that the image and airborne camera (21) transmitted transmits obtains omnibearing visual angle image, and according to the comprehensive view
Angle image control control module (14) drives unmanned vehicle (1), and wireless control flight control system (22) drives unmanned plane (2).
2. a kind of unmanned vehicle navigation system of omnibearing visual angle according to claim 1, vehicle-mounted taken the photograph it is characterized in that: described
As head (11) and airborne camera (21) are 3D depth camera.
3. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 2, it is characterized in that: the vehicle condition mould
Block (12) includes the speed measuring coder (12a) being connected with unmanned vehicle driving motor (14b) and is fixedly mounted on unmanned vehicle (1)
Acceleration transducer (12b), the speed measuring coder (12a) is for measuring unmanned vehicle (1) speed, acceleration transducer
(12b) is for detecting unmanned vehicle (1) acceleration and acceleration direction.
4. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 3, it is characterized in that: the micro process
Device module (13) is vehicle-mounted computer.
5. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 4, it is characterized in that: the unmanned vehicle
(1) front-wheel is deflecting roller, and rear-wheel is driving wheel, and the control module (14) includes steering engine (14a) and unmanned vehicle driving electricity
Machine (14b), the steering engine (14a) are mounted on unmanned vehicle (1) front, are sequentially connected with the deflecting roller of unmanned vehicle (1), described
Steering engine (14a) is connect with microprocessor module (13) signal, and the microprocessor module (13) controls steering engine (14a) to steering
Rotate and be sequentially connected to, the unmanned vehicle driving motor (14b) and driving wheel, the unmanned vehicle driving motor (14b) with
Microprocessor module (13) connection, the microprocessor module (13) can control unmanned vehicle driving motor (14b) running, make to drive
Driving wheel rotates at a predetermined velocity.
6. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 5, it is characterized in that: the unmanned plane
(2) it is equipped on avoidance radar (24), the avoidance radar (24) is connect with flight control system (22) signal, the winged control system
System (22) includes flight main control module, signal condition and interface module, data acquisition module and flight servo driving module, institute
The flight main control module stated respectively with avoidance radar (24), signal condition and interface module, data acquisition module and flight rudder
The connection of machine drive module, the flight servo driving module are described for controlling unmanned plane during flying direction and flying speed
The signal that microprocessor module (13) transmits is transferred to flight main control module, the flight master through signal condition and interface module
Control module by the signal of microprocessor module (13) and the signal of avoidance radar (24) determine unmanned plane (2) heading with
Speed, and control flight servo driving module drive unmanned plane and fly according to the predetermined direction with speed.
7. a kind of unmanned vehicle navigation system of omnibearing visual angle according to claim 6, airborne taken the photograph it is characterized in that: described
It is connect as head (21) pass through wireless communication module (23) with a server module signal, the server module and microprocessor
The road conditions image of the connection of module (13) signal, unmanned vehicle (1) surrounding of airborne camera (21) acquisition is first transmitted to clothes
Business device module, then microprocessor module (13) are forwarded to by server module.
8. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 7, it is characterized in that: the server
Module is the network server based on Transmission Control Protocol, and the wireless communication module (23) uses ESP8266 module.
9. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 8, it is characterized in that: the unmanned vehicle
(1) it is fixedly installed in control panel (15), the microprocessor module (13) and acceleration transducer (12b) are each attached to
On control panel (15), be equipped in the unmanned vehicle (1) battery (16), the battery (16) respectively with vehicle-mounted camera
(11), vehicle condition module (12), microprocessor module (13) and control module (14) are connected and are powered for it.
10. the unmanned vehicle navigation system of a kind of omnibearing visual angle according to claim 9, it is characterized in that: described is vehicle-mounted
Camera (11) is mounted at the top of unmanned vehicle (1), and airborne camera (21) is mounted on unmanned plane (2) bottom.
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| CN201820862227.0U CN208224845U (en) | 2018-06-05 | 2018-06-05 | A kind of unmanned vehicle navigation system of omnibearing visual angle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716222A (en) * | 2019-11-11 | 2020-01-21 | 北京航空航天大学 | Unmanned vehicle navigation method and system based on unmanned aerial vehicle |
| CN111629278A (en) * | 2020-05-22 | 2020-09-04 | 新石器慧通（北京）科技有限公司 | Image transmission method, image transmission device, movable platform, server and storage medium |
| CN112558608A (en) * | 2020-12-11 | 2021-03-26 | 重庆邮电大学 | Vehicle-mounted machine cooperative control and path optimization method based on unmanned aerial vehicle assistance |
| CN112817307A (en) * | 2020-12-30 | 2021-05-18 | 广州大学 | Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception |
-
2018
- 2018-06-05 CN CN201820862227.0U patent/CN208224845U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110716222A (en) * | 2019-11-11 | 2020-01-21 | 北京航空航天大学 | Unmanned vehicle navigation method and system based on unmanned aerial vehicle |
| CN110716222B (en) * | 2019-11-11 | 2021-08-03 | 北京航空航天大学 | Unmanned vehicle navigation method and system based on unmanned aerial vehicle |
| CN111629278A (en) * | 2020-05-22 | 2020-09-04 | 新石器慧通（北京）科技有限公司 | Image transmission method, image transmission device, movable platform, server and storage medium |
| CN111629278B (en) * | 2020-05-22 | 2022-07-26 | 新石器慧通（北京）科技有限公司 | Image transmission method, image transmission device, movable platform, server and storage medium |
| CN112558608A (en) * | 2020-12-11 | 2021-03-26 | 重庆邮电大学 | Vehicle-mounted machine cooperative control and path optimization method based on unmanned aerial vehicle assistance |
| CN112817307A (en) * | 2020-12-30 | 2021-05-18 | 广州大学 | Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception |
| CN112817307B (en) * | 2020-12-30 | 2022-08-02 | 广州大学 | Vehicle auxiliary driving system and method based on unmanned aerial vehicle road perception |
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