CN212379974U - Unmanned vehicle and its driving detection device - Google Patents
Unmanned vehicle and its driving detection device Download PDFInfo
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- CN212379974U CN212379974U CN202021237353.0U CN202021237353U CN212379974U CN 212379974 U CN212379974 U CN 212379974U CN 202021237353 U CN202021237353 U CN 202021237353U CN 212379974 U CN212379974 U CN 212379974U
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Abstract
本实用新型提供一种无人驾驶车辆及其行驶检测装置，所述装置包括MCU总控制器、第一摄像头、第二摄像头、第三摄像头、解码器和监控雷达，MCU总控制器、解码器与无人驾驶车辆的行车电脑组合设置，第一摄像头设置于无人驾驶车辆的前档风玻璃顶端，第二摄像头设置于无人驾驶车辆的车尾处，第三摄像头为多个且分别设置于无人驾驶车辆的后视镜前端，监控雷达设置于无人驾驶车辆的四周，MCU总控制器分别与第一摄像头、第二摄像头、第三摄像头、解码器和监控雷达电性控制连接，解码器包括信号灯识别系统和信号时间识别系统。本实用新型能够识别交通信号灯及周围其他环境信息，从而提高控制的准确性和行驶安全性，并且稳定性、操作的便捷度和流畅性均较高。
The utility model provides an unmanned vehicle and a driving detection device thereof. The device comprises an MCU master controller, a first camera, a second camera, a third camera, a decoder and a monitoring radar, and the MCU master controller and the decoder. It is set in combination with the trip computer of the unmanned vehicle. The first camera is set at the top of the windshield of the unmanned vehicle, the second camera is set at the rear of the unmanned vehicle, and the third cameras are multiple and set separately. At the front end of the rearview mirror of the unmanned vehicle, the monitoring radar is arranged around the unmanned vehicle, and the MCU main controller is respectively connected with the first camera, the second camera, the third camera, the decoder and the monitoring radar for electrical control. The decoder includes a signal lamp identification system and a signal time identification system. The utility model can identify traffic lights and other surrounding environment information, thereby improving the accuracy of control and driving safety, and has high stability, convenience and fluency of operation.
Description
Technical Field
The utility model relates to the field of vehicle technology, concretely relates to unmanned vehicle detection device and unmanned vehicle travel.
Background
At present, the application of the unmanned technology is limited to low-speed and limited scenes, such as the fields of logistics, shared travel, public transportation, mining, retail and the like. In public transport, the bus has the basic conditions of unmanned driving because of the characteristics of slow speed, short distance, fixed route, special lane driving and the like. The unmanned driving system applied to the bus can respond to sudden situations in time, and can realize functions of pedestrian and vehicle detection, deceleration and avoidance, emergency stop, obstacle avoidance and detour lane change, automatic stop according to stations and the like under unmanned driving. In the scene application of the unmanned vehicle in mining, the unmanned technology can be indispensable. The unmanned mining machine can be supported by the technology in mining, so that the overall energy consumption of mining is reduced, the comprehensive operation benefit is improved, the safety production work of a mining area is improved, and the construction of an intelligent mining area is accelerated. With the active layout of various internet of things companies and vehicle enterprises and the emerging companies of unmanned technology entrepreneurship, the strength of the field of unmanned driving is continuously strengthened.
However, the commercial landing of the unmanned technology is still in the initial stage, and although the future blueprints are constructed and distributed to a plurality of application fields, a long way is left for fully realizing the life-activated application. Especially in today's extremely complex urban traffic, many difficulties need to be overcome to achieve unmanned driving. The traffic elements of China are complex, a lot of electric vehicles and pedestrians pass through roads, and the existing unmanned driving can not smoothly pass through the crossroads where signal lamps and vehicles are mixed. In general, complex traffic environments limit the application of unmanned vehicle technology.
SUMMERY OF THE UTILITY MODEL
The utility model provides a solve above-mentioned technical problem, provide an unmanned vehicle and detection device that traveles thereof, can discern traffic signal lamp and other environmental information on every side to improve the accuracy of control and the security of traveling, and through the regulation and control of the comprehensiveness of MCU total controller, MCU total controller still complements each other with the driving computer simultaneously, has further realized the stability of system, improves the convenience and the smoothness nature of operation.
The utility model adopts the technical scheme as follows:
a driverless vehicle running detection device comprises an MCU master controller, a first camera, a second camera, a third camera, a decoder and a monitoring radar, the MCU master controller, the decoder and the driving computer of the unmanned vehicle are combined, the first camera is arranged at the top end of a front windshield of the unmanned vehicle, the second camera is arranged at the tail of the unmanned vehicle, the third cameras are multiple and are respectively arranged at the front end of a rearview mirror of the unmanned vehicle, the monitoring radar set up in unmanned vehicle's is all around, MCU master controller respectively with first camera the second camera the third camera the decoder with monitoring radar electric control connects, wherein, the decoder includes signal lamp identification system and signal time identification system.
Unmanned vehicle detection device that traveles still include anticollision early warning system, brake lamp, indicator, audio alert ware, vehicle apart from data analysis controller, vehicle braking control system, steering wheel system controller and safety protection system controller in the car, MCU total controller respectively with anticollision early warning system the brake lamp the indicator audio alert ware vehicle apart from data analysis controller vehicle braking control system steering wheel system controller with safety protection system controller electric control connects in the car.
The decoder includes a converter.
The MCU master controller comprises a solid state storage hard disk and an external socket which are arranged inside, the external socket is connected with the decoder and the monitoring radar in an electric connection mode through a data line, and the converter is connected with the first camera, the second camera and the third camera in an electric connection mode through a conducting wire.
The solid-state storage hard disk is internally composed of a control unit and a storage unit, and one end of the solid-state storage hard disk is connected with a mobile hard disk.
The first camera, the second camera and the third camera are provided with photoreceptors, the photoreceptors are matched with the first camera, the second camera and the third camera, and signals of the first camera, the second camera and the third camera and optical signals of the first camera, the second camera and the third camera are transmitted to an A/D converter arranged in the MCU master controller.
The MCU master controller comprises an initialization module, a detection selection module, an operation module and a data storage module, wherein the operation module comprises a detection operation module, a data interaction module and a recombination allocation module, and the initialization module, the detection selection module, the operation module and the data storage module form a closed loop.
The signal lamp identification system comprises a signal lamp color identification module, a signal lamp image denoising module, a signal lamp image amplification module and a signal image prejudgment module, and the signal time identification system comprises a signal time capturing module, a signal time countdown prejudgment module, a signal time yellow light early warning module and a signal lamp ending starting module.
An unmanned vehicle includes the above-mentioned unmanned vehicle travel detection device.
The utility model has the advantages that:
the utility model discloses a signal lamp discernment and signal time discernment, can carry out the discernment and the recognition of comprehensiveness through its with signal lamp colour, information such as signal time in the in-service use, combine other environmental information around the vehicle, thereby improve the accuracy and the security of traveling of control, and through the regulation and control of the comprehensiveness of MCU total controller, MCU total controller still complements each other with the driving computer simultaneously, the stability of system has further been realized, the convenience and the smoothness nature of operation are improved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned vehicle driving detection device according to an embodiment of the present invention;
fig. 2 is a schematic view of an installation position of the unmanned vehicle driving detection device according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of an unmanned vehicle driving detection apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram schematically illustrating an apparatus for detecting the driving of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the unmanned vehicle driving detection apparatus according to the embodiment of the present invention includes an MCU master controller 1, a first camera 2, a second camera 3, a third camera 4, a decoder 5, and a monitoring radar 7, the MCU master controller 1, decoder 5 sets up with unmanned vehicle 6's driving computer combination, first camera 2 sets up in unmanned vehicle 6's front windshield top, second camera 3 sets up in unmanned vehicle 6's rear of a vehicle department, third camera 4 is a plurality ofly and sets up respectively in unmanned vehicle 6's rear-view mirror front end, monitoring radar 7 sets up around unmanned vehicle 6, MCU total controller 1 respectively with first camera 2, second camera 3, third camera 4, decoder 5 and monitoring radar 7 electric control are connected, wherein, decoder 5 includes signal lamp identification system and signal time identification system.
Further, as shown in fig. 3, the driving detection device for the unmanned vehicle may further include an anti-collision early warning system 8, a brake lamp 9, a steering lamp 10, a voice alarm 11, a vehicle distance data analysis controller 12, a vehicle brake control system 13, a steering wheel system controller 14, and an in-vehicle safety protection system controller 15, where the MCU master controller 1 is electrically connected to the anti-collision early warning system 8, the brake lamp 9, the steering lamp 10, the voice alarm 11, the vehicle distance data analysis controller 12, the vehicle brake control system 13, the steering wheel system controller 14, and the in-vehicle safety protection system controller 15, respectively.
In one embodiment of the invention, as shown in fig. 1, the decoder 5 comprises a converter 16,
the MCU master controller 1 comprises a solid state storage hard disk 17 and an external socket 18 which are arranged inside, the external socket 18 is electrically connected with the decoder 5 and the monitoring radar 7 through a data line, and the converter 16 is electrically connected with the first camera 2, the second camera 3 and the third camera 4 through a conducting wire. The solid state storage hard disk 17 is internally composed of a control unit and a storage unit, and one end of the solid state storage hard disk 17 can be connected with a mobile hard disk.
In an embodiment of the present invention, the first camera 2, the second camera 3 and the third camera 4 are all provided with photoreceptors, and the photoreceptors are mutually matched with the first camera 2, the second camera 3 and the third camera 4, and transmit the signals of the first camera 2, the second camera 3 and the third camera 4 and the optical signals of the first camera and the second camera and the third camera 4 into the a/D converter provided in the MCU total controller 1.
In an embodiment of the present invention, as shown in fig. 4, the MCU master controller 1 further includes an initialization module 19, a detection selection module 20, an operation module 21 and a data storage module 22, the operation module 21 includes a detection operation module 23, a data interaction module 24 and a recombination allocation module 25, and the initialization module 19, the detection selection module 20, the operation module 21 and the data storage module 22 form a closed loop.
In an embodiment of the present invention, the signal light recognition system and the signal time recognition system can be integrated within the decoder 5, or can be disposed outside the decoder 5. As shown in fig. 4, the signal light recognition system 26 includes a signal light color recognition module 28, a signal light image denoising module 29, a signal light image amplifying module 30, and a signal image prejudging module 31, and the signal time recognition system 27 includes a signal time capturing module 32, a signal time counting prejudging module 33, a signal time yellow warning module 34, and a signal light ending starting module 35.
Based on the above unmanned vehicle driving detection device shown in fig. 1 to 4, when in use, firstly, the device can be correctly and perfectly installed and debugged, and the unmanned vehicle 6 is manually started, at this time, the power supply system of the unmanned vehicle 6 will electrify the MCU master controller 1, the first camera 2, the second camera 3, the third camera 4, the decoder 5, the monitoring radar 7, the anti-collision early warning system 8, the brake lamp 9, the turn lamp 10, the voice alarm 11, the vehicle distance data analysis controller 12, the vehicle brake control system 13, the steering wheel system controller 14, the in-vehicle safety protection system controller 15, the converter 16, and the like. And then, observing that the rearview mirror turns on a steering lamp and then starting the vehicle, wherein the first camera 2 arranged at the top end of a windshield of the unmanned vehicle 6, the third camera 4 arranged on the rearview mirror of the unmanned vehicle 6 and the second camera 3 arranged at the tail of the unmanned vehicle 5 collectively monitor the surrounding environment of the unmanned vehicle 6 in real time. When meeting the intersection, the first camera 2 can identify the color of the signal lamp on site through the signal lamp color identification module 28, then the signal is transmitted to the decoder 5, the decoded signal is transmitted to the MCU master controller 1 after being decoded by the decoder 5, whether the MCU master controller 1 advances or stops is confirmed, meanwhile, the MCU general controller 1 can convert the signals into command signals and further transmit the command signals to the vehicle brake control system 13 and the steering wheel system controller 14, further controlling the start and stop of the unmanned vehicle 6, when pedestrians are around the unmanned vehicle 6, the monitoring radar 7 can transmit the signal to the MCU master controller 1 through the decoder 5, the MCU master controller 1 controls the driving track route of the unmanned vehicle 6, and further, the purpose of automatically identifying environmental information such as traffic lights and other signs and the like of the unmanned vehicle is achieved.
According to the utility model discloses unmanned vehicle detection device that traveles, through signal lamp discernment and signal time discernment, can be in the use of reality through its with the signal lamp colour, information such as signal time carries out comprehensive discernment and recognition, combine other environmental information around the vehicle, thereby improve the accuracy and the security of traveling of control, and regulation and control through the comprehensiveness of MCU total controller, MCU total controller still complements each other with the driving computer simultaneously, the stability of system has further been realized, the convenience and the smoothness nature of operation are improved.
Unmanned vehicle detection device that traveles based on above-mentioned embodiment, the utility model discloses still provide an unmanned vehicle.
The utility model discloses unmanned vehicle includes the utility model discloses unmanned vehicle of above-mentioned arbitrary embodiment goes detection device, and above-mentioned embodiment can be referred to its specific implementation mode, no longer has repeated here.
According to the utility model discloses unmanned vehicle can discern traffic signal lamp and other environmental information on every side to improve the accuracy of control and the security of traveling, and the convenience degree and the smoothness nature of stability, operation are all higher.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present invention includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (9)
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| CN202021237353.0U CN212379974U (en) | 2020-06-29 | 2020-06-29 | Unmanned vehicle and its driving detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111696356A (en) * | 2020-06-29 | 2020-09-22 | 江苏理工学院 | Unmanned vehicle and running detection device thereof |
| CN112233415A (en) * | 2020-09-04 | 2021-01-15 | 南京航空航天大学 | A kind of unmanned traffic signal recognition device |
-
2020
- 2020-06-29 CN CN202021237353.0U patent/CN212379974U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111696356A (en) * | 2020-06-29 | 2020-09-22 | 江苏理工学院 | Unmanned vehicle and running detection device thereof |
| CN112233415A (en) * | 2020-09-04 | 2021-01-15 | 南京航空航天大学 | A kind of unmanned traffic signal recognition device |
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