CN110497837B - Unmanned equipment - Google Patents

Unmanned equipment Download PDF

Info

Publication number
CN110497837B
CN110497837B CN201910671754.2A CN201910671754A CN110497837B CN 110497837 B CN110497837 B CN 110497837B CN 201910671754 A CN201910671754 A CN 201910671754A CN 110497837 B CN110497837 B CN 110497837B
Authority
CN
China
Prior art keywords
vehicle
light
brightness
mounted camera
illuminance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910671754.2A
Other languages
Chinese (zh)
Other versions
CN110497837A (en
Inventor
赵光再
崔斌
时志苹
宁柯军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Sankuai Online Technology Co Ltd
Original Assignee
Beijing Sankuai Online Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Sankuai Online Technology Co Ltd filed Critical Beijing Sankuai Online Technology Co Ltd
Priority to CN201910671754.2A priority Critical patent/CN110497837B/en
Publication of CN110497837A publication Critical patent/CN110497837A/en
Application granted granted Critical
Publication of CN110497837B publication Critical patent/CN110497837B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Studio Devices (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Circuit Arrangement For Electric Light Sources In General (AREA)

Abstract

The application discloses unmanned equipment includes: the device comprises a vehicle-mounted camera, a light sensor, a device controller and a vehicle lamp; the light sensor is used for acquiring the illuminance of a scene where the vehicle-mounted camera is located; and the equipment controller is used for judging whether the illuminance is lower than a preset threshold value, if so, determining the brightness adjustment quantity of at least one car lamp according to the illuminance, and adjusting the brightness of the corresponding car lamp according to the brightness adjustment quantity so as to realize the light compensation of the vehicle-mounted camera. The intelligent illumination compensation system has the advantages that on the basis of the existing unmanned equipment, the adaptive illumination compensation can be carried out on the vehicle-mounted camera by intelligently combining the environment where the unmanned equipment is located, the overall structure of the unmanned equipment is not required to be greatly improved, more light compensation equipment is not required to be additionally added, the intelligent degree of the light compensation of the vehicle-mounted camera and the detection effect in the environments with insufficient light such as dark days, heavy fog and the like are improved, and the all-weather working adaptive capacity of the unmanned equipment is expanded.

Description

Unmanned equipment
Technical Field
The application relates to the field of unmanned driving, in particular to unmanned equipment.
Background
The unmanned equipment is expected to effectively replace manpower driving and is important for the perception capability of the environment. There is therefore a need for a reliable sensing device to obtain detection data as a basis for the automatic decision-making of the drone. In the prior art, the camera detection equipment cannot perform adaptive optical compensation for environments such as dark days, foggy weather and haze weather effectively, or an optical compensation device is arranged, but extra installation cost burden and actual compensation effect are poor due to complex structure, and the requirement of all-weather work in unmanned driving cannot be met.
Disclosure of Invention
In view of the above, the present application is made to provide an unmanned aerial device that overcomes or at least partially solves the above problems.
According to an aspect of the present application, there is provided an unmanned aerial vehicle, characterized in that the unmanned aerial vehicle includes: the device comprises a vehicle-mounted camera, a light sensor, a device controller and a vehicle lamp;
the light sensor is used for acquiring the illuminance of a scene where the vehicle-mounted camera is located;
and the equipment controller is used for judging whether the illuminance is lower than a preset threshold value, if so, determining the brightness adjustment quantity of at least one car lamp according to the illuminance, and adjusting the brightness of the corresponding car lamp according to the brightness adjustment quantity so as to realize the light compensation of the vehicle-mounted camera.
Optionally, the vehicle-mounted camera is disposed on a side surface of the unmanned aerial vehicle, and the side surface is provided with one light sensor.
Optionally, the light sensor is configured to transmit the illuminance to the device controller through a serial port or a Universal Asynchronous Receiver Transmitter (UART).
Optionally, the illuminance is inversely proportional to the brightness adjustment amount.
Optionally, the vehicle lamp comprises: a front vehicle light, a rear vehicle light, a left vehicle light and a right vehicle light.
Optionally, the unmanned device further comprises: a brightness adjuster corresponding to each vehicle lamp; and the equipment controller is used for adjusting the brightness of the corresponding car lamp through the brightness adjuster.
Optionally, the unmanned device further comprises: an industrial personal computer; the industrial personal computer is used for detecting the imaging of the vehicle-mounted camera according to an image processing algorithm and determining brightness compensation point information according to a detection result; and the equipment controller is used for adjusting the emergent angle of the car lamp according to the brightness compensation point information determined by the industrial personal computer so as to realize the light compensation of the vehicle-mounted camera.
Optionally, the drone device includes a CAN communicator; and the industrial personal computer is used for transmitting the brightness compensation point information to the equipment controller through the CAN communicator.
Optionally, the brightness compensation point information includes an angle of the brightness compensation point in a coordinate system of the vehicle lamp; and the equipment controller is used for determining the angle adjustment quantity of the car lamp according to the angle of the brightness compensation point in a car lamp coordinate system.
Optionally, the unmanned device further comprises: a light rotator; and the equipment controller is used for adjusting the emergent angle of the car lamp through the lamp rotator.
From the foregoing, according to the technical solution of the present application, the present application discloses an unmanned device, including: the device comprises a vehicle-mounted camera, a light sensor, a device controller and a vehicle lamp; the light sensor is used for acquiring the illuminance of a scene where the vehicle-mounted camera is located; and the equipment controller is used for judging whether the illuminance is lower than a preset threshold value, if so, determining the brightness adjustment quantity of at least one car lamp according to the illuminance, and adjusting the brightness of the corresponding car lamp according to the brightness adjustment quantity so as to realize the light compensation of the vehicle-mounted camera. The intelligent illumination compensation system has the advantages that on the basis of the existing unmanned equipment, the adaptive illumination compensation can be carried out on the vehicle-mounted camera by intelligently combining the environment where the unmanned equipment is located, the overall structure of the unmanned equipment is not required to be greatly improved, more light compensation equipment is not required to be additionally added, the intelligent degree of the light compensation of the vehicle-mounted camera and the detection effect in the environments with insufficient light such as dark days, heavy fog and the like are improved, and the all-weather working adaptive capacity of the unmanned equipment is expanded.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application.
FIG. 2 shows a schematic workflow diagram of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 shows a schematic diagram of an arrangement of an unmanned aerial vehicle according to an embodiment of the application. As shown in fig. 1, the unmanned aerial vehicle 100 includes: a vehicle-mounted camera 110, a light sensor 120, a device controller 130, and a vehicle lamp 140.
The current unmanned equipment generally comprises a vehicle-mounted camera, an equipment controller and a vehicle lamp. The technical scheme of this application only need increase light sensor to combine the newly-increased corresponding control flow of equipment controller can, this just need not make too much change to unmanned aerial vehicle's overall structure, the cost is lower.
The unmanned aerial vehicle 100 of the embodiment of the present application includes four parts, namely, a vehicle-mounted camera 110, a light sensor 120, a device controller 130, and a vehicle lamp 140, and obviously, may further include a structure commonly used in an unmanned aerial vehicle, such as a traveling component, for example, a tire, a crawler, and the like, which are not described herein. The vehicle-mounted camera 110 is used for detecting the periphery of the unmanned device, is an important part for realizing unmanned perception, and is similar to human eyes, and detected information is used as a basis for automatic driving decision. The vehicle lamp 140 can provide light compensation to expand the application scene of the unmanned device 100 when the ambient illuminance environment around the unmanned device 100 is not good, and the vehicle lamp is one of the components of most driving devices, so that the structure of the unmanned device 100 can be simplified and beautiful without adding additional accessories, and the installation and maintenance are convenient.
And the light sensor 120 is configured to obtain illuminance of a scene where the vehicle-mounted camera 110 is located.
The working scenes of the drone are various, and may be in a strong illumination, such as an environment where the drone 100 is directly illuminated by lights of other vehicles and the illumination is too high, or in an environment where the illumination is insufficient, such as an environment in black days, foggy days, haze, or rainy and snowy days. Such a light sensor 120 may be a rainfall light sensor. The light sensor 120 is provided to accurately recognize the ambient illuminance environment where the unmanned aerial vehicle 100 is located, and more specifically, can be provided to correspond to the in-vehicle camera 110 to detect the illuminance of the in-vehicle camera 110. In this way, the illuminance conditions of the unmanned device 100 in different environments can be well known through the light sensor 120, and support is provided for reasonable control of the unmanned device 100.
And the device controller 130 is configured to determine whether the illuminance is lower than a preset threshold, determine a brightness adjustment amount of at least one vehicle lamp according to the illuminance if the illuminance is lower than the preset threshold, and adjust the brightness of the corresponding vehicle lamp according to the brightness adjustment amount to implement light compensation of the vehicle-mounted camera 110.
When the light sensor 120 acquires the illuminance of the environment around the unmanned device 100, the illuminance is transmitted to the device controller 130. The device controller 130 may compare the acquired light intensity with a preset threshold, and immediately start a corresponding light compensation mechanism once the light intensity is lower than the preset threshold. For example, the light sensor 120 is disposed at the rear side of the unmanned device, when the light sensor 120 transmits the illuminance to the device controller 130, the device controller 130 performs comparison according to a preset threshold, and if the illuminance is lower than the preset threshold, determines a corresponding brightness adjustment amount at least including the rear vehicle, and starts to adjust the brightness of the corresponding vehicle including the rear vehicle according to the brightness adjustment amount. Therefore, the corresponding illumination compensation scheme is configured intelligently according to different environments where the unmanned equipment 100 is located, the purpose of compensating light intensity under the condition of weak illumination intensity is effectively achieved, the imaging quality of the vehicle-mounted camera 110 is guaranteed, and all-weather application capability of the unmanned equipment 100 is improved.
In one embodiment of the present application, the above-described apparatus has the vehicle-mounted camera 110 disposed on the side of the unmanned device 100 on which the light sensor 120 is disposed.
The vehicle-mounted camera 110 and the light sensor 120 are both disposed on the outer side of the unmanned device 100, and in order to improve the detection accuracy, the two may be disposed on the same side and kept at a short distance.
In one embodiment of the present application, the light sensor 120 is used for transmitting the light intensity to the device controller 130 through a serial port or a Universal Asynchronous Receiver Transmitter (UART).
The serial communication is the transmission of data in bit order. The UART is an asynchronous transceiver transmitter that operates by transmitting each character of transmission data bit by bit. Either of these two ways can be implemented to transmit the illuminance detected by the light sensor 120 to the device controller 130 so that the device controller 130 adjusts the attitude of the unmanned device 100 according to the received illuminance.
In one embodiment of the present application, the illuminance of the light is inversely proportional to the brightness adjustment amount in the above-described apparatus.
For example, in an environment with high illuminance, but the in-vehicle camera 100 cannot obtain sufficient light, the light compensation is turned on, and the brightness adjustment amount is small. However, in an environment with weak illuminance such as dark day, haze, heavy fog, or rainy and snowy weather, light needs to be turned on for light compensation to ensure the imaging quality of the vehicle-mounted camera 100, and the brightness adjustment amount is also high. It can be seen that the illuminance is inversely proportional to the amount of brightness adjustment. Thus, different brightness adjustment amounts are determined by combining different illumination intensities in different environments, and the flexibility and the adaptability of the unmanned equipment 100 to different illumination environments are improved.
In one embodiment of the present application, in the above apparatus, the lamp 140 includes: a front vehicle light, a rear vehicle light, a left vehicle light and a right vehicle light.
In order to make illumination compensation without missing blind spots, lamps 140 may be disposed in front, rear, left, and right directions of the unmanned aerial vehicle 100, respectively corresponding to the front lamp, the rear lamp, the left lamp, and the right lamp. In this way, the illumination compensation can be adjusted more comprehensively.
In an embodiment of the present application, in the above apparatus, the unmanned device 100 further includes: a brightness adjuster corresponding to each vehicle lamp; and a device controller 130 for adjusting the brightness of the corresponding vehicle lamp through the brightness adjuster.
Each vehicle lamp is provided with a corresponding brightness adjuster, which can be realized by a measurement adjusting circuit and the like. When receiving a brightness adjustment instruction from the device controller 130, the brightness adjuster adjusts the illuminance of the vehicle lamp 140 according to the instruction. For example, when the rear lamps of the unmanned device 100 need to be light-compensated, the device controller 130 sends an adjustment command to the brightness adjuster corresponding to the rear lamps, and the lamps 140 start to respond to the adjustment command to start adjustment. In this way, the brightness of the vehicle lamp 140 can be accurately adjusted under the device controller 130, which is flexible and efficient.
In an embodiment of the present application, in the above apparatus, the unmanned device 100 further includes: an industrial personal computer; the industrial personal computer is used for detecting the imaging of the vehicle-mounted camera according to an image processing algorithm and determining brightness compensation point information according to a detection result; and the device controller 130 is configured to adjust an exit angle of the vehicle lamp according to the brightness compensation point information determined by the industrial personal computer, so as to implement light compensation of the vehicle-mounted camera 110.
The industrial personal computer has the advantages of good reliability, real-time performance, expandability and compatibility. The industrial personal computer is integrated with an image processing algorithm and can be used for detecting whether the imaging quality of the vehicle-mounted camera 110 is poor, and if the imaging effect is poor, corresponding brightness compensation point information is calculated and determined. When starting the light compensation, the device controller 130 determines the emergent angle of the car light 140 by combining the information of the brightness compensation point, and emits light to the point to be compensated in an accurate manner, so as to achieve the purposes of finely adjusting the brightness and realizing the light compensation.
In one embodiment of the present application, in the above apparatus, the unmanned device 100 includes a CAN communicator; and the industrial personal computer is used for transmitting the information of the brightness compensation point to the equipment controller 130 through the CAN communicator.
The CAN communication has the advantages of high data transmission rate, good anti-interference capability, convenience for real-time control and the like. The CAN communicator is used for transmitting the information of the brightness compensation point, so that data CAN be transmitted efficiently and stably, and the response speed and reliability of equipment are improved.
In an embodiment of the present application, in the above apparatus, the luminance compensation point information includes an angle of the luminance compensation point in a coordinate system of the vehicle lamp; and the device controller 130 is used for determining the angle adjustment quantity of the vehicle lamp according to the angle of the brightness compensation point in the vehicle lamp coordinate system.
The brightness compensation point information reflects the spatial position information of the point to be compensated, and specifically comprises the angle of the brightness compensation point in the vehicle lamp coordinate system and the angle adjustment amount, so that the emergent direction can be accurately adjusted. For example, when the device controller 130 starts the light compensation adjustment, the angle adjustment amount of the vehicle lamp is obtained according to the angle of the brightness compensation point in the brightness compensation point information in the vehicle lamp coordinate system, and finally the accurate light emitting angle is determined. Thus, the adjustment of the emergent angle can be accurately realized, and the accurate optical compensation of the specific position point can be realized, so that the accuracy degree of the unmanned equipment 100 can be optimized.
In an embodiment of the application, in the above apparatus, the unmanned device further comprises: a light rotator; and a device controller 130 for adjusting an exit angle of the lamp through the lamp rotator.
In order to obtain a larger controllable adjustment range, a light rotator is arranged on the unmanned device 100, and when the device controller 130 starts light compensation adjustment, the light rotator can make corresponding actions to drive the vehicle lamp 140 to move, so as to finally obtain an appropriate vehicle lamp posture beneficial to the light compensation adjustment. Therefore, the light adjusting range is wider, the emergent angle can be determined according to a specific position point to perform light compensation, and the flexibility is higher.
The following describes the light compensation process of the drone 100 in a particular embodiment. Referring to fig. 2, the optical compensation process includes the following steps:
and step S210, the light sensor acquires the illuminance of the scene where the vehicle-mounted camera is located, and the illuminance is transmitted to the equipment controller.
In step S220, the device controller determines that the illuminance is lower than a preset threshold, and determines the brightness adjustment amount of at least one vehicle lamp according to the illuminance.
In step S230, the device controller adjusts the brightness of the corresponding vehicle lamp through the brightness adjuster.
S240, the industrial personal computer detects the imaging of the vehicle-mounted camera according to the image processing algorithm and determines the information of the brightness compensation point according to the detection result
S250, the industrial personal computer transmits the information of the brightness compensation point to the equipment controller through the CAN communicator
And step S260, the equipment controller adjusts the emergent angle of the car lamp according to the brightness compensation point information determined by the industrial personal computer.
It should be noted that, although the steps are executed sequentially in this embodiment, it can be seen that steps S210 to S230 are to adjust the brightness of the vehicle lamp, and steps S240 to S260 are to adjust the angle of the vehicle lamp, so that the two adjusting stages can be performed asynchronously in other embodiments, that is, both the brightness and the angle of the vehicle lamp can be adjusted at the same time.
To sum up, the unmanned aerial vehicle of this application includes: the device comprises a vehicle-mounted camera, a light sensor, a device controller and a vehicle lamp; the light sensor is used for acquiring the illuminance of a scene where the vehicle-mounted camera is located; and the equipment controller is used for judging whether the illuminance is lower than a preset threshold value, if so, determining the brightness adjustment quantity of at least one car lamp according to the illuminance, and adjusting the brightness of the corresponding car lamp according to the brightness adjustment quantity so as to realize the light compensation of the vehicle-mounted camera. The intelligent illumination compensation system has the advantages that on the basis of the existing unmanned equipment, the adaptive illumination compensation can be carried out on the vehicle-mounted camera by intelligently combining the environment where the unmanned equipment is located, the overall structure of the unmanned equipment is not required to be greatly improved, more light compensation equipment is not required to be additionally added, the intelligent degree of the light compensation of the vehicle-mounted camera and the detection effect in the environments with insufficient light such as dark days, heavy fog and the like are improved, and the all-weather working adaptive capacity of the unmanned equipment is expanded.
It should be noted that:
the algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims (7)

1. An unmanned device, characterized in that the unmanned device comprises: the device comprises a vehicle-mounted camera, a light sensor, a device controller and a vehicle lamp;
the light sensor is used for acquiring the illuminance of a scene where the vehicle-mounted camera is located;
the device controller is used for judging whether the illuminance is lower than a preset threshold value or not, if so, determining the brightness adjustment quantity of at least one vehicle lamp according to the illuminance, and adjusting the brightness of the corresponding vehicle lamp according to the brightness adjustment quantity so as to realize the light compensation of the vehicle-mounted camera;
the unmanned device further comprises: an industrial personal computer;
the industrial personal computer is used for detecting the imaging of the vehicle-mounted camera according to an image processing algorithm and determining brightness compensation point information according to a detection result;
the equipment controller is used for adjusting the emergent angle of the car lamp according to the brightness compensation point information determined by the industrial personal computer so as to realize the light compensation of the vehicle-mounted camera;
the brightness compensation point information comprises the angle of the brightness compensation point in a vehicle lamp coordinate system;
the device controller is used for determining the angle adjustment quantity of the vehicle lamp according to the angle of the brightness compensation point in a vehicle lamp coordinate system;
the vehicle-mounted camera is arranged on the side face of the unmanned equipment, and the light sensor is arranged on the side face.
2. The unmanned aerial device of claim 1,
and the light sensor is used for transmitting the illumination to the equipment controller through a serial port or a Universal Asynchronous Receiver Transmitter (UART).
3. The unmanned aerial device of claim 1, wherein the illuminance is inversely proportional to the brightness adjustment.
4. The unmanned device of claim 1, wherein the vehicle light comprises: a front vehicle light, a rear vehicle light, a left vehicle light and a right vehicle light.
5. The drone of claim 1, further comprising: a brightness adjuster corresponding to each vehicle lamp;
and the equipment controller is used for adjusting the brightness of the corresponding car lamp through the brightness adjuster.
6. The drone of claim 1, wherein the drone includes a CAN communicator;
and the industrial personal computer is used for transmitting the brightness compensation point information to the equipment controller through the CAN communicator.
7. The drone of claim 1, further comprising: a light rotator;
and the equipment controller is used for adjusting the emergent angle of the car lamp through the lamp rotator.
CN201910671754.2A 2019-07-24 2019-07-24 Unmanned equipment Active CN110497837B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910671754.2A CN110497837B (en) 2019-07-24 2019-07-24 Unmanned equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910671754.2A CN110497837B (en) 2019-07-24 2019-07-24 Unmanned equipment

Publications (2)

Publication Number Publication Date
CN110497837A CN110497837A (en) 2019-11-26
CN110497837B true CN110497837B (en) 2021-09-17

Family

ID=68586706

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910671754.2A Active CN110497837B (en) 2019-07-24 2019-07-24 Unmanned equipment

Country Status (1)

Country Link
CN (1) CN110497837B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111301273A (en) * 2020-03-06 2020-06-19 新石器慧通（北京）科技有限公司 A illumination suggestion device and unmanned car for on unmanned car

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2710014B1 (en) * 1993-09-15 1995-12-08 Valeo Vision Device for automatically controlling the orientation of the headlights of a motor vehicle as a function of the variation in attitude thereof.
JP2001026236A (en) * 1999-07-14 2001-01-30 Auto Network Gijutsu Kenkyusho:Kk Control device for head lamp
JP2008059846A (en) * 2006-08-30 2008-03-13 Toshiba Corp Lighting device, lighting system, and lighting control method
CN102490646B (en) * 2011-12-30 2014-02-26 东北大学 Intelligent vehicle lamp system with driver eyesight following function and control method for intelligent vehicle lamp system
CN109649401A (en) * 2017-10-11 2019-04-19 浙江容融荣环保科技有限公司 A kind of automobile Unmanned Systems
CN107878304A (en) * 2017-11-17 2018-04-06 南京视莱尔汽车电子有限公司 A kind of efficiently autonomous driving vehicle intelligent automotive light

Also Published As

Publication number Publication date
CN110497837A (en) 2019-11-26

Similar Documents

Publication Publication Date Title
KR102393845B1 (en) Multiple operating modes to extend dynamic range
US9734425B2 (en) Environmental scene condition detection
TWI814804B (en) Distance measurement processing apparatus, distance measurement module, distance measurement processing method, and program
EP3497925B1 (en) Real-time hdr video for vehicle control
US10538195B2 (en) Adaptive lighting system of an off-road utility vehicle
US7630803B2 (en) Image processing system to control vehicle headlamps or other vehicle equipment
EP2537709B1 (en) Image processing apparatus and light distribution control method
KR101789984B1 (en) Side Mirror Camera System For Vehicle
US10634317B2 (en) Dynamic control of vehicle lamps during maneuvers
CN110781883B (en) Parking space size recognition system and method based on 360-degree looking-around camera
US11325522B2 (en) Automatic light system
CN108650495B (en) Panoramic looking-around system for vehicle and self-adaptive light supplementing method thereof
US20180126907A1 (en) Camera-based system for reducing reflectivity of a reflective surface
CN115534801B (en) Car lamp self-adaptive dimming method and device, intelligent terminal and storage medium
CN111669513A (en) System and method for low-light vision through pulse illumination
CN110497837B (en) Unmanned equipment
JP2016537890A (en) Imaging system including dynamic correction of color attenuation for vehicle windshields
US10894505B2 (en) Lighting control for a computer assisted vehicle
US20230394844A1 (en) System for avoiding accidents caused by wild animals crossing at dusk and at night
US12005837B2 (en) Enhanced illumination-invariant imaging
CN117676952A (en) Headlamp system and vehicle
KR20210100345A (en) Electronic device of vehicle for obtaining an image by controlling a plurality of light sources and operating method thereof
CN117022118A (en) System and method for improving perceived sunlight accuracy
CN116853109A (en) Control method for auxiliary system of automobile lamp

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant