CN111338348A - Unmanned vehicle and traffic control method thereof - Google Patents
Unmanned vehicle and traffic control method thereof Download PDFInfo
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- CN111338348A CN111338348A CN202010147761.5A CN202010147761A CN111338348A CN 111338348 A CN111338348 A CN 111338348A CN 202010147761 A CN202010147761 A CN 202010147761A CN 111338348 A CN111338348 A CN 111338348A
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- 230000036760 body temperature Effects 0.000 description 7
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The embodiment of the invention discloses an unmanned vehicle and a traffic control method thereof. The unmanned vehicle comprises a positioning module, a human body simulation module and a control module; the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is used for starting the human body simulation module to simulate the human body state when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information; the control module is also used for controlling the unmanned vehicle to pass through and closing the human body simulation module after the unmanned vehicle passes through the automatic door. According to the technical scheme of the embodiment of the invention, the unmanned vehicle automatically drives the automatic door for passing through people by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter the room from the outside is solved, the unmanned vehicle can realize the passing of the automatic door, and meanwhile, the whole-course operation requirements of indoor and outdoor multiple scenes are met.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned driving, in particular to an unmanned vehicle and a traffic control method thereof.
Background
At present, an unmanned vehicle can realize smooth autonomous operation outdoors through multi-sensor fusion positioning technologies such as multi-line laser radar, GPS, inertial navigation and vision, and the application scenes are very wide, such as express delivery, meal delivery, retail sale, security protection and cleaning. However, the unmanned technology for switching outdoor scenes to indoor scenes is less researched, and unmanned vehicles are difficult to enter the indoor from the outdoor. When epidemic prevention and control or special weather occur, the requirements of outdoor and indoor whole-course operation cannot be met.
The existing unmanned technology can be connected with an elevator system through a background, an unmanned vehicle is controlled to get in and out of an elevator and reach a target floor according to needs, automatic driving can be achieved, manual intervention is not needed, but the scheme does not relate to a scheme of how the unmanned vehicle gets in and out of a building gate.
Disclosure of Invention
The embodiment of the invention provides an unmanned vehicle and a traffic control method thereof, so that the unmanned vehicle can realize the traffic of an automatic door and simultaneously meet the whole-course operation requirements of indoor and outdoor multi-scenes.
In a first aspect, an embodiment of the present invention provides an unmanned vehicle, including:
the positioning module is used for acquiring positioning information of the unmanned vehicle;
the human body simulation module is used for simulating the human body state;
the control module is electrically connected with the positioning module and the human body simulation module and used for starting the human body simulation module to simulate the human body state when the unmanned vehicle arrives at the identification area of the automatic door according to the positioning information;
the control module is also used for controlling the unmanned vehicle to pass through and closing the human body simulation module after the unmanned vehicle passes through the automatic door.
Optionally, the control module is further configured to control the unmanned vehicle to pass after the human body simulation module is started for a set interval time, or control the unmanned vehicle to reduce the speed of the vehicle to pass after the human body simulation module is started.
Optionally, the method further comprises:
the automatic door identification module is electrically connected with the control module and is used for identifying the opening state and the opening degree of the automatic door;
the control module is also used for controlling the unmanned vehicle to pass according to the opening state and the opening degree of the automatic door.
Optionally, the automatic door identification module comprises a distance sensor.
Optionally, the human body simulation module includes:
the infrared emission device is used for emitting infrared rays to the automatic door;
and/or a motion device for generating a motion state.
Optionally, the movement device includes a motor and a movement mechanism, the motor is connected to the movement mechanism, and the control module is further configured to control the motor to drive the movement mechanism to move.
Optionally, the method further comprises:
and the automatic door identification module is electrically connected with the control module and used for identifying the induction type of the automatic door, and the control module is also used for opening the infrared emission device or the motion device according to the induction type of the automatic door.
Optionally, the automatic door identification module comprises at least one of an infrared sensor and a microwave sensor.
Optionally, the human body simulation module is longitudinally arranged on the roof of the unmanned vehicle and extends from the head to the tail of the unmanned vehicle; or,
the unmanned vehicle comprises at least three human body simulation modules, and the human body simulation modules are arranged at two ends and the middle of the vehicle roof at least along the direction from the vehicle head to the vehicle tail of the unmanned vehicle.
In a second aspect, an embodiment of the present invention further provides a method for controlling the passing of an unmanned vehicle, where the unmanned vehicle includes: the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is electrically connected with the positioning module and the human body simulation module;
the method is performed by the control module, the method comprising:
when the unmanned vehicle is determined to reach the identification area of the automatic door according to the positioning information, the human body simulation module is started to simulate the human body state;
and controlling the unmanned vehicle to pass through, and closing the human body simulation module after the unmanned vehicle passes through the automatic door.
The embodiment of the invention provides an unmanned vehicle and a traffic control method thereof, wherein the unmanned vehicle comprises a positioning module, a human body simulation module and a control module; the positioning information of the unmanned vehicle is obtained through the positioning module, and when the control module determines that the unmanned vehicle reaches the identification area of the automatic door, the human body simulation module is started to simulate the human body state; the control module can also control the unmanned vehicle to pass through, and when the unmanned vehicle passes through the automatic door, the human body simulation module is closed. According to the technical scheme of the embodiment of the invention, the unmanned vehicle automatically drives the automatic door for passing through people by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter the room from the outside is solved, the unmanned vehicle can realize the passing of the automatic door, and meanwhile, the whole-course operation requirements of indoor and outdoor multiple scenes are met.
Drawings
Fig. 1 is a schematic block diagram of an unmanned vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic door and an unmanned vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an automatic door and another unmanned vehicle provided by an embodiment of the invention;
fig. 8 is a schematic flow chart of a method for controlling the passing of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic block diagram of an unmanned vehicle according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an automatic door and an unmanned vehicle according to an embodiment of the present invention. With reference to fig. 1 and 2, the drone vehicle 10 includes a positioning module 100, a human body simulation module 200, and a control module 400; the positioning module 100 is configured to obtain positioning information of the unmanned vehicle 10; the human body simulation module 200 is used for simulating human body states; the control module 400 is electrically connected with the positioning module 100 and the human body simulation module 200, and is configured to start the human body simulation module 200 to simulate a human body state when it is determined that the unmanned vehicle 10 reaches the identification area of the automatic door 20 according to the positioning information; the control module 400 is further configured to control the unmanned vehicle 10 to pass through, and close the human body simulation module 200 after the unmanned vehicle 10 passes through the automatic door 20.
Specifically, as shown in fig. 1 and 2, the unmanned vehicle 10 is an intelligent vehicle based on autonomous or unmanned technology. The driving modes of the unmanned vehicle 10 may include automatic driving, which may be a driving mode in which the unmanned vehicle 10 senses the surroundings of the vehicle based on an intelligent driving system equipped with the unmanned vehicle 10 itself, automatically plans a driving route and controls the vehicle to reach a predetermined destination, and remote control driving, which may be a driving mode in which the unmanned vehicle 10 travels under the control of a control center or a remote control according to a received driving instruction. The automatic door 20 may be an automatic induction door of a building, and when an object is close to the automatic door 20, the automatic door 20 may recognize whether the object is a human body according to the state and characteristics of the object, and when the object is a human body, the automatic door 20 may be automatically opened and automatically closed after the human body passes through.
Referring to fig. 1 and 2, the positioning module 100 may be a Global Positioning System (GPS) module equipped in the unmanned vehicle 10, and is configured to obtain positioning information of the unmanned vehicle 10 in real time. The human body simulation module 200 may be used to simulate the characteristics or states of the human body, for example, the body temperature characteristics or motion states of the human body, etc., to be recognized by the automatic door 20. The control module 400 may be the control system of the unmanned vehicle 10 itself, and may be capable of controlling the positioning module 100 and the human body simulation module 200 automatically or based on instructions from a control center.
Illustratively, referring to fig. 1 and 2, the principle of the unmanned vehicle 10 is: the unmanned vehicle 10 acquires the positioning information through the positioning module 100, and the control module 400 can determine whether the unmanned vehicle 10 reaches the identification area of the automatic door 20 of the destination based on the positioning information. When the control module 400 determines that the unmanned vehicle 10 arrives at the identification area of the automatic door 20, the human body simulation module 200 may be activated to simulate the body temperature characteristics or motion state of the human body through the human body simulation module 200 to be identified by the automatic door 20. If the automatic door 20 senses the motion of the human body simulation module 200, it is opened. The control module 400 can control the unmanned vehicle 10 to pass through by a driving system of the unmanned vehicle 10, and the human body simulation module 200 still continuously simulates a human body state during the passing process so as to prevent the unmanned vehicle 10 from failing to pass through due to sudden closing of the automatic door 20 during the passing process. The control module 400 closes the human body simulation module 200 after determining that the unmanned vehicle 10 smoothly passes through the automatic door 20 through the positioning module 100. According to the technical scheme of the embodiment of the invention, the unmanned vehicle automatically drives the automatic door for passing through people by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter the room from the outside is solved, the unmanned vehicle can realize the passing of the automatic door, and meanwhile, the whole-course operation requirements of indoor and outdoor multiple scenes are met.
Referring to fig. 1 and 2, optionally, the control module 400 is further configured to control the unmanned vehicle 10 to pass through after a set time interval from the start of the human body simulation module 200. Specifically, after the automatic door 20 senses the motion of the human body simulation module 200, a certain delay time may exist before the automatic door 20 is automatically opened, in order to avoid the situation that the automatic door 20 is not opened yet and the unmanned vehicle 10 has automatically traveled, a set time may be set by the control module 400, and after the control module 400 starts the human body simulation module 200, the unmanned vehicle 10 is controlled to pass through the automatic driving system of the unmanned vehicle 10 after the set time interval, so as to wait for the automatic door 20 to pass again. Optionally, the control module 400 is further configured to self-start the human body simulation module 200 to control the unmanned vehicle 10 to reduce the speed of the vehicle. Specifically, the control module 400 may be configured to reduce the speed of the unmanned vehicle 10 after the human body simulation module 200 is started, and control the unmanned vehicle 10 to move forward toward the automatic door 20 at a lower speed through an automatic driving system of the unmanned vehicle 10. This can reserve waiting time for the opening of the automatic door 20 to ensure that the unmanned vehicle 10 smoothly passes through the automatic door 10, and avoid the occurrence of an accident that the unmanned vehicle 10 collides with the automatic door 10 that has not been opened yet in response to being too fast.
Fig. 3 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. With reference to fig. 2 and 3, optionally, an automatic door identification module 300 electrically connected to the control module 400 for identifying the opening state and the opening degree of the automatic door 20; the control module 400 is also used for controlling the unmanned vehicle 10 to pass according to the opening state and the opening degree of the automatic door 20. Specifically, the automatic door identification module 300 may be used to identify the automatic door 20, for example, whether the automatic door 20 is opened or closed, and the opening degree of the automatic door 20, i.e., the width of the opening of the automatic door 20. When the unmanned vehicle 10 arrives at the identification area of the automatic door 20 and the control module 400 starts the human body simulation module 200, the control module 400 may control the automatic door identification module 300 to identify the automatic door 20. If the automatic door recognition module 300 recognizes that the automatic door 20 is opened, the unmanned vehicle 10 can be controlled to move forward through the control module 400, and when the automatic door recognition module 300 recognizes that the opening degree of the automatic door 20 is greater than or equal to the width of the unmanned vehicle 10, the unmanned vehicle 10 is controlled to pass through the automatic door 20. The state of the automatic door 20 can be accurately identified, and the automatic door 20 is ensured to be opened and the unmanned vehicle is controlled to pass after the opening degree is proper.
In conjunction with fig. 2 and 3, optionally, the automatic door identification module 300 includes a distance sensor 330. Illustratively, the distance sensor 330 can recognize the opening state and the opening degree of the automatic door 20 and the distance between the unmanned vehicle 10 and the automatic door 20 according to the motion of the automatic door 20, when the automatic door 20 is closed, the distance sensor 330 detects that there is an obstacle in front, i.e., the automatic door 20, and the distance between the unmanned vehicle 10 and the automatic door 20 is small; when the distance between the unmanned vehicle 10 and the automatic door 20 changes abruptly after the automatic door 20 is opened, the distance sensor 330 can determine the opening state of the automatic door 20 according to the change in the distance between the unmanned vehicle 10 and the automatic door 20. In the process that the unmanned vehicle 10 passes through the automatic door 20, the distance sensor 330 may detect the distance between the vehicle body and the automatic door 20 in real time, and after the unmanned vehicle 10 completely passes through the automatic door 20, the distance sensor 330 may detect obstacles around the unmanned vehicle 10 and the vehicle body, that is, abrupt changes in the distance between the automatic door 20, so as to determine that the unmanned vehicle 10 passes through the automatic door 20. The control module 400 may control the unmanned vehicle 10 to move forward when the distance sensor 330 recognizes that the automatic door 20 is opened, and after the distance sensor 330 recognizes that the unmanned vehicle 10 completely passes through the automatic door 20, the human body simulation module 200 does not need to work any more, and the control module 400 controls the human body simulation module 200 to close.
Referring to fig. 2 and 3, the distance sensor 330 may optionally include at least one of an ultrasonic sensor, a laser sensor, an infrared sensor, and a microwave sensor. The distance sensor 330 can emit ultrasonic waves, laser light, infrared rays, or microwaves to the outside, and determine the open state and the opening degree of the automatic door 20 and the distance between the unmanned vehicle 10 and the automatic door 20 according to light rays or light waves, etc. emitted from objects around the vehicle body back to the distance sensor 330.
Fig. 4 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Optionally, in conjunction with fig. 2 and 4, the human body simulation module 200 includes an infrared emitting device 210 for emitting infrared rays to the automatic door 20. Specifically, the infrared emitting device 210 may be an infrared emitter, which can simulate infrared rays radiated by a human body and emit the infrared rays to the automatic door 20, for example, at a normal temperature of the human body, the wavelength of the infrared rays radiated outward is about 8-14 μm, and the infrared emitting device 210 can emit the infrared rays with the wavelength of about 8-14 μm to the automatic door 20. For example, the automatic door 20 of the building generally has a sensor 21, the sensor 21 may be a temperature-sensitive sensor, such as an infrared sensor, and the automatic door 20 may sense and identify an object in an identification area of the automatic door 20 through the sensor 21. When a human body is in the identification area of the automatic door 20, infrared rays of a specific wavelength band can be radiated to the sensor 21, the sensor 21 can determine whether an object in the identification area is a human body based on the wavelength of the received infrared rays, and the automatic door 20 is automatically opened after the object is determined to be a human body. The unmanned vehicle provided by the embodiment can simulate and emit infrared rays of a specific waveband radiated by a human body at normal body temperature through the infrared emitting device 210 in the human body simulation module 200 so as to be recognized by the automatic door 20 of the building, and can automatically pass through the automatic door of the building by simulating the body temperature characteristic of the human body.
Fig. 5 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Optionally, in conjunction with fig. 2 and 5, the human body simulation module 200 includes a motion device 220 for generating a motion state. Specifically, the motion device 220 may simulate the motion state of the human body after being opened, and perform the motion in various directions, such as back and forth or left and right, to be recognized by the automatic door 20. The sensor 21 of the automatic door 20 of the building may be a microwave sensor, for example, the sensor 21 may emit microwave outwards and sense the microwave reflected from the object in the identification area to the sensor 21, and the automatic door 20 is automatically opened when the sensor 21 senses the object in the identification area to move continuously. In the motion-sensing type automatic door 20, since the unmanned vehicle 10 may be in a suspended state or a slow-moving state while traveling, in order to prevent the automatic door 20 from being unable to sense the motion state of the unmanned vehicle 10, a motion device 220 may be provided on the unmanned vehicle 10, and the motion state of a human body may be simulated by the motion device 220 to be recognized by the automatic door 20, so that the unmanned vehicle can automatically pass through the automatic door of a building.
Referring to fig. 5, optionally, the moving device 220 includes a motor 221 and a moving mechanism 222, the motor 221 is connected to the moving mechanism 222, and the control module 400 is further configured to control the motor 221 to drive the moving mechanism 222 to move. For example, the motion mechanism 222 may include a slide bar mechanism or a slider structure, and the motion mechanism 222 may be driven by the motor 221 to reciprocate back and forth, left and right, or in other directions, and the embodiment does not limit the specific form of the motion mechanism 222 as long as a motion state can be generated by the motor 221 and can be identified by the sensor of the automatic door 20. The motor 221 and the moving mechanism 222 can simulate the moving state of the human body to be recognized by the automatic door 20, so that the unmanned vehicle can automatically pass through the automatic door of the building.
Fig. 6 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Optionally, in conjunction with fig. 2 and 6, the human body simulation module 200 includes an infrared emitting device 210 and a motion device 220; the infrared emitting device 210 is used for emitting infrared rays to the automatic door 20; the motion device 220 is used to generate a motion state. For example, the human body simulation module 200 may further include an infrared emitting device 210 and a moving device 220, and most of the sensors 21 of the automatic door 20 of the building are infrared sensors or microwave sensors, so that the unmanned vehicle 10 can simulate the body temperature characteristics of the human body through the infrared emitting device 210, and simulate the motion state of the human body through the moving device 220, so that the unmanned vehicle 10 can be adapted to different operation scenes through automatic doors of different sensing modes.
As shown in fig. 2 and 6, optionally, the unmanned vehicle 10 further includes an automatic door recognition module 300 electrically connected to the control module 400, wherein the automatic door recognition module 300 is further configured to recognize a sensing type of the automatic door 20, and the control module 400 is further configured to turn on the infrared emitting device 210 or the moving device 220 according to the sensing type of the automatic door 20. As an example, the sensor 21 of the automatic door 20 of a common building is mostly an infrared sensor or a microwave sensor, and when the automatic door 20 identifies an object in its identification area through the sensor 21, infrared rays are emitted outwards through the infrared sensor, or microwaves are emitted outwards through the microwave sensor. When the control module 400 of the unmanned vehicle 10 determines that the unmanned vehicle 10 arrives at the identification area of the automatic door 20 through the positioning module 100, the control module 400 may receive infrared rays or microwaves transmitted from the sensor 21 of the automatic door 20 through the sensor in the automatic door identification module 300, and the sensor in the automatic door identification module 300 may identify the received infrared rays or microwaves. When the automatic door recognition module 300 senses infrared rays, it may be determined that the sensing type of the automatic door 20 is infrared sensing, and then the control module 400 may turn on the infrared emitting device 210 according to the sensing type recognized by the automatic door recognition module 300, and simulate the body temperature characteristics of a human body through the infrared emitting device 210, so that the unmanned vehicle 10 smoothly passes through the automatic door 20; when the automatic door recognition module 300 senses microwaves, it may be determined that the sensing type of the automatic door 20 is microwave sensing, and then the control module 400 may open the moving device 220 according to the sensing type recognized by the automatic door recognition module 300, and simulate the movement state of the human body through the moving device 220, so that the unmanned vehicle 10 smoothly passes through the automatic door 20. Like this, unmanned vehicle 10 can be through the response type of automatically-controlled door identification module 300 discernment automatically-controlled door 20 to select to open corresponding human simulation module 200 according to the response type of automatically-controlled door 20 and in order to be discerned by automatically-controlled door 20, guarantee that unmanned vehicle 10 can pass smoothly, promoted unmanned vehicle 10's intelligent degree.
Referring to fig. 2 and 6, optionally, the automatic door recognition module 300 includes at least one of an infrared sensor 310 and a microwave sensor 320. Fig. 6 schematically illustrates a case where the automatic door identification module 300 includes both the infrared sensor 310 and the microwave sensor 320, and since parameters such as the wavelength and the frequency of the infrared ray or the microwave emitted to the outside by the infrared sensor 21 and the microwave sensor 21 commonly found in the automatic door 20 are different during identification, the automatic door identification module 300 may receive the infrared ray or the microwave emitted by the automatic door 20 through the infrared sensor 310 and/or the microwave sensor 320, and determine the type of the sensor 21 according to the parameters such as the wavelength and the frequency of the infrared ray or the microwave, so as to selectively turn on the infrared emitting device 210 or the moving device 220 based on the type of the sensor 21, thereby implementing intelligent judgment and passage of the unmanned vehicle 10.
Referring to fig. 2, optionally, the human body simulation module 200 is longitudinally disposed on the roof of the unmanned vehicle 10 and extends from the head to the tail. Illustratively, when the human body simulation module 200 includes an infrared emitting device, the infrared emitting device may be in the shape of a strip, and is longitudinally disposed on the roof of the unmanned vehicle 10; when the human body simulation module 200 includes a motion device, the length of the motion mechanism in the motion device may be slightly less than or equal to the length of the unmanned vehicle 10 and be disposed longitudinally on the roof of the unmanned vehicle 10. In the process that the unmanned vehicle 10 passes through the automatic door 20, the human body simulation module 200 can continuously act, so that when the positions of the head, the middle or the tail of the unmanned vehicle 10 and the like pass through the automatic door 20, the action of the human body simulation module 200 can be continuously recognized by the automatic door 2, so as to prevent the situation that the unmanned vehicle 10 partially passes through the automatic door 20, and the other part is not recognized to cause the closing of the automatic door 20, so that the unmanned vehicle 10 is blocked by the automatic door 20.
Fig. 7 is a schematic structural diagram of an automatic door and another unmanned vehicle according to an embodiment of the present invention. As shown in fig. 7, optionally, the unmanned vehicle 10 includes at least three human body simulation modules 200, and the human body simulation modules 200 are disposed at least at two ends and in the middle of the roof in the direction from the head to the tail of the unmanned vehicle 10. By the arrangement, in the process that the unmanned vehicle 10 passes through the automatic door 20, all positions of the vehicle body are identified by the automatic door 20, the situation that the unmanned vehicle 10 is blocked by the automatic door 20 due to the fact that part of the unmanned vehicle 10 passes through the automatic door 20 and the other part of the unmanned vehicle is not identified to cause the automatic door 20 to be closed can be avoided, and smooth passing of the unmanned vehicle 10 is facilitated.
Fig. 8 is a schematic flow chart of a method for controlling the passing of an unmanned vehicle according to an embodiment of the present invention. Referring to fig. 1, 2 and 8, the present embodiment is applicable to a case where an unmanned vehicle is controlled to pass through an automatic door, and the unmanned vehicle 10 includes: a positioning module 100 for acquiring positioning information of the unmanned vehicle 10; a human body simulation module 200 for simulating a human body state; and a control module 400 electrically connected to the positioning module 100 and the human body simulation module 200.
The passing control method of the unmanned vehicle is executed by the control module 400, and the method specifically comprises the following steps:
and 110, when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information, starting a human body simulation module to simulate the human body state.
Illustratively, in conjunction with fig. 1 and 2, the unmanned vehicle 10 acquires the location information via the location module 100, and the control module 400 can determine whether the unmanned vehicle 10 reaches the identification area of the automatic door 20 of the destination based on the location information. When the control module 400 determines that the unmanned vehicle 10 arrives at the identification area of the automatic door 20, the human body simulation module 200 may be activated to simulate the body temperature characteristics or motion state of the human body through the human body simulation module 200 to be identified by the automatic door 20.
And step 120, controlling the unmanned vehicle to pass.
For example, referring to fig. 1 and 2, if the automatic door 20 senses the motion of the human body simulation module 200, it is opened. The control module 400 can control the unmanned vehicle 10 to pass through by a driving system of the unmanned vehicle 10, and the human body simulation module 200 still continuously simulates a human body state during the passing process so as to prevent the unmanned vehicle 10 from failing to pass through due to sudden closing of the automatic door 20 during the passing process. And step 130, closing the human body simulation module after the unmanned vehicle passes through the automatic door.
Referring to fig. 1 and 2, the control module 400 closes the human body simulation module 200 after determining that the unmanned vehicle 10 smoothly passes through the automatic door 20. According to the technical scheme of the embodiment of the invention, the unmanned vehicle automatically drives the automatic door for passing through people by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter the room from the outside is solved, the unmanned vehicle can realize the passing of the automatic door, and meanwhile, the whole-course operation requirements of indoor and outdoor multiple scenes are met.
The method for controlling the passing of the unmanned vehicle provided by the embodiment of the invention is used for controlling the unmanned vehicle provided by the embodiment of the invention to pass through the automatic door, has the corresponding beneficial effects of the unmanned vehicle provided by the embodiment of the invention, and is not described again.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. An unmanned vehicle, comprising:
the positioning module is used for acquiring positioning information of the unmanned vehicle;
the human body simulation module is used for simulating the human body state;
the control module is electrically connected with the positioning module and the human body simulation module and used for starting the human body simulation module to simulate the human body state when the unmanned vehicle arrives at the identification area of the automatic door according to the positioning information;
the control module is also used for controlling the unmanned vehicle to pass through and closing the human body simulation module after the unmanned vehicle passes through the automatic door.
2. The unmanned vehicle of claim 1, wherein the control module is further configured to control the unmanned vehicle to pass after a set time interval since the human body simulation module is started, or control the unmanned vehicle to reduce the speed of the unmanned vehicle to pass after the human body simulation module is started.
3. The unmanned vehicle of claim 1, further comprising:
the automatic door identification module is electrically connected with the control module and is used for identifying the opening state and the opening degree of the automatic door;
the control module is also used for controlling the unmanned vehicle to pass according to the opening state and the opening degree of the automatic door.
4. The unmanned vehicle of claim 3, wherein the automatic door identification module comprises a distance sensor.
5. The drone vehicle of claim 1, wherein the human body simulation module comprises:
the infrared emission device is used for emitting infrared rays to the automatic door;
and/or a motion device for generating a motion state.
6. The unmanned vehicle of claim 5, wherein the motion device comprises a motor and a motion mechanism, the motor is connected with the motion mechanism, and the control module is further configured to control the motor to drive the motion mechanism to move.
7. The drone vehicle of claims 5-6, further comprising:
and the automatic door identification module is electrically connected with the control module and used for identifying the induction type of the automatic door, and the control module is also used for opening the infrared emission device or the motion device according to the induction type of the automatic door.
8. The unmanned vehicle of claim 7, wherein the automatic door identification module comprises at least one of an infrared sensor and a microwave sensor.
9. The unmanned vehicle of claim 1, wherein the human body simulation module is longitudinally arranged on the roof of the unmanned vehicle and extends from the head to the tail of the unmanned vehicle; or,
the unmanned vehicle comprises at least three human body simulation modules, and the human body simulation modules are arranged at two ends and the middle of the vehicle roof at least along the direction from the vehicle head to the vehicle tail of the unmanned vehicle.
10. A traffic control method of an unmanned vehicle, characterized in that the unmanned vehicle comprises: the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is electrically connected with the positioning module and the human body simulation module;
the method is performed by the control module, the method comprising:
when the unmanned vehicle is determined to reach the identification area of the automatic door according to the positioning information, the human body simulation module is started to simulate the human body state;
and controlling the unmanned vehicle to pass through, and closing the human body simulation module after the unmanned vehicle passes through the automatic door.
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