CN112055334A - Tunnel-based remote driving method and device, computer equipment and storage medium - Google Patents
Tunnel-based remote driving method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a tunnel-based remote driving method, which comprises the steps of acquiring a track image shot by a camera; determining a real-time location of a locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; the target operation data is displayed, so that a driver of the driving control console controls the locomotive marshalling to drive according to the target operation data, the effect of improving the working environment of the driver is achieved, a more comprehensive observation visual angle is provided for the driver, the standard operation of the driver is guided, and the safety and the convenience of tunnel driving are greatly improved. In addition, a remote driving device based on the tunnel, computer equipment and a storage medium are also provided.
Description
Technical Field
The invention relates to the technical field of computer software, in particular to a tunnel-based remote driving method and device, computer equipment and a storage medium.
Background
In recent years, along with the development of economy, more and more cities begin to build subways so as to facilitate the transportation and the travel of citizens. According to investigation, most of the current subway projects are constructed by a shield method, and the muck generated in the tunneling process needs to be transported to a wellhead by using a rail electric locomotive and then hoisted to a ground muck pool by a gantry crane to be poured. In the shield tunneling process, an electric locomotive is an important ring. And (4) the locomotive backs up to enter the tunnel, the mortar segment unloading and muck loading operation is carried out in the shield area, and the locomotive is driven out of the tunnel after the loading is finished. At present, all tunnels constructed by adopting a shield method have the advantages that the operation control of the marshalling of the electric locomotives is finished by a driver in a vehicle-mounted cab, the driver can only stay in a narrow cab in the whole loading and transporting process, the driver is easy to get trapped, in the process that the locomotive is poured into the shield from a wellhead, the driver can only observe a rear track through a rear camera and cannot observe the environment around the marshalling of the whole locomotive, and safety accidents are easy to occur.
Disclosure of Invention
In view of the above, there is a need to provide a method, an apparatus, a computer device and a storage medium for remote driving based on a tunnel, which can improve the working environment and the viewing angle of a driver, standardize the operation of the driver and improve the driving safety.
A remote driving method based on a tunnel is applied to a remote driving system of the tunnel, the remote driving system of the tunnel comprises a plurality of cameras installed on the wall of the tunnel, a driving console located on the ground and a locomotive marshalling located in the tunnel, the driving console is respectively connected with the cameras and the locomotive marshalling in a communication mode, and the method comprises the following steps:
acquiring a track image shot by the camera;
determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
generating target operation data according to the track image and the real-time position;
and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
A remote driving device based on a tunnel, which is applied to a remote driving system of the tunnel, wherein the remote driving system of the tunnel comprises a plurality of cameras installed on the wall of the tunnel, a driving console located on the ground and a locomotive marshalling located in the tunnel, the driving console is respectively connected with the cameras and the locomotive marshalling in a communication mode, and the device comprises:
the image acquisition module is used for acquiring the track image shot by the camera;
a location determination module for determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
the data generation module is used for generating target operation data according to the track image and the real-time position;
and the driving module is used for displaying the target operation data so that a driver of the driving control console controls the locomotive marshalling to drive according to the target operation data.
A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
acquiring a track image shot by the camera;
determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
generating target operation data according to the track image and the real-time position;
and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring a track image shot by the camera;
determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
generating target operation data according to the track image and the real-time position;
and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
According to the tunnel-based remote driving method, the tunnel-based remote driving device, the computer equipment and the storage medium, the track image shot by the camera is obtained; determining a real-time location of the locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; and controlling the locomotive marshalling to drive according to the target operation data, thereby improving the working environment and the observation visual angle of a driver, standardizing the operation of the driver and improving the safety and the convenience of the tunnel driving.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow diagram of a tunnel-based remote driving method in one embodiment;
FIG. 2 is a flow diagram of a method for target operational data generation in one embodiment;
FIG. 3 is a flow diagram of a method for real-time position determination in one embodiment;
FIG. 4 is a flow chart of a tunnel-based remote driving method in another embodiment;
FIG. 5 is a flow chart of a tunnel-based remote driving method in yet another embodiment;
FIG. 6 is a flow chart of a tunnel-based remote driving method in yet another embodiment;
FIG. 7 is a block diagram of a tunnel-based remote steering apparatus according to an embodiment;
FIG. 8 is a block diagram of a computer device in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, in one embodiment, a remote driving method based on a tunnel is provided, which is applied to a remote driving system of a tunnel, the remote driving system of a tunnel includes a plurality of cameras installed on a wall of the tunnel, a driving console located on the ground, and a locomotive consist located in the tunnel, the driving console is respectively connected with the cameras and the locomotive consist in a communication manner, and the embodiment is exemplified by being applied to the driving console. The remote driving method based on the tunnel specifically comprises the following steps:
and 102, acquiring a track image shot by a camera.
Wherein the operator's control station is a control terminal for remotely controlling the operation of the locomotive consist located in the tunnel, the control terminal including a server and a network, thereby enabling the operator's cab of the entire locomotive consist to be moved to a ground operator's cab, the ground operator's cab being associated with the locomotive consist in the tunnel via the network, and an operator located on the ground being able to operate the locomotive consist in the tunnel for remotely operating the locomotive consist. Preferably, in this embodiment, the network employs a 5G network, which is beneficial to improve the real-time performance and transmission efficiency of data transmission. In addition, in order to further ensure the network transmission efficiency, the 5G network adopts a private network, namely the 5G private network is arranged in a ground operation room and is connected with a 5G base station in an underground tunnel through optical fibers, and then the 5G base station covers signals to all positions of the tunnel, so that the interference with the 5G signals of a public network can be avoided.
Furthermore, a plurality of cameras are installed on the wall of the tunnel, and track images shot by the cameras are obtained, wherein the track images refer to images of a track and a surrounding environment in the tunnel and are used for identifying obstacles and people on the track, so that the locomotive consist can be controlled to safely run based on the track images.
Where the real-time location refers to the relative location of the locomotive consist at the current time. Specifically, the absolute positions of the locomotive marshalling and the tunnel at the current moment can be determined through the camera, and the real-time position is calculated by adopting an Ultra Wide Band (UWB) method according to the absolute positions of the locomotive marshalling and the tunnel at the current moment. It will be appreciated that the present embodiment is directed to determining a real-time location of a locomotive consist for subsequent determination of driving direction, driving speed, etc. based on the real-time location.
And 106, generating target operation data according to the track image and the real-time position.
The target operational data is data used to direct the operation of the locomotive consist, such as the speed, direction, speed of the locomotive consist motor, voltage or current, etc. Specifically, it may be determined from the track image whether an obstacle or pedestrian is present on the track, and thus whether the locomotive consist requires braking to a stop. The driving direction, driving speed and the like of the locomotive consist can be determined according to the real-time position, and target operation data can be determined by combining the track image and the real-time position.
And 108, displaying the target operation data so that a driver of the driving control console controls the locomotive marshalling to drive according to the target operation data.
Specifically, the operator's console displays the target operating data on a display screen so that an operator of the operator's console located on the ground may be instructed to remotely drive the locomotive consist according to the target operating data. The tunnel driving control platform has the advantages that the driving control platform is located on the ground, so that a driver does not need to drive in a tunnel, the effect of improving the working environment of the driver is achieved, the multiple cameras are mounted on the wall of the tunnel, a more comprehensive observation visual angle is provided for the driver, the standard operation of the driver is guided, and the tunnel driving safety and convenience are greatly improved.
According to the tunnel-based remote driving method, the track image shot by the camera is obtained; determining a real-time location of a locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; the target operation data is displayed, so that a driver of the driving control console controls the locomotive marshalling to drive according to the target operation data, the effect of improving the working environment of the driver is achieved, a more comprehensive observation visual angle is provided for the driver, the standard operation of the driver is guided, and the safety and the convenience of tunnel driving are greatly improved.
As shown in FIG. 2, in one embodiment, generating target operational data from the orbit image and the real-time position comprises:
and 106C, generating target operation data according to the driving route and the driving speed.
In this embodiment, a computer vision method is used to identify the track image and determine whether there are obstacles or pedestrians on the track in the tunnel, so as to ensure the safety of the subsequent locomotive marshalling. When no obstacle or pedestrian exists on the track, the running route and the running speed of the locomotive consist can be calculated according to the real-time position of the locomotive consist, the destination and the arrival time in the driving plan and the like; and generating target operation data according to the driving route and the driving speed for guiding subsequent tunnel driving.
In one embodiment, after the track image is identified and whether an obstacle or a pedestrian exists in the track is determined, the method further comprises the following steps:
in the event of an obstacle or pedestrian in the track, a parking brake command is generated to cause the operator of the operator's console to park brake the locomotive consist.
Specifically, when there is an obstacle or a pedestrian on the track, in order to ensure the safety of the tunnel, the driving console generates a parking brake command, so that a driver of the driving console performs parking brake on the locomotive consist to ensure the driving safety.
As shown in fig. 3, in one embodiment, a locating tag is mounted on the tractor head of a locomotive consist, locating beacons are mounted at intervals on the tunnel wall, and the real-time location of the locomotive consist is determined by an ultra-wideband wireless location method, comprising:
The positioning tag and the positioning beacon are both positioning sensors. Specifically, the distance between the positioning tag and the signal corresponding to the positioning beacon is calculated, and the locomotive is positioned according to the distance by using the high time resolution property of the UWB pulse signal, so that the real-time position of the locomotive consist is obtained. Understandably, by locating the locomotive consist using UWB, the accuracy of the real-time location is improved, thereby facilitating improved accuracy of subsequent remote drives.
As shown in fig. 4, in one embodiment, a plurality of cameras are mounted on the tunnel wall at predetermined intervals, and a front camera and a rear camera are mounted on the locomotive consist, the method further comprising:
and step 114, generating a target running route according to the panoramic video and the real-time position.
In the embodiment, the driving control console obtains videos in different directions shot by the cameras in different directions, tunnel panoramic videos are generated according to the videos in different directions, tunnel panoramic information is obtained, and finally a target running route of the locomotive marshalling can be calculated according to the real-time position and the tunnel panoramic information.
As shown in fig. 5, in an embodiment, after generating the tunnel panoramic video according to videos of different directions, the method further includes:
and step 118, displaying the panoramic monitoring information so that a driver of the driving console can obtain a panoramic view angle.
In this embodiment, the driving console generates panoramic monitoring information according to the panoramic video for displaying the tunnel panorama, and displays the panoramic control confidence on the display frequency of the driving console, so that a driver of the driving console can obtain a panoramic view angle, a more comprehensive observation view angle is provided for the driver, and the safety and the normalization of remote driving are further ensured.
As shown in fig. 6, in an embodiment, after acquiring videos in different directions captured by cameras in different directions, the method further includes:
step 120, determining a target camera near the locomotive consist according to the real-time position;
step 122, determining a video shot by a target camera as a target video;
and 124, displaying the target video so that a driver of the driving console controls the locomotive to drive according to the target video.
In this embodiment, the driving console determines a target camera near the locomotive consist according to the real-time position of the locomotive consist, and determines a video shot by the target camera as a target video, so that switching and starting the camera near the locomotive consist is realized, real-time switching of video pictures of the surrounding environment of the locomotive consist is realized, the target video is displayed, and the view angle of the tunnel is switched to the view angle of a driver in the driving console, so that the driver of the driving console controls the locomotive consist to run according to the target video. Understandably, in this embodiment, through switching the camera, guaranteed the accuracy of driver visual angle, and then guarantee remote driving's security and standardization.
In one embodiment, as shown in fig. 7, a remote driving device based on a tunnel is provided for a remote driving system of a tunnel, the remote driving system of a tunnel comprises a plurality of cameras installed on the wall of the tunnel, a driving console located on the ground and a locomotive consist located in the tunnel, the driving console is respectively connected with the cameras and the locomotive consist in a communication mode, and the device comprises:
an image obtaining module 702, configured to obtain a track image captured by the camera;
a location determination module 704 for determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
a data generating module 706, configured to generate target operation data according to the track image and the real-time position;
a drive module 708 configured to display the target operating data such that a driver of the cockpit controls the locomotive consist to drive according to the target operating data.
In one embodiment, the data generation module comprises:
the identification unit is used for identifying the track image and judging whether the track has obstacles or pedestrians;
a data determination unit for determining a driving route and a driving speed of the locomotive consist according to the real-time position under the condition that no obstacle or pedestrian exists on the track;
and the data generating unit is used for generating target operation data according to the running route and the running speed.
In one embodiment, the tunnel-based remote driving apparatus further includes: a braking module for generating a parking brake command to cause a driver of the operator's console to park brake the locomotive consist in the presence of an obstacle or pedestrian in the track.
In one embodiment, the location determination module comprises:
a distance calculation unit for calculating a distance between the positioning tag and the positioning beacon;
a location determination unit for determining the real-time location of the locomotive consist as a function of the distance.
In one embodiment, the tunnel-based remote driving apparatus further includes:
the video acquisition module is used for acquiring videos in different directions shot by the cameras in different directions;
the panoramic video generation module is used for generating a tunnel panoramic video according to the videos in different directions;
and the route determining module is used for generating the target running route according to the panoramic video and the real-time position.
In one embodiment, the tunnel-based remote driving apparatus further includes:
the monitoring information acquisition module is used for generating panoramic monitoring information according to the panoramic video;
and the panoramic view angle acquisition module is used for displaying the panoramic monitoring information so as to enable a driver of the driving console to acquire the panoramic view angle.
In one embodiment, the tunnel-based remote driving apparatus further includes:
determining a target camera near the locomotive consist based on the real-time location;
determining the video shot by the target camera as a target video;
and displaying the target video so that a driver of the driving console controls the locomotive consist to run according to the target video.
FIG. 8 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a server including, but not limited to, a high performance computer and a cluster of high performance computers. As shown in fig. 8, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement a tunnel-based remote driving method. The internal memory may also have stored thereon a computer program that, when executed by the processor, causes the processor to perform a tunnel-based remote driving method. Those skilled in the art will appreciate that the architecture shown in fig. 8 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the tunnel-based remote driving method provided by the present application may be implemented in the form of a computer program, and the computer program may be run on a computer device as shown in fig. 8. The memory of the computer device may store therein individual program templates constituting the tunnel-based remote driving apparatus. Such as an image acquisition module 702, a location determination module 704, a data generation module 706, and a steering module 708.
A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring a track image shot by the camera; determining a real-time location of the locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
In one embodiment, a track image shot by the camera is acquired; determining a real-time location of the locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
In one embodiment, generating target operational data from the orbit image and the real-time location comprises: identifying the track image and judging whether the track has obstacles or pedestrians; determining a travel route and a travel speed of the locomotive consist from the real-time location in the absence of obstacles or pedestrians on the track; and generating target operation data according to the driving route and the driving speed.
In one embodiment, after the identifying the track image and determining whether the track has an obstacle or a pedestrian, the method further includes: in the event of an obstacle or pedestrian in the track, a parking brake command is generated to cause the operator of the cockpit to park brake the locomotive consist.
In one embodiment, a positioning tag is mounted on a tractor head of a locomotive consist, positioning beacons are mounted on a tunnel wall at regular intervals, and determining a real-time location of the locomotive consist by an ultra-wideband wireless positioning method comprises: calculating the distance between the positioning tag and the positioning beacon; determining the real-time location of the locomotive consist from the distance.
In one embodiment, a plurality of cameras are mounted on the tunnel wall at predetermined intervals, and a front camera and a rear camera are mounted on the locomotive consist, the method further comprising: acquiring videos in different directions shot by cameras in different directions; generating a tunnel panoramic video according to the videos in different directions; and generating the target running route according to the panoramic video and the real-time position.
In one embodiment, after the generating the tunnel panoramic video according to the videos in different directions, the method further includes: generating panoramic monitoring information according to the panoramic video; and displaying the panoramic monitoring information so that a driver of the driving console can obtain a panoramic view angle.
In one embodiment, after acquiring videos in different directions captured by cameras in different directions, the method further includes: determining a target camera near the locomotive consist based on the real-time location; determining the video shot by the target camera as a target video; and displaying the target video so that a driver of the driving console controls the locomotive consist to run according to the target video.
A computer-readable storage medium storing a computer program, the computer program when executed by a processor implementing the steps of: acquiring a track image shot by the camera; determining a real-time location of the locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
In one embodiment, a track image shot by the camera is acquired; determining a real-time location of the locomotive consist by an ultra-wideband wireless location method; generating target operation data according to the track image and the real-time position; and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
In one embodiment, generating target operational data from the orbit image and the real-time location comprises: identifying the track image and judging whether the track has obstacles or pedestrians; determining a travel route and a travel speed of the locomotive consist from the real-time location in the absence of obstacles or pedestrians on the track; and generating target operation data according to the driving route and the driving speed.
In one embodiment, after the identifying the track image and determining whether the track has an obstacle or a pedestrian, the method further includes: in the event of an obstacle or pedestrian in the track, a parking brake command is generated to cause the operator of the cockpit to park brake the locomotive consist.
In one embodiment, a positioning tag is mounted on a tractor head of a locomotive consist, positioning beacons are mounted on a tunnel wall at regular intervals, and determining a real-time location of the locomotive consist by an ultra-wideband wireless positioning method comprises: calculating the distance between the positioning tag and the positioning beacon; determining the real-time location of the locomotive consist from the distance.
In one embodiment, a plurality of cameras are mounted on the tunnel wall at predetermined intervals, and a front camera and a rear camera are mounted on the locomotive consist, the method further comprising: acquiring videos in different directions shot by cameras in different directions; generating a tunnel panoramic video according to the videos in different directions; and generating the target running route according to the panoramic video and the real-time position.
In one embodiment, after the generating the tunnel panoramic video according to the videos in different directions, the method further includes: generating panoramic monitoring information according to the panoramic video; and displaying the panoramic monitoring information so that a driver of the driving console can obtain a panoramic view angle.
In one embodiment, after acquiring videos in different directions captured by cameras in different directions, the method further includes: determining a target camera near the locomotive consist based on the real-time location; determining the video shot by the target camera as a target video; and displaying the target video so that a driver of the driving console controls the locomotive consist to run according to the target video.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A remote driving method based on a tunnel is applied to a remote driving system of the tunnel, the remote driving system of the tunnel comprises a plurality of cameras installed on the wall of the tunnel, a driving console located on the ground and a locomotive marshalling located in the tunnel, the driving console is respectively connected with the cameras and the locomotive marshalling in a communication mode, and the method comprises the following steps:
acquiring a track image shot by the camera;
determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
generating target operation data according to the track image and the real-time position;
and displaying the target operation data so that a driver of the driving console controls the locomotive marshalling to drive according to the target operation data.
2. The tunnel-based remote driving method according to claim 1, wherein the generating target operation data from the orbit image and the real-time position comprises:
identifying the track image and judging whether the track has obstacles or pedestrians;
determining a travel route and a travel speed of the locomotive consist from the real-time location in the absence of obstacles or pedestrians on the track;
and generating target operation data according to the driving route and the driving speed.
3. The remote driving method based on the tunnel according to claim 2, wherein after the identifying the track image and determining whether the track has obstacles or pedestrians, the method further comprises:
in the event of an obstacle or pedestrian in the track, a parking brake command is generated to cause the operator of the cockpit to park brake the locomotive consist.
4. The tunnel-based remote driving method of claim 2, wherein a tractor head of the locomotive consist is mounted with a positioning tag, positioning beacons are mounted at intervals on a tunnel wall, and the determining of the real-time location of the locomotive consist by an ultra-wideband wireless positioning method comprises:
calculating the distance between the positioning tag and the positioning beacon;
determining the real-time location of the locomotive consist from the distance.
5. The tunnel-based tele-driving method of claim 1, wherein a plurality of cameras are mounted on a tunnel wall at predetermined intervals, and front and rear cameras are mounted on the locomotive consist, the method further comprising:
acquiring videos in different directions shot by cameras in different directions;
generating a tunnel panoramic video according to the videos in different directions;
and generating the target running route according to the panoramic video and the real-time position.
6. The tunnel-based remote driving method according to claim 5, further comprising, after the generating a tunnel panoramic video from the videos of different directions:
generating panoramic monitoring information according to the panoramic video;
and displaying the panoramic monitoring information so that a driver of the driving console can obtain a panoramic view angle.
7. The remote driving method based on the tunnel according to claim 5, further comprising, after acquiring the videos of different directions captured by the cameras of different directions:
determining a target camera near the locomotive consist based on the real-time location;
determining the video shot by the target camera as a target video;
and displaying the target video so that a driver of the driving console controls the locomotive consist to run according to the target video.
8. A remote driving device based on a tunnel, which is applied to a remote driving system of the tunnel, the remote driving system of the tunnel comprises a plurality of cameras installed on the wall of the tunnel, a driving console located on the ground and a locomotive marshalling located in the tunnel, the driving console is respectively connected with the cameras and the locomotive marshalling in a communication way, the device is characterized by comprising:
the image acquisition module is used for acquiring the track image shot by the camera;
a location determination module for determining a real-time location of the locomotive consist by an ultra-wideband wireless location method;
the data generation module is used for generating target operation data according to the track image and the real-time position;
and the driving module is used for displaying the target operation data so that a driver of the driving control console controls the locomotive marshalling to drive according to the target operation data.
9. Computer arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the tunnel-based remote driving method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the tunnel-based remote driving method according to any one of claims 1 to 7.
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