Monitoring method and system for large unmanned transport vehicle

Abstract

The invention discloses a large unmanned transport vehicle monitoring method and system. The method comprises the steps: calibrating a camera, and obtaining parameters participating in distortion in the camera; collecting parameters of the image projected to the cylindrical surface according to the image view field angle and the image width; obtaining a first image coordinate mapping table; extracting image features, calculating a matching relationship between different images, and obtaining a second image coordinate mapping table; setting the size of an image fusion area, and obtaining a weighted fusion matrix; obtaining a third image coordinate mapping table; collecting image information of the surrounding environment when the unmanned transport vehicle runs; according to the third imagecoordinate mapping table, mapping all the images to the same fusion space in a unified manner, and according to the weighted fusion matrix, performing weighted fusion on the overlapping regions amongthe images to obtain an all-round view; and performing pedestrian detection on the surround view by adopting a pedestrian detection algorithm based on deep learning to complete pedestrian position detection. According to the invention, abnormal conditions can be discovered and handled in time, and the safety risk of the large unmanned transport vehicle is greatly reduced.

Description

technical field

[0001] The invention relates to the field of unmanned driving technology, in particular to a monitoring method and system for a large unmanned transport vehicle. Background technique

[0002] With the continuous improvement of my country's economic development and opening to the outside world, my country's port throughput has increased year by year, and it has become the country with the largest annual port throughput. At the same time, due to the high threshold of driving skills, there is a serious shortage of large transport vehicle drivers in the port, which cannot meet the growing transport demand.

[0003] The use of large unmanned transport vehicles to participate in transportation can help solve this problem, which can not only reduce operating costs and improve operational efficiency, but also reduce transportation safety risks.

[0004] When a large unmanned transport vehicle is working, if its surrounding environment is not effectively monitored, i...

Examples

Embodiment Construction

[0045] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0046] Such as figure 1 Shown is a flowchart of a monitoring method for a large unmanned transport vehicle according to an embodiment of the present invention.

[0047] Please refer to figure 1 , the monitoring method of the present embodiment comprises the following steps:

[0048] S11: Calibrate the fisheye camera, and obtain its camera internal parameters and distortion coefficients;

[0049] In this step, a checkerboard calibration board with a length of 3 meters and a width of 2 meters is used for calibration. A larger calibration board can adapt to outdoor scenes and achieve better distortion correction ef...

technical field

[0001] The invention relates to the field of unmanned driving technology, in particular to a monitoring method and system for a large unmanned transport vehicle. Background technique

[0002] With the continuous improvement of my country's economic development and opening to the outside world, my country's port throughput has increased year by year, and it has become the country with the largest annual port throughput. At the same time, due to the high threshold of driving skills, there is a serious shortage of large transport vehicle drivers in the port, which cannot meet the growing transport demand.

[0003] The use of large unmanned transport vehicles to participate in transportation can help solve this problem, which can not only reduce operating costs and improve operational efficiency, but also reduce transportation safety risks.

[0004] When a large unmanned transport vehicle is working, if its surrounding environment is not effectively monitored, i...

Examples

Embodiment Construction

[0045] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

[0046] Such as figure 1 Shown is a flowchart of a monitoring method for a large unmanned transport vehicle according to an embodiment of the present invention.

[0047] Please refer to figure 1 , the monitoring method of the present embodiment comprises the following steps:

[0048] S11: Calibrate the fisheye camera, and obtain its camera internal parameters and distortion coefficients;

[0049] In this step, a checkerboard calibration board with a length of 3 meters and a width of 2 meters is used for calibration. A larger calibration board can adapt to outdoor scenes and achieve better distortion correction ef...

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