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Method and device for detecting occurrence of side rockfall of unmanned vehicle

A technology for unmanned vehicles and falling rocks, applied to devices using optical methods, measuring devices, optical devices, etc., can solve problems such as being affected by terrain, low degree of automation, and inability to process data in real time

Active Publication Date: 2021-05-14
SHANGHAI BOONRAY INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although these methods have played a positive role in the early warning of landslides, they have some disadvantages, such as being affected by the terrain, not being able to observe continuously, the degree of automation is not high, the human input is too large, and the data cannot be processed in real time.

Method used

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  • Method and device for detecting occurrence of side rockfall of unmanned vehicle
  • Method and device for detecting occurrence of side rockfall of unmanned vehicle
  • Method and device for detecting occurrence of side rockfall of unmanned vehicle

Examples

Experimental program
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Effect test

Embodiment 1

[0031] like figure 1 Shown, unmanned vehicle detects the method that side rockfall occurs, it is characterized in that, described method carries out the following steps:

[0032] Step 1: Obtain real-time operating data during the driving process of the unmanned vehicle; the operating data includes: driving speed and driving angular velocity; at the same time, enter the road width during the driving process of the unmanned vehicle and the body width of the unmanned vehicle;

[0033] Step 2: Based on the operating data, road width and vehicle body width, delineate the safety zone and two monitoring areas on both sides of the vehicle body; the safety zone is the safety zone during the vehicle’s forward movement; The first monitoring area on the right side of the vehicle body and the second monitoring area on the left side of the vehicle body;

[0034] Step 3: Install at least two image acquisition devices on the unmanned vehicle to acquire the image information of the first moni...

Embodiment 2

[0040] On the basis of the previous embodiment, the method further includes: setting up two additional image acquisition devices to respectively acquire the image information of the first monitoring area and the second monitoring area of ​​the distant scene; The image information in the second monitoring area is image denoised to reduce the noise interference caused by environmental factors and unmanned vehicles in the image information; the image information after denoising in the first monitoring area and the second monitoring area of ​​the distant view is identified, and the Judging whether there is a rockfall, and obtaining the size of the rockfall and the falling speed of the rockfall; according to the obtained size of the rockfall and the falling speed of the rockfall, delineate the first distance limit and the second distance limit after the falling rockfall is completed; the first The distance limit is at least the limit position that will be reached after the fall of t...

Embodiment 3

[0042] On the basis of the previous embodiment, the method further includes: performing camera calibration on the image acquisition device before acquiring image information through the pre-image acquisition device.

[0043] Specifically, in the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging. These geometric model parameters are the camera parameter. Under most conditions, these parameters must be obtained through experiments and calculations. This process of solving parameters is called camera calibration (or camera calibration). Whether it is in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibration results and the stability of the algorithm...

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Abstract

The invention belongs to the technical field of unmanned driving, and particularly relates to a method and device for detecting side rockfall of an unmanned vehicle. The method comprises the following steps: 1, obtaining the operation data of the unmanned vehicle in the driving process in real time, wherein the operation data comprises a driving speed and a driving angular speed, meanwhile, recording the road width in the driving process of the unmanned vehicle and the vehicle body width of the unmanned vehicle; 2, based on the operation data, the road width and the vehicle body width, defining a safety area and two monitoring areas on the two sides of a vehicle body, wherein the safety area is a safety area in the forward moving process of the vehicle, and the two monitoring areas are a first monitoring area located on the right side of the vehicle body and a second monitoring area located on the left side of the vehicle body. The method and device has the advantages of high intelligent degree, high safety and high accuracy.

Description

technical field [0001] The invention belongs to the technical field of unmanned driving, and in particular relates to a method and a device for unmanned vehicles to detect side rockfalls. Background technique [0002] Self-driving cars, also known as driverless cars and computer-driven cars, are unmanned ground vehicles that transport power. As autonomous vehicles, self-driving cars can sense their environment and navigate without human intervention. Fully self-driving cars have not yet been fully commercialized. Most of them are prototypes and display systems. Some reliable technologies have only been transferred to mass-produced models and gradually become a reality. [0003] Self-driving cars sense their environment with technologies such as radar, lidar, GPS and computer vision. Advanced control systems translate sensory data into appropriate navigation paths, obstacles and associated signs. By definition, a self-driving car can update its map information through sens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/40G06K9/62G06N3/04G01B11/00G01P3/38
CPCG06N3/04G01P3/38G01B11/00G06V20/56G06V10/30G06F18/23G06F18/214
Inventor 胡心怡杨扬
Owner SHANGHAI BOONRAY INTELLIGENT TECH CO LTD
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