An unmanned device, protection method, device, electronic device and storage medium

Abstract

This specification discloses an unmanned device, a protection method, a device, an electronic device and a storage medium. The buffer device arranged on the front side and / or the rear side of the unmanned device includes a deployment mechanism and a buffer member. Among them, the buffer member is fixed on the deployment mechanism, and the buffer member includes a flexible member made of a flexible material. Before the unmanned device collides with an obstacle, the buffer device is driven to deploy, so as to drive the buffer member to move away from the unmanned device, so that the flexible member on the buffer member contacts the obstacle. It can be seen that before the obstacle collides with the unmanned device, the buffer device arranged on the unmanned device is deployed, so that the buffer device contacts the obstacle, reducing the damage caused by the collision to the obstacle and the unmanned device. Especially when the obstacle is a pedestrian, the buffer device contacts the head and torso of the pedestrian, reducing the damage brought by the collision to the head and torso of the pedestrian.

Description

Technical Field

[0001] This specification relates to the technical field of driving safety, and particularly to an unmanned device, a protection method, a device, an electronic device, and a storage medium. Background Art

[0002] With the development of automotive technology and the improvement of people's safety awareness, the objects of automotive safety protection are no longer limited to protecting passengers inside the vehicle, but have been extended to pedestrians outside the vehicle. Therefore, it is necessary to install a pedestrian protection device on the vehicle.

[0003] Currently, for the pedestrian protection device configured for the situation where a vehicle collides with a pedestrian, it usually considers the case where the front bumper of a pointed vehicle directly contacts the pedestrian's leg and causes injury to the pedestrian's leg. The front windshield of the vehicle is located further back than the front bumper. Due to the limited height of the front bumper, when a vehicle collides with a pedestrian, it will cause injury to the pedestrian's leg. For this situation of causing injury to the pedestrian's leg, a buffer device is installed on the front bumper of the vehicle. When it is detected that the possibility of a collision is relatively high, the driving mechanism pushes the buffer device on the front bumper from an inclined state to an approximately vertical state, increasing the contact area between the vehicle and the pedestrian's leg, thereby reducing the injury to the pedestrian's leg.

[0004] However, in the application scenario of unmanned delivery vehicles, the models used for unmanned delivery vehicles are usually flat - headed vehicles. When such a flat - headed vehicle has a head - on collision with a pedestrian, since the front part of the flat - headed vehicle's carriage and the front bumper are on almost the same vertical plane, when the unmanned vehicle has a head - on collision with a pedestrian, in addition to causing injury to the pedestrian's leg, the unmanned vehicle will also cause injury to the pedestrian's head, torso and other parts. Summary of the Invention

[0005] This specification provides an unmanned device, a protection method, a device, an electronic device, and a storage medium to partially solve the above problems existing in the prior art.

[0006] This specification adopts the following technical solutions:

[0007] This specification provides an unmanned device, and the unmanned device includes: Buffer device 1;

[0008] The Buffer device 1 is arranged on the front side and / or the rear side of the unmanned device. The Buffer device 1 includes a deployment mechanism 11 and a buffer member 12. The buffer member 12 is fixed on the deployment mechanism 11. The buffer member 12 includes a flexible member 122 made of a flexible material;

[0009] When the Buffer device 1 receives a driving signal, the deployment mechanism 11 is deployed to drive the buffer member 12 to move away from the unmanned device.

[0010] Optionally, the unfolding mechanism 11 includes a crank-rocker mechanism 112;

[0011] The crank-rocker mechanism 112 includes a fixed rod 1121, a rocker 1122, a crank 1123, and a first connecting rod 1124; wherein, the first end of the rocker 1122 is rotatably connected to the second end of the fixed rod 1121, and the second end of the rocker 1122 is connected to the buffer member 12; a first common axis is provided between the two ends of the rocker 1122.

[0012] Optionally, the first end of the first connecting rod 1124 is rotatably connected to the rocker 1122 through the first common axis, and the second end of the first connecting rod 1124 is rotatably connected to the first end of the crank 1123.

[0013] Optionally, the second end of the crank 1123 is rotatably connected to the first end of the fixed rod 1121, and the crank 1123 is fixed on the unmanned device.

[0014] Optionally, the unfolding mechanism 11 further includes a push rod 111; the push rod 111 includes a power device, a push rod tube 1111, and a lead screw 1112 located inside the push rod tube 1111.

[0015] Optionally, the first end of the lead screw 1112 is rotatably connected to the rocker 1122 through the first common axis, and the second end of the lead screw 1112 is connected to the power device.

[0016] Optionally, when the buffer device 1 receives a driving signal, the power device drives the lead screw 1112 to move axially in the push rod tube 1111, driving the rocker 1122 to rotate around the connection point between the rocker 1122 and the fixed rod 1121, so as to drive the first connecting rod 1124 and the crank 1123 to move to a first preset position; wherein, the first preset position includes a position where the first connecting rod 1124 and the crank 1123 are collinear and do not overlap.

[0017] Optionally, the buffer member 12 further includes a four-bar buffer mechanism 121, and the flexible member 122 is installed on the four-bar buffer mechanism 121;

[0018] The four-bar buffer mechanism 121 includes a group of rockers 1122 shared with the crank-rocker mechanism 112, a second connecting rod 1211 rotatably connected to the rocker 1122, and a third connecting rod 1212 rotatably connected to the rocker 1122.

[0019] Optionally, the four-bar buffer mechanism 121 shares the rocker 1122 with the two crank-rocker mechanisms 112; both ends of the second link 1211 are rotatably connected to the rocker 1122 through a first common shaft provided on the two shared rockers 1122; both ends of the third link 1212 are rotatably connected to the second ends of the two shared rockers 1122.

[0020] Optionally, when the buffer device 1 receives a drive signal, the rocker 1122 rotates around the connection between the rocker 1122 and the fixed rod 1121, driving the second link 1211 and the third link 1212 to move to a second preset position, causing the flexible member 122 to move away from the unmanned device.

[0021] This specification provides a protection method, including:

[0022] Obtaining the status information of the obstacle and the status information of the unmanned device itself;

[0023] According to the status information of the obstacle and the status information of the unmanned device itself, determining the risk value of a collision between the unmanned device and the obstacle;

[0024] When the risk value is greater than a preset threshold, sending a drive signal to the buffer device configured on the above unmanned device, so that the buffer device expands to a preset state to protect pedestrians.

[0025] Optionally, after sending the drive signal to the buffer device configured outside the unmanned device, the method further includes:

[0026] Re-obtaining the status information of the obstacle and the status information of the unmanned device itself;

[0027] According to the re-obtained status information of the obstacle and the status information of the unmanned device itself, determining the current risk value of a collision between the unmanned device and the obstacle;

[0028] When the risk value is not greater than the preset threshold, sending a retraction signal to the buffer device, so that the buffer device retracts from the preset state to the original state.

[0029] This specification provides a protection device, including:

[0030] A status information acquisition module, configured to acquire the status information of the obstacle and the status information of the unmanned device itself;

[0031] A risk value determination module, configured to determine the risk value of a collision between the unmanned device and the obstacle according to the status information of the obstacle and the status information of the unmanned device itself;

[0032] A signal sending module, configured to send a driving signal to a buffer device configured on the unmanned device when the risk value is greater than a preset threshold, so that the buffer device expands to a preset state.

[0033] This specification provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above protection method is implemented.

[0034] This specification provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the above protection method is implemented.

[0035] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0036] In the unmanned device provided in this specification, the buffer device configured on the front side and / or the rear side of the unmanned device includes a deployment mechanism and a buffer member. The buffer member is fixed on the deployment mechanism, and the buffer member includes a flexible member made of a flexible material. Before the unmanned device collides with an obstacle, the buffer device is driven to deploy, so as to drive the buffer member to move away from the unmanned device, so that the flexible member on the buffer member contacts the obstacle. It can be seen that before the obstacle collides with the unmanned device, the buffer device configured on the unmanned device is deployed, so that the buffer device contacts the obstacle, thereby reducing the damage caused by the collision to the obstacle and the unmanned device. Especially when the obstacle is a pedestrian, the buffer device contacts the head and torso of the pedestrian, reducing the damage caused by the collision to the head and torso of the pedestrian. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings described herein are used to provide a further understanding of this specification, and constitute a part of this specification. The schematic embodiments and descriptions thereof of this specification are used to explain this specification, and do not constitute an improper limitation to this specification. In the drawings:

[0038] Figure 1A is a schematic diagram of a vehicle model in this specification;

[0039] Figure 1B is a schematic diagram of a vehicle model in this specification;

[0040] Figure 2 is a schematic diagram of an unmanned device provided in this specification;

[0041] Figure 3A is a schematic diagram of a buffer device provided in this specification;

[0042] Figure 3BSchematic diagram of a buffer device provided in this specification;

[0043] Figure 4 Flow schematic diagram of a protection method in this specification;

[0044] Figure 5A Schematic diagram of an unmanned device provided in this specification;

[0045] Figure 5B Schematic diagram of an unmanned device provided in this specification;

[0046] Figure 6 Flow schematic diagram of a protection method in this specification;

[0047] Figure 7 Schematic diagram of a protection device provided in this specification;

[0048] Figure 8 Corresponding to what is provided in this specification Figure 4 Schematic diagram of an electronic device. Detailed implementation manners

[0049] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this specification.

[0050] In addition, it should be noted that all actions of obtaining signals, information, or data in the present invention are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and with the authorization given by the owner of the corresponding device.

[0051] With the improvement of safety awareness, the safety protection objects during driving are no longer limited to protecting the vehicle and the passengers inside the vehicle, but also extended to pedestrians outside the vehicle. Therefore, in view of the possible collision situations during driving, a buffer device is installed on the front bumper of the vehicle to reduce the damage caused by the collision to the vehicle, obstacles, or pedestrians in the event of a collision. However, this method of installing a buffer device on the front bumper considers the situation where the front bumper of a pointed vehicle as shown in Figure 1A first comes into contact with the pedestrian's leg, but this method cannot be directly applied to the field of unmanned driving. Especially in the application scenario of unmanned delivery, the vehicle models used by unmanned devices are such as Figure 1BThe flatbed vehicle shown. The difference between this flatbed vehicle and the pointed vehicle is that the head of the carriage and the front bumper are on nearly the same vertical plane. Similarly, the tail of the carriage and the rear bumper are also on nearly the same vertical plane. It can be seen that when the unmanned device has a frontal collision with a pedestrian, in addition to causing harm to the pedestrian's legs, the unmanned device will also cause harm to the pedestrian's head, torso and other parts. Obviously, only installing a buffer device on the bumper of the unmanned device to buffer the collision with the pedestrian's legs is not enough to reduce the harm to the pedestrian.

[0052] The following will, with reference to the accompanying drawings, detail the technical solutions provided by each embodiment of this specification.

[0053] This specification provides an unmanned device, and the unmanned device can be an unmanned vehicle, an unmanned aerial vehicle and other driverless devices. In the embodiments of this specification, for the convenience of understanding, only an unmanned vehicle is taken as an example to illustrate the specific technical solutions.

[0054] As Figure 2 shown, the unmanned vehicle at least includes a buffer device 1, a sensor 2, and a controller 3, where the controller 3 is not marked in Figure 2 the figure. The buffer device 1 can be configured on the outer side of the unmanned vehicle. Specifically, since the obstacle that collides with the unmanned vehicle may be located in at least one of the four directions of the front, rear, left, and right of the unmanned vehicle, the buffer device 1 can be configured on at least one of the front side (i.e., the head of the vehicle), the rear side (i.e., the tail of the vehicle), the left side, and the right side of the unmanned vehicle. The number of buffer devices 1 located on one side of the unmanned vehicle is at least one. In the embodiments of this specification, for the convenience of understanding, only the case where the buffer device is configured on the front side of the unmanned vehicle, that is, the head of the vehicle, is taken as an example to illustrate the specific technical solutions. As Figure 2 shown.

[0055] In practical applications, the obstacles that collide with the unmanned vehicle may include pedestrians, non-motor vehicles, motor vehicles, and other unmanned vehicles. Since there are many types of shapes and sizes of obstacles, in order to reduce the harm caused by the collision to the obstacles and the unmanned device, the size of the buffer device itself and the installation height of the buffer device on the side of the unmanned vehicle can be set according to the specific application scenario.

[0056] In Figure 2In the shown driverless vehicle, sensor 2 is installed on the top of the driverless vehicle. Sensor 2 may include sensors such as an optical camera, an infrared camera, a lidar, etc. In the embodiments of this specification, the sensor 2 installed on the top of the driverless vehicle may include a sensor package, and this package may include at least one sensor. Sensor 2 is used to collect the environmental information around the driverless vehicle, especially to obtain the state information of the driverless vehicle itself and the state information of each obstacle within the preset range of the driverless vehicle, and send the obtained state information to the controller 3 of the driverless vehicle or the server controlling the unmanned device, so as to judge the risk of collision between the driverless vehicle and the obstacle. Among them, the state information obtained by sensor 2 may include information such as speed and position. It should be noted that in this specification, as Figure 2 shown, sensor 2 in the driverless vehicle is installed on the top of the driverless vehicle, but it does not mean that sensor 2 can only be installed on the top of the driverless vehicle. According to the needs of specific application scenarios, the installation position of sensor 2 can be adjusted to any appropriate position.

[0057] In the embodiments of this specification, the controller 3 of the driverless vehicle or the server controlling the unmanned device may judge the risk of collision between the driverless vehicle and the obstacle and send a driving signal to the buffer device. In this specification, the controller 3 of the driverless vehicle is taken as an example of the device for judging the risk of collision between the driverless vehicle and the obstacle and sending a driving signal to the buffer device to illustrate the technical solution of this specification.

[0058] The controller 3 can control sensor 2 to obtain the state information of the driverless vehicle itself and the state information of each obstacle within the preset range of the driverless vehicle, and receive the state information sent by sensor 2. Then, according to the state information of each obstacle and the state information of the unmanned device itself, determine the risk value of collision between the obstacle and the driverless vehicle. And when it is judged that the risk value is greater than the preset threshold, send a driving signal to the buffer device to make the buffer device expand to the preset state, so that the buffer device contacts the obstacle, achieving the purpose of buffering the collision and reducing the damage caused to the driverless vehicle and the obstacle.

[0059] As Figure 3A shown is a side view of the buffer device 1 in the original state. Among them, the buffer device 1 may include an unfolding mechanism 11 and a buffer member 12, and the buffer member 12 is fixed on the unfolding mechanism 11. In actual application, when the buffer device 1 receives a driving signal, while the unfolding mechanism 11 unfolds, it can drive the buffer member 12 to move away from the driverless vehicle, as Figure 3B shown is a side view of the buffer device 1 in the preset state. At this time, if an obstacle collides with the driverless vehicle, the obstacle first contacts the flexible member 122 on the buffer member 12. Since the flexible member 122 on the buffer member 12 is made of a flexible material, it can buffer the collision and reduce the damage caused by the collision to the obstacle and the driverless vehicle. It should be noted thatFigure 3A and Figure 3B are both side views of the buffer device 1. The flexible member 122 is not marked in Figure 3A and Figure 3B it.

[0060] Specifically, the original state of the buffer device 1 is as shown in Figure 3A . The buffer device 1 includes a deployment mechanism 11 and a buffer member 12. Among them, the deployment mechanism 11 includes a push rod 111 and a crank-rocker mechanism 112. The buffer member 12 includes a four-bar buffer mechanism 121 and a flexible member 122 mounted on the four-bar buffer mechanism 121.

[0061] Regarding the crank-rocker mechanism 112, the crank-rocker mechanism 112 includes a fixed rod 1121, a rocker 1122, a crank 1123, and a first connecting rod 1124. A first common axis is provided between the two ends of the rocker 1122. The first end of the fixed rod 1121 is fixed on the unmanned vehicle, and the first end of the fixed rod 1121 is rotatably connected to the second end of the crank 1123, but the crank 1123 can rotate around the connection between the fixed rod 1121 and the crank 1123. The second end of the fixed rod 1121 is rotatably connected to the first end of the rocker 1122. The first end of the first connecting rod 1124 is rotatably connected to the rocker 1122 through the first common axis located between the two ends of the rocker 1122, and the second end of the first connecting rod 1124 is rotatably connected to the first end of the crank 1123.

[0062] It should be noted that the conditions for forming the crank-rocker mechanism 112 are: the sum of the lengths of the shortest rod and the longest rod among the fixed rod 1121, the rocker 1122, the crank 1123, and the first connecting rod 1124 that make up the crank-rocker mechanism 112 is not greater than the sum of the other two rods, and the shortest rod is adjacent to the fixed rod 1121. When the fixed rod 1121, the rocker 1122, the crank 1123, and the first connecting rod 1124 meet the above conditions, the crank-rocker mechanism can be formed. The specific materials and lengths of the fixed rod 1121, the rocker 1122, the crank 1123, and the first connecting rod 1124 are determined according to the application scenario, and this specification does not limit this.

[0063] Regarding the push rod 111, the push rod 111 includes a power device, a push rod tube 1111, and a lead screw 1112 located inside the push rod tube 1111. The first end of the lead screw 1112 located inside the push rod tube 1111 is rotatably connected to the rocker 1122 through a first common shaft, and the second end of the lead screw 1112 is connected to the power device. Among them, the type of the power device connected to the lead screw 1112 may include any device that can be used to provide power for the push rod, such as an electric device, a pneumatic device, a hydraulic device, etc. Among them, the power device is usually arranged inside the push rod tube 1111, but due to the different types and sizes of the power device, it can also be arranged outside the push rod tube 1111, which is not limited in this specification. It should be noted that in the original state, the lead screw 1112 included in the push rod 111 of the deployment mechanism 11 is inside the push rod tube 1111 and does not protrude, so the lead screw 1112 is not marked in Figure 3A and is only marked in Figure 3B . In addition, the power device is not marked in Figure 3A and Figure 3B .

[0064] It should be noted that there is at least one push rod 111 included in a buffer device 1, and the specific number of the push rods 111 is determined according to the application scenario. In addition, the extension length of the lead screw 1112 located inside the push rod tube 1111 can be determined according to the moving distance of the four-bar buffer mechanism 121 driven by the push rod 111 in the direction away from the unmanned vehicle, and the lengths of the fixed rod 1121, the rocker 1122, the crank 1123, and the first connecting rod 1124 that form the crank-rocker mechanism 112.

[0065] It can be seen that the push rod 111 is driven by the power device configured therein, driving the first common shaft to drive the rocker 1122 to rotate around the connection point of the rocker 1122 and the fixed rod 1121, so as to deploy the deployment mechanism 11. Obviously, in the crank-rocker mechanism 112, the rocker 1122 is the driving member and the crank 1123 is the driven member. When the first connecting rod 1124 and the crank 1123 are collinear and do not overlap, the crank-rocker mechanism 112 is in the dead center position, as shown in Figure 3B . At this time, the direction of the driving force driving the crank 1123 to rotate around the first end of the fixed rod 1121 is perpendicular to the velocity direction of the first end of the driving force acting point crank 1123, and the driving force cannot drive the crank 1123 to continue to rotate around the first end of the fixed rod 1121. Without the drive of the push rod 111 to destroy the state where the first connecting rod 1124 and the crank 1123 are collinear and do not overlap, the crank-rocker mechanism 112 can always remain in the state of the dead center position, so that the deployment mechanism 11 is always deployed and will not be retracted due to the collision between the unmanned vehicle and the obstacle, reducing the buffering capacity of the buffer device 1.

[0066] Regarding the four-bar buffer mechanism 121, the four-bar buffer mechanism 121 includes a rocker 1122 shared with two crank-rocker mechanisms 112, a second link 1211 rotatably connected to the rocker 1122, and a third link 1212 rotatably connected to the rocker 1122. Among them, both ends of the second link 1211 are rotatably connected to the two rockers 1122 through a first common shaft provided on the two rockers 1122, and both ends of the third link 1212 are rotatably connected to the second ends of the two rockers 1122.

[0067] It should be noted that the buffer member 12 is in close contact with the outer side of the unmanned vehicle in the original state. Only when the buffer device 1 is deployed, the buffer member 12 will move away from the unmanned vehicle, that is, it extends horizontally away from the outer side of the unmanned vehicle. At this time, the projection of the buffer member 12 in the horizontal direction is located at the forefront of the unmanned device. If the unmanned vehicle collides with an obstacle in the case where the buffer device 1 is not deployed (i.e., the original state), the obstacle will not first contact the buffer member 12, but may be other devices configured on the outer side of the unmanned vehicle, such as a bumper. If the unmanned vehicle collides with an obstacle when the buffer device 1 is deployed (preset state), at this time, the buffer device 1 has extended away from the unmanned vehicle, and the projection of the moved buffer member 12 in the horizontal direction is located at the forefront of the unmanned device. The flexible member 122 is the first to contact the obstacle to buffer the damage caused by the collision.

[0068] It can be seen that since the four-bar buffer mechanism 121 shares the rocker 1122 with the crank-rocker mechanism 112, when the rocker 1122 is driven by the push rod 111, the four-bar buffer mechanism 121 can be driven to move away from the unmanned vehicle. Moreover, when the crank-rocker mechanism 112 is in the dead center position, the rocker 1122 cannot rotate without the driving force of the push rod 111 either. Even if the unmanned vehicle collides with an obstacle, the four-bar buffer mechanism 121 will not retract, reducing the buffering capacity of the buffer device 1. Once the unmanned vehicle collides with an obstacle, the flexible member 122 on the four-bar buffer mechanism 121 can first contact the obstacle to buffer the collision. Generally, a four-bar buffer mechanism can be installed with two layers of flexible members 122 made of flexible materials, but according to specific application scenarios, multiple layers of flexible members 122 made of flexible materials can be added to the four-bar buffer mechanism, and this specification does not limit this.

[0069] Figure 4 It is a schematic flow chart of the protection method provided by the embodiments of this specification. In the embodiments of this specification, Figure 4 The protection method shown can be applied to the controller of the unmanned device or to the server that controls the unmanned device, and this specification does not limit this. In this specification, taking the application to the controller of the unmanned device as an example, Figure 4 the protection method shown is described, which specifically includes the following steps:

[0070] S400: Obtain the status information of the obstacle and the status information of the unmanned device itself.

[0071] In the embodiments of this specification, the unmanned device may be an unmanned vehicle, an unmanned aerial vehicle, or other driverless devices. In the embodiments of this specification, for the convenience of understanding, only the unmanned vehicle is taken as an example to illustrate the specific technical solutions. The model of the unmanned vehicle may be a flatbed truck, which can be used in the field of logistics distribution, including the instant delivery fields such as takeout and distribution, and may also include other non-instant delivery fields.

[0072] In this step, the controller configured on the unmanned vehicle can determine the status information such as the speed and position of the obstacle from the environmental information around the unmanned vehicle collected by the sensor. At the same time, obtain the status information such as the speed and position of the unmanned device itself. The sensor may include sensors such as an optical camera, an infrared camera, and a lidar.

[0073] S402: Determine the risk value of a collision between the unmanned device and the obstacle according to the status information of the obstacle and the status information of the unmanned device itself.

[0074] Specifically, the risk value is used to judge the probability of a collision between the unmanned vehicle and the obstacle, and the risk value is related to the obtained status information of the obstacle and the status information of the unmanned vehicle itself. If the obtained status information includes speed and position, according to the status information of the obstacle and the status information of the unmanned vehicle itself, determine the relative distance and relative speed of the obstacle relative to the unmanned vehicle. Generally, the risk value is negatively correlated with the relative distance and positively correlated with the relative speed, that is, the smaller the relative distance, the greater the risk value; the greater the relative speed, the greater the risk value.

[0075] S404: When the risk value is greater than a preset threshold, send a drive signal to the buffer device configured on the unmanned device to make the buffer device expand to a preset state.

[0076] Under normal circumstances, when detecting the risk of a collision between the unmanned vehicle and the obstacle, the controller controls the unmanned vehicle to take operations to avoid collisions such as braking and decelerating, turning and avoiding. When a collision cannot be avoided, that is, when the risk value is higher than the preset threshold, it is necessary to use the buffer device configured on the unmanned vehicle to buffer the upcoming collision between the unmanned vehicle and the obstacle. At this time, the controller can send a drive signal to the buffer device configured on the side of the unmanned vehicle where the collision is about to occur to make the buffer device expand, so that the flexible part on the buffer device contacts the obstacle first, reducing the damage caused by the collision. Among them, the buffer device can be configured on at least one of the front side, rear side, left side, and right side of the unmanned vehicle. The number of buffer devices located on one side of the unmanned vehicle is at least one.

[0077] For example, if the obstacle is a pedestrian, if the pedestrian is tall, Figure 5A As shown, it can be deployed on the outer side of the unmanned vehicle that is about to collide ( Figure 5A The figure shows the front side of the unmanned vehicle, where the buffer device is configured at a height close to the head and torso of a pedestrian. Once the unmanned vehicle collides with an adult, the buffer on the buffer device may contact the head, torso and other parts of the pedestrian. If the pedestrian is short, such as Figure 5B As shown, in this case, the buffer device can be adjusted in advance to a position lower than the ground so that the buffer member on the buffer device can contact the head, torso and other parts of the pedestrian. Figure 5A On the basis of Figure 5A Below the buffer device currently shown, a buffer device is configured to achieve Figure 5B The flexible member made of flexible material installed on the buffer can buffer the collision, thereby reducing the damage caused to the unmanned vehicle and pedestrians by the collision between the unmanned vehicle and the pedestrian. In particular, when the obstacle is a pedestrian, the buffer device contacts the pedestrian's head and torso, reducing the damage caused to the pedestrian's head and torso by the collision.

[0078] In the protection method provided in this specification, before the unmanned equipment collides with the obstacle, the risk value of the collision between the unmanned equipment and the obstacle is determined by obtaining the state information of the obstacle and the unmanned equipment itself, and when the risk value is higher than the threshold, a driving signal is sent to drive the buffer device configured on the unmanned equipment to unfold, so that the buffer device contacts the obstacle. It can be seen that before the obstacle collides with the unmanned equipment, the buffer device configured on the unmanned equipment is driven to unfold according to the risk value of the collision, so that the buffer device contacts the obstacle before other devices configured on the unmanned vehicle, thereby reducing the damage caused by the collision to the obstacle and the unmanned equipment.

[0079] In another embodiment of the present specification, after the driving signal is sent to the buffer device configured on the unmanned equipment, if the unmanned equipment does not collide with the obstacle or the buffer device can still work after the collision, the buffer device can be retracted for next use. Figure 6 As shown, it is implemented by the following steps:

[0080] S500: Re-acquire the status information of the obstacle and the status information of the unmanned device itself.

[0081] S502: Determine a risk value of a collision between the unmanned device and the obstacle based on the re-acquired state information of the obstacle and the state information of the unmanned device itself.

[0082] S504: Determine whether the risk value is not greater than a preset threshold. If so, execute step S506; otherwise, return to step S500.

[0083] S506: Send a retraction signal to the buffer device so that the buffer device retracts from the preset state to the original state. At this time, it indicates that there is no obstacle with a high possibility of collision with the driverless vehicle. Therefore, a retraction signal is sent to the buffer device to retract the buffer device to the original state for use when the risk value is higher than the preset threshold next time.

[0084] The above is the protection method provided by one or more embodiments of this specification. Based on the same idea, this specification also provides a corresponding protection device, as Figure 7 shown.

[0085] Figure 7 The following is a schematic diagram of a protection device provided by this specification, which specifically includes:

[0086] A status information acquisition module 600, configured to acquire the status information of the obstacle and the status information of the driverless device itself;

[0087] A risk value determination module 602, configured to determine the risk value of collision between the driverless device and the obstacle according to the status information of the obstacle and the status information of the driverless device itself;

[0088] A signal sending module 604, configured to send a driving signal to a buffer device configured on the driverless device when the risk value is greater than a preset threshold, so that the buffer device expands to a preset state.

[0089] Optionally, the status information acquisition module 600 is further configured to, after the signal sending module 604 sends a driving signal to a buffer device configured on the driverless device, acquire the status information of the obstacle and the status information of the driverless device itself again;

[0090] Optionally, the risk value determination module 602 is further configured to determine the current risk value of collision between the driverless device and the obstacle according to the status information of the obstacle and the status information of the driverless device itself acquired again;

[0091] Optionally, the signal sending module 604 is further configured to send a retraction signal to the buffer device when the risk value is not greater than a preset threshold, so that the buffer device retracts from the preset state to the original state.

[0092] In the unmanned device and protection method provided in this specification, a buffer device is configured on the front side and / or the rear side of the unmanned device. Before the unmanned device collides with an obstacle, a risk value of the collision between the unmanned device and the obstacle is determined by obtaining the state information of the obstacle and the unmanned device itself. When the risk value is higher than a threshold, a driving signal is sent to drive the buffer device configured on the unmanned device to deploy, so as to drive the buffer member to move away from the unmanned device, making the buffer device contact the obstacle. It can be seen that before the obstacle collides with the unmanned device, the buffer device configured on the unmanned device is deployed to make the buffer device contact the obstacle, thereby reducing the damage caused by the collision to the obstacle and the unmanned device. Especially when the obstacle is a pedestrian, the buffer device contacts the head and torso of the pedestrian, reducing the damage brought by the collision to the head and torso of the pedestrian.

[0093] This specification also provides a computer-readable storage medium, which stores a computer program that can be used to execute the above Figure 4 provided protection method.

[0094] This specification also provides a schematic structural diagram of the electronic device shown in FIG. 8. As Figure 8 described, at the hardware level, the electronic device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory. Of course, it may also include other hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to implement the above Figure 4 described protection method. Of course, in addition to the software implementation method, this specification does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc. That is to say, the execution subject of the following processing flow is not limited to each logic unit, and can also be hardware or a logic device.

[0095] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements to method flows). However, with the development of technology, many method flow improvements today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement to a method flow cannot be implemented using a hardware entity module. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logical function is determined by the user programming the device. Designers can program themselves to "integrate" a digital system onto a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compilers used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called a Hardware Description Language (HDL), and there is not just one type of HDL, but many types, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones currently are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be aware that by simply performing a little logical programming on the method flow using the above-mentioned several hardware description languages and programming it into an integrated circuit, it is easy to obtain the hardware circuit that implements the logical method flow.

[0096] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0097] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0098] For the convenience of description, when describing the above devices, they are described separately as various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0099] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block of the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0101] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0103] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0104] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of computer-readable media.

[0105] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0106] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0107] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] This specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. This specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0109] Each embodiment in this specification is described in a progressive manner. For the identical or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiment.

[0110] The above description is only for the embodiments of this specification and is not intended to limit this specification. For those skilled in the art, various modifications and changes can be made to this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the scope of the claims of this specification.

Claims

1. An unmanned device, characterized in that, The unmanned device includes: a buffer device (1); The buffer device (1) is arranged on the front side and / or the rear side of the unmanned device. The buffer device (1) includes a deployment mechanism (11) and a buffer member (12). The buffer member (12) is fixed on the deployment mechanism (11). The buffer member (12) includes a flexible member (122) made of a flexible material; When the buffer device (1) receives a driving signal, the deployment mechanism (11) is deployed to drive the buffer member (12) to move away from the unmanned device; Wherein, the deployment mechanism (11) includes a crank-rocker mechanism (112); the crank-rocker mechanism (112) includes a fixed rod (1121), a rocker (1122), a crank (1123), and a first connecting rod (1124); wherein, the first end of the rocker (1122) is rotatably connected to the second end of the fixed rod (1121), and the second end of the rocker (1122) is connected to the buffer member (12); a first common axis is provided between the two ends of the rocker (1122); The deployment mechanism (11) further includes a push rod (111); the push rod (111) includes a power device, a push rod tube (1111), and a lead screw (1112) located inside the push rod tube (1111); the first end of the lead screw (1112) is rotatably connected to the rocker (1122) through the first common axis, and the second end of the lead screw (1112) is connected to the power device; When the buffer device (1) receives a driving signal, the power device drives the lead screw (1112) to move axially in the push rod tube (1111), driving the rocker (1122) to rotate around the connection point of the rocker (1122) and the fixed rod (1121), so as to drive the first connecting rod (1124) and the crank (1123) to move to a first preset position; wherein, the first preset position includes a position where the first connecting rod (1124) and the crank (1123) are collinear and do not overlap.

2. The unmanned device according to claim 1, characterized in that, The first end of the first connecting rod (1124) is rotatably connected to the rocker (1122) through the first common axis, and the second end of the first connecting rod (1124) is rotatably connected to the first end of the crank (1123).

3. The unmanned device according to claim 2, characterized in that The second end of the crank (1123) is rotatably connected to the first end of the fixed rod (1121), and the second end of the crank (1123) is fixed on the unmanned device.

4. The unmanned device according to claim 1, characterized in that, The buffer member (12) further includes a four-bar buffer mechanism (121), and the flexible member (122) is installed on the four-bar buffer mechanism (121); The four-bar buffer mechanism (121) includes a group of rockers (1122) shared with the crank-rocker mechanism (112), a second connecting rod (1211) rotatably connected to the rocker (1122), and a third connecting rod (1212) rotatably connected to the rocker (1122).

5. The unmanned device according to claim 4, wherein, The four-bar buffer mechanism (121) shares a rocker (1122) with the two crank-rocker mechanisms (112); both ends of the second link (1211) are rotatably connected to the shared rocker (1122) through a first common shaft provided on the two shared rockers (1122); both ends of the third link (1212) are rotatably connected to the second ends of the two shared rockers (1122).

6. The unmanned device according to claim 5, wherein, When the buffer device (1) receives a driving signal, the rocker (1122) rotates around the connection between the rocker (1122) and the fixed rod (1121), driving the second link (1211) and the third link (1212) to move to a second preset position, causing the flexible member (122) to move away from the unmanned device.

7. A protection method, characterized in that, Including: Obtain the status information of the obstacle and the status information of the unmanned device itself; According to the status information of the obstacle and the status information of the unmanned device itself, determine the risk value of collision between the unmanned device and the obstacle; When the risk value is greater than a preset threshold, send a driving signal to the buffer device configured on the unmanned device according to any one of claims 1 to 6, so that the buffer device expands to a preset state.

8. The method according to claim 7, characterized in that, After sending the driving signal to the buffer device configured on the unmanned device, the method further includes: Re-obtain the status information of the obstacle and the status information of the unmanned device itself; According to the re-obtained status information of the obstacle and the status information of the unmanned device itself, determine the current risk value of collision between the unmanned device and the obstacle; When the risk value is not greater than the preset threshold, send a retraction signal to the buffer device, so that the buffer device retracts from the preset state to the original state.

9. A protection device, characterized in that, Including: A status information acquisition module for obtaining the status information of the obstacle and the status information of the unmanned device itself; A risk value determination module for determining the risk value of collision between the unmanned device and the obstacle according to the status information of the obstacle and the status information of the unmanned device itself; A signal sending module for sending a driving signal to the buffer device configured on the unmanned device according to any one of claims 1 to 6 when the risk value is greater than a preset threshold, so that the buffer device expands to a preset state.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 7 to 8 is implemented.

11. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the method according to any one of claims 7 to 8 is implemented.

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