Voice broadcast and screen display device for operation state of outdoor cleaning vehicle

Abstract

The utility model discloses a voice broadcast and screen display device for the operation state of an outdoor cleaning vehicle. The voice broadcast and screen display device comprises a head-mounted clamping part, a display assembly and an audio player. The head-mounted clamping part comprises a bracket and two clamping parts which are respectively arranged at two ends of the bracket; the display assembly is composed of an HUD image generation base and a curved-surface transparent display screen, the HUD image generation base is arranged between the two clamping parts and can rotate around the central axis of the clamping parts, and the curved-surface transparent display screen is installed on the HUD image generation base; and the audio player is arranged on the head-mounted clamping part. The head-mounted HUD is used on the cleaning vehicle for the first time, so that the problem that the display range of a C-HUD is too small can be solved, the problem that a W-HUD and an AR-HUD can cause large-area imaging blurring and ghosting under strong light can also be solved, and driving safety is guaranteed. In addition, the whole outdoor cleaning vehicle is lower in manufacturing cost, a good cleaning effect can be achieved, and the outdoor cleaning vehicle better meets market requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent assisted driving, and in particular to a voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle and an outdoor cleaning vehicle applicable thereto. Background Art

[0002] With the development of unmanned autonomous driving technology in recent years, unmanned cleaning vehicles have begun to appear on the market. However, due to the limitation that unmanned autonomous driving technology can only realize L3 level autonomous driving, the price of unmanned cleaning vehicles equipped with L3 level autonomous driving technology remains high. Unmanned cleaning vehicles below L3 level cannot be completely independent of the driver.

[0003] Then, with the participation of the driver, the driver needs to check various information such as vehicle information, navigation information, surrounding environment information, etc. This information is basically displayed on the vehicle's instrument panel, and is basically displayed in the form of images and text information. The driver needs to look down frequently to check, which undoubtedly increases driving risks.

[0004] In recent years, the head-up display system has quietly emerged as a vehicle driving information display system. The head-up display system (HUD), also known as the automotive head-up display system, uses the principle of optical reflection to project image information on the windshield or in front of the instrument panel, avoiding the driver from frequently looking down at the instrument or the on-board screen while driving, and plays a good auxiliary role in driving safety.

[0005] At present, there are three main types of HUD: combined head-up display system C-HUD (Combiner-HUD), windshield head-up display W-HUD (Windshield-HUD) and augmented reality head-up display system AR-HUD (Augmented RealityHUD).

[0006] C-HUD: More commonly used in the aftermarket, it will install a translucent resin plate above the car dashboard, and then use the resin plate as a projection medium to reflect the virtual image. Its advantages are low cost and easy installation, but the imaging area is small, the display content is limited, and the imaging distance is short, which may cause secondary damage if an accident occurs.

[0007] W-HUD and AR-HUD: The current mainstream head-up display uses the windshield as a projection medium to reflect the image. It supports a larger imaging area and a longer imaging distance, and the display effect is more specific. However, its disadvantage is that both technologies require a special windshield, so the cost is too high. In addition, the entire windshield is used as a display screen. In the case of abnormal light (such as strong light), it is easy to cause a large range of blurred images on the windshield, and some will even produce a double image dizziness effect, which affects driving safety.

[0008] To sum up, there is currently no outdoor cleaning vehicle on the market that has a certain degree of intelligent driving performance and does not require high economic costs. Utility Model Content

[0009] The purpose of the utility model is to provide an outdoor cleaning vehicle with a certain degree of intelligent driving and relatively low overall cost. The head-mounted HUD can display various information such as vehicle information, navigation information, and surrounding environment information in front of the driver to help the driver better control the vehicle. The specific technical solution is as follows:

[0010] As a first aspect, the utility model discloses a voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle, the voice broadcast and screen display device comprising: a head-mounted clamping portion, a display component, and an audio player, wherein:

[0011] The head-mounted clamping part includes a bracket and two clamping parts respectively installed at two ends of the bracket;

[0012] The display assembly is composed of a HUD image generation base and a curved transparent display screen. The HUD image generation base is arranged between two clamping parts and can rotate around the central axis of the clamping parts; the curved transparent display screen is installed on the HUD image generation base;

[0013] An audio player is arranged at any place of the head-mounted clamping portion;

[0014] The HUD image generating base and the audio player are connected to other external devices for power supply and data signal transmission via power supply data lines.

[0015] In combination with the first aspect, in a first situation of any possible situation, a micro inertial measurement module is installed in the clamping part of the head-mounted clamping part, and the micro inertial measurement module is connected with other external devices through a data cable for data signal transmission.

[0016] In combination with the first aspect or the first situation, the second situation in any situation that may occur is that the voice broadcast and screen display device includes a power module, and the power module is used to convert the power provided by the power supply data line into the power required by the components of the voice broadcast and screen display device, and the power module is electrically connected to the components of the voice broadcast and screen display device that require power.

[0017] In combination with the first aspect or the first and second situations, a third situation in any possible situation is that a camera is provided on the outer side of the clamping portion, and the camera is connected to other external devices for data signal transmission via a data cable.

[0018] In combination with the first aspect or the first, second and third situations, a fourth situation in any possible situation is that a microphone is provided at the bottom of the clamping portion, and the microphone is connected to other external devices for data signal transmission via a data cable.

[0019] In combination with the first aspect or any one of the first to fourth situations, a fifth situation in any possible situation is that the two clamping parts are connected to the bracket through a telescopic beam.

[0020] In combination with the first aspect or any one of the first to fifth situations, the sixth situation in any possible situation is that a wireless data transmission device is installed inside the head-mounted clamping part, and the transmission connection of the data signal establishes a data connection with other external devices through the wireless data transmission device.

[0021] As a second aspect, the utility model provides an outdoor cleaning vehicle, including a vehicle, a vehicle control system module, an environment sensing device, a navigation device, a cleaning device, and also includes a voice broadcast and screen display device for the operating status of the outdoor cleaning vehicle;

[0022] The voice broadcast and screen display device is installed in the cockpit of the vehicle, the environment sensing device and the navigation device are installed in the vehicle, and the cleaning device is installed in the vehicle. The vehicle control system module, the voice broadcast and screen display device, the environment sensing device, the navigation device, and the cleaning device are connected to the CAN bus of the vehicle through a data interface; wherein:

[0023] The vehicle control system module is used to process and filter the data generated by the environment perception device and the navigation device, and output the data to the voice broadcast and screen display device, and issue operation instructions to control the cleaning device to execute;

[0024] The environmental perception device uses a fusion algorithm to comprehensively process and filter various sensor data to form identification and annotation data of the vehicle's surrounding environment, which can be called by the vehicle control system module;

[0025] The navigation device uses the positioning device and high-precision map to plan and navigate the vehicle's working path, and is called by the vehicle control system module;

[0026] The voice broadcast and screen display device displays basic vehicle operation information, navigation information, identification of the vehicle's surrounding environment, and annotation information in the form of audio and images;

[0027] The cleaning device includes a water gun, a brush head and a vacuum cleaner.

[0028] In combination with the second aspect, in any possible situation, the seventh situation is that the data interface is at least one of an RS-485 serial port, an RS-232 serial port, or an Internet port.

[0029] The beneficial effects of the utility model are:

[0030] Under the premise that the cost of fully automatic unmanned driving is relatively high, the present invention can provide an outdoor cleaning vehicle with a lower vehicle preparation cost, which is more in line with market demand.

[0031] This is the first time that a head-mounted HUD is used on a cleaning vehicle. This can not only solve the problem of the small display range of C-HUD, but also solve the problem of large-area imaging blur and ghosting caused by W-HUD and AR-HUD under strong light, thus ensuring driving safety.

[0032] The head-mounted wear method can ensure that the HUD display content is always in front of the driver's eyes, and the HUD display content image will not be lost even if the head moves. In addition, through the transparent lens of the HUD, the driver can freely observe the environment inside and outside the car without any restrictions.

[0033] The display component can be lowered and raised by rotating, so that even if there is sudden interference from strong light, the driver can lift the display component in time, so as to observe the environment inside and outside the car with his eyes, eliminate driving hazards in time, and ensure driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 It is a structural schematic diagram of the display assembly of the utility model in a lowered state;

[0036] Figure 2It is a structural schematic diagram of the display assembly of the utility model in a lifted state;

[0037] Figure 3 This is a schematic diagram of the structure of Example 2 of the present utility model;

[0038] Figure 4 This is a schematic diagram of the structure of the outdoor cleaning vehicle of the utility model;

[0039] Figure 5 This is the hardware design framework diagram of the utility model;

[0040] Figure 6 This is a software architecture diagram of the present utility model.

[0041] The attached drawings are marked with: 1- bracket, 2- clamping part, 3- HUD image generating base, 4- curved transparent display screen, 5- audio player, 6- data cable, 7- camera, 8- microphone. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In the description of this specific embodiment, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the invention product is usually placed when in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] In the description of this specific embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this specific embodiment can be understood according to specific circumstances.

[0046] Example 1: Figure 1 , Figure 2 As shown, this embodiment provides a voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle, the display device comprising: a head-mounted clamping portion, a display component, and an audio player, wherein:

[0047] The head-mounted clamping part includes a bracket 1 and two clamping parts 2 respectively installed at both ends of the bracket 1, which is similar to the structural style of headphones, wherein the two clamping parts 2 are connected to the bracket 1 through a telescopic beam so as to adapt to drivers with different head circumferences.

[0048] The display assembly is composed of a HUD image generating base 3 and a curved transparent display screen 4. The HUD image generating base 3 is arranged between the two clamping parts 2 and can rotate around the central axis of the clamping part 2. The curved transparent display screen 4 is installed on the HUD image generating base 3. The HUD image generating base 3 is used to generate an image and project the image onto the curved transparent display screen 4 installed thereon through reflection. The curved transparent display screen 4 is made of a highly transparent glass material. Moreover, because the present embodiment presents the image in front of the driver at a close distance, the HUD image generating base 3 only needs to provide a short-focus projection.

[0049] The audio player 5 in this embodiment uses an electric speaker, which is arranged inside the head-mounted clamping part, and can be one or two. The audio player 5 mainly plays a role in sharing part of the information output, for example, it can alarm information such as speeding, yaw, obstacles, water level, garbage capacity, etc., and can also assist it in providing some functional prompts such as navigation, so as to prevent the driver from obtaining too much information through vision, and further improve driving safety.

[0050] The HUD image generating base 3 and the audio player 5 are connected to other devices of the vehicle for power supply and data signal transmission via a power supply data line 6 .

[0051] The voice broadcast and screen display device includes a power module, which is used to convert the power provided by the power supply data line 6 into the power required by the components of the voice broadcast and screen display device. In this embodiment, the power module is electrically connected to the HUD image generation base 3 and the audio player 5 in the voice broadcast and screen display device through wires, so as to supply power to them.

[0052] A microphone 8 is provided at the bottom of the clamping portion 2, and the microphone 8 is connected to the CAN bus of the vehicle through the data line 6 and the data interface for data signal transmission. The driver can talk with other people through the microphone 8, or store and record the information that needs to be recorded during driving in the form of voice.

[0053] In addition, a wireless data transmission device is installed inside the head-mounted clamping part, and the transmission connection of the data signal is established through the wireless data transmission device and the vehicle's CAN bus. And its power module also includes a lithium battery, which can provide power for the voice broadcast and screen display device.

[0054] The driver wears the voice broadcast and screen display device, pulls down the display component to a fixed position, and starts the cleaning vehicle. Immediately, the relevant information of the vehicle will be converted into images and sounds through the vehicle's driving system and transmitted to the HUD image generation base 3 and audio player 5 of the voice broadcast and screen display device for display. During use, the relevant information of the vehicle (including navigation information, vehicle status information, and environmental perception information) will be presented in real time through the voice broadcast and screen display device. And it will not affect the driver's effective line of sight, nor will it limit the normal movement of the driver's head. The displayed information will follow the movement of the driver's head, always ensuring that the information is presented in a timely and effective manner.

[0055] When encountering strong light or other abnormal conditions, which cause blurred images or double images on the curved transparent display screen 4 and seriously affect driving safety, the driver can quickly rotate the display assembly upward, directly use his eyes to observe the status of the vehicle, and effectively control the vehicle, quickly and efficiently avoiding the occurrence of driving risks.

[0056] Example 2: Figure 3As shown, based on Example 1, a micro inertial measurement module is installed in the clamping part 2 of the head-mounted clamping part, which is mainly composed of a 3-axis gyroscope and a 3-axis accelerometer. The micro inertial measurement module provides motion information for the voice broadcast and screen display device. The micro inertial measurement module is connected to the vehicle's CAN bus for data signal transmission via a data line 6. A camera 7 is provided on the outside of the clamping part 2, and the camera 7 is connected to the vehicle's CAN bus for data signal transmission via a data line 6 and a data interface. The camera 7 is used to capture the picture in the direction of the driver's line of sight, which is used for analysis, identification and labeling as the perception information of the vehicle control system.

[0057] The laser radar and camera 7 installed around the vehicle can sense the environmental information around the vehicle in real time, analyze, identify and mark it, so as to form a 360° panoramic environment model around the vehicle. The vehicle control system projects the marking information of relevant personnel, vehicles, obstacles, garbage, etc. in the panoramic environment model and the navigation route information of the navigation device to the curved transparent display screen 4. The curved transparent display screen 4 will take the current voice broadcast and the positioning and angle of the screen display device under the 360° panoramic environment model as the center point, and display the above-mentioned marking information and navigation route information relative to the center point on the corresponding directions of the curved transparent display screen 4. Because the display area of ​​the curved transparent display screen 4 is limited, the marking information that is not in the display area can be displayed by voice or text.

[0058] When the voice broadcast and screen display device moves, its micro inertial measurement module will monitor the relevant motion information of its movement. The vehicle control system will use the relevant motion information to correct the positioning and angle of the voice broadcast and screen display device in the 360° panoramic environment model, and then adjust and replace the display position of the annotation information and navigation route information on the curved transparent display screen 4.

[0059] Therefore, when the driver turns his head, the content displayed on the curved transparent display screen 4 will also follow the rotation trajectory and rotate or change. For example, when the driver turns his head from left to right, the pedestrian mark on the left side of the curved transparent display screen 4 will follow the head to move to the left until it moves out of the display area (but there will be text or voice reminders, such as if there are pedestrians on the left, please pay attention), and the garbage mark on the right side of the display screen will follow the head from the right to the left. In theory, the driver's head surrounds 360°, and he can observe the marks of the 360° panoramic environment around the vehicle through the display screen.

[0060] The camera 7 of the voice broadcast and screen display device has two functions: one is to act as a recorder to record videos, and the other is to act as a supplementary camera 7 to use the perception information of the vehicle control system for analysis, recognition and labeling.

[0061] Embodiment 3, as Figure 4 As shown, the utility model provides an outdoor cleaning vehicle, including a vehicle, a vehicle control system module, an environment sensing device, a navigation device, a cleaning device, and also includes a voice broadcast and screen display device for the operating status of the outdoor cleaning vehicle. The voice broadcast and screen display device are installed in the cockpit of the vehicle, the environment sensing device and the navigation device are installed in the vehicle, and the cleaning device is installed in the vehicle. The vehicle control system module, the voice broadcast and screen display device, the environment sensing device, the navigation device, and the cleaning device are connected to the vehicle's CAN bus via a data interface. Among them:

[0062] The vehicle control system module is used to process and filter the data generated by the environmental perception device and the navigation device, and output them to the voice broadcast and screen display device; it is used to output vehicle information (such as vehicle speed, power, water storage capacity, garbage capacity and other status information) to the voice broadcast and screen display device, and issue operation instructions to control the cleaning device to execute.

[0063] The environmental perception device uses a fusion algorithm to comprehensively process and filter the data from multiple laser radars, cameras 7 and other sensors to form identification and annotation data of the vehicle's surrounding environment, which is then used by the vehicle control system module. It mainly forms a 360° panoramic environment model around the vehicle after fusing the sensor data, and the model contains various annotation information (such as pedestrians, vehicles, garbage, etc.) for use.

[0064] The navigation device uses the inertial navigation positioning device and high-precision map to plan and navigate the vehicle's working path, and provides it for call by the vehicle control system module.

[0065] The voice broadcast and screen display device displays basic vehicle operation information, navigation information, identification of the vehicle's surrounding environment, and annotation information to the driver for reference in the form of audio and images.

[0066] The cleaning device, including a water gun, a brush head, and a vacuum cleaner, is used to clean the road surface under the control of the vehicle control system module.

[0067] The data interface is at least one of an RS-485 serial port, an RS-232 serial port, or an Ethernet port.

[0068] Due to the limitation of the cleaning vehicle development platform, the GUI interface cannot be developed quickly, and there are problems such as high development difficulty and difficult adaptability; the audio playback function cannot be developed quickly because there are fewer sound card drivers in the Linux driver and the development difficulty is high. In this embodiment, the voice broadcast and screen display device do not rely on the GUI interface of the vehicle control system module. Audio playback function: including controlling audio playback through RS-485 serial port or RS-232 serial port or network port; video playback function: including controlling the display of pictures, text, videos, etc. through RS-485 serial port or RS-232 serial port or network port. By decoupling the audio player 5 from the audio stream processing, the overall system development difficulty is reduced, and there is no need to process the encoding and decoding of audio data and the configuration related to the sound card driver. By decoupling the video signal of the display component from the system, the overall system development difficulty is reduced, and there is no need to process the video device driver and the encoding and decoding of the video.

[0069] System hardware design: CPU performance> 3.8GHz; memory requirement ≥ 2GB; storage requirement ≥ 8GB; the controller needs to have any two interfaces such as RS-485 serial port or RS-232 serial port or Ethernet port (only one is needed if Ethernet port control is used). The specific hardware design block diagram is as follows Figure 5 As shown in the figure, the overall software architecture is as follows Figure 6 shown.

[0070] During driving, the driver can understand the various status information of the vehicle in real time through voice broadcast and screen display device to ensure the normal operation of the vehicle and cleaning. He can also obtain various standard information within his range based on his line of sight and make corresponding feedback in time.

[0071] The structure, connection relationship, component model, and control method of the vehicle control system module, environmental perception device, navigation device, voice broadcast and screen display device, and cleaning device in this embodiment are basically consistent with existing devices and modules of the same type. Those skilled in the art can simply and clearly understand the specific implementation scheme in combination with the existing technology.

[0072] It should be understood that the above embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content of the present invention, those skilled in the art can make various changes and modifications to the present invention, and these equivalent forms also fall within the scope defined by the claims attached to this application.

Claims

1. A voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle, characterized in that: The voice broadcast and screen display device comprises: a head-mounted clamping part, a display component, and an audio player, wherein: The head-mounted clamping part includes a bracket and two clamping parts respectively installed at two ends of the bracket; The display assembly is composed of a HUD image generation base and a curved transparent display screen. The HUD image generation base is arranged between two clamping parts and can rotate around the central axis of the clamping parts; the curved transparent display screen is installed on the HUD image generation base; An audio player is arranged at any place of the head-mounted clamping portion; The HUD image generation base and the audio player are connected to external devices for power supply and data signal transmission via a power-supplying data line.

2. A voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to claim 1, characterized in that: A micro inertial measurement module is installed in the clamping part of the head-mounted clamping part, and the micro inertial measurement module is connected with an external device through a data line for data signal transmission.

3. The voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to claim 1, characterized in that: The voice broadcast and screen display device includes a power module, which is used to convert the power provided by the power supply data line into the power required by the components of the voice broadcast and screen display device. The power module is electrically connected to the components of the voice broadcast and screen display device that require power.

4. The voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to claim 3, characterized in that: A camera is arranged on the outside of the clamping part, and the camera is connected with an external device through a data line for data signal transmission.

5. The voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to claim 4, characterized in that: A microphone is arranged at the bottom of the clamping portion, and the microphone is connected with an external device through a data line for data signal transmission.

6. The voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to claim 5, characterized in that: The two clamping parts are connected to the bracket through a telescopic beam.

7. A voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle according to any one of claims 1 to 6, characterized in that: A wireless data transmission device is installed inside the head-mounted clamping part, and the transmission connection of the data signal is established with an external device through the wireless data transmission device.

8. An outdoor cleaning vehicle, comprising a vehicle, a vehicle control system module, an environment sensing device, a navigation device, and a cleaning device, characterized in that: It also includes a voice broadcast and screen display device for the operating status of an outdoor cleaning vehicle as described in any one of claims 1 to 7; The voice broadcast and screen display device is installed in the cockpit of the vehicle, the environment sensing device and the navigation device are installed in the vehicle, and the cleaning device is installed in the vehicle. The vehicle control system module, the voice broadcast and screen display device, the environment sensing device, the navigation device, and the cleaning device establish a data connection with the vehicle's CAN bus through a data interface; wherein: The vehicle control system module is used to process and filter the data generated by the environment perception device and the navigation device, and output the data to the voice broadcast and screen display device, and issue operation instructions to control the cleaning device to execute; The environmental perception device uses a fusion algorithm to comprehensively process and filter various sensor data to form identification and annotation data of the vehicle's surrounding environment, which can be called by the vehicle control system module; The navigation device uses the positioning device and high-precision map to plan and navigate the vehicle's working path, and is called by the vehicle control system module; The voice broadcast and screen display device displays basic vehicle operation information, navigation information, identification of the vehicle's surrounding environment, and annotation information in the form of audio and images; The cleaning device includes a water gun, a brush head and a vacuum cleaner.

9. An outdoor cleaning vehicle according to claim 8, characterized in that: The data interface is at least one of an RS-485 serial port, an RS-232 serial port, or an Ethernet port.

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