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WO2018195940A1 - Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe - Google Patents

Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe Download PDF

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Publication number
WO2018195940A1
WO2018195940A1 PCT/CN2017/082474 CN2017082474W WO2018195940A1 WO 2018195940 A1 WO2018195940 A1 WO 2018195940A1 CN 2017082474 W CN2017082474 W CN 2017082474W WO 2018195940 A1 WO2018195940 A1 WO 2018195940A1
Authority
WO
WIPO (PCT)
Prior art keywords
disaster relief
relief vehicle
vehicle
life
disaster
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/082474
Other languages
English (en)
Chinese (zh)
Inventor
刘均
刘新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Launch Technology Co Ltd
Original Assignee
Shenzhen Launch Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Launch Technology Co Ltd filed Critical Shenzhen Launch Technology Co Ltd
Priority to PCT/CN2017/082474 priority Critical patent/WO2018195940A1/fr
Priority to CN201780085330.7A priority patent/CN110234563B/zh
Publication of WO2018195940A1 publication Critical patent/WO2018195940A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to an automatic driving method and apparatus for a disaster relief vehicle.
  • Embodiments of the present invention provide an automatic driving method and apparatus for a disaster relief vehicle, which can improve convenience.
  • a first aspect of an embodiment of the present invention provides an automatic driving method for a stadium storage vehicle, including:
  • the method in conjunction with the first aspect of the embodiments of the present invention, after the disaster relief vehicle is moved to the target location according to a preset rule, the method also includes:
  • a wireless communication network is provided by the in-vehicle base station device.
  • the moving the disaster relief vehicle to the target location according to a preset rule includes:
  • the moving the disaster relief vehicle to the target location according to a preset rule includes:
  • an obstacle feature parameter includes:
  • the adjusting the movement path according to the obstacle feature parameter comprises:
  • the movement path is adjusted according to the object parameter.
  • a second aspect of the present invention provides an automatic driving device for a disaster relief vehicle, including:
  • an instruction receiving module configured to receive a call instruction of the disaster relief vehicle sent by the control terminal, where the call instruction includes a target location;
  • a position moving module configured to move the disaster relief vehicle to the target location according to a preset rule
  • the command receiving module is further configured to receive a control instruction of the disaster relief vehicle sent by the control terminal, where the control instruction is used to control the disaster relief vehicle to perform a preset function, where the preset function includes a disaster At least one of situation monitoring, life detection and material supply;
  • an instruction execution module configured to execute the control instruction.
  • the device further includes:
  • a network providing module configured to provide a wireless communication network by using the vehicle base station device.
  • the location moving module is specifically configured to detect life by using a vehicle life detector, and collect statistics. a life state parameter of at least one life; determining a target position based on the at least one life state parameter of the life; moving the disaster relief vehicle to the target position.
  • the location moving module is specifically configured to: collect an image of a road condition by using an onboard camera; determine an obstacle feature parameter according to the road condition image; and adjust the movement according to the obstacle feature parameter. Path; moving the disaster relief vehicle to the target position according to the adjusted movement path.
  • the location moving module is further configured to: The target image region of the object type is included in the road condition image; the object contour information of the target image region is acquired by edge detection, and the object parameter is calculated according to the object contour information, where the object parameter includes the object size and the object position; The object parameters do adjust the movement path.
  • the call instruction of the disaster relief vehicle sent by the control terminal is received, and the calling instruction includes a target position; the disaster relief vehicle is moved to the target position according to a preset rule; and the control instruction of the disaster relief vehicle sent by the control terminal is controlled, and controlled
  • the instruction is used to control the disaster relief vehicle to perform a preset function, and the preset function includes at least one of disaster situation monitoring, life detection and material supply; and executing the control instruction, it can be seen that the disaster relief vehicle can be used to enter the disaster site instead of manpower to implement the rescue. This protects the safety of rescuers and increases efficiency.
  • FIG. 1 is a schematic flow chart of an automatic driving method for a disaster relief vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of an automatic driving device for a disaster relief vehicle according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of another automatic traveling device for a disaster relief vehicle according to an embodiment of the present invention
  • 4 is a schematic structural diagram of another automatic driving device for a disaster relief vehicle according to an embodiment of the present invention.
  • the embodiment of the invention provides an automatic driving method and device for a disaster relief vehicle, which can improve convenience. The details are described below.
  • FIG. 1 is a schematic flow chart of an automatic driving method for a disaster relief vehicle according to an embodiment of the present invention. Among them, the automatic driving method of the disaster relief vehicle is described from the perspective of the automatic driving device of the disaster relief vehicle. As shown in FIG. 1, the automatic driving method of the disaster relief vehicle may include the following steps.
  • the call instruction includes a target location, where the target location may be a location of a disaster site, and the location may also be located by a GPS to a location of the disaster site, or may be a disaster location specified by the user.
  • the control terminal and the disaster relief vehicle can establish a network connection, and the user or the firefighter can send a control instruction to the disaster relief vehicle through the control terminal.
  • the calling instruction may be generated by the server according to the alarm information of the affected people, and the calling instruction may include the target location and the disaster information, and the disaster relief vehicle prepares the disaster relief material according to the disaster information, or invokes the bearer. Rescue vehicles with corresponding supplies, and move the disaster relief vehicles to the target location.
  • the server may collect the above information and identify the target location by identification, or may identify the remaining information and according to the related information. Deploy firefighting supplies.
  • the target location may also be sent by the firefighter to the disaster relief vehicle through the control terminal after confirming that the disaster information is true, and the control terminal and the disaster relief vehicle may establish a network. Connection, the target location may also be set on the disaster relief vehicle, or may be set through the control terminal.
  • a communication connection with the control terminal may be established by: receiving a connection instruction with the control terminal, where the connection instruction includes information to be verified; and detecting the to-be-verified signal according to a preset rule. Whether the information is legal; when the information to be verified is legal, a communication connection with the control terminal is established.
  • the information to be verified may be used to confirm that the calling instruction sent by the control terminal is legal, and may be a login account and a password that are pre-assigned to a legitimate user. For example, only the firefighter is assigned an account password to ensure The legality of the call of the disaster relief vehicle.
  • moving the disaster relief vehicle to the target location according to a preset rule may include: detecting life by the vehicle life detector, and counting at least one life state parameter of the life; according to the at least one life a life state parameter determines a target location; moving the disaster relief vehicle to the target location
  • the detected electric field generated by the ultra-low frequency electric wave generated by the human body can determine the existence of life and position, and the vital state parameters in a certain area are statistically analyzed and analyzed to determine the position of the life density that needs to be rescued to the greatest extent.
  • the target location of the disaster relief vehicle to maximize the efficiency of disaster relief.
  • the electric field generated by the ultra-low frequency electric wave emitted by the human body can be calculated by the vital state parameter, and the distribution of the electric field of the low-frequency electric wave can be calculated, and the most effective rescue place can be determined according to the distribution situation and a suitable algorithm, and the rescue location is used as a disaster relief.
  • the target location of the car call to maximize the efficiency of disaster relief.
  • At least one most effective disaster relief location may be determined according to the life state parameter, and the at least one disaster relief location is sent to the control terminal through the disaster relief vehicle, and the controller is displayed or prompted by the controller to the at least one disaster relief location, and the controller may The at least one disaster relief site is selected by the control terminal, the best rescue location is selected, and the selection result is sent to the disaster relief vehicle to determine the target location.
  • moving the disaster relief vehicle to the target location according to a preset rule may include: collecting a road condition image by using an onboard camera; determining an obstacle feature parameter according to the road condition image; according to the obstacle feature The parameter adjusts the movement path; moves the disaster relief vehicle to the target position according to the adjusted movement path.
  • the location of the disaster relief vehicle is generally in the disaster area, and the earthquake area, the fire or the tsunami and other disaster areas are generally complicated in road conditions and have many obstacles. Therefore, it can be realized by loading an obstacle recognition device on the disaster relief vehicle.
  • Obstacle recognition for example, collecting road images by a camera, then performing image recognition, identifying obstacles by image recognition, and then identifying the obstacles and surrounding roads The situation and the target position are used to adjust the driving route of the disaster relief vehicle, and the disaster relief vehicle is moved to the target position according to the adjusted driving route.
  • determining the obstacle feature parameter according to the road condition image may include: detecting a target image region that includes an object type in the road condition image; acquiring object contour information of the target image region by edge detection, according to The object contour information calculates an object parameter, where the object parameter includes an object size and an object position; and the adjusting the moving path according to the obstacle feature parameter comprises: adjusting a moving path according to the object parameter.
  • an image region containing an object type in the image may be confirmed according to an image shape in the road condition image
  • the region of the image of the obstacle is generally a closed irregular shape, and may be recognized by exceeding a preset size in the image.
  • the closed irregular shape of the threshold is used to confirm the obstacle image contained in the image, and the position parameter of the obstacle in the disaster relief vehicle is confirmed according to the position of the obstacle image in the road condition image, and, in addition, due to different camera focusing
  • the situation also affects the size of the obstacle in the road condition image, so it is possible to detect the current captured road condition image ⁇ , the focus of the camera, and confirm the current obstacle based on the focus condition and the position of the obstacle image in the road condition image.
  • the location parameters of the disaster relief vehicle Then, according to the position parameter of the obstacle in the disaster relief vehicle, and the current road condition, such as the road distribution of the current position, the route to avoid the obstacle is determined, and the disaster relief vehicle is moved to the target position through the adjusted route.
  • control instruction is used to control the disaster relief vehicle to perform a preset function, where the preset function includes at least one of disaster situation monitoring, life detection, and material supply.
  • the preset function of the disaster relief vehicle can be appropriately expanded according to the type of the disaster situation.
  • the disaster relief vehicle may include a preset function for fire condition inquiry and fire suppression.
  • the fire scene may be obtained through various types of sensors, such as temperature, humidity, air conditions including oxygen concentration, smoke.
  • the particle concentration, etc. can also be analyzed to obtain the cause of the fire, etc., or the fire can be invoked by the fire extinguishing command.
  • the fire extinguisher in the anti-vehicle configuration is matched with the current fire, and the fire is fired through the sensor to extinguish the fire; the life detector built in the fire truck can also be used for life detection; or the fire trapped person can be provided with the required Supplies such as wet towels, oxygen, etc.
  • the disaster relief vehicle may include a preset function of earthquake condition monitoring and disease control; in the case of a tsunami, the disaster relief vehicle may include preset functions such as water level measurement and disease control.
  • the wireless communication network may also be provided through the vehicle base station device.
  • the receiving instruction command of the disaster relief vehicle sent by the control terminal is received, and the calling instruction includes a target position; the disaster relief vehicle is moved to the target position according to a preset rule; and the receiving control terminal sends
  • the control command of the disaster relief vehicle is used to control the disaster relief vehicle to perform a preset function, and the preset function includes at least one of disaster situation monitoring, life detection and material supply; executing the control instruction, visible, can be accessed by calling a disaster relief vehicle At the disaster site, instead of manpower, rescue can be implemented to protect the safety of rescuers and improve efficiency.
  • FIG. 2 is a structural diagram of an automatic driving device for a disaster relief vehicle according to an embodiment of the present invention.
  • the automatic driving device of the disaster relief vehicle may include:
  • the instruction receiving module 201 is configured to receive a call instruction of the disaster relief vehicle sent by the control terminal, where the call instruction includes a target location;
  • a location moving module 202 configured to move the disaster relief vehicle to the target location according to a preset rule;
  • the command receiving module 201 is further configured to receive the disaster relief vehicle sent by the control terminal Control instruction
  • control instruction is configured to control the disaster relief vehicle to perform a preset function, where the preset function includes at least one of disaster situation monitoring, life detection, and material supply;
  • the instruction execution module 203 is configured to execute the control instruction.
  • the calling instruction of the disaster relief vehicle sent by the control terminal is received, the calling instruction includes a target position; the disaster relief vehicle is moved to the target position according to a preset rule; and the receiving control terminal sends The control command of the disaster relief vehicle, the control command is used to control the disaster relief vehicle to perform a preset function, and the preset function includes at least one of disaster situation monitoring, life detection and material supply; executing the control instruction, visible, can be accessed by calling a disaster relief vehicle At the disaster site, instead of manpower, rescue can be implemented to protect the safety of rescuers and improve efficiency.
  • FIG. 3 is a schematic structural diagram of another automatic traveling device for a disaster relief vehicle according to an embodiment of the present invention.
  • the automatic driving device of the disaster relief vehicle shown in FIG. 3 is optimized by the automatic driving device of the disaster relief vehicle shown in FIG. 2, wherein the device may further include:
  • the network providing module 204 is configured to provide a wireless communication network by using the in-vehicle base station device.
  • the network providing module 204 provides a wireless communication network by using the vehicle base station device.
  • the location moving module 202 is specifically configured to: detect life by an onboard life detector, and count at least one life state parameter of the life; according to the at least one life state parameter of the life Determining a target location; moving the disaster relief vehicle to the target location.
  • the location moving module 202 is specifically configured to: collect a road condition image by using an onboard camera; determine an obstacle feature parameter according to the road condition image; and adjust a movement path according to the obstacle feature parameter; ; moving the disaster relief vehicle to the target position according to the adjusted movement path.
  • the location moving module 202 is further configured to: detect a target image region that includes an object type in the road condition image; acquire object contour information of the target image region by edge detection, Calculating an object parameter according to the object contour information, the object parameter including an object size and an object position; and adjusting a moving path according to the object parameter.
  • the automatic driving device of the disaster relief vehicle described in FIG. 3 receiving a call instruction of the disaster relief vehicle sent by the control terminal, the calling instruction includes a target position; moving the disaster relief vehicle to the target position according to a preset rule;
  • the control command of the disaster relief vehicle is used to control the disaster relief vehicle to perform a preset function, and the preset function includes at least one of disaster situation monitoring, life detection and material supply; executing the control instruction, visible, can be accessed by calling a disaster relief vehicle At the disaster site, instead of manpower, rescue can be implemented to protect the safety of rescuers and improve efficiency.
  • FIG. 4 Please refer to FIG. 4.
  • the automatic driving device of the disaster relief vehicle may include: at least one processor 401, such as a CPU, a memory 402, and at least one communication bus 403. Among them, the communication bus 403 is used to implement connection communication between these components.
  • the memory 402 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory.
  • the memory 402 can optionally include at least one storage device located remotely from the aforementioned processor 401. among them:
  • the processor 401 is configured to call the program code stored in the memory 402 to perform the following operations:
  • control terminal And receiving, by the control terminal, a control instruction of the disaster relief vehicle, where the control instruction is used to control the disaster relief vehicle to perform a preset function, where the preset function includes disaster situation monitoring, life detection, and material supply. At least one type;
  • the device may further include an in-vehicle base station device 404, and the processor 401 is further configured to control the in-vehicle base station device 404 to provide a wireless communication network.
  • the device may further include an onboard life detector 405, and the processor 4
  • 01 moving the disaster relief vehicle to the target location according to a preset rule includes:
  • the processor 401 controls the onboard life detector 405 to detect life and count at least one life state parameter of the life;
  • the processor 401 is configured to call the program code stored in the memory 402 to perform the following operations:
  • the device may further include an in-vehicle camera 406, and the processor 401 moving the disaster-reduction vehicle to the target location according to a preset rule includes:
  • the processor 401 controls the in-vehicle camera 406 to collect the road condition image
  • the processor 401 is configured to call the program code stored in the memory 402 to perform the following operations:
  • the determining, by the processor 401, the obstacle feature parameter according to the road condition image includes:
  • the adjusting, by the processor 401, the moving path according to the obstacle feature parameter includes:
  • the calling instruction of the disaster relief vehicle sent by the control terminal is received, the calling instruction includes the target position; the disaster relief vehicle is moved to the target position according to the preset rule; and the receiving control terminal sends The control command of the disaster relief vehicle, the control command is used to control the disaster relief vehicle to perform a preset function, and the preset function includes at least one of disaster situation monitoring, life detection and material supply; executing the control instruction, visible, can be accessed by calling a disaster relief vehicle At the disaster site, instead of manpower, rescue can be implemented to protect the safety of rescuers and improve efficiency.
  • the above embodiments it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • a software program it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. Loading and executing the computer program instructions on a computer, in whole or in part, to generate a process or a skill according to an embodiment of the invention.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. .
  • the computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be from a website site, computer, server or data center Transfer to another website site, computer, server, or data center over a wired (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.).
  • the computer readable storage medium can be any available media that can be accessed by a computer or a data storage device such as a server, data center, or the like that includes one or more available media.
  • the usable medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (such as a Solid State Disk (SSD)).
  • a program instructing related hardware may be completed by a program instructing related hardware, and the program may be stored in a computer readable storage medium, the storage medium. It can include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disc.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Alarm Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe. Le procédé consiste à : recevoir une instruction d'appel pour un véhicule de secours en cas de catastrophe envoyé par une extrémité de commande (101), l'instruction d'appel comprenant un emplacement cible ; déplacer le véhicule de secours en cas de catastrophe jusqu'à l'emplacement cible selon des règles préétablies (102) ; recevoir une instruction de commande pour le véhicule de secours en cas de catastrophe envoyé par l'extrémité de commande (103), l'instruction de commande étant utilisée pour commander le véhicule de secours en cas de catastrophe pour exécuter des fonctions prédéfinies, les fonctions prédéfinies comprenant au moins l'une parmi le contrôle des conditions de catastrophe, la détection de la durée de vie et l'envoi de matériaux ; exécuter l'instruction de commande (104). La présente invention protège les secouristes, et augmente l'efficacité.
PCT/CN2017/082474 2017-04-28 2017-04-28 Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe Ceased WO2018195940A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/082474 WO2018195940A1 (fr) 2017-04-28 2017-04-28 Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe
CN201780085330.7A CN110234563B (zh) 2017-04-28 2017-04-28 一种救灾车的自动行驶方法及装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/082474 WO2018195940A1 (fr) 2017-04-28 2017-04-28 Procédé et appareil d'entraînement automatique de véhicule pour secours en cas de catastrophe

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WO2018195940A1 true WO2018195940A1 (fr) 2018-11-01

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WO (1) WO2018195940A1 (fr)

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