CN111338348B - Unmanned vehicle and traffic control method thereof - Google Patents
Unmanned vehicle and traffic control method thereof Download PDFInfo
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- CN111338348B CN111338348B CN202010147761.5A CN202010147761A CN111338348B CN 111338348 B CN111338348 B CN 111338348B CN 202010147761 A CN202010147761 A CN 202010147761A CN 111338348 B CN111338348 B CN 111338348B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The embodiment of the invention discloses an unmanned vehicle and a traffic control method thereof. The unmanned vehicle comprises a positioning module, a human body simulation module and a control module; the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is used for starting the human body simulation module to simulate the human body state when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information; the control module is also used for controlling the unmanned vehicles to pass through, and closing the human body simulation module after the unmanned vehicles pass through the automatic door. According to the technical scheme, the unmanned vehicle is automatically driven through the automatic door for passing through the person by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter from outdoors to indoors is solved, the unmanned vehicle can pass through the automatic door, and meanwhile the whole-course operation requirements of multiple scenes indoors and outdoors are met.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a traffic control method thereof.
Background
At present, the unmanned vehicle can realize smooth autonomous operation outdoors through multi-sensor fusion positioning technologies such as multi-line laser radar, GPS, inertial navigation, vision and the like, and has very wide application scenes, such as express delivery, meal delivery, retail, security protection, cleaning and the like. However, there are few studies on unmanned techniques for switching outdoor scenes to indoor scenes, and it is difficult for an unmanned vehicle to enter indoors from outdoors. When epidemic prevention and control or special weather occurs, the whole-course operation requirements of the outdoor and indoor can not be met.
The existing unmanned technology can be connected with an elevator system through a background, the unmanned vehicle can be controlled to enter and exit an elevator and reach a target floor according to the requirement, automatic driving can be achieved, manual intervention is not needed, and the scheme of how the unmanned vehicle enters and exits a building gate is not related.
Disclosure of Invention
The embodiment of the invention provides an unmanned vehicle and a traffic control method thereof, so that the unmanned vehicle can realize the traffic of an automatic door and simultaneously meet the whole-course operation requirements of indoor and outdoor multiple scenes.
In a first aspect, an embodiment of the present invention provides an unmanned vehicle, including:
the positioning module is used for acquiring positioning information of the unmanned vehicle;
the human body simulation module is used for simulating the human body state;
the control module is electrically connected with the positioning module and the human body simulation module and is used for starting the human body simulation module to simulate the human body state when the unmanned vehicle is determined to reach the identification area of the automatic door according to the positioning information;
the control module is also used for controlling the unmanned vehicles to pass through, and closing the human body simulation module after the unmanned vehicles pass through the automatic door.
Optionally, the control module is further configured to control the unmanned vehicle to pass after the human body simulation module is started for a set time interval, or control the unmanned vehicle to reduce the speed of the vehicle to pass after the human body simulation module is started.
Optionally, the method further comprises:
the automatic door identification module is electrically connected with the control module and is used for identifying the opening state and the opening degree of the automatic door;
the control module is also used for controlling unmanned vehicles to pass according to the opening state and the opening degree of the automatic door.
Optionally, the automatic door identification module comprises a distance sensor.
Optionally, the human body simulation module includes:
an infrared emission device for emitting infrared rays to the automatic door;
and/or movement means for generating a movement state.
Optionally, the motion device includes motor and motion, the motor with motion is connected, control module still is used for controlling the motor drives motion takes place the motion.
Optionally, the method further comprises:
the automatic door identification module is electrically connected with the control module and used for identifying the induction type of the automatic door, and the control module is also used for starting the infrared emission device or the movement device according to the induction type of the automatic door.
Optionally, the automatic door recognition module includes at least one of an infrared sensor and a microwave sensor.
Optionally, the human body simulation module is longitudinally arranged on the roof of the unmanned vehicle and extends from the vehicle head to the vehicle tail; or,
the unmanned aerial vehicle comprises at least three human body simulation modules, and the human body simulation modules are arranged at least at the two ends and the middle of the vehicle roof along the direction from the head to the tail of the unmanned aerial vehicle.
In a second aspect, an embodiment of the present invention further provides a traffic control method for an unmanned vehicle, where the unmanned vehicle includes: the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is electrically connected with the positioning module and the human body simulation module;
the method is performed by the control module, the method comprising:
when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information, starting the human body simulation module to simulate the human body state;
and controlling the unmanned vehicles to pass through, and closing the human body simulation module after the unmanned vehicles pass through the automatic door.
The embodiment of the invention provides an unmanned vehicle and a traffic control method thereof, wherein the unmanned vehicle comprises a positioning module, a human body simulation module and a control module; the method comprises the steps that positioning information of an unmanned vehicle is obtained through a positioning module, and when the control module determines that the unmanned vehicle reaches an identification area of an automatic door, a human body simulation module is started to simulate a human body state; the control module can also control the unmanned vehicle to pass through, and when the unmanned vehicle is determined to pass through the automatic door, the human body simulation module is closed. According to the technical scheme, the unmanned vehicle is automatically driven through the automatic door for passing through the person by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter from outdoors to indoors is solved, the unmanned vehicle can pass through the automatic door, and meanwhile the whole-course operation requirements of multiple scenes indoors and outdoors are met.
Drawings
Fig. 1 is a schematic block diagram of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an automatic door and an unmanned vehicle according to an embodiment of the present invention;
fig. 3 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
fig. 6 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic view of an automatic door and another unmanned vehicle according to an embodiment of the present invention;
fig. 8 is a schematic flow chart of a traffic control method of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic block diagram of an unmanned vehicle according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of an automatic door and an unmanned vehicle according to an embodiment of the present invention. Referring to fig. 1 and 2, the drone 10 includes a positioning module 100, a human body simulation module 200, and a control module 400; the positioning module 100 is used for acquiring positioning information of the unmanned vehicle 10; the human body simulation module 200 is used for simulating the human body state; the control module 400 is electrically connected with the positioning module 100 and the human body simulation module 200, and is configured to start the human body simulation module 200 to simulate a human body state when determining that the unmanned vehicle 10 reaches the identification area of the automatic door 20 according to the positioning information; the control module 400 is further configured to control the unmanned vehicle 10 to pass through, and close the human body simulation module 200 after the unmanned vehicle 10 passes through the automatic door 20.
Specifically, as shown in fig. 1 and 2, the drone 10 is an intelligent vehicle based on automated driving or drone technology. The driving mode of the unmanned vehicle 10 may include an automatic driving, which may be a driving mode in which the unmanned vehicle 10 senses the surrounding environment of the vehicle based on an intelligent driving system assembled to itself, automatically plans a driving route and controls the vehicle to reach a predetermined destination, and a remote control driving, which may be a driving mode in which the unmanned vehicle 10 travels according to a received driving instruction under the control of a control center or a remote control. The automatic door 20 may be an automatic induction door of a building, when an object approaches the automatic door 20, the automatic door 20 can identify whether the object is a human body according to the state and characteristics of the object, and when the object is a human body, the automatic door 20 can be automatically opened, and after the human body passes, the automatic door is automatically closed.
Referring to fig. 1 and 2, the positioning module 100 may be a global positioning system (Global Positioning System, GPS) module provided in the drone 10 for acquiring positioning information of the drone 10 in real time. The human body simulation module 200 may be used to simulate characteristics or states of a human body, for example, body temperature characteristics or motion states of a human body, etc., to be recognized by the automatic door 20. The control module 400 may be a control system of the unmanned vehicle 10 itself, and may control the positioning module 100 and the human body simulation module 200 automatically or based on instructions of a control center.
Illustratively, referring to fig. 1 and 2, the principle of traffic for the drone 10 is: the drone 10 acquires positioning information through the positioning module 100, and the control module 400 is able to determine whether the drone 10 arrives at the identification area of the automatic door 20 of the destination based on the positioning information. When the control module 400 determines that the drone 10 arrives at the identification area of the automatic door 20, the human body simulation module 200 may be activated, and the body temperature characteristics or the movement state of the human body may be simulated by the human body simulation module 200 to be identified by the automatic door 20. If the motion of the human body simulation module 200 is sensed by the automatic door 20, the door is opened. The control module 400 can control the unmanned vehicle 10 to pass through the driving system of the unmanned vehicle 10, and in the passing process, the human body simulation module 200 still continuously simulates the human body state, so as to prevent the unmanned vehicle 10 from being able to pass smoothly due to the sudden closing of the automatic door 20 in the passing process. After the control module 400 determines that the unmanned vehicle 10 passes through the automatic door 20 smoothly through the positioning module 100, the human body simulation module 200 is closed. According to the technical scheme, the unmanned vehicle is automatically driven through the automatic door for passing through the person by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter from outdoors to indoors is solved, the unmanned vehicle can pass through the automatic door, and meanwhile the whole-course operation requirements of multiple scenes indoors and outdoors are met.
Referring to fig. 1 and 2, the control module 400 is optionally further configured to control the passage of the drone 10 after a set time interval from the start of the human body simulation module 200. Specifically, when the automatic door 20 senses the motion of the human body simulation module 200, a certain delay time may exist before the automatic door 20 is automatically opened, in order to avoid a situation that the automatic door 20 is not opened and the unmanned vehicle 10 is automatically advanced, a set time may be set by the control module 400, and after the human body simulation module 200 is started by the control module 400, the unmanned vehicle 10 is controlled to pass through by the automatic driving system of the unmanned vehicle 10 after the set time is spaced, so as to wait for the automatic door 20 to pass again. Optionally, the control module 400 is further configured to control the unmanned vehicle 10 to reduce the speed of the vehicle from starting the human body simulation module 200. Specifically, the control module 400 may be configured to reduce the speed of the vehicle 10 after the human body simulation module 200 is started, and control the vehicle 10 to move forward at a lower speed toward the door 20 through the automatic driving system of the vehicle 10. This allows a waiting time for the opening of the automatic door 20 to ensure that the vehicle 10 passes through the automatic door 10 smoothly, and avoids the occurrence of an accident in which the vehicle 10 responds too fast to strike the automatic door 10 that has not been opened.
Fig. 3 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Referring to fig. 2 and 3, optionally, an automatic door recognition module 300 is electrically connected to the control module 400, for recognizing the opening state and the opening degree of the automatic door 20; the control module 400 is further configured to control the unmanned vehicle 10 to pass according to the opening state and the opening degree of the automatic door 20. Specifically, the automatic door recognition module 300 may be used to recognize the automatic door 20, for example, whether the automatic door 20 is opened or closed, and the opening degree of the automatic door 20, i.e., the width of the automatic door 20 opened. When the unmanned vehicle 10 reaches the recognition area of the automatic door 20 and the control module 400 starts the human body simulation module 200, the control module 400 may control the automatic door recognition module 300 to recognize the automatic door 20. If the automatic door recognition module 300 recognizes that the automatic door 20 is opened, the control module 400 may control the unmanned aerial vehicle 10 to move forward, and when the automatic door recognition module 300 recognizes that the opening of the automatic door 20 is greater than or equal to the width of the vehicle body of the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 is controlled to pass through the automatic door 20. Thus, the state of the automatic door 20 can be accurately identified, and the unmanned vehicle is controlled to pass after the automatic door 20 is opened and the opening degree is proper.
Referring to fig. 2 and 3, the automatic door recognition module 300 may optionally include a distance sensor 330. Illustratively, the distance sensor 330 is capable of recognizing the opened state of the automatic door 20, the opening degree, and the distance between the unmanned vehicle 10 and the automatic door 20 according to the motion of the automatic door 20, and when the automatic door 20 is closed, the distance sensor 330 detects that there is an obstacle in front, i.e., the automatic door 20, when the distance between the unmanned vehicle 10 and the automatic door 20 is small; when the automatic door 20 is opened, the distance between the drone 10 and the automatic door 20 is suddenly changed, and the distance sensor 330 can determine the opened state of the automatic door 20 according to the distance change between the drone 10 and the automatic door 20. In the process that the unmanned vehicle 10 passes through the automatic door 20, the distance sensor 330 can detect the distance between the vehicle body and the automatic door 20 in real time, and after the unmanned vehicle 10 passes through the automatic door 20 completely, the distance sensor 330 can detect the left and right obstacles of the unmanned vehicle 10 and the vehicle body, namely, the abrupt change of the distance between the automatic doors 20, so as to determine that the unmanned vehicle 10 passes through the automatic door 20. The control module 400 may control the unmanned vehicle 10 to move forward when the distance sensor 330 recognizes that the automatic door 20 is opened, and the human body simulation module 200 does not need to work any more after the distance sensor 330 recognizes that the unmanned vehicle 10 completely passes through the automatic door 20, and the control module 400 controls the human body simulation module 200 to be closed.
Referring to fig. 2 and 3, the distance sensor 330 may optionally include at least one of an ultrasonic sensor, a laser sensor, an infrared sensor, and a microwave sensor. The distance sensor 330 is capable of emitting ultrasonic waves, laser light, infrared rays or microwaves outwards, and judging the opening state and the opening degree of the automatic door 20 and the distance between the unmanned vehicle 10 and the automatic door 20 according to light rays or light waves emitted from objects around the vehicle body back to the distance sensor 330, etc.
Fig. 4 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Alternatively, referring to fig. 2 and 4, the human body simulation module 200 includes an infrared emission device 210 for emitting infrared rays toward the automatic door 20. Specifically, the infrared emission device 210 may be an infrared emitter capable of simulating infrared rays radiated from a human body and emitting the infrared rays toward the door 20, for example, the infrared rays radiated outward at a wavelength of about 8 to 14 μm at a normal temperature of the human body, and the infrared emission device 210 is capable of emitting the infrared rays having a wavelength of about 8 to 14 μm toward the door 20. Illustratively, the automatic door 20 of the building generally has a sensor 21, and the sensor 21 may be a temperature-sensitive sensor, such as an infrared sensor, and the automatic door 20 may sense and identify an object of an identification area of the automatic door 20 through the sensor 21. When the human body is in the recognition area of the automatic door 20, the infrared rays of a specific wavelength band can be radiated to the sensor 21, and the sensor 21 can judge whether the object in the recognition area is the human body based on the wavelength of the received infrared rays, and after the human body is determined, the automatic door 20 is automatically opened. The unmanned aerial vehicle provided by the embodiment can simulate and emit infrared rays of a specific wave band radiated under normal body temperature of a human body through the infrared emission device 210 in the human body simulation module 200 so as to be recognized by the automatic door 20 of the building, and can automatically pass through the automatic door of the building by simulating the body temperature characteristics of the human body.
Fig. 5 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Optionally, in combination with fig. 2 and 5, the manikin module 200 comprises movement means 220 for generating a movement state. Specifically, the movement device 220 can simulate the movement state of a human body after being opened, and perform movement in all directions such as front and back or left and right so as to be recognized by the automatic door 20. Illustratively, the sensor 21 of the automatic door 20 of the building may also be a microwave sensor, the sensor 21 being capable of emitting microwaves outwards and sensing microwaves reflected by the object in the identification area to the sensor 21, the automatic door 20 being automatically opened when the sensor 21 senses that the object in the identification area is continuously moving. In the motion-sensing type automatic door 20, since there may be a pause or a slow-moving state when the unmanned vehicle 10 is traveling, in order to prevent the automatic door 20 from failing to sense the motion state of the unmanned vehicle 10, a motion device 220 may be provided on the unmanned vehicle 10, and the motion state of a human body may be simulated by the motion device 220 to be recognized by the automatic door 20, so that the unmanned vehicle can automatically pass through the automatic door of the building.
Referring to fig. 5, optionally, the movement device 220 includes a motor 221 and a movement mechanism 222, where the motor 221 is connected to the movement mechanism 222, and the control module 400 is further configured to control the motor 221 to move the movement mechanism 222. Illustratively, the movement mechanism 222 may include a sliding rod mechanism or a sliding block mechanism, etc., and the movement mechanism 222 can reciprocate back and forth, left and right or in other directions under the driving of the motor 221, and the specific form of the movement mechanism 222 is not limited in this embodiment, as long as the movement state can be generated under the driving of the motor 221 and can be recognized by the sensor of the automatic door 20. The motion state of the human body can be simulated by the motor 221 and the motion mechanism 222 to be recognized by the automatic door 20, so that the unmanned vehicle can automatically pass through the automatic door of the building.
Fig. 6 is a schematic block diagram of another unmanned vehicle according to an embodiment of the present invention. Optionally, referring to fig. 2 and 6, the human body simulation module 200 includes an infrared emission device 210 and a movement device 220; the infrared emission device 210 is used for emitting infrared rays to the automatic door 20; the movement means 220 is used to generate a movement state. For example, the human body simulation module 200 may also include an infrared emission device 210 and a motion device 220, and the sensors 21 of the automatic door 20 of the building are mostly infrared sensors or microwave sensors, so that the unmanned vehicle 10 can simulate the body temperature characteristics of a human body through the infrared emission device 210, and simulate the motion state of the human body through the motion device 220, so that the unmanned vehicle 10 can adapt to various operation scenes through the automatic door of various different sensing modes.
As shown in fig. 2 and 6, the unmanned vehicle 10 may optionally further include an automatic door recognition module 300 electrically connected to the control module 400, the automatic door recognition module 300 further being configured to recognize a sensing type of the automatic door 20, and the control module 400 further being configured to turn on the infrared emitting device 210 or the moving device 220 according to the sensing type of the automatic door 20. For example, the sensors 21 of the automatic door 20 of a general building are mostly infrared sensors or microwave sensors, and when the automatic door 20 recognizes an object in its recognition area through the sensors 21, infrared rays are emitted outward through the infrared sensors or microwaves are emitted outward through the microwave sensors. When the control module 400 of the unmanned vehicle 10 determines that the unmanned vehicle 10 reaches the recognition area of the automatic door 20 through the positioning module 100, the control module 400 may receive infrared rays or microwaves emitted from the sensor 21 of the automatic door 20 through the sensor in the automatic door recognition module 300, and the sensor in the automatic door recognition module 300 may recognize the received infrared rays or microwaves. When the automatic door recognition module 300 senses infrared rays, it can be determined that the sensing type of the automatic door 20 is infrared sensing, and then the control module 400 can turn on the infrared emission device 210 according to the sensing type recognized by the automatic door recognition module 300, and simulate the body temperature characteristics of a human body through the infrared emission device 210, so that the unmanned vehicle 10 can smoothly pass through the automatic door 20; when the automatic door recognition module 300 senses the microwave, it may be determined that the sensing type of the automatic door 20 is microwave sensing, and then the control module 400 may turn on the movement device 220 according to the sensing type recognized by the automatic door recognition module 300, and simulate the movement state of the human body through the movement device 220, so that the unmanned vehicle 10 smoothly passes through the automatic door 20. In this way, the unmanned aerial vehicle 10 can identify the induction type of the automatic door 20 through the automatic door identification module 300, and the corresponding human body simulation module 200 is selectively opened according to the induction type of the automatic door 20 to be identified by the automatic door 20, so that the unmanned aerial vehicle 10 can pass smoothly, and the intelligent degree of the unmanned aerial vehicle 10 is improved.
Referring to fig. 2 and 6, the automatic door recognition module 300 optionally includes at least one of an infrared sensor 310 and a microwave sensor 320. Fig. 6 schematically illustrates a case where the automatic door recognition module 300 includes both the infrared sensor 310 and the microwave sensor 320, and since the infrared sensor 20 and the microwave sensor 21 commonly emit infrared rays or microwaves with different parameters such as wavelength and frequency, the automatic door recognition module 300 may receive the infrared rays or microwaves emitted from the automatic door 20 through the infrared sensor 310 and/or the microwave sensor 320, and determine the type of the sensor 21 according to the parameters such as wavelength and frequency of the infrared rays or microwaves, so as to selectively turn on the infrared emission device 210 or the movement device 220 based on the type of the sensor 21, thereby realizing intelligent judgment and passing of the unmanned vehicle 10.
Referring to fig. 2, optionally, a human body simulation module 200 is disposed longitudinally on the roof of the unmanned vehicle 10 and extends from the head to the tail. Illustratively, when the mannequin module 200 includes an infrared emitting device, the infrared emitting device may be in the shape of a strip longitudinally disposed on the roof of the unmanned vehicle 10; when the human body simulation module 200 includes a movement device, the length of the movement mechanism in the movement device may be slightly less than or equal to the length of the unmanned vehicle 10 and be longitudinally disposed at the roof of the unmanned vehicle 10. In the process of passing the automatic door 20 by the unmanned vehicle 10, the human body simulation module 200 can continuously act, so that when the head, middle or tail of the unmanned vehicle 10 passes through the automatic door 20, the action of the human body simulation module 200 can be continuously recognized by the automatic door 2, so that the situation that part of the unmanned vehicle 10 passes through the automatic door 20 and the other part of the unmanned vehicle is closed due to the fact that the other part of the unmanned vehicle is not recognized, and the unmanned vehicle 10 is blocked by the automatic door 20 can be prevented.
Fig. 7 is a schematic structural diagram of an automatic door and another unmanned vehicle according to an embodiment of the present invention. As shown in fig. 7, the unmanned vehicle 10 may alternatively include at least three human body simulation modules 200, and the human body simulation modules 200 are disposed at least at both ends and in the middle of the roof in the direction from the head to the tail of the unmanned vehicle 10. In the process of enabling the unmanned vehicle 10 to pass through the automatic door 20, the automatic door 20 is arranged to identify each position of the vehicle body, the situation that the automatic door 20 is closed due to the fact that part of the unmanned vehicle 10 passes through the automatic door 20 and the other part of the unmanned vehicle is not identified can be avoided, and the unmanned vehicle 10 is clamped by the automatic door 20, so that smooth passing of the unmanned vehicle 10 is facilitated.
Fig. 8 is a schematic flow chart of a traffic control method of an unmanned vehicle according to an embodiment of the present invention. With reference to fig. 1, 2 and 8, the present embodiment is applicable to a case of controlling a passing of an automated door by an unmanned vehicle, and the unmanned vehicle 10 includes: a positioning module 100, configured to obtain positioning information of the unmanned vehicle 10; the human body simulation module 200 is used for simulating the human body state; the control module 400 is electrically connected with the positioning module 100 and the human body simulation module 200.
The unmanned vehicle passing control method is executed by the control module 400, and specifically comprises the following steps:
and 110, starting a human body simulation module to simulate the human body state when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information.
Illustratively, in connection with fig. 1 and 2, the drone 10 acquires positioning information via the positioning module 100, based on which the control module 400 is able to determine whether the drone 10 has arrived at the identification area of the automatic door 20 of the destination. When the control module 400 determines that the drone 10 arrives at the identification area of the automatic door 20, the human body simulation module 200 may be activated, and the body temperature characteristics or the movement state of the human body may be simulated by the human body simulation module 200 to be identified by the automatic door 20.
And 120, controlling unmanned vehicles to pass.
Referring to fig. 1 and 2, for example, if the motion of the human body simulation module 200 is sensed by the automatic door 20, the automatic door is opened. The control module 400 can control the unmanned vehicle 10 to pass through the driving system of the unmanned vehicle 10, and in the passing process, the human body simulation module 200 still continuously simulates the human body state, so as to prevent the unmanned vehicle 10 from being able to pass smoothly due to the sudden closing of the automatic door 20 in the passing process. And 130, closing the human body simulation module after the unmanned vehicle passes through the automatic door.
Referring to fig. 1 and 2, the control module 400 closes the human body simulation module 200 after determining that the unmanned vehicle 10 passes through the automatic door 20 smoothly. According to the technical scheme, the unmanned vehicle is automatically driven through the automatic door for passing through the person by simulating the human body state, so that the problem that the existing unmanned technology cannot control the unmanned vehicle to enter from outdoors to indoors is solved, the unmanned vehicle can pass through the automatic door, and meanwhile the whole-course operation requirements of multiple scenes indoors and outdoors are met.
The method for controlling the passing of the unmanned aerial vehicle provided by the embodiment of the invention is used for controlling the unmanned aerial vehicle provided by the embodiment of the invention to pass through the automatic door, and has the corresponding beneficial effects of the unmanned aerial vehicle provided by the embodiment of the invention, and is not repeated here.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. An unmanned vehicle, comprising:
the positioning module is used for acquiring positioning information of the unmanned vehicle;
the human body simulation module is used for simulating the human body state;
the control module is electrically connected with the positioning module and the human body simulation module and is used for starting the human body simulation module to simulate the human body state when the unmanned vehicle is determined to reach the identification area of the automatic door according to the positioning information;
the control module is also used for controlling the unmanned vehicles to pass through, and closing the human body simulation module after the unmanned vehicles pass through the automatic door;
the human body simulation module includes:
an infrared emission device for emitting infrared rays to the automatic door;
and a movement means for generating a movement state;
the motion device comprises a motor and a motion mechanism, wherein the motor is connected with the motion mechanism, and the control module is also used for controlling the motor to drive the motion mechanism to move.
2. The drone vehicle of claim 1, wherein the control module is further configured to control the drone vehicle to pass after a set time interval from the activation of the human body simulation module, or to control the drone vehicle to reduce a vehicle speed from the activation of the human body simulation module.
3. The unmanned vehicle of claim 1, further comprising:
the automatic door identification module is electrically connected with the control module and is used for identifying the opening state and the opening degree of the automatic door;
the control module is also used for controlling unmanned vehicles to pass according to the opening state and the opening degree of the automatic door.
4. The drone vehicle of claim 3, wherein the automatic door identification module includes a distance sensor.
5. The unmanned vehicle of claim 1, further comprising:
the automatic door identification module is electrically connected with the control module and used for identifying the induction type of the automatic door, and the control module is also used for starting the infrared emission device or the movement device according to the induction type of the automatic door.
6. The unmanned vehicle of claim 5, wherein the automatic door identification module comprises at least one of an infrared sensor and a microwave sensor.
7. The unmanned vehicle of claim 1, wherein the manned module is disposed longitudinally on the roof of the unmanned vehicle and extends from the head to the tail; or,
the unmanned aerial vehicle comprises at least three human body simulation modules, and the human body simulation modules are arranged at least at the two ends and the middle of the vehicle roof along the direction from the head to the tail of the unmanned aerial vehicle.
8. A traffic control method of an unmanned vehicle, the unmanned vehicle comprising: the positioning module is used for acquiring positioning information of the unmanned vehicle; the human body simulation module is used for simulating the human body state; the control module is electrically connected with the positioning module and the human body simulation module;
the method is performed by the control module, the method comprising:
when the unmanned vehicle reaches the identification area of the automatic door according to the positioning information, starting the human body simulation module to simulate the human body state;
controlling the unmanned vehicle to pass through, and closing the human body simulation module after the unmanned vehicle passes through the automatic door;
the human body simulation module includes:
an infrared emission device for emitting infrared rays to the automatic door;
and a movement means for generating a movement state;
the motion device comprises a motor and a motion mechanism, wherein the motor is connected with the motion mechanism, and the control module is also used for controlling the motor to drive the motion mechanism to move.
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