CN108458712A - Unmanned trolley navigation system and air navigation aid, unmanned trolley - Google Patents
Unmanned trolley navigation system and air navigation aid, unmanned trolley Download PDFInfo
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- CN108458712A CN108458712A CN201710096369.0A CN201710096369A CN108458712A CN 108458712 A CN108458712 A CN 108458712A CN 201710096369 A CN201710096369 A CN 201710096369A CN 108458712 A CN108458712 A CN 108458712A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
The present invention discloses the unmanned trolley navigation system and air navigation aid navigated suitable for indoor and outdoor.When unmanned trolley it is outdoor when driving, satellite navigation module sends the current location information of the unmanned trolley detected to microprocessor, inertial navigation module sends the current posture information of the unmanned trolley being calculated to microprocessor module, and the posture information of the location information and inertial navigation module transmission that microprocessor module transmits satellite navigation module carries out sending master controller to together with navigation route information after fusion treatment generates the posture information of instruction；When unmanned trolley indoors when driving, tape navigation module sends the magnetic signal detected to microprocessor module, and microprocessor module carries out analyzing processing to magnetic signal and obtains sending master controller to together with navigation route information after the posture information of instruction；Master controller carries out closed-loop control with navigation route information according to after the posture information of instruction to unmanned trolley.
Description
Technical field
The present invention relates to automobile navigation technology and vehicle automation fields, and in particular to is suitable for the nothing of indoor and outdoor navigation
People drives trolley navigation system and unmanned trolley.
Background technology
The navigation mode of unmanned trolley (Automated Driving Vehicle, abbreviation ADV) is determined by its group
At logistics system flexibility and reliability when system operation, with the development of science and technology, the navigation mode of ADV is also a variety of
It is various, according to the form of ADV navigation circuits, fixed route navigation mode and free path navigation mode can be divided into.Fixed route
Its cost of navigation mode is relatively low, and positioning accuracy is higher, also more stable reliable, but path is limited, to site environment require compared with
It is high；Free path navigates, and mode its path changeover is flexible, and flexible, the requirement to site environment is relatively low, but its positioning accuracy by
The influence of device therefor and Navigation Control algorithm causes the case where obtaining positioning accuracy same with fixed route navigation mode
Under, the cost higher of ADV.
Currently, unmanned trolley commonly navigates, mode is laser navigation mode, optical guidance mode, tape navigation side
Formula, vision guided navigation mode and electromagnetic induction navigation mode.The advantage of electromagnetic induction navigation mode is that leading line is hidden, is not easy dirt
Dye and breakage, principle is simple and reliable, at low cost, however the complexity of its guidance path is limited, and expands or change battle line very
Trouble, lacks flexibility.Optical guidance mode be by walking path paint or paste colour band, by optical sensor adopt into
Colour band picture signal is easily recognized and is handled to realize navigation, and guidance path setting is more flexible, but is polluted to colour band
It is very sensitive with damaging, easily limited by site environment.It is relatively easy that the advantage of tape navigation mode is that its tape is laid with, and change is led
Bit path is also easier, but easily contaminated, is easily limited by external environment, is suitable for the preferable condition of environment.Laser navigation
Mode obtains advantage and is flexible, and without carrying out any processing to ground, path changeover is flexible and convenient, is suitable for various live rings
Border can conveniently change kinematic parameter and driving path, but its control and navigation algorithm are the most complicated, and positioning accuracy takes
Certainly in laser head and algorithm, cause the cost of ADV higher.Vision guided navigation mode obtains exemplary advantage and is ADV low costs, obtains
What is taken contains much information, and can build the three-dimensional map of panorama, it can be achieved that full-automatic navigate, however it is affected by live light,
Information processing capacity is big, and Current hardware equipment is difficult to meet its requirement of real-time, and image processing algorithm is not yet ripe.
In addition, 1 (publication number of patent document：101387522 A of CN) disclose a kind of electromagnetic tracking based on inductance coil
Method, though control and navigation algorithm are simple, it is of low cost, navigation accuracy by induction coil quantity and influence of arrangement, outside
See larger, inconvenience is used for small-sized ADV, and need to redesign number of coils and layout for different environment, excessively troublesome.
Further more, 2 (publication number of patent document：103048996 A of CN) disclose drawing automatically based on laser scanning and ranging instrument
Guide-car, system and air navigation aid, though it is then navigated using laser scanning environment construction map, relative to traditional based on anti-
Plate laser navigation mode is penetrated, the requirement to environment further decreases；But its positioning accuracy depends critically upon coding angle, gyro
Instrument, laser head and algorithm, and need more than two laser heads, cause navigation and control algolithm is complex and ADV
Cost is higher.
Patent document 3 (103777637 A of CN) discloses a kind of areflexia Laser Self navigation ADV trolleies and its navigation
Method is navigated using the method for single laser scanning environment construction map, and reflecting plate laser navigation side is based in contrast to tradition
Formula is with for more laser navigations, and requirement and algorithm to site environment further decrease, but its path planning depends critically upon
Motor encoder and gyroscope, and the calculation amount of the air navigation aid is excessive, and the complexity of navigation and control algolithm is excessively high, causes
The cost of ADV is also high.
Invention content
The present invention makes in view of the above-mentioned problems in the prior art, and its purpose is to provide a kind of changes of path
Change flexible, flexible, low cost and be applicable to indoor and outdoor surroundings unmanned trolley navigation system and method and nobody
Drive trolley.
The unmanned trolley navigation system for being suitable for indoor and outdoor navigation of the present invention for achieving the above object, including
Microprocessor module, satellite navigation module, inertial navigation module, tape navigation module and master controller；When unmanned small
Vehicle it is outdoor when driving, the satellite navigation module sends the current location information of the unmanned trolley detected to institute
Microprocessor is stated, the inertial navigation module sends the current posture information of the unmanned trolley being calculated to described micro-
Processor module, posture information include location information, acceleration, speed, course angle, and the microprocessor module is to the satellite
The location information of navigation module transmission and the posture information of inertial navigation module transmission carry out fusion treatment generation instruction and use
Posture information, and send the posture information of the instruction to the master controller, the master together with navigation route information
Controller carries out closed-loop control with navigation route information according to the posture information of the instruction to unmanned trolley；When nobody
Indoors when driving, the tape navigation module sends the magnetic signal detected to the microprocessor module to driving trolley,
The microprocessor module carries out analyzing processing to the magnetic signal and obtains the posture information of instruction, and by the position of the instruction
Appearance information sends the master controller to together with navigation route information, and the master controller is believed according to the pose of the instruction
Breath carries out closed-loop control with navigation route information to unmanned trolley.
Further, above-mentioned unmanned trolley navigation system further includes automatic charging module, and the automatic charging module is in nothing
When people drives the not enough power supply of trolley, information about power and current task state are sent to the microprocessor module, it is described micro-
To charge guidance path and charging instruction of processor module sends the master controller to, and the master controller navigates according to charging
Path and the unmanned trolley of charging instruction control drive to charge target position and charge
Further, above-mentioned unmanned trolley navigation system further include further include anticollision module, the anticollision module is for examining
Survey barrier presence or absence, and detect barrier there are when, to the microprocessor module send barrier position
Confidence ceases, and the microprocessor module generates the posture information of instruction according to the location information of the barrier, and this is referred to
The guidance path of the posture information and avoiding obstacles shown sends the master controller to, and the master controller is used according to instruction
Posture information and avoiding obstacles guidance path to unmanned trolley carry out closed-loop control.
The unmanned trolley for being suitable for indoor and outdoor navigation of the present invention for achieving the above object, including small vehicle main body
With above-mentioned navigation system.
The mode that the unmanned trolley navigation system for being suitable for indoor and outdoor navigation of the above-mentioned present invention is navigated
The unmanned trolley air navigation aid for being suitable for indoor and outdoor navigation of the present invention is may be constructed, then this no longer carries out repeated explanation.
Invention effect
The present invention unmanned trolley navigation system and unmanned trolley, due to mixing using satellite navigation module,
Inertial navigation module, tape navigate mode, and indoors with navigate when outdoor mode can free switching, therefore can meet it is indoor and
The dual requirements of outdoor navigation, and cost is not high.
In addition, the present invention carries out Dual positioning by using satellite navigation and inertial navigation, vehicle is obtained using blending algorithm
Real-time position information, improves positioning accuracy.
In addition, positioning accuracy of the present invention is high, control is reliable and stable, simple in structure, limits pathway requirements, guidance path without complete
Modification is convenient.
Description of the drawings
Fig. 1 is the block diagram for the unmanned trolley navigation system for showing first embodiment.
Fig. 2 is the block diagram for the unmanned trolley navigation system for showing second embodiment.
Fig. 3 is the block diagram for the unmanned trolley navigation system for showing 3rd embodiment.
Fig. 4 is the block diagram for the unmanned trolley navigation system for showing fourth embodiment.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
It will be appreciated that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.
Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts all
Other embodiments shall fall within the protection scope of the present invention.
The unmanned trolley suitable for indoor and outdoor of the present invention includes small vehicle main body and unmanned trolley navigation system.
In addition, unmanned being also an option that property of trolley include：Wireless communication device for wireless communication；For indicating that electricity is believed
The electric quantity display device of breath；Switch button；Accumulator as power supply；And/or the voice prompt for carrying out voice prompt fills
It sets.
In the following, illustrating several preferred embodiments of unmanned trolley navigation system and its air navigation aid.
Fig. 1 is the block diagram for the unmanned trolley navigation system for showing first embodiment.
As shown in Figure 1, the unmanned trolley navigation system 100 of first embodiment includes microprocessor 140, satellite navigation
Module 110, inertial navigation module 120, tape navigation module 130 and master controller 150.Wherein, satellite navigation module 110 can
Can also be other global position system navigation modules to be GPS (GPS) navigation module, such as the Big Dipper is defended
Star positioning system navigation module.
The unmanned trolley navigation system 100 of the embodiment of the present embodiment becomes for the environment residing for unmanned trolley
Data source is changed to navigate to trolley.
Specifically, when unmanned trolley it is outdoor when driving, start satellite navigation module 110 by detect nobody
The current location information for driving trolley sends microprocessor module 140 to, while starting inertial navigation module 230 and will calculate
To the current posture information of unmanned trolley send microprocessor module 140 to.Wherein, posture information includes position letter
Breath, acceleration, speed, course angle etc..Microprocessor module 140 transmits the location information come to satellite navigation module 110 and is used to
Property the posture information come of the transmission of navigation module 120 carry out the posture information that fusion treatment generates instruction, and by the instruction
Posture information sends master controller 150 to together with navigation route information.The master controller is according to the posture information of instruction
Closed-loop control is carried out to the traveling of unmanned trolley with navigation route information, make unmanned trolley according to set speed and
Path is run.
When unmanned trolley indoors when driving, close satellite navigation module 110, inertial navigation module 120, and start
Tape navigation module 130 sends the magnetic signal detected to microprocessor module 140,140 magnetic of microprocessor module pair
Signal carries out analyzing processing and obtains the posture information of instruction, and by the posture information of the instruction together with navigation route information
Send master controller 150 to.Master controller 150 is according to the posture information of the instruction received with navigation route information to nobody
It drives trolley and carries out closed-loop control, unmanned trolley is made to be run according to set speed and path.
The unmanned trolley navigation system 100 of the present embodiment and unmanned trolley, since mixing uses satellite navigation
Module, inertial navigation module, tape navigate mode, and indoors with navigate when outdoor mode can free switching, therefore can meet
The dual requirements of indoor and outdoor navigation, and cost is not high.Simultaneously because vehicle real-time position information is obtained using blending algorithm,
Improve positioning accuracy.
Fig. 2 is the block diagram for the unmanned trolley navigation system for showing second embodiment.
The unmanned trolley navigation system of second embodiment, in the unmanned trolley navigation system of first embodiment
On the basis of, automatic charging module 160 can be further comprised when unmanned trolley is using accumulator as power supply.
The automatic charging module 160 is in the not enough power supply of unmanned trolley, by information about power and current task state
It is sent to microprocessor module 140, microprocessor module 140 will charge guidance path and charging instruction sends the main control to
Device, master controller 150 control unmanned trolley according to the charging guidance path and charging instruction received and drive to charging mesh
Cursor position charges.
Fig. 3 is the block diagram for the unmanned trolley navigation system for showing 3rd embodiment.3rd embodiment it is unmanned
Trolley navigation system can further comprise anticollision module on the basis of the unmanned trolley navigation system of first embodiment
170。
Fig. 4 is the block diagram for the unmanned trolley navigation system for showing fourth embodiment.Fourth embodiment it is unmanned
Trolley navigation system further comprises anticollision module 170 on the basis of the unmanned trolley navigation system of second embodiment.
Anticollision module 170 in 3rd embodiment and fourth embodiment detects the presence or absence of barrier, and is detecting
Barrier there are when, to microprocessor module 140 send barrier location information, microprocessor module 140 is according to described
The location information of barrier generates the posture information of instruction, and by the navigation of the posture information of the instruction and avoiding obstacles
Path sends master controller 150 to, and master controller 150 is according to the posture information of instruction and the guidance path pair of avoiding obstacles
Unmanned trolley carries out closed-loop control.
The side that the unmanned trolley navigation system for being suitable for indoor and outdoor navigation of four above-mentioned embodiments is navigated
Formula may be constructed the unmanned trolley air navigation aid for being suitable for indoor and outdoor navigation of the present invention, then this no longer carries out repeating to say
It is bright.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of division of logic function, formula that in actual implementation, there may be another division manner, for example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be by some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or CD etc. it is various
The medium of program code can be stored.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent substitution, improvement and etc. done should be included within the scope of protection of the invention god.
Claims (7)
1. a kind of unmanned trolley navigation system suitable for indoor and outdoor navigation, which is characterized in that
Including microprocessor module, satellite navigation module, inertial navigation module, tape navigation module and master controller；
When unmanned trolley it is outdoor when driving, the satellite navigation module is current by the unmanned trolley detected
Location information sends the microprocessor module to, and the inertial navigation module is by the unmanned trolley being calculated current
Posture information sends the microprocessor module to, and posture information includes location information, acceleration, speed, course angle, described micro-
The posture information of location information and inertial navigation module transmission that processor module transmits the satellite navigation module into
Row fusion treatment generates the posture information of instruction, and the posture information of the instruction is sent to together with navigation route information
The master controller, the master controller is according to the posture information of the instruction with navigation route information to unmanned trolley
Carry out closed-loop control；
When unmanned trolley indoors when driving, the tape navigation module sends the magnetic signal detected to micro- place
Device module is managed, the microprocessor module carries out analyzing processing to the magnetic signal and obtains the posture information of instruction, and should
The posture information of instruction sends the master controller to together with navigation route information, and the master controller is according to the instruction
Posture information carries out closed-loop control with navigation route information to unmanned trolley.
2. the unmanned trolley navigation system according to claim 1 suitable for indoor and outdoor navigation, which is characterized in that
Further include automatic charging module, the automatic charging module in the not enough power supply of unmanned trolley, by information about power and
Current task state is sent to the microprocessor module, and the microprocessor module will charging guidance path and charging instruction biography
The master controller is given, the master controller controls unmanned trolley according to charging guidance path and charging instruction and drives to
It charges charge target position.
3. the unmanned trolley navigation system according to claim 1 or 2 suitable for indoor and outdoor navigation, feature exists
In,
Further include anticollision module, which is used to detect the presence or absence of barrier, and in the presence for detecting barrier
When, the location information of barrier is sent to the microprocessor module, the microprocessor module is according to the position of the barrier
Confidence breath generates the posture information of instruction, and the guidance path of the posture information of the instruction and avoiding obstacles is sent to
The master controller, the master controller is according to the posture information of instruction and the guidance path of avoiding obstacles to unmanned
Trolley carries out closed-loop control.
4. a kind of unmanned trolley suitable for indoor and outdoor, which is characterized in that
Including small vehicle main body and navigation system according to any one of claims 1 to 3.
5. a kind of unmanned trolley air navigation aid suitable for indoor and outdoor navigation, which is characterized in that
Unmanned trolley navigation system includes microprocessor module, satellite navigation module, inertial navigation module, tape navigation mould
Block and master controller；
When unmanned trolley it is outdoor when driving, the satellite navigation module is current by the unmanned trolley detected
Location information sends the microprocessor to, and the inertial navigation module is by the current pose of the unmanned trolley being calculated
Information sends the microprocessor module to, and posture information includes location information, acceleration, speed, course angle, the microprocessor
Device module melts the posture information of location information and inertial navigation module transmission that the satellite navigation module transmits
The posture information that processing generates instruction is closed, and described in the posture information of the instruction sent to navigation route information together with
Master controller, the master controller carry out unmanned trolley with navigation route information according to the posture information of the instruction
Closed-loop control；
When unmanned trolley indoors when driving, the tape navigation module sends the magnetic signal detected to micro- place
Device module is managed, the microprocessor module carries out analyzing processing to the magnetic signal and obtains the posture information of instruction, and should
The posture information of instruction sends the master controller to together with navigation route information, and the master controller is according to the instruction
Posture information carries out closed-loop control with navigation route information to unmanned trolley.
6. the unmanned trolley air navigation aid according to claim 5 suitable for indoor and outdoor navigation, which is characterized in that
The unmanned trolley navigation system further includes accumulator and automatic charging module, which drives at nobody
When sailing the not enough power supply of trolley, information about power and current task state are sent to the microprocessor module, the microprocessor
To charge guidance path and charging instruction of device module sends the master controller to, at this point, the master controller is led according to charging
Bit path and the unmanned trolley of charging instruction control drive to charge target position and charge.
7. the unmanned trolley air navigation aid according to claim 5 or 6 suitable for indoor and outdoor navigation, feature exists
In,
The unmanned trolley navigation system further includes anticollision module, which detects the presence or absence of barrier, and
Detect barrier there are when, to the microprocessor module send barrier location information, the microprocessor mould
Root tuber according to the barrier location information generate instruction posture information, and by the posture information of the instruction with avoid hindering
Hinder the guidance path of object to send the master controller to, at this point, the master controller according to the posture information of instruction with avoid
The guidance path of barrier carries out closed-loop control to unmanned trolley.
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| CN111158355A (en) * | 2018-11-07 | 2020-05-15 | 富华科精密工业（深圳）有限公司 | Automatic navigation cloud server and automatic navigation control method |
| CN109443368A (en) * | 2019-01-14 | 2019-03-08 | 轻客小觅智能科技（北京）有限公司 | Air navigation aid, device, robot and the storage medium of unmanned machine people |
| CN109814143A (en) * | 2019-02-19 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Perceptual positioning switching method, device, server and the system of automatic driving vehicle |
| CN110455299A (en) * | 2019-07-26 | 2019-11-15 | 中国第一汽车股份有限公司 | A kind of route generation method, device, equipment and storage medium |
| CN111487965A (en) * | 2020-04-08 | 2020-08-04 | 新石器慧通（北京）科技有限公司 | Automatic running method and device for machine, electronic device, and storage medium |
| CN111487965B (en) * | 2020-04-08 | 2023-06-20 | 新石器慧通（北京）科技有限公司 | Automatic running method and device for machine, electronic equipment and storage medium |
| CN112660145A (en) * | 2020-12-24 | 2021-04-16 | 李敏 | Control system and control method of unmanned vehicle |
| CN113008224A (en) * | 2021-03-04 | 2021-06-22 | 国电瑞源(西安)智能研究院有限公司 | Indoor and outdoor self-adaptive navigation system and method integrating multiple sensors |
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