CN108459589A - Unmanned trolley control system and control method, unmanned trolley - Google Patents
Unmanned trolley control system and control method, unmanned trolley Download PDFInfo
- Publication number
- CN108459589A CN108459589A CN201710096038.7A CN201710096038A CN108459589A CN 108459589 A CN108459589 A CN 108459589A CN 201710096038 A CN201710096038 A CN 201710096038A CN 108459589 A CN108459589 A CN 108459589A
- Authority
- CN
- China
- Prior art keywords
- unit
- information
- unmanned trolley
- vehicle
- microprocessor
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 12
- 238000004891 communication Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000004927 fusion Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 20
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 3
- 210000000352 storage cell Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
-
- 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
- G05D1/0268—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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is disclosed suitable for indoor unmanned trolley control system, including master board and intelligent terminal；When unmanned trolley indoors when driving, ultra wide band positioning unit sends the current location information of the unmanned trolley detected to the microprocessor unit, inertial navigation unit sends the current posture information of the unmanned trolley being calculated to microprocessor unit, target position information is sent to microprocessor unit to intelligent terminal by unit by radio communication, the location information that microprocessor unit transmits ultra wide band positioning unit, the posture information of inertial navigation unit transmission and the target position information received carry out posture information and path navigation information that fusion treatment generates instruction, and send the posture information of the instruction and path navigation information to control unit for vehicle together, control unit for vehicle controls unmanned trolley according to the posture information and path navigation information of instruction.
Description
Technical field
The present invention relates to automobile navigation technology and vehicle automation fields, and in particular to a kind of navigation of high-precision independent
Unmanned trolley control system and control method, unmanned trolley.
Background technology
Unmanned trolley (Automated Driving Vehicle, abbreviation ADV) is perceived by vehicle-mounted sensor-based system
Road, vehicle location and obstacle information control steering and the speed of vehicle, make vehicle according to specified guide path safety,
The intelligent vehicle for reliably travelling and reaching intended destination is computer science, pattern-recognition and intelligent control technology height
The product of development.
Unmanned trolley experienced conceptual approach, model test, sample car development, design typification, the small lot production supply of material
Etc. the development in several stages, it can substantially be divided into two major classes：One kind is Remote Control Vehicle, and another kind of is independent navigation vehicle.It is distant
Control vehicle, which relies primarily on wired, wireless and network mode, has the realization of operator's remote control unmanned；Independent navigation vehicle is again
It is properly termed as Intelligent System of Vehicle or mobile robot, usually utilizes installation visual sensor on the car body, laser ranging
Instrument perceives the environment of vehicle periphery, and GPS, gyroscope, combined inertial nevigation etc. is utilized to carry out positioning and directing.
But that there is volumes is big, blocking degree is not high, integrated level for unmanned trolley control system most of at present
Low, flexibility is short of, complicated, the production cycle is long, safeguards the problems such as inconvenient so that unmanned trolley is in use
It often goes wrong, not only cannot effectively save manpower, increase personnel tracking instead and manage service condition.
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 volumes
Small, blocking degree and integrated level height and the unmanned trolley control system precisely to navigate and method that can realize vehicle, with
And unmanned trolley.
The present invention's for achieving the above object is suitable for indoor unmanned trolley control system, including main control
Plate and intelligent terminal；The master board is equipped with microprocessor unit, ultra wide band positioning unit, inertial navigation unit, wireless
Communication unit and control unit for vehicle；The master board is communicated by the wireless communication unit with the intelligent terminal；
When unmanned trolley indoors when driving, the ultra wide band positioning unit is by the current position of the unmanned trolley detected
Confidence breath sends the microprocessor unit to, and the inertial navigation unit is by the current position of the unmanned trolley being calculated
Appearance information sends the microprocessor unit to, and posture information includes location information, acceleration, speed, course angle, the intelligence
Target position information is sent to the microprocessor unit, the microprocessor unit by terminal by the wireless communication unit
To the location information of ultra wide band positioning unit transmission, the posture information of inertial navigation unit transmission and received
Target position information carries out the posture information and path navigation information that fusion treatment generates instruction, and by the pose of the instruction
Information and path navigation information send the control unit for vehicle to together, and the control unit for vehicle is according to the instruction
Posture information and path navigation information control unmanned trolley.
Further, further include sensor unit, which is used to detect the presence or absence of barrier, and is detecting
To barrier there are when, to the microprocessor unit send barrier location information, the microprocessor unit according to
The location information of the barrier generates evacuation instruction and path navigation information, and evacuation instruction and path navigation information are passed
The control unit for vehicle is given, the control unit for vehicle is according to evacuation instruction and path navigation information to unmanned
Trolley is controlled.
Further, the master board further includes data storage cell, I/O control units and expansion interface.
Further, the master board is fixed on by dismountable mode on unmanned trolley.
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 unmanned trolley control system.
The mode of the above-mentioned present invention controlled suitable for indoor unmanned trolley control system can also structure
It is suitable for indoor unmanned trolley control method at the present invention.Specifically, it is suitable for indoor unmanned trolley
Control method, which is characterized in that unmanned trolley control system includes master board and intelligent terminal, in the master board
Equipped with microprocessor unit, ultra wide band positioning unit, inertial navigation unit, wireless communication unit and control unit for vehicle；When
Indoors when driving, the ultra wide band positioning unit is by the current position of the unmanned trolley detected for unmanned trolley
Information sends the microprocessor unit to, and the inertial navigation unit is by the current pose of the unmanned trolley being calculated
Information sends the microprocessor unit to, and posture information includes location information, acceleration, speed, course angle, and the intelligence is eventually
Target position information is sent to the microprocessor unit, the microprocessor unit pair by end by the wireless communication unit
The location information of the ultra wide band positioning unit transmission, the posture information of inertial navigation unit transmission and the mesh received
Cursor position information carries out the posture information and path navigation information that fusion treatment generates instruction, and the pose of the instruction is believed
Breath and path navigation information send the control unit for vehicle to together, and the control unit for vehicle is according to the position of the instruction
Appearance information and path navigation information control unmanned trolley.
Further, suitable for indoor unmanned trolley control method, the unmanned trolley control system is also
Including sensor unit, which detects the presence or absence of barrier, and detect barrier there are when, to institute
The location information that microprocessor unit sends barrier is stated, the microprocessor unit is given birth to according to the location information of the barrier
The control unit for vehicle is sent at evacuation instruction and path navigation information, and by evacuation instruction and path navigation information,
The control unit for vehicle controls unmanned trolley according to evacuation instruction and path navigation information.
The present invention has the following technical effects：
1) present invention is using UWB positioning units (ultra wide band positioning unit) and inertial navigation unit progress Dual positioning, using melting
Hop algorithm obtains current vehicle position information, to improve positioning accuracy.
2) present invention realizes independent navigation by built-in algorithm according to target location and road conditions automatic path planning.
3) present invention is designed using blocking, small, and integrated level is high, and autgmentability is strong and small volume.
Description of the drawings
Fig. 1 is the block diagram suitable for indoor unmanned trolley control system for showing first embodiment.
Fig. 2 is the block diagram suitable for indoor unmanned trolley control system for showing second 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 embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The unmanned trolley suitable for indoor and outdoor of the present invention, including small vehicle main body and unmanned trolley control system
System.
In the following, illustrating several preferred embodiments of unmanned trolley control system and its control method.
Fig. 1 is the block diagram for the unmanned trolley control system for showing first embodiment.
As shown in Figure 1, first embodiment is suitable for indoor unmanned trolley control system, including master board
100 and intelligent terminal 200.
Master board 100 is equipped with microprocessor unit 120, ultra wide band positioning unit 110, inertial navigation unit 130, nothing
Line communication unit 140 and control unit for vehicle 160.
In master board 100, although it is not shown, it is also possible to include data storage cell, I/O control units and extension
Interface.
Additionally, it is preferred that master board 100 is fixed on by dismountable mode on unmanned trolley.
Unit is communicated with intelligent terminal 200 by radio communication for master board 100.
When unmanned trolley indoors when driving, ultra wide band positioning unit 110 is by the unmanned trolley detected
Current location information sends microprocessor unit 120 to.Inertial navigation unit 130 works as the unmanned trolley being calculated
Preceding posture information sends microprocessor unit 120 to, and posture information includes location information, acceleration, speed, course angle.Intelligence
Target position information is sent to microprocessor unit 120 to energy terminal 200 by unit 140 by radio communication.Microprocessor unit
The posture information and received that location information, the inertial navigation unit 130 of 120 pairs of ultra wide band positioning units 110 transmission transmit
Target position information carry out posture information and path navigation information that fusion treatment generates instruction, and by the position of the instruction
Appearance information and path navigation information send control unit for vehicle 160 to together.Control unit for vehicle 160 is according to the instruction
Posture information and path navigation information control unmanned trolley.
The unmanned trolley navigation system of the present embodiment and unmanned trolley, since mixing is single using ultra wide band positioning
Member and inertial navigation unit, obtain vehicle real-time position information using blending algorithm, improve positioning accuracy.Meanwhile by interior
Algorithm is set, according to target location and road conditions automatic path planning, realizes independent navigation.
Fig. 2 is the block diagram suitable for indoor unmanned trolley control system for showing second embodiment.
The unmanned trolley control system of second embodiment, in the unmanned trolley control system of first embodiment
On the basis of, it can further comprise sensor unit 150.
The sensor unit 150 detect barrier presence or absence, and detect barrier there are when, to microprocessor
Device unit 120 sends the location information of barrier, and microprocessor unit 120 is generated according to the location information of the barrier and avoided
Instruction and path navigation information, and send evacuation instruction and path navigation information to control unit for vehicle 160, vehicle control
Unit 160 controls unmanned trolley according to evacuation instruction and path navigation information.
The mode of 2 above-mentioned embodiments controlled suitable for indoor unmanned trolley control system can be with structure
It is suitable for indoor unmanned trolley control method at the present invention, then this no longer carries out repeated explanation.
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. one kind being suitable for indoor unmanned trolley control system, which is characterized in that
Including master board and intelligent terminal；
The master board be equipped with microprocessor unit, ultra wide band positioning unit, inertial navigation unit, wireless communication unit with
And control unit for vehicle；
The master board is communicated by the wireless communication unit with the intelligent terminal；
When unmanned trolley indoors when driving, the ultra wide band positioning unit is current by the unmanned trolley detected
Location information send the microprocessor unit to, the inertial navigation unit is current by the unmanned trolley being calculated
Posture information send the microprocessor unit to, posture information includes location information, acceleration, speed, course angle, described
Target position information is sent to the microprocessor unit, the microprocessor by intelligent terminal by the wireless communication unit
Location information that unit transmits the ultra wide band positioning unit, inertial navigation unit transmission posture information and connect
The target position informations of receipts carries out the posture information and path navigation information that fusion treatment generates instruction, and by the instruction
Posture information and path navigation information send the control unit for vehicle to together, and the control unit for vehicle is according to the instruction
Posture information and path navigation information control unmanned trolley.
2. according to claim 1 be suitable for indoor unmanned trolley control system, which is characterized in that
Further include sensor unit, which is used to detect the presence or absence of barrier, and is detecting barrier
In the presence of, the location information of barrier is sent to the microprocessor unit, the microprocessor unit is according to the barrier
Location information generate evacuation instruction and path navigation information, and by the evacuation instruction and path navigation information send the vehicle to
Control unit, the control unit for vehicle control unmanned trolley according to evacuation instruction and path navigation information
System.
3. according to claim 1 or 2 be suitable for indoor unmanned trolley control system, which is characterized in that
The master board further includes data storage cell, I/O control units and expansion interface.
4. described in any one of claim 1 to 3 be suitable for indoor unmanned trolley control system, feature exists
In,
The master board is fixed on by dismountable mode on unmanned trolley.
5. one kind being suitable for indoor unmanned trolley, which is characterized in that
Including small vehicle main body and navigation system according to any one of claims 1 to 3.
6. one kind being suitable for indoor unmanned trolley control method, which is characterized in that
Unmanned trolley control system includes master board and intelligent terminal, and the master board is equipped with microprocessor list
Member, ultra wide band positioning unit, inertial navigation unit, wireless communication unit and control unit for vehicle；
When unmanned trolley indoors when driving, the ultra wide band positioning unit is current by the unmanned trolley detected
Location information send the microprocessor unit to, the inertial navigation unit is current by the unmanned trolley being calculated
Posture information send the microprocessor unit to, posture information includes location information, acceleration, speed, course angle, described
Target position information is sent to the microprocessor unit, the microprocessor by intelligent terminal by the wireless communication unit
Location information that unit transmits the ultra wide band positioning unit, inertial navigation unit transmission posture information and connect
The target position informations of receipts carries out the posture information and path navigation information that fusion treatment generates instruction, and by the instruction
Posture information and path navigation information send the control unit for vehicle to together, and the control unit for vehicle is according to the instruction
Posture information and path navigation information control unmanned trolley.
7. according to claim 6 be suitable for indoor unmanned trolley control system, which is characterized in that
The unmanned trolley control system further includes sensor unit, the sensor unit detect barrier presence with
It is no, and detect barrier there are when, to the microprocessor unit send barrier location information, the microprocessor
Device unit generates evacuation instruction and path navigation information according to the location information of the barrier, and the evacuation is indicated and path
Navigation information sends the control unit for vehicle to, and the control unit for vehicle is according to evacuation instruction and path navigation information
Unmanned trolley is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710096038.7A CN108459589A (en) | 2017-02-22 | 2017-02-22 | Unmanned trolley control system and control method, unmanned trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710096038.7A CN108459589A (en) | 2017-02-22 | 2017-02-22 | Unmanned trolley control system and control method, unmanned trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108459589A true CN108459589A (en) | 2018-08-28 |
Family
ID=63219990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710096038.7A Pending CN108459589A (en) | 2017-02-22 | 2017-02-22 | Unmanned trolley control system and control method, unmanned trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108459589A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919181A (en) * | 2018-09-05 | 2018-11-30 | 成都精位科技有限公司 | UWB localization method, device and positioning label based on inertial navigation |
| CN110187712A (en) * | 2019-07-12 | 2019-08-30 | 彭少华 | Unmanned control method, device and equipment |
| CN110221616A (en) * | 2019-06-25 | 2019-09-10 | 清华大学苏州汽车研究院（吴江） | A kind of method, apparatus, equipment and medium that map generates |
| CN111144524A (en) * | 2019-12-31 | 2020-05-12 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guiding vehicle |
| CN111243315A (en) * | 2020-01-16 | 2020-06-05 | 河北科技大学 | Vehicle positioning control system and control method |
| CN113703459A (en) * | 2021-08-31 | 2021-11-26 | 疯壳(深圳)科技有限公司 | Indoor unmanned driving simulation system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007233771A (en) * | 2006-03-01 | 2007-09-13 | National Institute Of Advanced Industrial & Technology | Autonomous mobile vehicle guidance system and method |
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103197279A (en) * | 2013-03-12 | 2013-07-10 | 中国矿业大学 | Cooperative location system and location method for moving target |
| CN105573320A (en) * | 2015-12-30 | 2016-05-11 | 天津天瑞达自动化设备有限公司 | Autonomous logistics robot system |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
-
2017
- 2017-02-22 CN CN201710096038.7A patent/CN108459589A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007233771A (en) * | 2006-03-01 | 2007-09-13 | National Institute Of Advanced Industrial & Technology | Autonomous mobile vehicle guidance system and method |
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103197279A (en) * | 2013-03-12 | 2013-07-10 | 中国矿业大学 | Cooperative location system and location method for moving target |
| CN105573320A (en) * | 2015-12-30 | 2016-05-11 | 天津天瑞达自动化设备有限公司 | Autonomous logistics robot system |
| CN105843229A (en) * | 2016-05-17 | 2016-08-10 | 中外合资沃得重工（中国）有限公司 | Unmanned intelligent vehicle and control method |
| CN105835063A (en) * | 2016-06-03 | 2016-08-10 | 国网宁夏电力公司检修公司 | Indoor inspection robot system for substation and inspection method for indoor inspection robot system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919181A (en) * | 2018-09-05 | 2018-11-30 | 成都精位科技有限公司 | UWB localization method, device and positioning label based on inertial navigation |
| CN110221616A (en) * | 2019-06-25 | 2019-09-10 | 清华大学苏州汽车研究院（吴江） | A kind of method, apparatus, equipment and medium that map generates |
| CN110187712A (en) * | 2019-07-12 | 2019-08-30 | 彭少华 | Unmanned control method, device and equipment |
| CN111144524A (en) * | 2019-12-31 | 2020-05-12 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guiding vehicle |
| CN111144524B (en) * | 2019-12-31 | 2023-07-07 | 广东博智林机器人有限公司 | Positioning and orienting equipment and AGV guide vehicle |
| CN111243315A (en) * | 2020-01-16 | 2020-06-05 | 河北科技大学 | Vehicle positioning control system and control method |
| CN113703459A (en) * | 2021-08-31 | 2021-11-26 | 疯壳(深圳)科技有限公司 | Indoor unmanned driving simulation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108459589A (en) | Unmanned trolley control system and control method, unmanned trolley | |
| CN105270399B (en) | The device and method thereof of vehicle are controlled using vehicle communication | |
| US11661084B2 (en) | Information processing apparatus, information processing method, and mobile object | |
| JP6269552B2 (en) | Vehicle travel control device | |
| CN109927567A (en) | Wireless vehicle charging | |
| JP6283484B2 (en) | Display of information related to detected radar signals | |
| US10747221B2 (en) | Moving body, moving body control system, and moving body control method | |
| US20180347991A1 (en) | Method, device, map management apparatus, and system for precision-locating a motor vehicle in an environment | |
| CN108053690A (en) | Identify method, bend method for early warning, device, medium and the equipment of traveling lane | |
| EP4148385A1 (en) | Vehicle navigation positioning method and apparatus, and base station, system and readable storage medium | |
| US20200327811A1 (en) | Devices for autonomous vehicle user positioning and support | |
| JP2022535454A (en) | Classification of objects based on radio communication | |
| US20200278212A1 (en) | Server and Vehicle Control System | |
| WO2021153176A1 (en) | Autonomous movement device, autonomous movement control method, and program | |
| CN108458712A (en) | Unmanned trolley navigation system and air navigation aid, unmanned trolley | |
| CN107065848A (en) | A kind of underground mine locomotive Unmanned Systems and method based on high accuracy positioning navigation terminal | |
| WO2019065431A1 (en) | Information processing apparatus, movable apparatus, information processing method, movable-apparatus control method, and programs | |
| CN108121002A (en) | A kind of localization method and device | |
| CN106502244A (en) | A kind of navigation positioning system of automatic guided vehicle | |
| US20190296833A1 (en) | Terminal apparatus and apparatus system | |
| CN103791898A (en) | Method and electronic equipment for navigation in building | |
| CN104943687B (en) | Automatic parking implementation method and device based on wireless signal identification | |
| JPWO2019054206A1 (en) | Mobile guidance system | |
| US11906970B2 (en) | Information processing device and information processing method | |
| JP6699034B2 (en) | Autonomous mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180828 |