CN109508006A - A kind of automated driving system of the autocrane based on Beidou - Google Patents
A kind of automated driving system of the autocrane based on Beidou Download PDFInfo
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- CN109508006A CN109508006A CN201811506554.3A CN201811506554A CN109508006A CN 109508006 A CN109508006 A CN 109508006A CN 201811506554 A CN201811506554 A CN 201811506554A CN 109508006 A CN109508006 A CN 109508006A
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- autocrane
- vehicle
- control
- control system
- vehicle control
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- 230000004888 barrier function Effects 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 238000011160 research Methods 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 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—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
-
- 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
- G05D1/0276—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
Abstract
A kind of automated driving system of the autocrane based on Beidou, which is characterized in that including navigation control system, vehicle control system, path planning system, intelligent barrier avoiding system and wireless auxiliary system；Path planning system provides user interface, so that user sets the vehicle driving trace of autocrane；Navigation control system connection path planning system carries out course changing control to autocrane；Vehicle control system connection path planning system carries out traveling control to autocrane；Intelligent barrier avoiding system connects vehicle control system, for carrying out automatic obstacle-avoiding control to autocrane；Wireless auxiliary system connects vehicle control system, for remotely being controlled autocrane.The present invention has filled up the blank of engineering machinery automobile crane machine automatic drive, and driver can be helped to alleviate driving fatigue；In the occasion of specific high-intensitive repeated work, driver's both hands can be liberated.
Description
Technical field
The present invention relates to Automobile Design research field more particularly to a kind of automatic Pilots of the autocrane based on Beidou
System.
Background technique
Pilotless automobile is a kind of intelligent automobile, can also be referred to as wheeled mobile robot, relies primarily on car
Intelligent driving instrument based on computer system is unmanned to realize.It is unmanned to rely on artificial intelligence, vision calculating, thunder
It reaches, monitoring device and global positioning system cooperative cooperating, makes computer automatic to pacify under the operation of nobody class active
Motor vehicles are operated entirely.
Unmanned cardinal principle is that, by vehicle-mounted sensor-based system perception road environment, automatic planning travelling line is simultaneously controlled
Vehicle processed reaches predeterminated target；Ambient enviroment is perceived by onboard sensor simultaneously, and according to perception road obtained, vehicle
Position and obstacle information, control the steering and speed of vehicle, to enable the vehicle to reliably and securely travel on road.
Unmanned vehicle is following developing direction, and current unmanned technology is more and more applied in car
On, agricultural machinery also obtains very great achievement on automatic Pilot, but the unmanned automatic driving of engineering machinery is basic at home and abroad
It is blank.
Summary of the invention
The object of the present invention is to provide a kind of automated driving systems of autocrane based on Beidou, for solving
The above technical problem.Technical problem solved by the invention can be realized using following technical scheme:
A kind of automated driving system of the autocrane based on Beidou, which is characterized in that including navigation control system, vehicle
Control system, path planning system, intelligent barrier avoiding system and wireless auxiliary system；
The path planning system provides user interface, so that user sets the vehicle driving rail of the autocrane
Mark；
The navigation control system connects the path planning system, for according to the institute obtained by BEI-DOU position system
The vehicle driving trace stating the position signal of autocrane and pre-entering, turns to the autocrane
Control；
The vehicle control system connects the path planning system, for according to the criminal rail of the vehicle pre-entered
Mark carries out traveling control to the autocrane；
The intelligent barrier avoiding system connects the vehicle control system, is mounted on the autocrane for obtaining acquisition
Around sensor detection signal, whether intelligent decision current road segment have barrier and by the information and handle, then will
It handles obtained avoidance signal and is sent to the vehicle control system, so that the vehicle control system is to the autocrane
Carry out automatic obstacle-avoiding control.
The wireless auxiliary system connects the vehicle control system, for there is emergency case in the autocrane
When, the autocrane is remotely controlled by vehicle control system described in remote control.
Preferably, the navigation control system is provided with navigation controller, angular transducer, steering control valve and signal and connects
Receive device；
The sensor is mounted on the vehicle steer axle, for detecting vehicle steering angle signal, and by the signal
Issue the navigation controller；
The navigation controller connects the angular transducer, for issuing the first control instruction for indicating Vehicular turn；
The steering control valve connects the navigation controller, described first issued for receiving the navigation controller
Control instruction, and control Vehicular turn；
The signal receiver connecting with the navigation controller passes through wireless transmission radio station and external locating base station
Connection, is supplied to the navigation controller for receiving the position signal, and by the positioning signal；
The navigation controller handles according to the position signal and the vehicle driving trace and exports first control
System instruction.
Preferably, the vehicle control system is provided with vehicle control device and vehicle brake control apparatus；
The vehicle control device is used to generating and exporting the second control instruction for indicating vehicle driving control, and according to described
Second control instruction controls the vehicle driving；
The vehicle brake control apparatus connects the vehicle control device, and connects the braking system of the autocrane
System, for carrying out control for brake to the autocrane according to second control instruction.
Preferably, the path planning system is provided with man-machine interaction display screen and terminal point coordinate obtains equipment；
The man-machine interaction display screen is supplied to user and checks all kinds of travelings of the autocrane in the process of moving
Information；
The terminal point coordinate acquisition device is supplied to the terminal point coordinate that user chooses navigation terminal；
The route planning unit connects the terminal point coordinate acquisition device, for according to the current of the autocrane
The terminal point coordinate of coordinate and the navigation terminal, is calculated the vehicle driving using a preset path planning algorithm
Track.
Preferably, the intelligent barrier avoiding system is provided with multiple detection of obstacles sensors and avoidance processing unit；
Multiple detection of obstacles sensors are separately mounted to around the autocrane；
The avoidance processing unit is separately connected each detection of obstacles sensor, for receiving the obstacle quality testing
The sensing data that sensor detects is surveyed, avoidance track is calculated using a preset obstacle avoidance algorithm and is sent to the vehicle
Control system；
The vehicle control device in the vehicle control system is used for according to the avoidance track to the automobile crane
Machine carries out avoidance obstacle.
Preferably, the wireless auxiliary system includes Digiplex and/or remote control terminal；
The Digiplex and/or remote control terminal are by way of wireless data transmission, by corresponding vehicle control
System instruction is sent in the vehicle control system, remotely to be controlled the autocrane.
Preferably, the control system is separately connected the navigation control system, vehicle control system, path planning system
And intelligent barrier avoiding system；
The control system controls navigation control system, vehicle control system, path according to externally input selection instruction
Planning system and the starting of intelligent barrier avoiding system are closed.
The beneficial effect is that:
The present invention provides a kind of automated driving system of autocrane, which can fill up engineering machinery automobile crane
The blank of machine automatic drive, and driver can be helped to alleviate driving fatigue；It, can be in the occasion of specific high-intensitive repeated work
Liberate driver's both hands.Automatic Pilot technology is current cutting edge technology, and engineering machinery autocrane development trend will have this
One.
Detailed description of the invention
Fig. 1 is system schematic of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
As shown in Figure 1, a kind of automated driving system of the autocrane based on Beidou, which is characterized in that including navigation
Control system, vehicle control system, path planning system, intelligent barrier avoiding system and wireless auxiliary system；
The path planning system provides user interface, so that user sets the vehicle driving rail of the autocrane
Mark；
The navigation control system connects the path planning system, for according to the institute obtained by BEI-DOU position system
The vehicle driving trace stating the position signal of autocrane and pre-entering, turns to the autocrane
Control；
The vehicle control system connects the path planning system, for according to the vehicle driving rail pre-entered
Mark carries out traveling control to the autocrane；
The intelligent barrier avoiding system connects the vehicle control system, is mounted on the autocrane for obtaining acquisition
Around sensor detection signal, whether intelligent decision current road segment have barrier and by the information and handle, then will
It handles obtained avoidance signal and is sent to the vehicle control system, so that the vehicle control system is to the autocrane
Carry out automatic obstacle-avoiding control；
The wireless auxiliary system connects the vehicle control system, for there is emergency case in the autocrane
When, the autocrane is remotely controlled by vehicle control system described in remote control.
In preferred embodiments of the present invention, navigation control system is provided with navigation controller, angular transducer, course changing control
Valve and signal receiver.Navigation controller receives vehicle location signal, vehicle steering angle signal, according to the vehicle driving of input
Track, output control switching valve, controls Vehicular turn；Angular transducer is mounted on vehicle steer axle, detects vehicle steering angle
Signal is spent, and the signal is issued into navigation controller；Steering control valve receives the control instruction that navigation controller issues, and control turns
To hydraulic system, achieve the purpose that control Vehicular turn；RTK locating base station receives and parses through Big Dipper satellite signal, while will letter
Number the signal receiver connecting with navigation controller is sent to by radio station；It is responsible for sending RTK locating base station in wireless transmission radio station
The positioning signal of transmission；The position signal that signal receiver receives the positioning signal that radio station sends and big-dipper satellite is sent,
Two signals are transferred to navigation controller.
In preferred embodiments of the present invention, vehicle control device and vehicle brake control apparatus is arranged in vehicle control system.Vehicle
Controller is responsible for acquiring obstacle sensor information；Receive the instruction that wireless auxiliary system is sent；Receive what display screen was sent
Control instruction；Run vehicle automatic running step algorithm；Run intelligent barrier avoiding algorithm；Output signal controls Vehicular brake device；
Send instruction control vehicle launch, flame-out, acceleration and deceleration, shift；Vehicular brake device is in the premise for not influencing former vehicle braking system
Under, a set of new equipment in parallel realizes the vehicle braking during vehicle automatic running.
In preferred embodiments of the present invention, Trajectory Planning System is provided with man-machine interaction display screen and terminal point coordinate acquisition is set
It is standby.Man-machine interaction display screen shows vehicle traveling information, the other informations such as car status information and alarm；Terminal point coordinate obtains
Device is taken, reconnaissance or use measuring device can measure terminal point coordinate from map；Path planning algorithm, entirely to drive automatically
The core for sailing system, according to the terminal point coordinate of acquisition, can real-time perfoming path planning, while can determine whether the obstacle in road
Object obtains optimal travel route.
In preferred embodiments of the present invention, intelligent barrier avoiding system is provided with multiple detection of obstacles sensors and avoidance processing
Unit.Detection of obstacles sensor uses ultrasonic sensor, the mode that ultrasonic radar combines, and multiple detection of obstacles pass
Sensor is separately mounted to around autocrane；Avoidance processing unit is separately connected each detection of obstacles sensor vehicle week
No dead angle detection is enclosed, while former and later two directions increase detecting distance；Vehicle control device designs avoidance Processing Algorithm, algorithm process
Information afterwards is exported to Vehicular brake device and Trajectory Planning System.
In preferred embodiments of the present invention, wireless auxiliary system is by Digiplex and/or remote control terminal.Wireless remote
It controls device and sudden-stop function is set, when emergency stop, cut off Function for Automatic Pilot, while by vehicle braking and stopping working；Control vehicle is set simultaneously
Starting, flame-out, acceleration and deceleration, braking, gearshift function；Vehicle control device receives remote controller signal, judges the state of emergency, output pair
Answer processing result；Remote control terminal sends vehicle control signal using mobile terminal (mobile phone or tablet computer), including start,
The operation such as flame-out, braking, shift, acceleration and deceleration；
It further include a control system in preferred embodiments of the present invention, control system is separately connected navigation control system, vehicle
Control system, path planning system and intelligent barrier avoiding system；
Control system controls navigation control system, vehicle control system, path planning according to externally input selection instruction
System and the starting of intelligent barrier avoiding system are closed.The vehicle of automated driving system is installed, setting automatic driving mode selects to open
Close, driver can unrestricted choice use automatic driving mode or manual drive mode.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (7)
1. a kind of automated driving system of the autocrane based on Beidou, which is characterized in that including navigation control system, vehicle
Control system, path planning system, intelligent barrier avoiding system and wireless auxiliary system；
The path planning system provides user interface, so that user sets the vehicle driving trace of the autocrane；
The navigation control system connects the path planning system, for according to the vapour obtained by BEI-DOU position system
The position signal of vehicle crane and the vehicle driving trace pre-entered, carry out steering control to the autocrane
System；
The vehicle control system connects the path planning system, for according to the vehicle driving trace pre-entered,
Traveling control is carried out to the autocrane；
The intelligent barrier avoiding system connects the vehicle control system, is mounted on around the autocrane for obtaining acquisition
Sensor detection signal, whether intelligent decision current road segment have barrier and by the information and handle, then will processing
Obtained avoidance signal is sent to the vehicle control system, so that the vehicle control system carries out the autocrane
Automatic obstacle-avoiding control；
The wireless auxiliary system connects the vehicle control system, for when there is emergency case in the autocrane,
The autocrane is remotely controlled by vehicle control system described in remote control.
2. a kind of automated driving system of the autocrane based on Beidou according to claim 1, which is characterized in that described
Navigation control system is provided with navigation controller, angular transducer, steering control valve and signal receiver；
The sensor is mounted on the vehicle steer axle, is issued for detecting vehicle steering angle signal, and by the signal
The navigation controller；
The navigation controller connects the angular transducer, for issuing the first control instruction for indicating Vehicular turn；
The steering control valve connects the navigation controller, first control issued for receiving the navigation controller
Instruction, and control Vehicular turn；
The signal receiver connecting with the navigation controller is connect by wireless transmission radio station with external locating base station,
The navigation controller is supplied to for receiving the position signal, and by the positioning signal；
The navigation controller, which handles according to the position signal and the vehicle driving trace and exports first control, to be referred to
It enables.
3. a kind of automated driving system of the autocrane based on Beidou according to claim 1, which is characterized in that described
Vehicle control system is provided with vehicle control device and vehicle brake control apparatus；
The vehicle control device is used to generating and exporting the second control instruction for indicating vehicle driving control, and according to described second
Control instruction controls the vehicle driving；
The vehicle brake control apparatus connects the vehicle control device, and connects the braking system of the autocrane, uses
According to second control instruction, control for brake is carried out to the autocrane.
4. a kind of automated driving system of the autocrane based on Beidou according to claim 1, which is characterized in that described
Path planning system is provided with man-machine interaction display screen and terminal point coordinate obtains equipment；
The man-machine interaction display screen is supplied to user and checks all kinds of driving informations of the autocrane in the process of moving；
The terminal point coordinate acquisition device is supplied to the terminal point coordinate that user chooses navigation terminal；
The route planning unit connects the terminal point coordinate acquisition device, for the changing coordinates according to the autocrane
With the terminal point coordinate of the navigation terminal, the vehicle driving rail is calculated using a preset path planning algorithm
Mark.
5. a kind of automated driving system of the autocrane based on Beidou according to claim 3, which is characterized in that described
Intelligent barrier avoiding system is provided with multiple detection of obstacles sensors and avoidance processing unit；
Multiple detection of obstacles sensors are separately mounted to around the autocrane；
The avoidance processing unit is separately connected each detection of obstacles sensor, passes for receiving the detection of obstacles
The sensing data that sensor detects is calculated avoidance track using a preset obstacle avoidance algorithm and is sent to the vehicle control
System processed；
The vehicle control device in the vehicle control system be used for according to the avoidance track to the autocrane into
Row avoidance obstacle.
6. a kind of automated driving system of the autocrane based on Beidou according to claim 3, which is characterized in that described
Wireless auxiliary system includes Digiplex and/or remote control terminal；
The Digiplex and/or remote control terminal are referred to corresponding vehicle control by way of wireless data transmission
Order is sent in the vehicle control system, remotely to be controlled the autocrane.
7. a kind of automated driving system of the autocrane based on Beidou according to claim 1, which is characterized in that also wrap
Include a control system, the control system be separately connected the navigation control system, vehicle control system, path planning system with
And intelligent barrier avoiding system；
The control system controls navigation control system, vehicle control system, path planning according to externally input selection instruction
System and the starting of intelligent barrier avoiding system are closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811506554.3A CN109508006A (en) | 2018-12-10 | 2018-12-10 | A kind of automated driving system of the autocrane based on Beidou |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811506554.3A CN109508006A (en) | 2018-12-10 | 2018-12-10 | A kind of automated driving system of the autocrane based on Beidou |
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| Publication Number | Publication Date |
|---|---|
| CN109508006A true CN109508006A (en) | 2019-03-22 |
Family
ID=65753114
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| CN201811506554.3A Pending CN109508006A (en) | 2018-12-10 | 2018-12-10 | A kind of automated driving system of the autocrane based on Beidou |
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| CN110282449A (en) * | 2019-06-05 | 2019-09-27 | 安徽跃锐智能设备有限公司 | A kind of intelligence grain scraper control system |
| CN111506069A (en) * | 2020-04-26 | 2020-08-07 | 吉林大学 | All-weather all-ground crane obstacle identification system and method |
| CN112208520A (en) * | 2019-06-24 | 2021-01-12 | 庞群英 | Unmanned vehicle unmanned system capable of automatically avoiding obstacles |
| CN112305573A (en) * | 2020-10-23 | 2021-02-02 | 上海伯镭智能科技有限公司 | Unmanned vehicle route selection system based on big dipper |
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