CN109685436A - The cross-border transportation system of automatic driving vehicle and relevant device - Google Patents
The cross-border transportation system of automatic driving vehicle and relevant device Download PDFInfo
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- CN109685436A CN109685436A CN201910058339.XA CN201910058339A CN109685436A CN 109685436 A CN109685436 A CN 109685436A CN 201910058339 A CN201910058339 A CN 201910058339A CN 109685436 A CN109685436 A CN 109685436A
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0831—Overseas transactions
Abstract
The present invention discloses the cross-border transportation system of automatic driving vehicle and relevant device, to improve cross-border conevying efficiency.System includes: management system, the travel position for Care for Cargo information and automatic driving vehicle；Transport task is generated according to the travel position of goods information and each automatic driving vehicle, and each transport task is sent to the automatic Pilot control device of matched automatic driving vehicle；Automatic Pilot control device, for when receiving transport task, control automatic driving vehicle to be completed to transport according to the transport task；And when driving to the examination station on accommodation road during transportation, controls the automatic driving vehicle and carry out customs inspection；Handling control equipment carries out automatic loading and unloading goods to automatic driving vehicle for controlling handling facilities；Checking system, for carrying out customs inspection to automatic driving vehicle, the automatic driving vehicle of letting pass when examination passes through receives artificial examination checking the obstructed out-of-date instruction automatic driving vehicle.
Description
Technical field
The present invention relates to automatic Pilot fields, the in particular to cross-border transportation system of automatic driving vehicle and relevant device.
Background technique
Currently, in the cross-border transport in land route, it generally can be in the examination station of country there are two the settings of national boundary two sides, Si Ji
When transport cargo is gone abroad, first has to carry out customs inspection at the examination station of export of goods state, also need after checking clearance in goods
The examination station of object importer carries out customs inspection, and customs inspection is a very time-consuming job, and driver is frequently necessary to wait
A very long time waits customs inspection, what is competent by driver within the period for waiting customs inspection, and human resources are big
The human cost of big waste, transport is high.In addition, all types of cargo transport vehicles of national boundary two sides are concentrated
Customs inspection is carried out at unified examination station, and the quantity to be checked validated the car is too many, and the clearance time is long, and cross-border conevying efficiency is lower.
Especially for some companies for exclusively carrying out the import and export values of foreign trade, its cross-border transportation cost is higher, for example, coal, grain, ore,
The cross-border transport of steel and other items.How to improve the efficiency of cross-border transport and reduces cost then and become urgently to be resolved at present ask
Topic.
Summary of the invention
In view of the above problems, the present invention provides a kind of cross-border transportation system of automatic driving vehicle and relevant device, using from
The dynamic vehicle that drives is automatically performed the cross-border transport in land route and customs inspection, without being equipped with driver for automatic driving vehicle, reduces manpower
Cost；And examination station is provided with checking system, automatic customs inspection can be carried out to automatic driving vehicle, to improve
The efficiency and speed of vehicle examination, improve cross-border conevying efficiency.
The embodiment of the present invention, in a first aspect, the cross-border transportation system of automatic driving vehicle is provided,
It is respectively arranged with logistics center in the two sides of cross-border line, is provided between the logistics center of the cross-border line two sides specially
With two-way road, at least one examination station is provided on the dedicated two-way road, logistics center is provided with handling control and sets
Standby and management system, the examination station are provided with checking system, the system comprises:
Management system, the travel position for Care for Cargo information and automatic driving vehicle；According to goods information and respectively
The dynamic travel position for driving vehicle generates transport task, and each transport task is sent to the automatic of matched automatic driving vehicle
Steering control device；
Automatic Pilot control device, for when receiving transport task, controlling automatic driving vehicle according to the transport
Task completes transport；And when driving to the examination station on accommodation road during transportation, control the automatic driving vehicle
Carry out customs inspection；
Handling control equipment carries out automatic loading and unloading goods to automatic driving vehicle for controlling handling facilities；
Checking system, for carrying out customs inspection, the automatic Pilot of letting pass when examination passes through to automatic driving vehicle
Vehicle receives artificial examination checking the obstructed out-of-date instruction automatic driving vehicle.
The embodiment of the present invention, second aspect provide a kind of management system, comprising:
Communication unit, for receiving and sending messages；
Administrative unit, the travel position for Care for Cargo information and automatic driving vehicle；
Transport task allocation unit is appointed for generating transport according to the travel position of goods information and each automatic driving vehicle
It is engaged in, and each transport task is sent to the automatic Pilot control device of matched automatic driving vehicle.
The cross-border transportation system of automatic driving vehicle provided in an embodiment of the present invention, on the one hand, in national boundary two sides arranging thing
Flow center, and the logistics center in cross-border line two sides is provided with dedicated two-way road, by automatic driving vehicle in two logistics
The cross-border transport of cargo and customs inspection are carried out between center, is participated in without artificial, are not needed as the outfit of each automatic driving vehicle
Truck man reduces the human cost of cross-border transport；On the other hand, examination station is provided with checking system, the checking system energy
Enough to carry out automatic customs inspection to the automatic driving vehicle for driving into examination station, the automatic driving vehicle passed through to examination is directly put
Row receives artificial examination to unacceptable automatic driving vehicle instruction is checked, can be improved the efficiency and speed of customs inspection；Again
On the one hand, due to cross-border line two sides logistics center foundation be dedicated two-way road, other public vehicles not can enter,
The automatic driving vehicle that examination station carries out customs inspection is the vehicle for belonging to same logistics center's administration, greatly reduces society
The quantity of meeting vehicle improves the efficiency of cross-border transport and reduces cost.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
Fig. 1 is that the schematic diagram of logistics center is arranged in cross-border line two sides in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the cross-border transportation system of automatic driving vehicle in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of management system in the embodiment of the present invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
Technical solution of the present invention is suitable for the cross-border application scenarios in land route, be naturally applicable also to it is domestic transprovincially, trans-city area
Equal application scenarios, transprovincially, the technical solution in trans-city area it is consistent with cross-border technical solution principle, only difference is that, it is cross-border
It is that logistics center is set in cross-border line (i.e. state boundary) two sides under scene, is in line transprovincially/trans-city under and transprovincially/trans-city area's scene
Area line two sides be arranged logistics center, but those skilled in the art can directly by cross-border technical solution be transplanted to transprovincially/across
The application scenarios such as urban district do not need to pay laborious creation.
In the embodiment of the present invention, automatic driving vehicle can be all loading tools with Function for Automatic Pilot, such as
It may include truck, lorry, AGV (Automated Guided Vehicle, automated guided vehicle), crane, fork truck, tire
It hangs, track crane, railroad vehicle, train etc., the application does not make considered critical to the type of automatic driving vehicle.
In the embodiment of the present invention, handling facilities can be bridge crane (i.e. shore tackle), track crane, tyre crane, tower crane, front handling mobile crane,
Overhead traveling crane, crane, robot, fork truck etc., the application do not make considered critical to the structure of handling facilities.
Logistics center in the embodiment of the present invention can refer to that road-port area, cargo collecting and distributing centre, warehouse, garden etc. have
The region of relative closure, the application do not do considered critical to the type of logistics center.
Referring to Fig. 1, it is the schematic diagram of cross-border transport, is respectively arranged in logistics center A and logistics in the two sides of cross-border line
Heart B, is provided with dedicated two-way road between the logistics center A and logistics center B, and the road in each direction can be bicycle
Road may be multilane, at least one examination station is provided on the dedicated two-way road, under normal circumstances, in cross-border line
An examination station is respectively arranged in two sides, represents two national examination stations.Each examination station is provided with corresponding checking system and looks into
Machine is tested, automatic driving vehicle is slowly by the examination machine to complete to check；Each logistics center is provided at least one dress
Equipment is unloaded, each handling facilities are corresponding with the handling that one carries out handling goods control to the handling facilities and control equipment, the handling
Control equipment, which can be set, also can be set on the handling facilities in other positions；It is provided on each automatic driving vehicle
Automatic Pilot control device for being controlled automatic driving vehicle.
Embodiment one
It referring to fig. 2, is the structural schematic diagram of the cross-border transportation system of automatic driving vehicle in the embodiment of the present invention, in cross-border line
Two sides be respectively arranged with logistics center, dedicated two-way road is provided between the logistics center of the cross-border line two sides, in institute
It states and is provided at least one examination station on dedicated two-way road, logistics center is provided with handling control equipment, vehicle dispatch system
And management system, the examination station are provided with checking system.The cross-border transportation system of the automatic driving vehicle include management system 1,
Automatic Pilot control device 2, handling control equipment 3 and checking system 4, in which:
Management system 1, the travel position for Care for Cargo information and automatic driving vehicle；According to goods information and respectively
The dynamic travel position for driving vehicle generates transport task, and each transport task is sent to the automatic of matched automatic driving vehicle
Steering control device 2；
Automatic Pilot control device 2, for when receiving transport task, controlling automatic driving vehicle according to the transport
Task completes transport；And when driving to the examination station on accommodation road during transportation, control the automatic driving vehicle
Carry out customs inspection；
Handling control equipment 3 carries out automatic loading and unloading goods to automatic driving vehicle for controlling handling facilities；
Checking system 4, for carrying out customs inspection, the automatic Pilot of letting pass when examination passes through to automatic driving vehicle
Vehicle receives artificial examination checking the obstructed out-of-date instruction automatic driving vehicle.
In the embodiment of the present invention, DSP (the Digital Signal in vehicle-mounted end is can be set in automatic Pilot control device 2
Processing, digital signal processor), FPGA (Field-Programmable Gate Array, field-programmable gate array
Column) controller, industrial computer, car running computer, ECU (Electronic Control Unit, electronic control unit) or VCU
On (Vehicle Control Unit, entire car controller).
In the embodiment of the present invention, handling control equipment 3 can be the computer server being arranged on handling facilities, such as
DSP, FPGA controller, industrial computer, tablet computer or PC etc., operator can be by operating the computer server control
Handling facilities processed carry out handling goods, and certainly, handling control equipment 1 can also be the remote control equipment of wireless communication, and operator can
Remotely to control handling facilities by the remote control equipment, the application does not make considered critical.
In the embodiment of the present invention, checking system 4 can be the computer server that examination station is arranged in, such as DSP, FPGA
Controller, industrial computer, tablet computer or PC etc., the application does not make considered critical.
In the embodiment of the present invention, management system 1 can be computer server, such as DSP, FPGA controller, industrial electro
Brain, tablet computer or PC etc., the application does not make considered critical.
The goods information that management system 1 manages may include the essential information for all cargos for including in logistics center, substantially
Information may include, but are not limited to it is following any one or more: cargo type, cargo ID number, cargo owner, cargo source,
Goods warehousing time, the current storage position of cargo, cargo transport destination, cargo are sent to time limit of transport destination etc..This hair
In bright embodiment, the identity information and type of vehicle (example of each automatic driving vehicle can be stored in management system 1 in advance
Such as container truck, cargo, AGV, fork truck, crane) etc..Automatic driving vehicle periodically by the automatic Pilot vehicle
Travel position (travel position includes that the location information of automatic driving vehicle, car status information are (numerous for example including state
The status informations such as busy, idle state)) it is synchronized to management system 1.
Management system 1 generates transport task according to the travel position of goods information and each automatic driving vehicle, and by each fortune
Defeated task is sent to the automatic Pilot control device of matched automatic driving vehicle, can specifically pass through but be not limited only to following manner
It realizes: being directed to each cargo to be transported, matching condition is determined according to the goods information of the cargo to be transported；From the automatic of administration
Drive filtered out in vehicle meet the wherein automatic driving vehicle of the matching condition as with the cargo to be transported
The automatic driving vehicle matched；According to the goods information of the cargo to be transported and matched automatic driving vehicle generate with it is described to
Transport the corresponding transport task of cargo.The transport task may include but be not limited only to any one or more following information:
Cargo type, cargo ID number, cargo outbound time, cargo transport starting point, cargo transport terminal and matched automatic Pilot vehicle
Id information.The matching condition for example may is that type of vehicle can transport the cargo type of the cargo to be transported, and
The vehicle-state of automatic driving vehicle is idle state.It is filtered out from the automatic driving vehicle of administration and meets the matching condition
A wherein automatic driving vehicle as automatic driving vehicle corresponding with transport project matching, specifically can include: from
Filtered out in the automatic driving vehicle type of vehicle can transport first group of cargo type in the transport project it is automatic
Drive vehicle；Second group of automatic driving vehicle that vehicle-state is idle state is filtered out from first group of automatic driving vehicle；
If second group of automatic driving vehicle only includes an automatic driving vehicle directly by the automatic driving vehicle be determined as with it is described
The matched automatic driving vehicle of transport project；If second group of automatic driving vehicle includes more automatic driving vehicles, from second
Filter out that current location is nearest with cargo transport starting point in the transport project at a distance from automatic to drive in group automatic driving vehicle
Sail vehicle as with the matched automatic driving vehicle of the transport project；If second group of automatic driving vehicle is zero, from first
Group automatic driving vehicle in choose cargo transport terminal with cargo transport starting point in the transport project at a distance from recently it is automatic
Drive vehicle as with the matched automatic driving vehicle of the transport project.
The cargo transport starting point can be the storage position of cargo to be transported；Alternatively, the cargo transport starting point can be with
It for the corresponding loading position in storage position of cargo to be transported, such as in logistics center include a large amount of stockyard, each stockyard pair
One or more loading positions are answered, using a loading position in the stockyard where the storage position of the cargo to be transported as goods
Object shipping point of origin；Such as in logistics center include a large amount of warehouse, the doorway position in warehouse is the loading position in the warehouse, will be to
The doorway position for transporting the warehouse where the storage position of cargo is determined as cargo transport starting point, and the application does not do considered critical.
The cargo transport terminal can be the transport destination of cargo to be transported.
It preferably, is the travel position of goods information and automatic driving vehicle in the management system 1 that timely updates, the present invention
In embodiment, when completing transport task, Xiang Suoshu management system 1 sends transport task completion and disappears automatic Pilot control device 2
Breath；The management system 1 receive transport task complete message when, according to completed transport task update goods information,
The travel position of corresponding automatic driving vehicle.
It preferably, is the travel position of the automatic driving vehicle in the management system 1 that timely updates, in the embodiment of the present invention,
The location information of automatic driving vehicle is periodically sent to management system 1 by automatic Pilot control device；1 basis of management system
The travel position of the corresponding automatic driving vehicle of the updating location information received.
In the embodiment of the present invention, " dress discharge location ", which refers to, both can be used to unload to can also be used to the position area of loading
Domain.It is referred to as " loading position " when " dress discharge location " is freighted then " discharge location should be filled ", when at " dress discharge location "
Then " should fill discharge location " when being unloaded is referred to as " discharge location ".
In some embodiments, if transport task expression goes cargo transport starting point to load cargo, transport task may include
Loading position (can be cargo transport starting point), the automatic Pilot control device 2 control automatic driving vehicle according to the fortune
Defeated task completes transport, and specifically include: automatic Pilot control device 2 controls the automatic driving vehicle and drives to from current location
The loading position；When determining that loading is completed, controls the automatic driving vehicle and sail out of the loading position.If transport task
It indicates to draw cargo to cargo transportation terminal and unload, then it (can be cargo transport above-mentioned that transport task, which may include discharge location,
Terminal), the automatic Pilot control device 2 controls automatic driving vehicle and completes to transport according to the transport task, it specifically includes:
Automatic Pilot control device 2 controls the automatic driving vehicle and drives to the discharge location from current location；It unloads determining
When completion, controls the automatic driving vehicle and sail out of the discharge location.
In some embodiments, transport task expression goes cargo transport starting point to freight and draw the cargo to cargo transport end
Point is unloaded, then transport task may include that loading position (can be cargo transport starting point above-mentioned) and discharge location (can be with
For cargo transport terminal above-mentioned), it is complete according to the transport task that the automatic Pilot control device 2 controls automatic driving vehicle
At transport, specifically can include: automatic Pilot control device 2 controls the automatic driving vehicle and drives to the dress from current location
It sets in goods yard；When determining that loading is completed, the automatic driving vehicle is controlled from loading position and drives to the discharge location；True
When fixed unloading is completed, controls the automatic driving vehicle and sail out of the discharge location.
In the embodiment of the present invention, the control automatic driving vehicle of automatic Pilot control device 2 drives to described from current location
Loading position can specifically pass through but be not limited only to following manner realization: automatic Pilot control device 2, which is determined with current location, is
Point, using the loading position as the first travel route of terminal, and control the automatic driving vehicle according to it is described first traveling
Route drives to the loading position from current location.
In the embodiment of the present invention, automatic Pilot control device 2 determines first travel route, can be by automatic Pilot control
Device 2 processed is planned to obtain first travel route according to the map datum being locally stored；It can also be by management system 1 according to this
The map datum of ground storage is planned to obtain first travel route, and by first travel route load in transport task,
First travel route is obtained from the transport task by automatic Pilot control device 2.Therefore, in the embodiment of the present invention, from
Dynamic steering control device 2 is determined using current location as starting point, using the loading position as the travel route of terminal, can specifically be passed through
But it is not limited only to any one following mode (mode A1~mode A2) to realize:
Mode A1, automatic Pilot control device 2 using current location as starting point, using the loading position as terminal, according to pre-
The map datum deposited plans the first travel route from the starting point to the terminal.
In mode A1, automatic Pilot control device 2 can plan the travel route by the navigation software of itself, can also be with
Third party's map software is called to plan first travel route by automatic Pilot control device 2.
Mode A2, automatic Pilot control device 2 are obtained from the transport task from the current location to the loading
First travel route of position.
In mode A2, first travel route is made of the path point for constituting first travel route, automatic Pilot
Path point in transport task is sequentially displayed in local map by control device 2, and the first traveling to be shown on map
Route is navigation routine, controls vehicle from current location and drives to loading position.
In the embodiment of the present invention, the control automatic driving vehicle of automatic Pilot control device 2 drives to described from loading position
Discharge location can specifically pass through but be not limited only to following manner realization: automatic Pilot control device 2, which is determined with loading position, is
Point, using the discharge location as the second travel route of terminal, and control the automatic driving vehicle according to it is described second traveling
Route drives to the discharge location from loading position.Automatic Pilot control device 2 is determined using loading position as starting point, with described
Discharge location is the second travel route of terminal, and specific implementation principle can be found in foregoing manner A1~mode A2, no longer superfluous herein
It states.
Preferably, aforementioned automatic Pilot control device 2 determines that loading is completed, and specifically can be used but is not limited only to following any
A kind of mode (mode B1~mode B5) realization:
Mode B1, it is received from handling control equipment 3 when being used to indicate instruction that automatic driving vehicle loading is completed,
Determine that loading is completed.
In mode B1, correspondingly, handling control equipment 3 is determining handling facilities to automatic driving vehicle loading completion
When, the transmission of automatic Pilot control device 2 of Xiang Suoshu automatic driving vehicle is used to indicate the automatic driving vehicle loading and completes
Instruction.In mode B1, automatic Pilot control device 2 and handling control equipment 3 can be communicated.
Mode B2, it receives when being used to indicate the instruction that automatic driving vehicle loading is completed, determines from management system 1
Loading is completed.
In mode B2, correspondingly, when management system 1 determines that handling facilities complete automatic driving vehicle loading, to institute
The transmission of automatic Pilot control device 2 for stating automatic driving vehicle is used to indicate the automatic driving vehicle loading and completes instruction.Pipe
Reason system 1 determines that handling facilities freight to automatic driving vehicle and completes, and can specifically pass through but be not limited only to following manner realization: pipe
Reason system 1 is used to indicate the automatic driving vehicle loading from the handling control reception of equipment 3 and completes instruction, described automatic with determination
Vehicle cargo is driven to complete.
Mode B3, it is more than or equal in the gravity value that the gravity sensor that judgement is mounted on the automatic driving vehicle exports
When preset gravity threshold value and the gravity value does not change within preset time period, determine that loading is completed.
In mode B3, it can be provided with gravity sensor on the lorry plate of automatic driving vehicle, by judging that this is heavy
The situation of change of the gravity value of force snesor output determines whether loading is completed.
Mode B4, it is located near loading position by the vehicle-mounted vidicon acquisition being arranged on the automatic driving vehicle
The image of electrical screen, and using the content in prediction picture recognizer identification described image, it obtains being used to indicate described automatic
Drive the notification message that vehicle cargo is completed.
In which B4, be provided with electrical screen near each loading position, when to stop at loading position automatically drive
When sailing vehicle cargo completion, the notification message that the automatic driving vehicle loading is completed is used to indicate in the electronics screen display.
For example, in the electronics screen display " license plate number is * * * * *, and loading finishes ", or display " loading finishes " information.
Mode B5, be identified by using preset speech model voice announcer casting be used to indicate the automatic Pilot
The notification message that vehicle cargo is completed.
In mode B5, voice announcer can be provided near loading position, when to stop at loading position from
When dynamic driving vehicle cargo is completed, the notice that the automatic driving vehicle loading is completed is used to indicate by voice announcer casting
Message.For example, casting voice is " license plate number is * * * * *, and loading finishes ", or casting voice is " loading finishes " information.
Preferably, the automatic Pilot control device 2 determines that unloading is completed, and can specifically pass through but be not limited only to following any
A kind of mode (mode C1~mode C5) realization:
Mode C1, it is received from handling control equipment 3 when being used to indicate instruction that automatic driving vehicle unloading is completed,
Determine that unloading is completed.
In mode C1, correspondingly, handling control equipment 3 is determining handling facilities to automatic driving vehicle unloading completion
When, the transmission of automatic Pilot control device 2 of Xiang Suoshu automatic driving vehicle is used to indicate the automatic driving vehicle unloading and completes
Instruction.
Mode C2, it receives when being used to indicate the instruction that automatic driving vehicle unloading is completed, determines from management system 1
Unloading is completed.
In mode C2, correspondingly, when management system 1 determines that handling facilities complete automatic driving vehicle unloading, to institute
The transmission of automatic Pilot control device 2 for stating automatic driving vehicle is used to indicate the automatic driving vehicle unloading and completes instruction.Pipe
Reason system 1 determines that handling facilities unload to automatic driving vehicle and completes, and can specifically pass through but be not limited only to following manner realization: pipe
Reason system 1 is used to indicate the automatic driving vehicle unloading from the handling control reception of equipment 3 and completes instruction, described automatic with determination
Vehicle unloading is driven to complete.
Mode C3, it is less than or equal in the gravity value that the gravity sensor that judgement is mounted on the automatic driving vehicle exports
When preset gravity threshold value and the gravity value does not change within preset time period, determine that unloading is completed.
In mode C3, it can be provided with gravity sensor on the lorry plate of automatic driving vehicle, by judging that this is heavy
The situation of change of the gravity value of force snesor output determines whether unloading is completed.
Mode C4, it is located near discharge location by the vehicle-mounted vidicon acquisition being arranged on the automatic driving vehicle
The image of electrical screen, and using the content in prediction picture recognizer identification described image, it obtains being used to indicate described automatic
Drive the notification message that vehicle unloading is completed.
In which C4, each discharge location is provided with electrical screen, when to the automatic Pilot vehicle for stopping at discharge location
When unloading is completed, the notification message that automatic driving vehicle unloading is completed is used to indicate in the electronics screen display.For example,
In the electronics screen display " license plate number is * * * * *, discharged ", or display " discharged " information.
Mode C5, be identified by using preset speech model voice announcer casting be used to indicate the automatic Pilot
The notification message that vehicle unloading is completed.
In mode C5, voice announcer can be provided near discharge location, when to stop at discharge location from
When dynamic driving vehicle unloading is completed, the notice of the automatic driving vehicle unloading completion is used to indicate by voice announcer casting
Message.For example, casting voice is " license plate number is * * * * *, discharged ", or casting voice is " discharged " information.
Preferably, in the embodiment of the present invention, each handling facilities correspond at least one dress discharge location, automatic driving vehicle
The dress discharge location for driving to handling facilities waits handling facilities to carry out handling goods, and correspondingly, handling facilities are to stopping at the dress
The automatic driving vehicle for unloading the corresponding dress discharge location of equipment carries out handling goods.Handling control equipment 3 controls handling facilities to certainly
The dynamic vehicle that drives carries out automatic loading and unloading goods, specifically can by but be not limited only to any one following mode (mode D1~mode D3)
It realizes:
Mode D1, oneself for loading and unloading the automatic driving vehicle for controlling equipment 3 from the dress discharge location for stopping at the handling facilities
Dynamic steering control device 2 receives handling goods instruction, and instructs control handling facilities to the automatic Pilot according to the handling goods
Vehicle carries out corresponding handling goods.
In mode D1, correspondingly, automatic Pilot control device 2 stops the handling to handling facilities in automatic driving vehicle
When goods yard is set, the corresponding handling control equipment of Xiang Suoshu handling facilities sends handling goods instruction, such as: when automatic driving vehicle row
When sailing to the loading position in transport task, shipping instruction is sent to handling control equipment 3；When automatic driving vehicle travels
When discharge location into transport task, unloading instruction is sent to handling control equipment 3.
Mode D2, handling control equipment 3 are received from the management system 1 for indicating to the dress for stopping at the handling facilities
The automatic driving vehicle of discharge location carries out the handling goods instruction of handling goods, and instructs control handling facilities according to the handling goods
Corresponding handling goods is carried out to the automatic driving vehicle.
In mode D2, correspondingly, management system 1 is driven automatically in the location information determination sent according to automatic driving vehicle
When sailing loading position/discharge location of the vehicle driving into transport task, corresponding loading is sent to handling control equipment 3 and is referred to
Order/unloading instruction.It awaits orders message alternatively, management system 1 receives loading message/unloading of awaiting orders from automatic Pilot control device 2
When, corresponding shipping instruction/unloading instruction is sent to handling control equipment 3.
Mode D3, handling control equipment obtain the vehicle for stopping at the automatic driving vehicle of dress discharge location of the handling facilities
ID number, and determine from the corresponding relationship that preset vehicle ID number and handling goods instruct the corresponding dress of the automatic driving vehicle
Unloading instruction, and instruct control handling facilities to carry out corresponding handling goods to the automatic driving vehicle according to the handling goods.
In mode D3, it is corresponding with handling goods instruction vehicle ID number can be prestored in handling control equipment 3 in advance
Relationship.
In mode D3, handling control equipment obtains the automatic driving vehicle for stopping at the dress discharge location of the handling facilities
Vehicle ID number, specifically can by but be not limited only to following any one mode (mode E1~mode E2) and realize:
Mode E1, by the video camera capture setting that is arranged on the handling facilities on the automatic driving vehicle
Picture identifies that the picture obtains the vehicle ID number using image recognition technology, includes the automatic Pilot in the picture
The vehicle ID number of vehicle.
In mode E1, the picture can be the picture of the vehicle ID number comprising written form or the picture is
Two dimensional code or bar code comprising the vehicle ID number.
Mode E2, setting is read in the automatic Pilot vehicle by the induction type reader being arranged on the handling facilities
Electronic tag on is driven in the electronic tag comprising described automatically with obtaining the vehicle ID number of the automatic driving vehicle
Sail the vehicle ID number of vehicle.
Vehicle ID number can be the information for capableing of unique identification automatic driving vehicle, such as can be automatic driving vehicle
License plate number is also possible in advance for the number of automatic driving vehicle setting.
Preferably, in the embodiment of the present invention, handling control equipment 3 instructs control handling facilities to institute according to the handling goods
It states automatic driving vehicle and carries out corresponding handling goods, can specifically pass through but be not limited only to following manner realization:
If the handling goods instruction is shipping instruction, the goods of cargo to be installed corresponding with the automatic driving vehicle is determined
Object ID number and storage position, control handling facilities obtain cargo to be installed corresponding with the cargo ID number from the storage position,
And the cargo to be installed is loaded on the automatic driving vehicle；
If the handling goods instruction instructs for unloading, determine that the cargo to be unloaded being located on the automatic driving vehicle is corresponding
Target storage position, and control handling facilities and the cargo to be unloaded on the automatic driving vehicle be placed into the target storage
Position.
In one example, cargo ID number to be installed is carried in the shipping instruction, the handling control equipment determines
Cargo ID number to be installed corresponding with the automatic driving vehicle, specifically includes: the cargo and described automatic from the shipping instruction
Drive the corresponding cargo ID number to be installed of vehicle.
In one example, the vehicle ID number that automatic driving vehicle is carried in the shipping instruction, in advance in the dress
Unload the corresponding relationship that the corresponding cargo ID number to be installed of vehicle ID number of each automatic driving vehicle is stored in control equipment, the dress
Unload control equipment and determine cargo ID number to be installed corresponding with the automatic driving vehicle, specifically include: handling control equipment from institute
It states and determines cargo ID number to be installed corresponding with the vehicle ID number of automatic driving vehicle in the shipping instruction in corresponding relationship.
Preferably, in aforementioned all embodiments, the checking system 4 is specifically used for: driving into examination station detecting
When automatic driving vehicle, the identity information of the automatic driving vehicle is identified, and to the automatic Pilot of the automatic driving vehicle
Control device sends examination and waits notice；Sequence successively driving automatically to automatic driving vehicle is driven into according to automatic driving vehicle
It sails control device and sends examination notice；Control examination machine carries out customs inspection to the automatic driving vehicle stopped under examination machine；
If receiving the automatic driving vehicle of letting pass when examination passes through information from examination machine；If receiving examination from examination machine not pass through
Indicate that the automatic driving vehicle receives artificial examination when information.
In the embodiment of the present invention, the checking system 4 detects the automatic driving vehicle for driving into examination station, and specific implementation can be such as
Under: the environmental information by being mounted on the sensor acquisition examination station entrance of examination station entrance, according to neural network model to ring
Border information is identified to obtain the type for the target object for being located at examination station entrance and position, such as passes through neural network mould
Type identifies environmental information to obtain automatic driving vehicle, detects the automatic driving vehicle for driving into examination station.
In the embodiment of the present invention, the checking system 4 identifies that the identity information of the automatic driving vehicle can specifically pass through
But it is not limited only to any one following mode (mode F1~mode F3) to realize:
Mode F1, checking system 4 include the automatic Pilot by being mounted on the camera acquisition of examination station entry position
The image of the identity information of vehicle；The automatic driving vehicle is obtained using preset image recognition algorithm identification described image
Identity information；
Mode F2, checking system 4 pass through the induction type reader reading automatic Pilot vehicle for being mounted on examination station entry position
On includes the electronic tag of the identity information of the automatic driving vehicle, to obtain the identity of the automatic driving vehicle
Information.
Mode F3, checking system 4 receive the automatic Pilot from the automatic Pilot control device of the automatic driving vehicle
The identity information of vehicle.
Correspondingly, in the embodiment of the present invention, the automatic Pilot control device 2 controls the automatic driving vehicle and carries out sea
Close examination, specifically may be accomplished by: automatic Pilot control device 2 receives examination from checking system 4 and waits notice
When, control automatic driving vehicle travels to examination area and waits examination；Automatic Pilot control device 2 is received from checking system 4 and is looked into
When testing notice, control automatic driving vehicle is travelled to examination machine；Automatic Pilot control device 2 obtains examination as a result, if examination
As a result it is travelled on the dedicated two-way road then to control the automatic driving vehicle continuation when letting pass, if examination result is to connect
The automatic driving vehicle is then controlled when by artificial examination drives to artificial examination area.
Preferably, automatic Pilot control device 2 obtain examination as a result, can specifically pass through but be not limited only to it is following any one
Mode (mode G1~mode G4) is realized:
Mode G1, automatic Pilot control device 2 receive examination result from the checking system 4.
Mode G2, automatic Pilot control device 2 receive examination result from the examination machine.
Mode G3, automatic Pilot control device 2 pass through the vehicle-mounted vidicon being arranged on the automatic driving vehicle and acquire
The image of electrical screen, and using the content in prediction picture recognizer identification described image, obtain the examination result.
In mode G3, the electrical screen can be the electrical screen for being arranged on examination machine or checking machine neighbouring position, this
Application does not make considered critical to the position of electrical screen.
Mode G4, be identified by using preset speech model voice announcer casting with the automatic driving vehicle pair
The examination result answered.
In mode G4, the voice announcer can be set on examination machine or examination machine neighbouring position, and the application is to language
Do not make considered critical in the position of sound broadcast device.
In the embodiment of the present invention, it is described examination result may include automatic driving vehicle identity information and examination as a result,
Such as " identity information: * * * *；Examination passes through ", alternatively, " identity information: * * * *, examination do not pass through, and please arrive * * * * and receive manually
Examination ".
It in some embodiments, can communication link wirelessly between automatic Pilot control device 2 and management system 1
It connects, such as is communicated by existing conventional wireless communication modes such as bluetooth, local area network, infrared or V2X technologies.Preferably, exist
Automatic Pilot control device 2 is provided with V2X equipment, and management system 1 is provided with V2X equipment, automatic Pilot control device 2 and pipe
It is communicated between reason system 1 by the V2X communication technology.
In some embodiments, it can be communicated to connect wirelessly between handling control equipment 3 and management system 1,
Such as it is communicated by existing conventional wireless communication modes such as bluetooth, local area network, infrared or V2X technologies.Preferably, Ke Yi
Management system 1 is provided with V2X equipment, and V2X equipment, handling control equipment 3 and management system are provided in handling control equipment 3
It is communicated between 1 by the V2X communication technology.
In some embodiments, can lead to wirelessly between automatic Pilot control device 2 and handling control equipment 3
Letter connection, such as communicated by existing conventional wireless communication modes such as bluetooth, local area network, infrared or V2X technologies.It is preferred that
Ground is provided with V2X equipment in automatic Pilot control device 2, and handling control equipment 3 is provided with V2X equipment, automatic Pilot control
It is communicated between device 2 and handling control equipment 3 by the V2X communication technology.
It in some embodiments, can communication link wirelessly between automatic Pilot control device 2 and checking system 4
It connects, such as is communicated by existing conventional wireless communication modes such as bluetooth, local area network, infrared or V2X technologies.Preferably, exist
Automatic Pilot control device 2 is provided with V2X equipment, and checking system 4 is provided with V2X equipment, automatic Pilot control device 2 and looks into
It is communicated between check system 4 by the V2X communication technology.
Preferably, in previous embodiment, the automatic Pilot control device 2 may include the first communication unit and the first control
Unit, in which:
First communication unit, for receiving and sending messages；
First control unit, for controlling automatic driving vehicle when receiving transport task by the first communication unit
It completes to transport according to the transport task；And when driving to the examination station on dedicated two-way road during transportation, control
The automatic driving vehicle carries out customs inspection.
In some embodiments, transport task may include loading position (can be cargo transport starting point), and the control is single
Member control automatic driving vehicle is completed to transport according to the transport task, specifically includes: controlling the automatic driving vehicle from working as
Front position drives to the loading position；When determining that loading is completed, controls the automatic driving vehicle and sail out of the loading position
It sets.If transport task is indicated to draw cargo to cargo transportation terminal and be unloaded, transport task may include discharge location (before being
The cargo transport terminal stated), the first control unit control automatic driving vehicle is completed to transport according to the transport task, tool
Body includes: to control the automatic driving vehicle to drive to the discharge location from current location；When determining that unloading is completed, control
The automatic driving vehicle sails out of the discharge location.
In some embodiments, transport task expression goes cargo transport starting point to freight and draw the cargo to cargo transport end
Point is unloaded, then transport task may include that loading position (can be cargo transport starting point above-mentioned) and discharge location (can be with
For cargo transport terminal above-mentioned), the first control unit control automatic driving vehicle is completed to transport according to the transport task
It is defeated, it specifically includes: controlling the automatic driving vehicle from current location and drive to the loading position；Determining loading completion
When, the automatic driving vehicle, which is controlled, from loading position drives to the discharge location；When determining that unloading is completed, described in control
Automatic driving vehicle sails out of the discharge location.
Preferably, in the embodiment of the present invention, the first control unit is further used for, and is determining transport task completion
When, transport task, which is sent, to vehicle management system 1 completes message.
Preferably, in the embodiment of the present invention, first control unit controls the automatic driving vehicle and carries out customs inspection, tool
Body includes:
By the first communication unit from checking system receive examination wait notice when, control automatic driving vehicle travel to
It checks area and waits examination；
When receiving examination notice from checking system by the first communication unit, control automatic driving vehicle is travelled to examination
Under machine；
It obtains examination and continues as a result, controlling the automatic driving vehicle if when checking result and being to let pass in the special lane
Traveling on the road controls the automatic driving vehicle if being when receiving is manually checked if examination result and drives to manually examination area.
Preferably, in previous embodiment, the handling control equipment 3 may include that the second communication unit and the second control are single
Member, in which:
Second communication unit, for receiving and sending messages；
Second control unit carries out automatic loading and unloading goods to automatic driving vehicle for controlling handling facilities.
Preferably, each handling facilities correspond at least one dress discharge location, and described control unit controls handling facilities pair
Automatic driving vehicle carry out automatic loading and unloading goods, specifically can by but be not limited only in foregoing manner D1~mode D3 any one
It realizes, details are not described herein.
Preferably, second control unit instructs control handling facilities to the automatic Pilot vehicle according to the handling goods
Corresponding handling goods is carried out, specifically included:
If the handling goods instruction is shipping instruction, the goods of cargo to be installed corresponding with the automatic driving vehicle is determined
Object ID number and storage position, control handling facilities obtain cargo to be installed corresponding with the cargo ID number from the storage position,
And the cargo to be installed is loaded on the automatic driving vehicle；
If the handling goods instruction instructs for unloading, determine that the cargo to be unloaded being located on the automatic driving vehicle is corresponding
Target storage position, and control handling facilities and the cargo to be unloaded on the automatic driving vehicle be placed into the target storage
Position.
Preferably, in previous embodiment, the checking system 4 may include third communication unit and inspection unit, in which:
Third communication unit, for receiving and sending messages；
Inspection unit, for carrying out customs inspection, the automatic Pilot of letting pass when examination passes through to automatic driving vehicle
Vehicle receives artificial examination checking the obstructed out-of-date instruction automatic driving vehicle.
The inspection unit is specifically used for: when detecting the automatic driving vehicle for driving into examination station, identifying described automatic
The identity information of vehicle is driven, and is sent by third communication unit to the automatic Pilot control device of the automatic driving vehicle
Examination waits notice；It is successively sent out to the automatic Pilot control device of automatic driving vehicle according to the sequence of driving into of automatic driving vehicle
Examination is sent to notify；Control examination machine carries out customs inspection to the automatic driving vehicle stopped under examination machine；If being connect from examination machine
Receive the automatic driving vehicle of letting pass when examination passes through information；If being received when examination does not pass through information from examination machine and indicating institute
It states automatic driving vehicle and receives artificial examination.
Preferably, the structure of the management system 1 in previous embodiment can be found in the detailed content in following embodiment two.
Embodiment two
Same idea based on the cross-border transportation system of automatic driving vehicle that embodiment one provides, the embodiment of the present invention two mention
For a kind of management system 1, the structure of management system 1 is as shown in Figure 3, comprising:
Communication unit 11, for receiving and sending messages；
Administrative unit 12, the travel position for Care for Cargo information and automatic driving vehicle；
Transport task allocation unit 13 is transported for being generated according to the travel position of goods information and each automatic driving vehicle
Task, and each transport task is sent to the automatic Pilot control device of matched automatic driving vehicle.
The goods information that administrative unit 12 manages may include the essential information for all cargos for including in logistics center, substantially
Information may include, but are not limited to it is following any one or more: cargo type, cargo ID number, cargo owner, cargo source,
Goods warehousing time, the current storage position of cargo, cargo transport destination, cargo are sent to time limit of transport destination etc..This hair
In bright embodiment, the identity information and type of vehicle (example of each automatic driving vehicle can be stored in management system 1 in advance
Such as container truck, cargo, AGV, fork truck, crane) etc..Automatic driving vehicle periodically by the automatic Pilot vehicle
Travel position (travel position includes that the location information of automatic driving vehicle, car status information are (numerous for example including state
The status informations such as busy, idle state)) it is synchronized to administrative unit 12.
Transport task allocation unit 13 generates transport task according to the travel position of goods information and each automatic driving vehicle,
It can specifically pass through but be not limited only to following manner realization: for each cargo to be transported, according to the cargo of the cargo to be transported
Information determines matching condition；Filtered out from the automatic driving vehicle of administration meet the matching condition wherein one drive automatically
Sail vehicle as with the matched automatic driving vehicle of cargo to be transported；According to the goods information of the cargo to be transported and
The automatic driving vehicle matched generates transport task corresponding with the cargo to be transported.The transport task may include but not only
It is limited to any one or more following information: cargo type, cargo ID number, cargo outbound time, cargo transport starting point, cargo fortune
The id information of defeated terminal and matched automatic driving vehicle.The matching condition for example may is that type of vehicle can transport
The cargo type of the cargo to be transported, and the vehicle-state of automatic driving vehicle is idle state.From the automatic Pilot of administration
The wherein automatic driving vehicle for meeting the matching condition is filtered out in vehicle as corresponding with transport project matching
Automatic driving vehicle, specifically can include: type of vehicle is filtered out from the automatic driving vehicle can transport the transport
First group of automatic driving vehicle of cargo type in the works；Vehicle-state is filtered out from first group of automatic driving vehicle as sky
Second group of automatic driving vehicle of not busy state；Directly will if second group of automatic driving vehicle only includes an automatic driving vehicle
The automatic driving vehicle is determined as and the matched automatic driving vehicle of the transport project；If second group of automatic driving vehicle includes
More automatic driving vehicles are then transported from filtering out cargo in current location and the transport project in second group of automatic driving vehicle
The nearest automatic driving vehicle of the distance of defeated starting point as with the matched automatic driving vehicle of the transport project；If second group certainly
The dynamic vehicle that drives is zero, then cargo is transported from selection cargo transport terminal in first group of automatic driving vehicle and the transport project
The nearest automatic driving vehicle of the distance of defeated starting point as with the matched automatic driving vehicle of the transport project.
The cargo transport starting point can be the storage position of cargo to be transported；Alternatively, the cargo transport starting point can be with
It for the corresponding loading position in storage position of cargo to be transported, such as in logistics center include a large amount of stockyard, each stockyard pair
One or more loading positions are answered, using a loading position in the stockyard where the storage position of the cargo to be transported as goods
Object shipping point of origin；Such as in logistics center include a large amount of warehouse, the doorway position in warehouse is the loading position in the warehouse, will be to
The doorway position for transporting the warehouse where the storage position of cargo is determined as cargo transport starting point, and the application does not do considered critical.
The cargo transport terminal can be the transport destination of cargo to be transported.
Preferably, it is preferable that for the transport shape of goods information and automatic driving vehicle in the administrative unit 12 that timely updates
State, in the embodiment of the present invention, the administrative unit 12 is further used for: receiving transport task by the communication unit 11
When completing message, the travel position of goods information and automatic driving vehicle is updated according to completed transport task.
It preferably, is the travel position of the automatic driving vehicle in the administrative unit 12 that timely updates, in the embodiment of the present invention,
The administrative unit 12 is further used for: when receiving the location information of automatic driving vehicle by the communication unit 11,
Update the travel position of corresponding automatic driving vehicle.
Basic principle of the invention is described in conjunction with specific embodiments above, however, it is desirable to, it is noted that general to this field
For logical technical staff, it is to be understood that the whole or any steps or component of methods and apparatus of the present invention can be any
Computing device (including processor, storage medium etc.) perhaps in the network of computing device with hardware firmware, software or they
Combination is realized that this is that those of ordinary skill in the art use the basic of them in the case where having read explanation of the invention
What programming skill can be achieved with.
Those of ordinary skill in the art will appreciate that all or part of the steps that realization above-described embodiment method carries is can
To instruct relevant hardware to complete by program, the program be can store in a kind of computer readable storage medium,
The program when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although the above embodiment of the present invention has been described, created once a person skilled in the art knows basic
Property concept, then additional changes and modifications can be made to these embodiments.So it includes upper that the following claims are intended to be interpreted as
It states embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (16)
1. a kind of cross-border transportation system of automatic driving vehicle, which is characterized in that be respectively arranged in logistics in the two sides of cross-border line
The heart is provided with dedicated two-way road between the logistics center of the cross-border line two sides, is provided on the dedicated two-way road
At least one examination station, logistics center are provided with handling control facilities and administration system, and the examination station is provided with checking system,
The system comprises:
Management system, the travel position for Care for Cargo information and automatic driving vehicle；It each drives according to goods information and automatically
The travel position for sailing vehicle generates transport task, and each transport task is sent to the automatic Pilot of matched automatic driving vehicle
Control device；
Automatic Pilot control device, for when receiving transport task, controlling automatic driving vehicle according to the transport task
Complete transport；And when driving to the examination station on accommodation road during transportation, controls the automatic driving vehicle and carry out
Customs inspection；
Handling control equipment carries out automatic loading and unloading goods to automatic driving vehicle for controlling handling facilities；
Checking system is used for automatic driving vehicle progress customs inspection, the automatic driving vehicle of letting pass when examination passes through,
Receive artificial examination checking the obstructed out-of-date instruction automatic driving vehicle.
2. system according to claim 1, which is characterized in that the transport task is comprising loading position or unloads goods yard
It sets, the automatic Pilot control device control automatic driving vehicle is completed to transport according to the transport task, it specifically includes:
Automatic Pilot control device controls the automatic driving vehicle and drives to the loading position from current location or unload goods yard
It sets；
When determining that loading completion/unloading is completed, controls the automatic driving vehicle and sail out of the loading position/discharge location.
3. system according to claim 1, which is characterized in that the transport task includes loading position and discharge location,
The automatic Pilot control device control automatic driving vehicle is completed to transport according to the transport task, specifically includes:
Automatic Pilot control device controls the automatic driving vehicle and drives to the loading position from current location；
When determining that loading is completed, the automatic driving vehicle is controlled from loading position and drives to the discharge location；
When determining that unloading is completed, controls the automatic driving vehicle and sail out of the discharge location.
4. system according to claim 2 or 3, which is characterized in that the automatic Pilot control device determines that loading is completed,
It specifically includes:
When receiving the instruction for being used to indicate the automatic driving vehicle loading completion from handling control equipment, determination has been freighted
At；
Alternatively, determination has been freighted when receiving the instruction for being used to indicate the automatic driving vehicle loading completion from management system
At；
Alternatively, being more than or equal in the gravity value that the gravity sensor that judgement is mounted on the automatic driving vehicle exports preset
Gravity threshold value and when the gravity value does not change within preset time period, determines that loading is completed；
Alternatively, being located at the electrical screen near loading position by the vehicle-mounted vidicon acquisition being arranged on the automatic driving vehicle
Image, and using prediction picture recognizer identification described image in content, obtain being used to indicate the automatic Pilot vehicle
Loading complete notification message；
Alternatively, being filled using the automatic driving vehicle that is used to indicate that preset speech model is identified by voice announcer casting
The notification message that goods is completed.
5. system according to claim 2 or 3, which is characterized in that the automatic Pilot control device determines that unloading is completed,
It specifically includes:
When receiving the instruction for being used to indicate the automatic driving vehicle unloading completion from handling control equipment, determination has been unloaded
At；
Alternatively, determination has been unloaded when receiving the instruction for being used to indicate the automatic driving vehicle unloading completion from management system
At；
Alternatively, being less than or equal in the gravity value that the gravity sensor that judgement is mounted on the automatic driving vehicle exports preset
Gravity threshold value and when the gravity value does not change within preset time period, determines that unloading is completed；
Alternatively, being located at the electrical screen near discharge location by the vehicle-mounted vidicon acquisition being arranged on the automatic driving vehicle
Image, and using prediction picture recognizer identification described image in content, obtain being used to indicate the automatic Pilot vehicle
Unloading complete notification message；
Alternatively, being unloaded using the automatic driving vehicle that is used to indicate that preset speech model is identified by voice announcer casting
The notification message that goods is completed.
6. system according to claim 1, which is characterized in that each handling facilities correspond at least one dress discharge location,
Handling control equipment control handling facilities carry out automatic loading and unloading goods to automatic driving vehicle, specifically include:
Handling control equipment is filled from the automatic Pilot control of the automatic driving vehicle for the dress discharge location for stopping at the handling facilities
It sets reception and loads and unloads goods instruction, and instruct control handling facilities to carry out accordingly the automatic driving vehicle according to the handling goods
Load and unload goods；
Alternatively, handling control equipment is received from the management system for indicating to the dress discharge location for stopping at the handling facilities
Automatic driving vehicle carry out handling goods handling goods instruction, and according to the handling goods instruct control handling facilities to it is described certainly
The dynamic vehicle that drives carries out corresponding handling goods；
Alternatively, handling control equipment obtains the vehicle ID for stopping at the automatic driving vehicle of dress discharge location of the handling facilities
Number, and determine from the corresponding relationship that preset vehicle ID number and handling goods instruct the corresponding handling goods of the automatic driving vehicle
Instruction, and instruct control handling facilities to carry out corresponding handling goods to the automatic driving vehicle according to the handling goods.
7. system according to claim 6, which is characterized in that the handling control equipment is instructed according to the handling goods to be controlled
Handling facilities processed carry out corresponding handling goods to the automatic driving vehicle, specifically include:
If the handling goods instruction is shipping instruction, the cargo ID of cargo to be installed corresponding with the automatic driving vehicle is determined
Number and storage position, control handling facilities obtain corresponding with cargo ID number cargo to be installed, and general from the storage position
The cargo to be installed is loaded on the automatic driving vehicle；
If the handling goods instruction instructs for unloading, the corresponding mesh of cargo to be unloaded being located on the automatic driving vehicle is determined
Storage position is marked, and controls handling facilities and the cargo to be unloaded on the automatic driving vehicle is placed into the target storage position
It sets.
8. system according to claim 6, which is characterized in that handling control equipment obtains the dress for stopping at the handling facilities
The vehicle ID number of the automatic driving vehicle of discharge location, specifically includes:
By the picture of the video camera capture setting that is arranged on the handling facilities on the automatic driving vehicle, using figure
As identification technology identifies that the picture obtains the vehicle ID number, the vehicle ID comprising the automatic driving vehicle in the picture
Number；
Alternatively, being arranged on the automatic driving vehicle by the induction type reader reading being arranged on the handling facilities
Electronic tag includes the automatic driving vehicle in the electronic tag to obtain the vehicle ID number of the automatic driving vehicle
Vehicle ID number.
9. system according to claim 1, which is characterized in that the checking system is specifically used for:
When detecting the automatic driving vehicle for driving into examination station, the identity information of the automatic driving vehicle is identified, and to institute
The automatic Pilot control device for stating automatic driving vehicle sends examination and waits notice；
When determining in front of the automatic driving vehicle without examination vehicle, the automatic Pilot of Xiang Suoshu automatic driving vehicle controls dress
Set transmission examination notice；
Control examination machine carries out customs inspection to the automatic driving vehicle stopped under examination machine；If receiving examination from examination machine
It lets pass when passing through information the automatic driving vehicle；It indicates described to drive automatically if receiving when examination does not pass through information from examination machine
It sails vehicle and receives artificial examination.
10. system according to claim 9, which is characterized in that automatic Pilot control device controls the automatic Pilot vehicle
Carry out customs inspection, specifically include:
When automatic Pilot control device receives examination waiting notice from checking system, control automatic driving vehicle is travelled to examination
Area waits examination；
When automatic Pilot control device receives examination notice from checking system, control automatic driving vehicle is travelled to examination machine
Under；
Automatic Pilot control device obtains examination to be continued as a result, controlling the automatic driving vehicle if when checking result and being to let pass
It is travelled on the accommodation road, controls the automatic driving vehicle if being when receiving is manually checked if examination result and drive to people
Work checks area.
11. system according to claim 10, which is characterized in that automatic Pilot control device obtains examination as a result, specific
Include:
Automatic Pilot control device receives examination result from the checking system；
Alternatively, automatic Pilot control device, which passes through the vehicle-mounted vidicon being arranged on the automatic driving vehicle, acquires electrical screen
Image, and using the content in prediction picture recognizer identification described image, obtain the examination result；
Alternatively, being identified by the looking into corresponding with the automatic driving vehicle of voice announcer casting using preset speech model
Test result.
12. system according to claim 1, which is characterized in that the management system is according to goods information and each drives automatically
The travel position for sailing vehicle generates transport task, specifically includes:
For each cargo to be transported, matching condition is determined according to the goods information of the cargo to be transported；
Filtered out from the automatic driving vehicle of administration meet the wherein automatic driving vehicle of the matching condition as with
The matched automatic driving vehicle of cargo to be transported；
It is generated according to the goods information of the cargo to be transported and matched automatic driving vehicle corresponding with the cargo to be transported
Transport task.
13. a kind of management system characterized by comprising
Communication unit, for receiving and sending messages；
Administrative unit, the travel position for Care for Cargo information and automatic driving vehicle；
Transport task allocation unit, for generating transport task according to the travel position of goods information and each automatic driving vehicle,
And each transport task is sent to the automatic Pilot control device of matched automatic driving vehicle.
14. management system according to claim 13, which is characterized in that the administrative unit is further used for: passing through
When the communication unit receives transport task completion message, goods information is updated according to completed transport task and is driven automatically
Sail the travel position of vehicle.
15. management system according to claim 13, which is characterized in that the administrative unit is further used for: passing through
When the communication unit receives the location information of automatic driving vehicle, the travel position of corresponding automatic driving vehicle is updated.
16. management system according to claim 13, which is characterized in that the transport task allocation unit is believed according to cargo
The travel position of breath and each automatic driving vehicle generates transport task, specifically includes:
For each cargo to be transported, matching condition is determined according to the goods information of the cargo to be transported；
Filtered out from the automatic driving vehicle of administration meet the wherein automatic driving vehicle of the matching condition as with
The matched automatic driving vehicle of cargo to be transported；
It is generated according to the goods information of the cargo to be transported and matched automatic driving vehicle corresponding with the cargo to be transported
Transport task.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018107645424 | 2018-07-12 | ||
| CN201810764542 | 2018-07-12 |
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|---|---|
| CN109685436A true CN109685436A (en) | 2019-04-26 |
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ID=66193700
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910058339.XA Pending CN109685436A (en) | 2018-07-12 | 2019-01-22 | The cross-border transportation system of automatic driving vehicle and relevant device |
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| CN (1) | CN109685436A (en) |
Cited By (7)
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| CN114103997A (en) * | 2021-11-30 | 2022-03-01 | 深圳中科超远科技有限公司 | Automatic driving system capable of automatically inputting warehousing and ex-warehousing information |
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| CN115271615A (en) * | 2022-09-19 | 2022-11-01 | 质子汽车科技有限公司 | Cross-border transportation method and device, electronic equipment and storage medium |
| CN116402429A (en) * | 2023-05-18 | 2023-07-07 | 浙江大仓信息科技股份有限公司 | Dangerous freight transportation checking management system |
| CN116468354A (en) * | 2023-04-06 | 2023-07-21 | 宝驷智慧物流(珠海)有限公司 | Cross-border transportation system, method, storage medium and electronic equipment |
| CN116468342A (en) * | 2023-04-06 | 2023-07-21 | 宝驷智慧物流(珠海)有限公司 | Logistics transportation management method, system, device, storage medium and electronic equipment |
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| CN110543981A (en) * | 2019-08-20 | 2019-12-06 | 合肥维天运通信息科技股份有限公司 | automatic driving truck dispatching system and method for logistics platform |
| US11348069B2 (en) | 2020-05-29 | 2022-05-31 | Caterpillar Inc. | System, method, and device for electronically providing paving information |
| CN114103997A (en) * | 2021-11-30 | 2022-03-01 | 深圳中科超远科技有限公司 | Automatic driving system capable of automatically inputting warehousing and ex-warehousing information |
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| CN116468354A (en) * | 2023-04-06 | 2023-07-21 | 宝驷智慧物流(珠海)有限公司 | Cross-border transportation system, method, storage medium and electronic equipment |
| CN116468342A (en) * | 2023-04-06 | 2023-07-21 | 宝驷智慧物流(珠海)有限公司 | Logistics transportation management method, system, device, storage medium and electronic equipment |
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| CN116468342B (en) * | 2023-04-06 | 2024-03-12 | 宝驷智慧物流(珠海)有限公司 | Logistics transportation management method, system, device, storage medium and electronic equipment |
| CN116402429A (en) * | 2023-05-18 | 2023-07-07 | 浙江大仓信息科技股份有限公司 | Dangerous freight transportation checking management system |
| CN116402429B (en) * | 2023-05-18 | 2023-09-26 | 浙江大仓信息科技股份有限公司 | Dangerous freight transportation checking management system |
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