CN110502002B - Vehicle guidance system, loading and unloading equipment control system and vehicle control system - Google Patents
Vehicle guidance system, loading and unloading equipment control system and vehicle control system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a vehicle guiding system, a loading and unloading equipment control system and a vehicle control system, which are used for solving the technical problem that an automatic driving vehicle cannot be accurately stopped in a region matched with a lifting appliance in the prior art. A handling device control system is provided on the handling device, the system comprising a parking guidance device and a first communication device, wherein: the parking guiding device is used for acquiring vehicle control information; determining an ID number of an automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction containing the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instruction to the autonomous vehicle through the first communication device.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a vehicle guiding system, a loading and unloading equipment control system and a vehicle control system.
Background
Quay crane (also known as a quay container crane, bridge crane, etc.) is a device used to load and unload containers on a ship on the quay side. When the ship is unloaded, the quay crane grabs the container from the ship and places the container on a truck in a harbor area, and the truck transports the container to a storage yard; during shipping, the truck transports the container to the quay crane, from which the container is grasped and placed on the vessel. The automatic driving vehicle in the harbor area runs to the lower part of the loading and unloading equipment to load and unload the container.
At present, during ship loading and unloading, the quay crane usually does not move until a row of containers is loaded and unloaded, only the lifting appliance on the quay crane moves, so that a truck is required to be stopped in an area matched with the lifting appliance to enable the lifting appliance to accurately place the containers on the truck or unload the containers from the truck, the lifting appliance can move transversely on loading and unloading equipment but cannot move longitudinally, and therefore, the truck is required to be stopped in the area matched with the lifting appliance, and a truck driver is required to control the longitudinal movement of the truck back and forth to enable the truck to be stopped in the area. As shown in fig. 1, which is a top view of the loading and unloading device, the dashed box is an area a matched with the lifting appliance, 4 lanes are included below the loading and unloading device, and the truck is required to stop in one of the lanes below the loading and unloading device and is located in the area a, so that the lifting appliance can accurately load and unload the container to and from the truck. The prior proposal is that a commander is configured for each quay crane, and the commander commands a truck driver to control the truck to advance or retreat in a mode of gesture, wireless communication, whistle and the like so as to stop the truck in a region matched with a lifting appliance of the quay crane. In this way, a commander is required to be specially equipped for each quay crane, and 2-3 truck drivers are also required to be equipped for each truck in order to enable the truck to operate for a long time, so that the cost is high, the working environments of the commander and the truck drivers are dangerous, and a great potential safety hazard exists.
Along with the development of automatic driving technology, in order to reduce cost, the truck in the harbor district will be replaced by the automatic driving vehicle, because the signal shielding of GNSS (Global Navigation Satellite System, global satellite navigation system) is serious below the quay crane, the automatic driving vehicle can not realize accurate positioning, thereby leading to the automatic driving vehicle to be unable to accurately stop in the region matched with the lifting appliance, and possibly leading to the lifting appliance to be unable to accurately carry out loading and unloading of the container to the automatic driving vehicle. Therefore, how to guide the automatic driving vehicle to accurately stop in the region matched with the lifting appliance becomes a technical problem to be solved in the prior art.
Disclosure of Invention
In view of the above technical problems, the invention provides a vehicle guiding system, a loading and unloading equipment control system and a vehicle control system, which are used for solving the technical problem that an automatic driving vehicle cannot accurately stop in a region matched with a lifting appliance in the prior art.
In an embodiment of the present invention, in a first aspect, there is provided a handling device control system provided on a handling device, the system including a parking guidance device and a first communication device, wherein:
the parking guiding device is used for acquiring vehicle control information; determining an ID number of an automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction containing the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instruction to the autonomous vehicle through the first communication device.
According to an embodiment of the present invention, in a second aspect, there is provided a handling device, including the handling device control system provided in the first aspect.
In an embodiment, a third aspect of the present invention provides a vehicle control system provided on an autonomous vehicle, the system including a vehicle control apparatus, a second communication apparatus, and a control execution apparatus, wherein:
a vehicle control device for receiving a guidance instruction from a handling device control system through the second communication device, the guidance instruction including an ID number of the autonomous vehicle and a guidance action for guiding the autonomous vehicle to travel; generating a vehicle control instruction according to the guiding instruction; transmitting the vehicle control instruction to the control execution device;
and the control execution device is used for controlling the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction.
In a fourth aspect, an autonomous vehicle is provided, comprising the vehicle control system provided in the third aspect.
In a fifth aspect, the present invention provides a vehicle guidance system, the system including a loading and unloading device control system provided on a loading and unloading device, an automatic driving control system provided on an automatic driving vehicle, the loading and unloading device control system including a parking guidance device and a first communication device, the automatic driving control system including a vehicle control device, a second communication device, and a control execution device, wherein:
the parking guiding device is used for acquiring vehicle control information; determining an ID number of an automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction containing the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instruction to the autonomous vehicle through the first communication device;
a vehicle control device for receiving a guidance instruction from a handling device control system through the second communication device, the guidance instruction including an ID number of the autonomous vehicle and a guidance action for guiding the autonomous vehicle to travel; generating a vehicle control instruction according to the guiding instruction; transmitting the vehicle control instruction to the control execution device;
and the control execution device is used for controlling the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction.
According to the technical scheme provided by the embodiment of the invention, the parking guiding device and the communication device are arranged on the loading and unloading device, the vehicle control device and the communication device are arranged on the automatic driving vehicle, and the parking guiding device generates a guiding instruction comprising an ID number of the automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run when receiving the vehicle control information of the automatic driving vehicle and sends the guiding instruction to the automatic driving vehicle; when the automated guided vehicle receives the guidance command, the automated guided vehicle is controlled to travel in accordance with the guidance operation in the guidance command. By adopting the technical scheme, the automatic driving vehicle can be guided to run according to the guiding action through the parking guiding equipment on the loading and unloading equipment, so that the automatic driving vehicle can be guided into the area matched with the lifting appliance through the technical scheme; in addition, compared with the prior art, the technical scheme of the invention does not need to provide commander for each quay crane, thereby reducing the cost.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a schematic diagram of a top view of a prior art handling apparatus;
FIG. 2 is a schematic diagram of a vehicle guidance system according to an embodiment of the present invention;
FIG. 3 is a second schematic diagram of a vehicle guidance system according to an embodiment of the invention;
FIG. 4 is a third schematic diagram of a vehicle guidance system according to an embodiment of the invention;
FIG. 5 is a schematic diagram of a vehicle guidance system according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a vehicle guidance system according to an embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
The technical scheme in the embodiment of the invention can be applied to highway harbors, ocean harbors, cargo distribution areas, mining areas, logistics parks and the like, and the application scene is not strictly limited. For example, the handling equipment control system in the embodiment of the present invention may be a system provided on a handling equipment in the aforementioned application scenario, the handling equipment may be a quay crane, a tire crane, a crown block, a front crane, a crane, or the like, and the vehicle control system may be a system provided on an autonomous vehicle in the aforementioned application scenario, the autonomous vehicle may be all types of vehicles capable of transporting containers, such as trucks, vans, trailers, or the like. In these application scenarios, a corresponding one of the loading and unloading device control systems may be provided for each of the loading and unloading devices, and a corresponding one of the vehicle control systems may be provided for each of the autonomous vehicles. For saving space, the following embodiments are described by taking the ocean-going port area as the application scene, the technical schemes corresponding to other application scenes are substantially the same as the technical schemes corresponding to the application scene of the ocean-going port area, and are not described in detail herein, and the technical schemes corresponding to other application scenes can be obtained by the skilled person according to the technical schemes of the ocean-going port area without labor creation.
The automatic driving vehicle in the harbor area runs below the loading and unloading equipment to load and unload the container, and when the container is loaded, the automatic driving vehicle transports the container from the storage yard to the lower part of the loading and unloading equipment, and the loading and unloading equipment picks up the container on the automatic driving vehicle and places the container on the ship; when unloading the ship, the container on the ship is loaded onto the autopilot vehicle by the loading and unloading equipment, and the container is transported to a storage yard by the autopilot vehicle.
Example 1
Referring to fig. 2, a schematic structural diagram of a vehicle guidance system according to a first embodiment of the present invention is provided, where the vehicle guidance system includes a loading and unloading device control system 1 and a vehicle control system 2, where the loading and unloading device control system 1 is disposed on a loading and unloading device, and the vehicle control system 2 is disposed on an autonomous vehicle. The handling device control system 1 includes a parking guidance device 11 and a first communication device 12, and the automated driving control system 2 includes a second communication device 21, a vehicle control device 22, and a control execution device 23, wherein:
a parking guidance apparatus 11 for acquiring vehicle handling information; determining an ID number of the automatic driving vehicle (the ID number can be a number which is compiled for the automatic driving vehicle in advance or can be a license plate number of the automatic driving vehicle, and the application is not strictly limited) and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction comprising the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instructions to the autonomous vehicle via the first communication device 12;
a vehicle control device 22 for receiving a guidance instruction from the handling device control system 1 via the second communication device 21, the guidance instruction including an ID number of the autonomous vehicle and a guidance action for guiding the autonomous vehicle to travel; generating a vehicle control instruction according to the guiding instruction; transmitting the vehicle control instruction to the control execution device 23;
and a control execution device 23 for controlling the autonomous vehicle to travel in accordance with the guiding action according to the received vehicle control instruction.
In the embodiment of the present invention, the parking guidance device 11 may be an industrial personal computer, a computer or an embedded device, which is not strictly limited in this application.
In an embodiment of the present invention, the vehicle control device 22 may be an FPGA (Field-Programmable Gate Array, i.e., field programmable gate array), a tablet computer, an industrial computer, a portable computer, an MCU (Microcontroller Unit, micro control unit), an ECU (Electronic Control Unit ), or an embedded device, etc. disposed on an autopilot vehicle, which is not strictly limited in this application.
In an embodiment of the present invention, the control executing device 23 may include a throttle controller and a brake controller on an autopilot vehicle.
Preferably, in one example 1, the parking guidance apparatus 11 includes a man-machine interaction interface, as shown in fig. 3, where an operator may input vehicle manipulation information, where the vehicle manipulation information may include an ID number of an autonomous vehicle and a guidance action (e.g., forward, backward, etc.) for guiding the autonomous vehicle to travel. Thus, in this example 1, the parking guidance apparatus 11 acquires vehicle handling information, which may specifically include: and receiving vehicle control information input by an operator on the man-machine interaction interface from the man-machine interaction interface.
In this example 1, one way is that an ID number of an autonomous vehicle is provided on top of the autonomous vehicle, an operator obtains the ID number of the autonomous vehicle by observing it with the human eye, and inputs the ID number of the autonomous vehicle at a human-computer interaction interface. In this example 1, another way is that the parking guidance apparatus 11 is further configured to: receiving vehicle information including an ID number and position information of an autonomous vehicle from the autonomous vehicle through the first communication device 12, and displaying the vehicle information of the respective autonomous vehicle on a human-computer interaction interface; an operator can select an automatic driving vehicle to be guided on the man-machine interaction interface and input vehicle operation information of the automatic driving vehicle on the man-machine interaction interface.
Preferably, in one example 2, the parking guidance apparatus 11 includes a voice control apparatus, as shown in fig. 4. The operator can input the vehicle manipulation information of the autonomous vehicle in the form of voice. In this example 2, a voice recognition algorithm is set in the voice control device, and when receiving the vehicle handling information input by the operator, the voice control device invokes the voice recognition algorithm to recognize the vehicle handling information and sends the vehicle handling information to the parking guidance device 11, so that the parking guidance device obtains the vehicle handling information, and specifically may include: and receiving and identifying vehicle control information input by voice of an operator through the voice control equipment. Of course, a person skilled in the art may also provide an alternative scheme in example 2, in which a semantic recognition algorithm is preset in the parking guidance device 11, and when receiving the vehicle handling information input by the operator, the voice control device sends the vehicle handling information to the parking guidance device 11, and the parking guidance device 11 recognizes the received vehicle handling information by using the voice recognition algorithm to obtain final vehicle handling information.
In this example 2, an ID number of the autonomous vehicle is provided on the roof of the autonomous vehicle, and an operator obtains the ID number corresponding to the autonomous vehicle by observing the operator through the human eye, and inputs the vehicle control information by voice including the ID number of the autonomous vehicle and the guidance operation.
Preferably, in one example 3, the handling device control system may further include at least one handling device communicatively connected to the parking guidance device 11, as shown in fig. 5, for example, at least one handling device, such as mechanical buttons for "forward" and "backward", may be provided in a cockpit of the handling device, and the guiding actions such as "forward" or "backward" may be obtained by triggering the mechanical buttons; for example, the control device may be a remote control device, which is in wireless communication with the parking guidance device 11, and may be provided with mechanical buttons or electronic buttons for "forward" and "backward", and the mechanical buttons or electronic buttons are triggered to obtain guidance actions such as "forward" or "backward"; for example, the control device may be a rocker, and the guiding actions such as "forward" and "backward" may be obtained by controlling the left or right movement of the rocker, or the guiding actions such as "forward" and "backward" may be obtained by controlling the upward or downward movement of the rocker; the form of the control device is not strictly limited. Thus, in example 3, the parking guidance apparatus 11 acquires the vehicle manipulation information, and the specific implementation may be as follows: the vehicle handling information is received from the handling device.
In this example 3, one way is that an ID number of the autonomous vehicle is provided on top of the autonomous vehicle, an operator can learn the ID number of the autonomous vehicle by observing it by human eyes, and input the ID number of the autonomous vehicle in a man-machine interaction interface of the steering apparatus, and the ID number of the autonomous vehicle and the guiding action are carried in the vehicle steering information transmitted to the parking guiding apparatus 11.
Preferably, in one example 4, the handling device control system 1 further comprises a communicatively connected sensing device and sensor, as shown in fig. 6, wherein: the sensor is used for collecting environmental information around the loading and unloading equipment; the sensing equipment is used for judging the relative position between the automatic driving vehicle below the loading and unloading equipment and the lifting appliance of the loading and unloading equipment according to the environmental information; generating vehicle control information for guiding the automatic driving vehicle to approach the lifting appliance according to the relative position; and sending the vehicle control information to the parking guidance device. In this example 4, the parking guidance apparatus 11 acquires vehicle handling information, and the specific implementation may be as follows: the vehicle handling information is received from the sensing device.
In example 4, the sensor may include one or more of the following: cameras, lidar, millimeter wave radar, infrared transceivers, and the like. A plurality of sensors can be arranged on the loading and unloading equipment, and part of the sensors are arranged to face the sky and are used for collecting environmental information of a lifting appliance containing the loading and unloading equipment; a portion of the sensors are arranged towards the ground for acquiring environmental information including an autonomous vehicle; the sensing equipment can be provided with a target detection module in advance, and the environmental information acquired by the sensor is processed through the target detection module to determine the position information of the lifting appliance of the loading and unloading equipment and the position information of the automatic driving vehicle; the sensing device determines the relative position between the lifting appliance and the automatic driving vehicle according to the position information of the lifting appliance and the position information of the automatic driving vehicle, and determines the guiding action according to the relative position. For example, if the spreader is located behind the autonomous vehicle, the guiding action is determined to be "back"; if the spreader is in front of the autonomous vehicle, the guiding action is determined to be "forward".
In this example 4, one way is that an ID number of the autonomous vehicle is provided on the roof of the autonomous vehicle, and the sensor includes a camera through which an image containing the autonomous vehicle is captured; an image recognition algorithm is preset in the sensing equipment, and an image containing the automatic driving vehicle is recognized through the image recognition algorithm, so that the ID number of the automatic driving vehicle is obtained. The sensing device is generating vehicle handling information containing an ID number of the autonomous vehicle and a guiding action.
Preferably, in all the foregoing embodiments, one manner may be that the guiding action in the vehicle control information may include a longitudinal movement (such as forward, backward, etc.), and if the longitudinal movement is performed, the vehicle control device 22 generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of an accelerator pedal, the opening and closing degree of a brake pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement; and generating a vehicle control instruction comprising the accelerator pedal opening and closing degree, the brake pedal opening and closing degree and the gear information. For example, if the longitudinal movement is "forward", the gear information is forward gear; if the longitudinal movement is 'backward', the gear information is backward gear. Accordingly, the control execution device 23 controls the autonomous vehicle to run according to the guiding action according to the received vehicle control instruction, and may specifically include: firstly, releasing a brake pedal; secondly, gear shifting is carried out according to the gear information; then, controlling an accelerator pedal to accelerate according to the opening and closing degree of the accelerator pedal; and finally, controlling the brake pedal to decelerate according to the opening and closing degree of the brake pedal, and hanging to a neutral gear when the automatic driving vehicle stops.
Preferably, in all the foregoing embodiments, the guiding action in the vehicle control information may include a longitudinal movement (e.g. forward, backward, etc.) and a stopping movement, and if the longitudinal movement is performed, the vehicle control device 22 generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of an accelerator pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement; and generating a vehicle control instruction containing the opening and closing degree of the accelerator pedal and the gear information. For example, if the longitudinal movement is "forward", the gear information is forward gear; if the longitudinal movement is 'backward', the gear information is a backward gear; accordingly, the control execution device 23 controls the autonomous vehicle to run according to the guiding action according to the received vehicle control instruction, and may specifically include: firstly, releasing a brake pedal; secondly, gear shifting is carried out according to the gear information; and then, controlling the accelerator pedal to accelerate according to the opening and closing degree of the accelerator pedal. If the guiding action in the vehicle control information is stopping movement, the vehicle control device 22 generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of a brake pedal according to the stopping movement; generating a vehicle control command comprising the brake pedal opening and closing degree; accordingly, the control execution device 23 controls the autonomous vehicle to run according to the guiding action according to the received vehicle control instruction, and may specifically include: firstly, loosening an accelerator pedal; and then, controlling the brake pedal to decelerate according to the opening and closing degree of the brake pedal. For example, in this manner, the parking guidance apparatus 11 may first send one or more consecutive guidance instructions, in which the guidance actions are all "forward", and then send one guidance instruction as "stop motion"; the parking guidance device 11 may send one or more consecutive guidance orders, in which the guidance actions are all "backward", and then send one guidance action as a guidance order of "stop motion".
Preferably, in the foregoing embodiment, in order for the handling equipment control system on the handling equipment to be able to timely learn about surrounding autonomous vehicles, the vehicle control device 22 is further configured to: acquiring the position information of the automatic driving; generating vehicle information including an ID number and position information of the autonomous vehicle; the vehicle information is transmitted to the handling device control system via the second communication device 21. Accordingly, the parking guidance apparatus 11 is further configured to: vehicle information including an ID number and location information of an autonomous vehicle is received from the autonomous vehicle through the first communication device. The vehicle control device 22 may obtain location information from a positioning device (e.g., GPS (Global Positioning System, global positioning system) sensor, IMU (Inertial Measurement Unit ) sensor, etc.) on the autonomous vehicle.
Preferably, the foregoing vehicle information may further include other status information of the autonomous vehicle, such as a driving direction, a driving speed, etc., which is not strictly limited in this application.
Preferably, in the foregoing embodiment, the parking guidance device 11 and the vehicle control device 22 may communicate through wifi (the first communication device 12 and the second communication device 21 may be wifi transceivers), infrared (the first communication device 12 and the second communication device 21 may be infrared transceivers), a 4G network, a 3G network, a 5G network (the first communication device 12 and the second communication device 21 may be LTE communication devices), or V2X (Vehicle to everything) technology (the first communication device 12 and the second communication device 21 may be V2X devices), and the like, which is not strictly limited in this application.
Since the maximum communication distance of the V2X device may reach 300 meters, and the transmission delay is less than 100ms, which is suitable for the medium-distance and short-distance communication requirements of the loading and unloading device and the automatic driving vehicle in the harbor, preferably, in the embodiment of the present invention, the first communication device 12 may include a first V2X device, and the second communication device 21 may include a second V2X device. In the foregoing embodiment, the parking guidance apparatus 11 transmits the guidance instruction to the autonomous vehicle through the first communication apparatus 12, specifically including: packaging the guide instruction into a V2X message through the first V2X device and sending the V2X message to a designated air interface; accordingly, the vehicle control device 22 receives the guidance instruction from the handling device control system through the second communication device 21, specifically including: and receiving a V2X message sent by the loading and unloading equipment control system from a designated air interface through the second V2X equipment, and analyzing the guiding instruction from the V2X message. In the foregoing embodiment, the vehicle control device 22 transmits the vehicle information to the loading and unloading device control system through the second communication device, specifically including: packaging the vehicle information into a V2X message through the second V2X device and sending the V2X message to a designated air interface; accordingly, the vehicle guidance apparatus 11 receives vehicle information including an ID number and position information of an autonomous vehicle from the autonomous vehicle through the first communication apparatus 12, specifically including: and receiving a V2X message sent by the automatic driving vehicle from a designated air interface through the first V2X device, and analyzing vehicle information of the automatic driving vehicle from the V2X message.
Example two
Based on the same concept of the vehicle guidance system provided in the first embodiment, the second embodiment of the present invention further provides a loading and unloading device control system provided on a loading and unloading device, the loading and unloading device control system including a parking guidance device and a first communication device, wherein:
the parking guiding device is used for acquiring vehicle control information; determining an ID number of an automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction containing the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instruction to the autonomous vehicle through the first communication device.
In the embodiment of the present invention, the parking guidance device may be an industrial personal computer, a computer or an embedded device, which is not strictly limited in this application.
In one example 1, the parking guidance apparatus includes a human-computer interaction interface, at which an operator can input vehicle manipulation information, which may include an ID number of an autonomous vehicle and a guidance action (e.g., forward, backward, etc.) for guiding the autonomous vehicle to travel. In this example 1, the parking guidance apparatus acquires vehicle handling information, specifically including: and receiving vehicle control information input by an operator on the man-machine interaction interface from the man-machine interaction interface.
In this example 1, one way is that an ID number of an autonomous vehicle is provided on top of the autonomous vehicle, an operator obtains the ID number of the autonomous vehicle by observing it with the human eye, and inputs the ID number of the autonomous vehicle at a human-computer interaction interface. In this example 1, another way is that the parking guidance apparatus is further configured to: receiving vehicle information including an ID number and position information of an autonomous vehicle from the autonomous vehicle through the first communication device, and displaying the vehicle information of the respective autonomous vehicle on a human-computer interaction interface; an operator can select an automatic driving vehicle to be guided on the man-machine interaction interface and input vehicle operation information of the automatic driving vehicle on the man-machine interaction interface.
In one example 2, the parking guidance apparatus includes a voice control apparatus. The operator can input the vehicle manipulation information of the autonomous vehicle in the form of voice. In this example 2, one way is that a voice recognition algorithm is set in the voice control device, and when receiving the vehicle control information input by the operator, the voice control device invokes the voice recognition algorithm to recognize the vehicle control information and sends the vehicle control information to the parking guidance device, so that the parking guidance device obtains the vehicle control information, and specifically may include: and receiving and identifying vehicle control information input by voice of an operator through the voice control equipment. Of course, a person skilled in the art may also provide an alternative scheme in example 2, in which a semantic recognition algorithm is preset in the parking guidance device, and when receiving the vehicle control information input by the operator through voice, the voice control device sends the vehicle control information to the parking guidance device, and the parking guidance device recognizes the received vehicle control information through the voice recognition algorithm, so as to obtain final vehicle control information.
In this example 2, an ID number of the autonomous vehicle is provided on the roof of the autonomous vehicle, and an operator obtains the ID number corresponding to the autonomous vehicle by observing the operator through the human eye, and inputs the vehicle control information by voice including the ID number of the autonomous vehicle and the guidance operation.
In one example 3, the handling device control system may further include at least one handling device communicatively connected to the parking guidance device, for example, at least one handling device, such as a mechanical button for "forward" and "backward", may be provided in a cockpit of the handling device, and the guidance actions such as "forward" or "backward" may be obtained by triggering the mechanical button; for example, the control device may be a remote control device, where the remote control device is in wireless communication with the parking guidance device, and mechanical buttons or electronic buttons for "forward" and "backward" may be provided on the remote control device, and the mechanical buttons or electronic buttons are triggered to obtain guidance actions such as "forward" or "backward"; for example, the control device may be a rocker, and the guiding actions such as "forward" and "backward" may be obtained by controlling the left or right movement of the rocker, or the guiding actions such as "forward" and "backward" may be obtained by controlling the upward or downward movement of the rocker; the form of the control device is not strictly limited. Thus, in example 3, the parking guidance apparatus acquires the vehicle handling information, and the specific implementation may be as follows: the vehicle handling information is received from the handling device.
In this example 3, one way is that an ID number of the autonomous vehicle is provided on top of the autonomous vehicle, an operator can learn the ID number of the autonomous vehicle through observation by human eyes, and input the ID number of the autonomous vehicle in a man-machine interaction interface of the steering apparatus, and the ID number of the autonomous vehicle and the guiding action are carried in the vehicle steering information sent to the parking guiding apparatus.
In one example 4, the handling device control system further comprises a communicatively coupled sensing device and sensor, wherein: the sensor is used for collecting environmental information around the loading and unloading equipment; the sensing equipment is used for judging the relative position between the automatic driving vehicle below the loading and unloading equipment and the lifting appliance of the loading and unloading equipment according to the environmental information; generating vehicle control information for guiding the automatic driving vehicle to approach the lifting appliance according to the relative position; and sending the vehicle control information to the parking guidance device. In this example 4, the parking guidance apparatus acquires vehicle handling information, and the specific implementation may be as follows: the vehicle handling information is received from the sensing device.
In example 4, the sensor may include one or more of the following: cameras, lidar, millimeter wave radar, infrared transceivers, and the like. A plurality of sensors can be arranged on the loading and unloading equipment, and part of the sensors are arranged to face the sky and are used for collecting environmental information of a lifting appliance containing the loading and unloading equipment; a portion of the sensors are arranged towards the ground for acquiring environmental information including an autonomous vehicle; the sensing equipment can be provided with a target detection module in advance, and the environmental information acquired by the sensor is processed through the target detection module to determine the position information of the lifting appliance of the loading and unloading equipment and the position information of the automatic driving vehicle; the sensing device determines the relative position between the lifting appliance and the automatic driving vehicle according to the position information of the lifting appliance and the position information of the automatic driving vehicle, and determines the guiding action according to the relative position. For example, if the spreader is located behind the autonomous vehicle, the guiding action is determined to be "back"; if the spreader is in front of the autonomous vehicle, the guiding action is determined to be "forward".
In this example 4, one way is that an ID number of the autonomous vehicle is provided on the roof of the autonomous vehicle, and the sensor includes a camera through which an image containing the autonomous vehicle is captured; an image recognition algorithm is preset in the sensing equipment, and an image containing the automatic driving vehicle is recognized through the image recognition algorithm, so that the ID number of the automatic driving vehicle is obtained. The sensing device is generating vehicle handling information containing an ID number of the autonomous vehicle and a guiding action.
Of course, in the second embodiment of the present invention, the guiding action in the vehicle control information may further include "stop".
Preferably, in the foregoing embodiment, the parking guidance apparatus further functions to: vehicle information including an ID number and location information of an autonomous vehicle is received from the autonomous vehicle through the first communication device.
Preferably, in the foregoing embodiment, the first communication device includes a first V2X device, and the parking guidance device sends the guidance instruction to the autonomous vehicle through the first communication device, specifically including:
and packaging the guide instruction into a V2X message through the first V2X device and sending the V2X message to a designated air interface.
Example III
Based on the same concept as the vehicle guidance system provided in the first embodiment, a third embodiment of the present invention also provides a vehicle control system provided on an autonomous vehicle, the system including a vehicle control apparatus, a second communication apparatus, and a control execution apparatus, wherein:
a vehicle control device for receiving a guidance instruction from a handling device control system through the second communication device, the guidance instruction including an ID number of the autonomous vehicle and a guidance action for guiding the autonomous vehicle to travel; generating a vehicle control instruction according to the guiding instruction; transmitting the vehicle control instruction to the control execution device;
and the control execution device is used for controlling the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction.
Preferably, in one example, the guiding action in the vehicle control information may include a longitudinal movement (e.g. forward, backward, etc.), and when the guiding action is a longitudinal movement, the vehicle control device generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of an accelerator pedal, the opening and closing degree of a brake pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement; and generating a vehicle control instruction comprising the accelerator pedal opening and closing degree, the brake pedal opening and closing degree and the gear information. For example, if the longitudinal movement is "forward", the gear information is forward gear; if the longitudinal movement is 'backward', the gear information is backward gear. Correspondingly, the control execution device controls the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction, and the method specifically comprises the following steps: firstly, releasing a brake pedal; secondly, gear shifting is carried out according to the gear information; then, controlling an accelerator pedal to accelerate according to the opening and closing degree of the accelerator pedal; and finally, controlling the brake pedal to decelerate according to the opening and closing degree of the brake pedal until the automatic driving vehicle stops, and engaging in neutral gear.
Preferably, in one example, the guiding action in the vehicle control information may include a longitudinal movement (e.g. forward, backward, etc.) and a stopping movement, and if the longitudinal movement is a longitudinal movement, the vehicle control device generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of an accelerator pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement; and generating a vehicle control instruction containing the opening and closing degree of the accelerator pedal and the gear information. For example, if the longitudinal movement is "forward", the gear information is forward gear; if the longitudinal movement is 'backward', the gear information is a backward gear; correspondingly, the control execution device controls the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction, and the method specifically comprises the following steps: firstly, releasing a brake pedal; secondly, gear shifting is carried out according to the gear information; and then, controlling the accelerator pedal to accelerate according to the opening and closing degree of the accelerator pedal. If the guiding action in the vehicle control information is "stop motion", the vehicle control device generates a vehicle control instruction according to the guiding instruction, specifically including: determining the opening and closing degree of a brake pedal according to the stopping movement; generating a vehicle control command comprising the brake pedal opening and closing degree; correspondingly, the control execution device controls the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction, and the method specifically comprises the following steps: firstly, loosening an accelerator pedal; and then, controlling the brake pedal to decelerate according to the opening and closing degree of the brake pedal. For example, in the embodiment of the present invention, the second communication device may first receive one or more consecutive guiding instructions, where guiding actions in the guiding instructions are all "forward", and then receive a guiding instruction that is "stop motion"; the second communication device may also receive one or more consecutive guidance instructions, where the guidance actions in the guidance instructions are all "back" and then receive a guidance instruction that the guidance action is "stop motion".
Preferably, in the foregoing embodiment, in order for the handling equipment control system on the handling equipment to be able to timely learn about surrounding automated driving vehicles, the vehicle control equipment is further configured to: acquiring the position information of the automatic driving; generating vehicle information including an ID number and position information of the autonomous vehicle; and transmitting the vehicle information to a loading and unloading equipment control system through the second communication equipment.
Preferably, the foregoing vehicle information may further include other status information of the autonomous vehicle, such as a driving direction, a driving speed, etc., which is not strictly limited in this application.
Preferably, the second communication device includes a second V2X device, and the vehicle control device receives, through the second communication device, a guidance instruction from a handling device control system, and specifically includes: and receiving a V2X message sent by the loading and unloading equipment control system from a designated air interface through the second V2X equipment, and analyzing the guiding instruction from the V2X message.
In the embodiment of the present invention, the vehicle control device may be an FPGA, a tablet computer, an industrial computer, a portable computer, an MCU, an ECU, or an embedded device, which are disposed on an autopilot vehicle, and the present application is not limited strictly.
Example IV
The fourth embodiment of the present invention also provides a handling device, where the handling device may include the handling device control system of any one of the second embodiments. The loading and unloading equipment can be a quay crane, a tyre crane, a front crane, a crown block, a crane and the like.
Example five
The fifth embodiment of the present invention further provides an autonomous vehicle, where the autonomous vehicle may include the vehicle control system according to any one of the third embodiment. The autonomous vehicle may be a truck, van, trailer, or the like.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. A handling device control system, characterized in that it is provided on a handling device, the system comprising a handling device, a parking guidance device, a first communication device, wherein:
a manipulation device for receiving vehicle manipulation information input by a user through a mechanical button, an electronic button, or a rocker; transmitting the vehicle manipulation information to the parking guidance apparatus;
the parking guiding device is used for acquiring vehicle control information; determining an ID number of an automatic driving vehicle and a guiding action for guiding the automatic driving vehicle to run from the vehicle control information, and generating a guiding instruction containing the ID number of the automatic driving vehicle and the guiding action; transmitting the guidance instruction to the autonomous vehicle through the first communication device; receiving a V2X message sent by the automatic driving vehicle from a designated air interface through the first communication equipment, and analyzing vehicle information containing the ID number and the position information of the automatic driving vehicle from the V2X message;
wherein the guiding action in the vehicle handling information comprises a longitudinal movement, the longitudinal movement comprising forward and reverse; the automatic driving vehicle determines the opening and closing degree of an accelerator pedal, the opening and closing degree of a brake pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement, and generates a vehicle control instruction containing the opening and closing degree of the accelerator pedal, the opening and closing degree of the brake pedal and the gear information.
2. The system of claim 1, further comprising a communicatively coupled sensor for collecting environmental information about the periphery of the handling device.
3. The system according to claim 1 or 2, wherein the first communication device comprises a first V2X device, and wherein the parking guidance device sends the guidance instruction to the autonomous vehicle via the first communication device, in particular comprising:
and packaging the guide instruction into a V2X message through the first V2X device and sending the V2X message to a designated air interface.
4. A handling equipment comprising a handling equipment control system according to any one of claims 1 to 3.
5. A vehicle control system provided on an autonomous vehicle, the system comprising a vehicle control device, a second communication device, and a control execution device, wherein:
a vehicle control device for receiving a guidance instruction from a handling device control system through the second communication device, the guidance instruction including an ID number of the autonomous vehicle and a guidance action for guiding the autonomous vehicle to travel; generating a vehicle control instruction according to the guiding instruction; transmitting the vehicle control instruction to the control execution device; acquiring vehicle information including an ID number and position information of the autonomous vehicle; packaging the vehicle information into a V2X message through the second communication equipment and sending the V2X message to a designated air interface;
the control execution device is used for controlling the automatic driving vehicle to run according to the guiding action according to the received vehicle control instruction;
the guiding action is generated according to vehicle control information, and the vehicle control information is obtained by receiving user input through a mechanical button, an electronic button or a rocker;
the guiding action in the vehicle handling information includes a longitudinal movement including forward and reverse;
the vehicle control device determines the opening and closing degree of the accelerator pedal, the opening and closing degree of the brake pedal and gear information corresponding to the longitudinal movement according to the longitudinal movement, and generates a vehicle control instruction containing the opening and closing degree of the accelerator pedal, the opening and closing degree of the brake pedal and the gear information.
6. The system of claim 5, wherein the guiding action comprises stopping movement, and wherein the vehicle control device generates a vehicle control command based on the guiding command, comprising:
determining the opening and closing degree of a brake pedal according to the stopping movement;
and generating a vehicle control instruction comprising the brake pedal opening and closing degree.
7. The system according to claim 5 or 6, wherein the second communication device comprises a second V2X device, and wherein the vehicle control device receives the guidance command from the handling device control system via the second communication device, specifically comprising: and receiving a V2X message sent by the loading and unloading equipment control system from a designated air interface through the second V2X equipment, and analyzing the guiding instruction from the V2X message.
8. An autonomous vehicle comprising a vehicle control system as claimed in any one of claims 5 to 7.
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