CN110716569A - Unmanned vehicle automatic driving system suitable for container transportation - Google Patents
Unmanned vehicle automatic driving system suitable for container transportation Download PDFInfo
- Publication number
- CN110716569A CN110716569A CN201911044937.8A CN201911044937A CN110716569A CN 110716569 A CN110716569 A CN 110716569A CN 201911044937 A CN201911044937 A CN 201911044937A CN 110716569 A CN110716569 A CN 110716569A
- Authority
- CN
- China
- Prior art keywords
- unit
- vehicle
- unmanned vehicle
- positioning
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008447 perception Effects 0.000 claims abstract description 12
- 238000003745 diagnosis Methods 0.000 claims abstract description 10
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 10
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000006855 networking Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 7
- 238000012546 transfer Methods 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 5
- 238000000746 purification Methods 0.000 abstract 1
- 230000006870 function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 210000000709 aorta Anatomy 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic driving system of an unmanned vehicle, which is suitable for container transportation and comprises a positioning unit, a driving unit and a driving unit, wherein the positioning unit is used for acquiring the position information of the unmanned vehicle; an environment sensing unit for detecting vehicle surrounding environment information; the planning control unit is used for planning a driving route and a driving state of the unmanned vehicle according to the task, the position and the environment information; the fault diagnosis unit is used for detecting the working state of the system, giving an alarm when a fault is abnormal and taking emergency measures; and the wireless network unit is used for realizing data interaction between the automatic driving system and the upper vehicle dispatching system. The invention utilizes laser navigation positioning and multi-sensor fusion technology to realize an all-time, all-weather and all-directional perception automatic driving system, can realize 24-hour uninterrupted unmanned transfer operation of containers, solves the problems of autonomous positioning, perception, decision and the like of container transfer vehicles, realizes high efficiency and clean purification of container transfer operations of sea, land, air and the like, is suitable for various severe environments, and has strong interference resistance.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to the technical field of automatic driving of a low-speed heavy unmanned vehicle, and particularly relates to an automatic driving system of an unmanned vehicle, which is suitable for container transportation.
Background
In recent years, with the advent of ultra-large container ships, port loading efficiency has become a bottleneck, becoming a thrombous point of the aorta for goods logistics. The problems of difficult recruitment, continuous increase of human cost, low labor efficiency, limited operation time and the like puzzle various sea, road and air traffic hubs in the world, and a brand-new scheme is provided for solving the problem by large-scale popularization and application of an intelligent logistics technology represented by container transportation unmanned vehicles. The heavy-load unmanned vehicle integrating the automatic driving technology more intelligently and efficiently can play a great role in the fields of automatic carrying of outdoor large-scale objects, transformation and upgrading of full-automatic seaports, air ports and land ports and the like.
The existing container transportation unmanned vehicle automatic driving system mostly adopts a magnetic nail navigation mode, the mode is to search a traveling path by detecting a magnetic signal of a magnetic nail through a magnetic navigation sensor, and the mode has the following defects:
1) the interaction between the vehicle body and the magnetic nails is intermittent induction, so the distance between the magnetic nails cannot be overlarge, a large number of magnetic nails need to be laid in a port, the engineering quantity is large, the manufacturing cost is high, the flexibility is lacked, and the later-stage transformation difficulty is large;
2) the vehicle is in a distance measuring state between the two magnetic nails, and a wheel rotating speed encoder and a wheel steering angle are needed to measure the walking distance, so that the complexity of the system is increased.
Disclosure of Invention
The invention aims to provide an all-weather and all-directional perception unmanned vehicle automatic driving system suitable for container transportation, so as to realize unmanned transportation operation of containers, solve the problems of autonomous positioning, perception, decision and the like of container transportation vehicles, and realize high efficiency, cleanness and the like of transportation operation work of containers (sea, land, air and the like).
The technical solution for realizing the purpose of the invention is as follows: an automatic driving system of an unmanned vehicle suitable for container transportation comprises a positioning unit, an environment sensing unit, a planning control unit, a fault diagnosis unit and a wireless network unit;
the positioning unit is used for acquiring the position information of the unmanned vehicle in real time;
the environment sensing unit is used for detecting the environmental information around the unmanned vehicle in real time;
the planning control unit is used for planning the driving route and the driving state of the unmanned vehicle in real time according to task information issued by an upper vehicle dispatching system, position information acquired by the positioning unit and environment information acquired by the environment sensing unit;
the fault diagnosis unit is used for detecting the working state of the automatic driving system of the unmanned vehicle in real time, giving an alarm when detecting that the fault is abnormal, taking emergency measures, and uploading fault information to an upper vehicle dispatching system through the wireless network unit;
and the wireless network unit is used for realizing data interaction between the unmanned vehicle automatic driving system and the upper vehicle dispatching system.
Compared with the prior art, the invention has the following remarkable advantages: 1) high-precision positioning is realized through fusion of multiple sensors such as a laser radar, a GPS (global positioning system), a magnetic sensor and the like; 2) the high-precision positioning of the designated position can be realized without the help of a fixed marker; 3) the system has a multi-sensor information fusion sensing function, supports operation under various severe weather conditions such as rain, snow, fog and the like, and has strong anti-interference capability; 4) the automatic driving system of the unmanned vehicle has the characteristics of all-time, all-weather, all-directional sensing and the like by combining a laser navigation positioning technology and a multi-sensor fusion technology, and is simple in overall structure and high in flexibility.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a block diagram showing the structure of an automatic driving system of an unmanned vehicle for container transportation according to the present invention.
Fig. 2 is a schematic view of the communication mode of the automatic driving system of the unmanned vehicle for container transportation according to the present invention.
Fig. 3 is a control flow chart of the automatic driving system of the unmanned vehicle suitable for container transportation according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Referring to fig. 1, the present invention provides an unmanned vehicle automatic driving system suitable for container transportation, which includes a positioning unit 100, an environment sensing unit 200, a planning control unit 300, a fault diagnosis unit 400, and a wireless network unit 700.
The positioning unit 100 is used for acquiring the position information of the unmanned vehicle in real time;
the environment sensing unit 200 is used for detecting the environmental information around the unmanned vehicle in real time;
the planning control unit 300 is configured to plan a driving route and a driving state of the unmanned vehicle in real time according to task information issued by the upper vehicle scheduling system 600, position information acquired by the positioning unit 100, and environment information acquired by the environment sensing unit 200;
the fault diagnosis unit 400 is used for detecting the working state of the automatic driving system of the unmanned vehicle in real time, giving an alarm when detecting that the fault is abnormal, taking emergency measures, and uploading fault information to the upper vehicle dispatching system 600 through the wireless network unit 700;
and the wireless network unit 700 is used for realizing data interaction between the unmanned vehicle automatic driving system and the upper vehicle dispatching system 600.
In the automatic driving system for the unmanned vehicle, the unmanned vehicle can travel according to a preset path through the accurate positioning of the positioning unit 100, and the unmanned vehicle can be ensured to accurately reach a specified container loading and unloading position, so that the loading and unloading accuracy is ensured. By combining the upper vehicle dispatching system 600 (the dispatching system is a fleet management system, and has the functions of vehicle state inquiry, task inquiry and assignment, real-time planning of vehicle paths and the like, the purposes of multi-vehicle cooperation and improvement of work flow optimization efficiency are achieved, and the task information, the positioning information of the unmanned vehicle and the surrounding environment information (such as the distance and the direction information of obstacles such as people and vehicles in the unmanned vehicle running area) are issued, the running route and the running state of the unmanned vehicle are planned in real time, so that the unmanned vehicle can avoid obstacles to run or change the running state in time to decelerate, stop and the like, and the safety of automatic driving is improved. In addition, whether the system has work fault abnormality is detected in real time through the fault diagnosis unit 400, alarm prompt is timely carried out when the system has the abnormality, and emergency measures (such as speed reduction, braking and the like) are taken, so that the safety of automatic driving is further improved.
Further, in one embodiment, the fault diagnosis unit 400 is further configured to store historical data information of the unmanned vehicle.
By adopting the scheme of the embodiment, historical data information can be traced and inquired, the fault reason can be quickly inquired when the automatic driving system has fault abnormality, the state of the automatic driving system can be regularly monitored, and unstable factors which can cause the system to have fault can be timely found and restrained.
Further, in one embodiment, in conjunction with fig. 2, the positioning unit 100 includes a lidar and a laser positioning controller, and or a GPS and a GPS positioning controller, and or an inertial measurement unit IMU and a GPS positioning controller, and or a magnetic sensor and a magnetic positioning controller.
By adopting the scheme of the embodiment, different positioning devices (for example, areas are set on a quay crane and a storage yard of a wharf, and the positioning precision is higher by adopting a magnetic sensor) can be adopted according to the area where the unmanned vehicle is located, the environment, the requirement of different areas on the positioning precision and the like, and the flexibility is higher. And through the collocation and combination of different positioning devices, comprehensive, high-precision and low-cost unmanned vehicle dynamic positioning, static positioning and the like can be realized.
Further, in one embodiment, with reference to fig. 2, the lidar and the laser positioning controller communicate with each other via an ethernet; the GPS and the GPS positioning controller, and the inertial measurement unit IMU and the GPS positioning controller are communicated through RS232 serial ports; the magnetic sensor and the magnetic positioning controller are communicated through a CAN.
By adopting the scheme of the embodiment, the optimal communication mode is selected for different positioning devices, and the data communication efficiency, the stability and the like of the whole unmanned vehicle automatic driving system can be improved.
Further, in one embodiment, in conjunction with fig. 2, the environmental perception unit 200 includes a lidar and/or millimeter wave radar and/or ultrasonic radar and/or vision sensor, and an environmental perception controller.
By adopting the scheme of the embodiment, different environment sensing devices can be adopted according to the areas and environments where the unmanned vehicles are located, the requirements on sensing of environment information of different areas and the like, and the flexibility is higher. And through the collocation and combination of different environment perception devices, the comprehensive and low-cost environment perception function can be realized.
Further, in one embodiment, in conjunction with fig. 2, the lidar or the ultrasonic radar or the vision sensor communicates with the environmental awareness controller via ethernet; the millimeter wave radar and the environment perception controller are communicated through the CAN.
By adopting the scheme of the embodiment, the optimal communication mode is selected for different environment sensing devices, and the data communication efficiency, the stability and the like of the whole unmanned vehicle automatic driving system can be improved.
Further, in one embodiment, the wireless network unit 700 specifically uses a 4G wireless network, and has a super high data transmission speed.
Further, in one embodiment, referring to fig. 2, the unmanned vehicle automatic driving system and the by-wire vehicle system 500 of the unmanned vehicle, the upper vehicle dispatching system 600, and each unit in the unmanned vehicle automatic driving system realize data networking and sharing through the CAN communication network 800. The CAN communication network is a serial communication protocol bus for real-time applications, with transmission rates up to 1Mb/s, with 11-bit addressing and error detection capabilities.
By adopting the scheme of the embodiment, the data communication efficiency, the stability and the like of the whole unmanned vehicle automatic driving system can be obviously improved.
The invention is suitable for the unmanned vehicle automatic driving system for container transportation, and the system flow is realized as shown in figure 3. Specifically, after a scheduling task is started, firstly, power-on self-test of the system is carried out, the software system is started, if the system is normal, a map is automatically loaded, and the position information of the unmanned vehicle is obtained according to the initialization function of the positioning unit. The unmanned vehicle has two operation modes, an automatic driving mode and a manual mode. The automatic driving system can be used only in the automatic driving mode, and the manual mode is that a wireless radio frequency remote controller is manually used for operating the vehicle and mainly used for overhauling components of the vehicle. And when the mode information of the unmanned vehicle is switched to the automatic mode, the confirmed feedback signal is obtained in the dispatching system, and the automatic driving mode takes effect.
And combining the position information provided by the positioning system, when the dispatching system sends target point information, the automatic driving system starts to execute, determines the surrounding environment condition in the advancing process by using the environment sensing unit, and plans the vehicle running route by using the planning control unit to decide the behaviors of vehicle collision avoidance, parking and the like.
The unmanned vehicle driving route is executed according to the route distributed by the dispatching system, when an obstacle is detected in the driving process, if the obstacle is not on the driving route, the unmanned vehicle drives according to the original route; when the obstacle is detected in the driving process, the vehicle cannot drive according to the original route, and the vehicle sends the state information to the dispatching system to request a new route to drive.
The unmanned vehicles can receive speed, steering, parking and other instructions in the driving process, and the instructions are executed by the scheduling system in a coordinated mode to complete the management of a plurality of unmanned vehicles in the whole fleet.
When the vehicle runs to the target position, if the distance value between the vehicle and the target positioning value required by the dispatching system is smaller than the set threshold value, the vehicle is considered to be reached. The vehicle automatically executes the parking task and sends the parking state to the dispatching system, and the dispatching system sends the state to the container operation equipment to complete the automatic loading and unloading task. And after the loading and unloading are finished, the dispatching system sends the loading and unloading finished state information to the unmanned vehicle and provides a new dispatching task and a new route. And the automatic driving system completes the unmanned control of the vehicle in a new round according to the task and the route information of the scheduling system.
In conclusion, the invention utilizes the laser navigation positioning technology and the multi-sensor fusion technology to realize an all-time, all-weather and all-directional perception unmanned vehicle automatic driving system, can realize 24-hour uninterrupted unmanned transfer operation of containers, solves the problems of autonomous positioning, perception, decision and the like of container transfer vehicles, realizes high efficiency, cleaning and the like of container transfer operation work of seaports, land ports, air ports and the like, is suitable for various severe environments such as rain, snow, fog and the like, and has strong anti-interference capability.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (7)
1. An unmanned vehicle automatic driving system suitable for container transportation is characterized by comprising a positioning unit (100), an environment sensing unit (200), a planning control unit (300), a fault diagnosis unit (400) and a wireless network unit (700);
the positioning unit (100) is used for acquiring the position information of the unmanned vehicle in real time;
the environment sensing unit (200) is used for detecting the environment information around the unmanned vehicle in real time;
the planning control unit (300) is used for planning the driving route and the driving state of the unmanned vehicle in real time according to task information issued by the upper vehicle dispatching system (600), position information acquired by the positioning unit (100) and environment information acquired by the environment sensing unit (200);
the fault diagnosis unit (400) is used for detecting the working state of the automatic driving system of the unmanned vehicle in real time, giving an alarm when detecting that the fault is abnormal, prompting to take emergency measures, and uploading fault information to the upper vehicle dispatching system (600) through the wireless network unit (700);
the wireless network unit (700) is used for realizing data interaction between the unmanned vehicle automatic driving system and the upper vehicle dispatching system (600).
2. The unmanned vehicle autopilot system for use in container transportation of claim 1 wherein said fault diagnosis unit (400) is further configured to store historical data information for the unmanned vehicle.
3. The unmanned vehicular autopilot system for container transport of claim 1 wherein the positioning unit (100) comprises a lidar and a laser positioning controller, and or a GPS and a GPS positioning controller, and or an inertial measurement unit IMU and a GPS positioning controller, and or a magnetic sensor and a magnetic positioning controller.
4. The unmanned vehicle autopilot system for use in container transportation of claim 3 wherein said lidar communicates with said laser positioning controller via an ethernet network; the GPS and the GPS positioning controller, and the inertial measurement unit IMU and the GPS positioning controller are communicated through RS232 serial ports; and the magnetic sensor and the magnetic positioning controller are communicated through a CAN.
5. The drone vehicle autopilot system for container transport according to claim 1 characterized in that the environment sensing unit (200) comprises a lidar and or millimeter wave radar and or ultrasonic radar and or vision sensors and an environment sensing controller.
6. The unmanned vehicle autopilot system for use in container transportation of claim 5 wherein said lidar or ultrasonic radar or vision sensor communicates with an environmental awareness controller via ethernet; the millimeter wave radar and the environment perception controller are communicated through the CAN.
7. The automated unmanned aerial vehicle driving system for container transportation according to claim 1, wherein the data networking and sharing between the automated unmanned aerial vehicle driving system and the vehicle-by-wire system (500) of the unmanned aerial vehicle, the upper vehicle dispatching system (600), and each unit in the automated unmanned aerial vehicle driving system are realized through a CAN communication network (800).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044937.8A CN110716569A (en) | 2019-10-30 | 2019-10-30 | Unmanned vehicle automatic driving system suitable for container transportation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044937.8A CN110716569A (en) | 2019-10-30 | 2019-10-30 | Unmanned vehicle automatic driving system suitable for container transportation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110716569A true CN110716569A (en) | 2020-01-21 |
Family
ID=69213494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911044937.8A Pending CN110716569A (en) | 2019-10-30 | 2019-10-30 | Unmanned vehicle automatic driving system suitable for container transportation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110716569A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111311121A (en) * | 2020-03-23 | 2020-06-19 | 北京京东乾石科技有限公司 | Unmanned vehicle scheduling method, unmanned vehicle scheduling device, unmanned vehicle control method and unmanned vehicle delivery system |
| CN112747936A (en) * | 2020-12-21 | 2021-05-04 | 宁波大榭招商国际码头有限公司 | Detection method of unmanned vehicle |
| CN113359752A (en) * | 2021-06-24 | 2021-09-07 | 中煤科工开采研究院有限公司 | Automatic driving method for underground coal mine skip car |
| CN114252074A (en) * | 2021-12-08 | 2022-03-29 | 天津港股份有限公司 | Navigation system of unmanned guided transport vehicle |
| CN114543878A (en) * | 2022-02-12 | 2022-05-27 | 龙合智能装备制造有限公司 | Intelligent detection method of container handling system based on multi-sensor fusion |
| ES2928677A1 (en) * | 2022-07-06 | 2022-11-21 | La Iglesia Nieto Javier De | Eco-efficient driving system adapted to the geopositioned three-dimensional modeling of the parameterization of the route of any linear infrastructure particularized to the vehicle (Machine-translation by Google Translate, not legally binding) |
| CN116804847A (en) * | 2023-08-23 | 2023-09-26 | 北京鑫平物流有限公司 | Container handling trolley control method |
-
2019
- 2019-10-30 CN CN201911044937.8A patent/CN110716569A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111311121A (en) * | 2020-03-23 | 2020-06-19 | 北京京东乾石科技有限公司 | Unmanned vehicle scheduling method, unmanned vehicle scheduling device, unmanned vehicle control method and unmanned vehicle delivery system |
| CN111311121B (en) * | 2020-03-23 | 2021-03-30 | 北京京东乾石科技有限公司 | Unmanned vehicle scheduling method, unmanned vehicle scheduling device, unmanned vehicle control method and unmanned vehicle delivery system |
| CN112747936A (en) * | 2020-12-21 | 2021-05-04 | 宁波大榭招商国际码头有限公司 | Detection method of unmanned vehicle |
| CN113359752A (en) * | 2021-06-24 | 2021-09-07 | 中煤科工开采研究院有限公司 | Automatic driving method for underground coal mine skip car |
| CN114252074A (en) * | 2021-12-08 | 2022-03-29 | 天津港股份有限公司 | Navigation system of unmanned guided transport vehicle |
| CN114543878A (en) * | 2022-02-12 | 2022-05-27 | 龙合智能装备制造有限公司 | Intelligent detection method of container handling system based on multi-sensor fusion |
| CN114543878B (en) * | 2022-02-12 | 2023-11-14 | 龙合智能装备制造有限公司 | Intelligent detection method for container handling system based on multi-sensor fusion |
| ES2928677A1 (en) * | 2022-07-06 | 2022-11-21 | La Iglesia Nieto Javier De | Eco-efficient driving system adapted to the geopositioned three-dimensional modeling of the parameterization of the route of any linear infrastructure particularized to the vehicle (Machine-translation by Google Translate, not legally binding) |
| CN116804847A (en) * | 2023-08-23 | 2023-09-26 | 北京鑫平物流有限公司 | Container handling trolley control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110716569A (en) | Unmanned vehicle automatic driving system suitable for container transportation | |
| US10875448B2 (en) | Visually indicating vehicle caution regions | |
| US10543841B2 (en) | Vehicle with autonomous driving capability | |
| KR102204185B1 (en) | Traffic signal response for autonomous vehicles | |
| AU2019301524A1 (en) | Control of automated following in vehicle convoys | |
| CN108873902A (en) | A kind of long-range control method and device of unmanned mine vehicle | |
| CN109952603B (en) | System and method for operating a commercial vehicle | |
| CN109445438B (en) | Cruise control method and system of cruise device based on map sharing | |
| CN112146671A (en) | Path planning method, related equipment and computer readable storage medium | |
| US10274967B2 (en) | Method for loading a vehicle | |
| JP2004345862A (en) | Automated transportation yard | |
| CN110045727B (en) | Park unmanned vehicle path planning and control method | |
| CN112684791A (en) | Unmanned logistics vehicle based on 5G | |
| CN113677581A (en) | Lane keeping method, vehicle-mounted device and storage medium | |
| CN112477849B (en) | Parking control method and device for automatic driving truck and automatic driving truck | |
| US20190163201A1 (en) | Autonomous Vehicle Sensor Compensation Using Displacement Sensor | |
| CN108614567A (en) | Intelligent environmental protection working vehicle control system | |
| CN110171418A (en) | Autonomous driving vehicle and its drive-control system and server unit | |
| CN111152782A (en) | Automatic parking control system and control method | |
| CN206171607U (en) | Unpiloted bus | |
| CN113093720A (en) | Cooperative control method and system for heavy-load intelligent transport vehicle, electronic terminal and storage medium | |
| CN115129050A (en) | Unmanned transportation short-falling system and method for port tractor | |
| JP7255677B2 (en) | Driving route generation device and control device | |
| CN109933055A (en) | Indoor path planning system | |
| CN210954734U (en) | Unmanned vehicle automatic driving system suitable for container transportation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 222001 No.18 Shenghu Road, Lianyungang City, Jiangsu Province Applicant after: The 716th Research Institute of China Shipbuilding Corp. Applicant after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Address before: 222001 No.18 Shenghu Road, Lianyungang City, Jiangsu Province Applicant before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Applicant before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
|
| CB02 | Change of applicant information |