CN110766346A - Intelligent automatic vehicle path planning and avoiding system - Google Patents
Intelligent automatic vehicle path planning and avoiding system Download PDFInfo
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- CN110766346A CN110766346A CN201810830034.1A CN201810830034A CN110766346A CN 110766346 A CN110766346 A CN 110766346A CN 201810830034 A CN201810830034 A CN 201810830034A CN 110766346 A CN110766346 A CN 110766346A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0042—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects
- G07F17/0057—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for hiring of objects for the hiring or rent of vehicles, e.g. cars, bicycles or wheelchairs
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0645—Rental transactions; Leasing transactions
Abstract
The invention discloses an intelligent vehicle automatic path planning and avoiding system.A vehicle body of the intelligent vehicle automatic path planning and avoiding system comprises a core control circuit board system, wherein the core control circuit board system is connected with a motor driving system and a sensor unit, and the motor driving system comprises an electric power system and a driving system; the driving system is used for automatically controlling the running and steering of the vehicle body; the electric power system controls the power supply and the power supplement of the vehicle body; the sensor unit is used for automatic planning, path identification and positioning, obstacle avoidance, safe distance measurement, automatic identification and reception, compliance with traffic regulations and automatic weighing; the core control circuit board system is used as a brain of the intelligent vehicle automatic path planning and avoiding system, records and analyzes various signal data of the driving system and the power system, and comprehensively manages various instructions of the intelligent vehicle automatic path planning and avoiding system. The invention has high user experience, high intelligence and high transportation efficiency, and is suitable for a shared economic market system.
Description
Technical Field
The invention relates to the technical field of automatic control, transportation equipment and the Internet, in particular to an intelligent automatic vehicle path planning and avoiding system.
Background
With the development of the internet industry, the logistics industry rises to enter the golden age, competition in the logistics industry is fierce, and the client's evaluation on poor service of the logistics industry, such as slow arrival, bad attitude of delivery personnel, damage to articles and the like, becomes an important index for competition in the logistics industry and even evaluation on the service quality of merchants. However, in the current logistics industry, goods are completely carried, transported and handed over with users by manpower, heavy labor is repeated every day, the transportation efficiency is low, and the emotion of the carrying personnel for the users is difficult to control and manage, so that the logistics industry is an important factor causing poor evaluation of transportation.
Disclosure of Invention
Aiming at the problems, the invention provides the intelligent automatic vehicle path planning and avoiding system which is high in user experience degree, intelligence degree and transportation efficiency and is suitable for a shared economic market system.
In order to solve the technical problems, the invention provides an intelligent automatic path planning and avoiding system for a vehicle, which comprises a vehicle body, wherein the vehicle body comprises a core control circuit board system, the core control circuit board system is connected with a motor driving system and a sensor unit, and the motor driving system comprises an electric power system and a driving system;
the driving system is used for automatically controlling the wheel running and steering of the vehicle body;
the electric power system controls the power supply and the power supplement of the vehicle body;
the sensor unit is used for automatic planning, path identification and positioning, obstacle avoidance, safe distance measurement, automatic identification and reception, compliance with traffic regulations and automatic weighing;
the core control circuit board system is used as a brain of the intelligent vehicle automatic path planning and avoiding system, records and analyzes various signal data of the driving system and the power system, and comprehensively manages various instructions of the intelligent vehicle automatic path planning and avoiding system.
Further, the sensor unit comprises a first camera, and the first camera is used for carrying out visual recognition to judge the driving path.
Further, the sensor unit comprises a laser radar, detection scanning is carried out through the laser radar, and obstacle data information is uploaded to the core control circuit board system.
Further, the sensor unit comprises a distance sensor for monitoring the change of the distance between the vehicle body and the ground and the distance between the vehicle body and the roadbed as well as the traffic regulation line, and uploading data information to the core control circuit board system.
Further, the sensor unit comprises a traffic light sensor, and the traffic light sensor is preferably a second camera and is used for identifying the color and the state of the traffic light and uploading data information to the core control circuit board system.
Further, the sensor unit comprises a weighing sensor used for weighing a bearing object of the vehicle body and uploading data information to the core control circuit board system.
Furthermore, a plurality of cargo holds are arranged on the vehicle body, the cargo holds are provided with coded locks, the unlocking modes of the coded locks comprise face recognition and/or fingerprint recognition and/or digital codes and/or graphic codes and/or voice lines and/or identity card code scanning and/or telephone number verification and recognition, and the coded locks are electrically connected with the core control circuit board system.
Furthermore, a voice module is arranged on the vehicle body and electrically connected with the core control circuit board system, and is used for voice recognition, voice control and voice prompt.
Further, the automatic path planning of wisdom formula vehicle and dodge the system and set up and sweep yard online payment module, safety device includes anti-theft device, watertight fittings, firebreak device, anti-overturning device, leak protection device, lightning protection device and prevent electric installation, and anti-theft device includes the camera and sets up the mechanical lock structure on the automobile body, through the camera to the condition record on every side, human discernment, remain data to upload to core control circuit board system, control mechanical lock structure locks and realizes the theftproof.
Furthermore, the sensor unit also comprises a ground traffic signal recognition sensor which can at least recognize sidewalks and non-motor vehicle lanes; the sensor unit also comprises a positioning sensor, and the positioning sensor is used for identifying the current position of the vehicle body and detecting the current moving speed.
Compared with the prior art, the technical scheme of the invention has the advantages that the transportation equipment is integrated into the tide of sharing economy, the development of the times is conformed, the intelligent degree is high, the user experience is improved, the current situation that the current logistics industry completely depends on manual goods carrying, goods transporting and goods handing-over with the user is liberated, the current situation that heavy labor is repeated every day by manual work is solved, the transportation efficiency is high, and the quality is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a block diagram of an intelligent automatic vehicle path planning and avoidance system according to the present embodiment;
fig. 2 is a schematic block diagram of the first camera performing visual recognition in the present embodiment;
fig. 3 is a schematic diagram of path planning performed by the intelligent vehicle automatic path planning and avoiding system in the embodiment;
fig. 4 is a schematic block diagram of the operation principle of the traffic light sensor in the embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, the intelligent automatic path planning and avoiding system for the vehicle comprises a vehicle body, wherein the vehicle body comprises a core control circuit board system, the core control circuit board system is connected with a motor driving system and a sensor unit, and the motor driving system comprises an electric power system and a driving system.
The driving system is used for automatically controlling the wheel running and steering of the vehicle body.
The electric power system controls the power supply and the power supplement of the vehicle body, wherein the electric energy supplement is completed by preferentially selecting the mode of automatically reaching a charging fixed point and adopting a wireless charging mode; in addition, the solar charging panel is arranged in the system, so that solar charging can be carried out in real time in a working state, and the solar charging can be carried out in a place with stronger light through the light sensing system in an idle state.
The sensor unit is used for automatic planning, path identification and positioning, obstacle avoidance, safe distance measurement, automatic identification reception and compliance with traffic regulations and automatic weighing.
The core control circuit board system is used as a brain of the intelligent vehicle automatic path planning and avoiding system, records and analyzes various signal data of the driving system and the power system, and comprehensively manages various instructions of the intelligent vehicle automatic path planning and avoiding system.
The sensor unit comprises a first camera, and the first camera is used for carrying out visual identification and judging a driving path.
The sensor unit comprises a laser radar, detection scanning is carried out through the laser radar, barrier data information is uploaded to the core control circuit board system, and then barrier avoidance measures are taken.
Distance sensors are arranged at the front and the rear of the vehicle body and used for monitoring the change of the distance between the vehicle body and the ground and the distance between the vehicle body and the roadbed as well as the traffic regulation line, for example, the distance between a certain fixed position on the vehicle and the ground is judged, so that the concave-convex state of the road surface is judged, and after data are uploaded to a core control circuit board system, corresponding control measures are taken; distance sensors are additionally arranged on the left side and the right side of the vehicle body to judge the distance from the roadside, and a driving path is selected through the judgment of the distance, so that the vehicle is guaranteed to run on a lane of the non-motor vehicle.
The sensor unit comprises a traffic light sensor, the traffic light sensor is preferably a second camera, at the intersection with the traffic light, the traffic light sensor is used for identifying the color and the state of the traffic light, the judgment result is uploaded to the core control panel, and stopping and starting measures are taken.
The sensor unit comprises a weighing sensor and is used for weighing a bearing object of the vehicle body, uploading data information to the core control circuit board system and carrying out weighing and charging.
The vehicle body is provided with a plurality of cargo holds, the cargo holds are provided with coded locks, the unlocking modes of the coded locks comprise face recognition and/or fingerprint recognition and/or digital codes and/or graphic codes and/or voice lines and/or identity card code scanning and/or telephone number verification and recognition, the coded locks are electrically connected with the core control circuit board system, corresponding cargo-taking personnel can only unlock the corresponding cargo holds without the right to open other cargo holds
The car body is provided with a voice module, and the voice module is electrically connected with the core control circuit board system and used for voice recognition, voice control and voice reminding. Automatic path planning of intelligent vehicle and dodge system setting and sweep sign indicating number online payment module, safety device includes anti-theft device, watertight fittings, firebreak device, anti-overturning device, leak protection device, lightning protection device and electricity prevention device, and anti-theft device includes the camera and sets up the mechanical lock structure on automobile body, through camera to the condition record on every side, human discernment, remain data to upload to core control circuit board system, control mechanical lock structure locks and realizes the theftproof.
An intelligent vehicle automatic path planning and avoiding method comprises the intelligent vehicle automatic path planning and avoiding system, a user client and a sharing platform, wherein the intelligent vehicle automatic path planning and avoiding system and the user client are wirelessly communicated through the sharing platform, the sharing platform is used as a background management end, parameter setting, program setting and instruction control are carried out on the intelligent vehicle automatic path planning and avoiding system, feedback information statistics is carried out, registration, login, reservation and use information of the user client are managed, and the intelligent vehicle automatic path planning and avoiding system is distributed; the user client is preferably a mobile phone APP and is used for carrying out reservation and monitoring processes and code scanning, payment, settlement and shared transaction on the intelligent vehicle automatic path planning and avoiding system after registration and login.
The method for visually recognizing the first camera in the embodiment is as follows: as shown in fig. 2 and 3, the front image is identified by video, the expected arrival points on the original plane image are drawn into coordinate points such as m (x1, y1) to n (x2, y2) by generating a plane coordinate system, and a walking path planning map is formed by connecting the plane coordinate points as a first-level path judgment basis.
Laser radar sensor framework mode is that longitudinal scan is a set of and horizontal line scan is a set of, adopt the obstructed distance of laser to judge the distance position of barrier, confirming the barrier width through longitudinal scan, horizontal scan confirms the barrier height, the area size and the distance position that form the barrier, form the system of plane coordinate point, the coordinate point of barrier part can be extracted out completely, synchronous data transmission compares with the coordinate point that the video identification system drawn in foretell core control circuit board system, if coordinate point data that laser radar returned exist unanimously with video identification's the left side point, then route planning carries out corresponding modification and adjustment, realize keeping away the function of barrier. If the data provided by the laser includes (XX/YX) (X1, Y1) and the video recognition also includes (XX/YX) (X1, Y1) two data, the path planning the connection of these two points in the original video recognition system is adjusted accordingly.
The distance sensor is arranged at the front and back positions of the vehicle body and is used for scanning the distance between the front end or the back end of the vehicle and the ground, if the set standard height is 20cm, when the distance scanned by the sensor exceeds 20cm, a pit or a ditch is formed in the front or the back, and in the same way, an automatic plane coordinate graph is generated.
The traffic light sensor determines whether to continue to move forward or stop at the intersection by sensing the color of the traffic light on the established path and giving a control command corresponding to the control system, as shown in fig. 4, the technology is realized in such a way that the traffic light sensor identifies three colors of red, yellow and green, the red sending byte is 00, the green sending byte is 0x, and the yellow sending byte is xx, then the 00 control is stopped, the 0x control is stopped, and the xx control is started.
When the unmanned transportation equipment automatically walks, for accurately walking in a pedestrian passageway or a non-motor vehicle passageway, China passes by adopting a right-hand passing mode, so that infrared distance sensors are additionally arranged in all directions of a vehicle body, the running position is accurately guaranteed to be on a non-motor vehicle lane and a pedestrian lane, if the width of a roadside non-motor vehicle is 2m, the maximum distance between the unmanned transportation equipment and the roadside is not more than 1.3 m, the unmanned transportation equipment runs within the guaranteed safety range, and the unmanned transportation equipment cannot run on a express way or other motor vehicle lanes. And the system is synchronized, the road red street lamp system is subjected to system calculation, the core control circuit board system is obtained from the server, and the remote automatic control of the unmanned transportation equipment to turn, stop and start can be realized.
When a user opens a corresponding cargo hold by using a corresponding mobile phone APP, an opening instruction is sent to the shared platform through the mobile phone APP, the converted data stream is a 00xxxx0000xxc8001+ + + data system, the last four digits + + + + are opening temporary passwords, and the corresponding cargo hold is opened by determining the corresponding passwords.
The intelligent vehicle automatic path planning and avoiding system can be also applied to civil or industrial transportation equipment and automatic goods storage and taking equipment for small, medium and large-sized articles, preferably automatic purchasing cars or self-service trolleys or automatic vending trolleys or automatic delivery trucks, and realizes the functions of automatic delivery, time-limited delivery, article sending, person receiving or automatic vehicle automatic storage and taking.
The utility model provides an application of sharing business model of automatic route planning of intelligent formula vehicle and dodge system, the sharing business model of above-mentioned unmanned transportation equipment is applied to the transportation equipment and the automatic goods equipment field of depositing and withdrawing of civilian or industrial small, medium, large-scale article, preferably automatic car field of purchasing instead of others or buffet car field or automatic food selling car field or automatic delivery wagon field, realizes the function that automatic delivery, time limit are delivered, the article is posted, people receives or automatic car is automatic to deposit and withdraw.
Furthermore, the sensor unit also comprises a ground traffic signal recognition sensor which can at least recognize sidewalks and non-motor vehicle lanes; the sensor unit also comprises a positioning sensor, and the positioning sensor is used for identifying the current position of the vehicle body and detecting the current moving speed.
The ground traffic signal recognition sensor is used for recognizing the recognition of a pedestrian path and a non-motor vehicle path in the traveling process of a vehicle. The ground traffic signal recognition sensor in the technical scheme preferably refers to a Chinese invention patent 201710164960.5, and discloses a method for quickly detecting and recognizing a zebra crossing of a sidewalk based on a mobile phone platform, wherein a mode and a principle of how to recognize the sidewalk and a non-motor lane are specifically described, and the same principle can be used for recognizing road conditions and pedestrian recognition. Meanwhile, the technical scheme calculates the current moving speed of the positioning sensor through the position information transmitted by the positioning sensor in real time, identifies the traffic jam road section according to the comparison between the current position and the jam information prompted in the navigation software, and automatically identifies and avoids the traffic jam road section.
Please note that the product is a system for realizing automatic road-boarding, so the vehicle to which the system belongs must meet the restriction on weight and height in the traffic rules at the beginning of design and obey the traffic rules such as speed limit in the form process. These are simple programming and sizing, and will not be described in detail herein. The present embodiment is based on mechanical automation and unmanned control, and uses a virtual human motion simulation mode to control mechanical motion to automatically plan a path, avoid stationary objects and moving objects, perform safe distance measurement, automatically recognize, receive and comply with traffic regulations, perform positioning, cruise control, and a software and hardware combined control method thereof, and a corresponding organization mechanism, and is mainly used for transportation and automatic access of small, medium, and large articles for civil or industrial use.
Claims (10)
1. Automatic route planning of intelligent vehicle and dodge system, its characterized in that: the vehicle body comprises a core control circuit board system, wherein the core control circuit board system is connected with a motor driving system and a sensor unit, and the motor driving system comprises an electric power system and a driving system;
the driving system is used for automatically controlling the driving and steering of wheels of the vehicle body;
the electric power system controls the power supply and the power supplement of the vehicle body;
the sensor unit is used for automatic planning, path identification and positioning, obstacle avoidance, safe distance measurement, automatic identification and reception, compliance with traffic regulations and automatic weighing;
the core control circuit board system is used as the brain of the intelligent vehicle automatic path planning and avoiding system, records and analyzes various signal data of the driving system and the electric power system, and overall manages various instructions of the intelligent vehicle automatic path planning and avoiding system.
2. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit comprises a first camera, and the driving path is judged by performing visual recognition through the first camera.
3. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit comprises a laser radar, detection scanning is carried out through the laser radar, and obstacle data information is uploaded to the core control circuit board system.
4. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit comprises a distance sensor for monitoring the change of the distance between the vehicle body and the ground and the distance between the vehicle body and the roadbed and the traffic regulation line and uploading data information to the core control circuit board system.
5. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit comprises a traffic light sensor, the traffic light sensor is preferably a second camera and is used for identifying the color and the state of the traffic light and uploading data information to the core control circuit board system.
6. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit comprises a weighing sensor and is used for weighing a bearing object of the vehicle body and uploading data information to the core control circuit board system.
7. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the car body is provided with a plurality of cargo holds, the cargo holds are provided with coded locks, the unlocking mode of the coded locks comprises face recognition and/or fingerprint recognition and/or digital codes and/or graphic codes and/or voice lines and/or identity cards code scanning and/or telephone number verification and recognition, and the coded locks are electrically connected with the core control circuit board system.
8. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the vehicle body is provided with a voice module, and the voice module is electrically connected with the core control circuit board system and used for voice recognition, voice control and voice prompt.
9. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: automatic path planning of wisdom formula vehicle and dodge system setting and sweep sign indicating number online payment module, safety device includes anti-theft device, watertight fittings, firebreak device, anti-overturning device, leak protection device, lightning protection device and prevents electric installation, anti-theft device include the camera and set up in mechanical lock structure on the automobile body, through the camera is to condition record, human discernment, reservation data on every side, and upload to core control circuit board system, control the theftproof is realized to mechanical lock structure locking.
10. The intelligent vehicle automatic path planning and avoidance system according to claim 1, wherein: the sensor unit also comprises a ground traffic signal identification sensor which can at least identify a sidewalk and a non-motor lane; the sensor unit also comprises a positioning sensor, and the positioning sensor is used for identifying the current position of the vehicle body and detecting the current moving speed.
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| CN114619825A (en) * | 2020-12-10 | 2022-06-14 | 比亚迪股份有限公司 | Vehicle obstacle avoidance method and vehicle |
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