CN110989618A - Cooperative carrying control system and method for swarm type carrying vehicle - Google Patents
Cooperative carrying control system and method for swarm type carrying vehicle Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000000969 carrier Substances 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 14
- 238000005303 weighing Methods 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
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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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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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
- G05D1/0238—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 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
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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
Abstract
The invention relates to a cooperative carrying control system and method for a swarm type carrying vehicle. When a plurality of carrier vehicles carry out swarm type cooperative transportation, the method controls the carrier vehicles to operate according to the following steps: 1) judging the parking position of the host vehicle; 2) the host vehicle executes parking; 3) performing a parking from the vehicle; 4) judging and executing the driving rotating speed; 5) and judging scenes and tracking. The system and the method are beneficial to the swarm-type cooperative transportation of the large cargos.
Description
Technical Field
The invention belongs to the technical field of unmanned transportation, and particularly relates to a cooperative carrying control system and method for a swarm type carrying vehicle.
Background
In the prior art, there are many technical barriers to realize unmanned transportation on a normal road, and the safety of vehicles running on the road cannot be guaranteed. And in semi-closed environment such as industrial park, community, park, the route of traveling is relatively fixed, if can realize unmanned transportation in these scenes, will improve the efficiency and the convenience of transportation, dwindles the goods and puts the space, improves the storage capacity.
The patent with the application number of 201710519632.2 discloses a vehicle safety parking positioning system related to path detection, which comprises a vehicle seat, a vehicle door, a vehicle tail part, an engine, a cab and a GPS navigation module, wherein a high-level detection column is arranged at the position of the top of the vehicle above the cab, and an infrared camera is arranged at the bottom of a front vehicle bumper in front of the cab; a touch display screen is arranged in the cab; the processor is arranged on the inner side of the display screen, and the seat is provided with a key module; the infrared camera comprises: detecting the road condition in front, and sending a road condition gray map to a processor; the high-order detection column: connecting a camera, detecting a front road sign and sending road sign information to a processor; the key module is characterized in that: the system comprises a plurality of keys, wherein each key corresponds to a destination; the key module sends destination information to a processor; the processor: receiving a road condition gray scale map and road sign information sent by an infrared camera and a high-order detection column; and sending a moving instruction to the direction control module and sending a deceleration instruction to the wheel sensor according to the adjusting module. This system has the following disadvantages: the system mainly uses GPS positioning information as the basis of the parking position, so the accuracy of the system is difficult to be ensured, and the safety can not be ensured because the GPS signal has great influence on the external environment and the error of several meters is easy to occur. In addition, the system cannot realize the swarm type cooperative transportation of a plurality of carrier cars.
Disclosure of Invention
The invention aims to provide a cooperative carrying control system and method for a swarm type carrying vehicle, which are beneficial to carrying out swarm type cooperative transportation on large cargos.
In order to achieve the purpose, the invention adopts the technical scheme that: a cooperative carrying control system for a swarm-type carrying vehicle, comprising:
the binocular camera devices are respectively arranged at the front part and the rear part of the carrier and are used for parking mark line distance measurement in parking position judgment, executing obstacle detection in a parking area in front of the carrier in parking and sending detection data to the central processing module;
the radar devices are respectively arranged at the front part, the rear part and the periphery of the carrier and are used for judging the relative distance between the radar devices and the barrier and the relative position between the radar devices and other carriers and sending the detection data to the central processing module;
the GPS positioning device is arranged on the carrier and used for determining the position of the carrier and planning a driving path;
the weighing sensor is arranged below the bearing plane of the carrier and used for acquiring weight information borne by the carrier and sending the weight information to the central processing module; and
and the central processing module is arranged on the carrier and used for receiving various sensor data, sending an execution command to the vehicle controller through data processing and judgment so as to control each execution mechanism of the carrier vehicle to work, including advancing, braking and steering.
Further, the plurality of radar devices comprise laser radar devices arranged at the front and the rear parts of the carrier and millimeter wave radar devices arranged on the periphery of the carrier.
Further, the device also comprises a two-dimensional code scanning device arranged at the middle bottom of the carrier, and the two-dimensional code scanning device is used for scanning a two-dimensional code strip on a driving path when goods are transported.
The invention also provides a cooperative carrying control method of the swarm type carrying vehicles based on the system, when a plurality of carrying vehicles carry out swarm type cooperative transportation, the carrying vehicles are controlled to operate according to the following steps:
1) judging the parking position of the host vehicle: the host vehicle determines whether the front information meets the parking condition, if so, the host vehicle enters a parking mode, and if not, the host vehicle continues to move to search for the area where the goods are located;
2) the host vehicle executes parking: the host carrier judges whether the parking position of the host carrier is matched with the goods falling point, if so, the host carrier executes parking braking of the carrier to stop the carrier, otherwise, the host carrier adjusts the position of the carrier until the position of the host carrier is matched with the goods falling point;
3) performing parking from the vehicle: judging the position of the slave carrier, planning an optimal path to a parking position given by the host carrier, and then advancing to the parking position given by the host carrier;
4) judging and executing the driving rotating speed: the weighing sensors on the carriers detect weight data borne by the carriers and send the weight data to the central processing module, and the central processing module calculates the most suitable driving rotating speed and sends the most suitable driving rotating speed to the vehicle controller to drive the hub motor to work;
5) scene judgment and tracing: and judging a carrying scene, carrying out tracking by combining with the unloading area, and carrying the goods to the unloading area according to the determined track.
Further, the specific method for determining the parking position of the host vehicle comprises the following steps: determining the absolute position of the carrier through a GPS positioning device, judging whether the position of the carrier is near the area where the goods are located, if so, outputting 1, otherwise, outputting 0; determining the relative position of the carrier through a binocular camera device and a radar device, identifying a parking identification line by the binocular camera, judging whether the position and the relative distance between the parking identification line and the goods are within a set range, if so, outputting 1, and otherwise, outputting 0; if the two steps output 1, the host vehicle enters a parking mode; if the host vehicle exits the parking area, the two-step output is set to 0 in whole.
Further, the specific method for the host vehicle to stop is as follows: when the host vehicle enters a parking mode, the central processing module sends a deceleration command to the vehicle controller to decelerate the vehicle; the binocular camera device identifies whether an obstacle exists in a parking area in front of the carrier, if so, the radar device judges the relative position of a cargo falling point, transmits position information to the central processing unit, controls the carrier to operate, judges whether the carrier is matched with the position of the cargo falling point, and if so, executes parking brake of the carrier; if no obstacle exists in the parking area in front of the carrier, the carrier reaches a positioning position according to positioning information of the GPS positioning device, adjusts the posture of the carrier, brakes and stops the vehicle, and simultaneously sends a carrying command, the absolute position and the relative position of the host carrier to a slave carrier which is closest to the host carrier and has no carrying task through the internet of vehicles.
Further, the specific method for performing parking from the vehicle is as follows: when the slave carrier receives a carrying command, the central processing module calculates and plans an optimal driving path according to the position information sent by the host carrier, and drives the carrier to operate through the vehicle controller; the binocular camera device arranged on the vehicle judges whether an obstacle exists in a front driving area or not, if not, the binocular camera device is converged with the host vehicle, the radar device arranged on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, and after the checking is finished, the vehicle is braked and stopped, and the goods fall is waited; if the binocular camera device finds that an obstacle exists in front of the vehicle, the central processing module controls the vehicle to run in a decelerating mode through the vehicle controller, meanwhile, the radar device detects the relative position information of the radar device and the obstacle and sends the relative position information to the central processing module, whether the radar device can pass the obstacle or not is judged, if the radar device can pass the obstacle, the radar device is converged with the host vehicle, the radar device installed on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, the vehicle is braked and stopped, the goods fall is waited, otherwise, the central processing module plans the driving path again and drives the vehicle until the radar device is converged with the host vehicle, the relative.
Further, the specific method for judging and executing the driving rotating speed comprises the following steps: when all the carriers reach the parking positions, the upper control system lowers the goods onto a bearing platform formed by all the carriers; the load sensors on the carriers detect the loaded weight data, send the data to the corresponding central processing module, calculate the most suitable driving rotating speed, and then send the data to the vehicle controller to drive the hub motor to work, so that the carriers move.
Further, the specific method for scene judgment and tracking is as follows: the upper control system sends carrying scene information to a host carrier, the host carrier selects a tracing mode, outdoor tracing is output to be 1, and if not, 0 is output; the central processing module judges whether the output is 1, if so, the GPS positioning device transmits positioning information to the central processing module to plan an optimal driving path, and meanwhile, the radar device detects peripheral obstacle information and transmits the peripheral obstacle information to the central processing module, and the central processing module controls the vehicle controller to drive and avoid obstacles until the vehicle controller reaches an unloading area; if the output is not 1, the central processing module judges that the indoor carrying scene is an indoor carrying scene, the two-dimensional code scanning device arranged at the bottom of the host carrier scans the two-dimensional code track strips attached to the indoor traveling path, path information is collected, meanwhile, the host carrier synchronizes the path information to the slave carrier through the internet of vehicles so as to carry out cooperative operation, and obstacle avoidance control is carried out through a radar device on the carrier until the unloading area is reached.
Compared with the prior art, the invention has the following beneficial effects: the system and the method realize the cooperative carrying of the swarm type carrier vehicle to large goods, such as containers. In addition, accurate positioning can be realized in different environments, and the positioning accuracy of the carrier and the robustness of the system are improved due to the fusion of multiple sensors. In the parking area and the advancing direction, whether meet the barrier or not, the optimal driving path can be accurately judged and given, the barrier is avoided to drive to reach the designated position, and the transportation efficiency of large cargos such as containers is improved. In addition, the weighing sensor is added, so that energy consumed during driving can be greatly saved, and the maximum energy allowance is ensured under the condition of ensuring power. Therefore, the invention has strong practicability and wide application prospect.
Drawings
Fig. 1 is a schematic system structure according to an embodiment of the present invention.
Fig. 2 is a flow chart of a method implementation of an embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
The invention provides a cooperative carrying control system of a swarm type carrying vehicle, as shown in figure 1, comprising: the device comprises at least two binocular camera devices, a plurality of radar devices, a GPS (global positioning system) positioning device, a two-dimensional code scanning device, a weighing sensor and a central processing module.
The binocular camera devices are respectively installed at the front part and the rear part of the carrier and used for parking position judgment, parking identification line distance measurement and execution of obstacle detection in a parking area in front of the carrier during parking, and detection data are sent to the central processing module.
The radar devices are respectively arranged at the front part, the rear part and the periphery of the carrier and are used for judging the relative distance between the radar devices and the barrier and the relative position between the radar devices and other carriers and sending the detection data to the central processing module. In this embodiment, the plurality of radar devices include laser radar devices installed at the front and rear portions of the vehicle and millimeter wave radar devices installed around the vehicle.
The GPS positioning device is arranged on the carrier and used for determining the position of the carrier and planning the driving path.
The two-dimensional code scanning device is arranged at the middle bottom of the carrier and used for scanning the two-dimensional code strip on the traveling path when goods are transported.
The weighing sensor is arranged below a bearing plane of the carrier and used for collecting weight information borne by the carrier and sending the weight information to the central processing module.
The central processing module is arranged on the carrier and used for receiving data of various sensors, including output data of various binocular camera devices and various radar devices, and detection data of the weighing sensor are processed and judged to send execution commands to the vehicle controller so as to control various execution mechanisms of the carrier loader to work, including advancing, braking, steering and the like.
The invention also provides a cooperative carrying control method of the swarm type carrying vehicles based on the system, as shown in fig. 2, when a plurality of carrying vehicles carry out swarm type cooperative transportation, the carrying vehicles are controlled to operate according to the following steps:
1) judging the parking position of the host vehicle: and the host vehicle determines whether the front information meets the parking condition, if so, the host vehicle enters a parking mode, and if not, the host vehicle continues to move to search for the area where the goods are located. The specific method comprises the following steps: determining the absolute position of the carrier through a GPS positioning device, judging whether the position of the carrier is near the area where the goods are located, if so, outputting 1, otherwise, outputting 0; determining the relative position of the carrier through a binocular camera device and a radar device, identifying a parking identification line by the binocular camera, judging whether the position and the relative distance between the parking identification line and the goods are within a set range, if so, outputting 1, and otherwise, outputting 0; if the two steps output 1, the host vehicle enters a parking mode; if the host vehicle exits the parking area, the two-step output is set to 0 in whole.
2) The host vehicle executes parking: the host carrier judges whether the parking position of the host carrier is matched with the goods falling point, if so, the parking brake of the carrier is executed to stop the carrier, otherwise, the position of the carrier is adjusted until the position of the carrier is matched with the goods falling point. The specific method comprises the following steps: when the host vehicle enters a parking mode, the central processing module sends a deceleration command to the vehicle controller to decelerate the vehicle; the binocular camera device identifies whether an obstacle exists in a parking area in front of the carrier, if so, the radar device judges the relative position of a cargo falling point, transmits position information to the central processing unit, controls the carrier to operate, judges whether the carrier is matched with the position of the cargo falling point, and if so, executes parking brake of the carrier; if no obstacle exists in the parking area in front of the carrier, the carrier reaches a positioning position according to positioning information of the GPS positioning device, adjusts the posture of the carrier, brakes and stops the vehicle, and simultaneously sends a carrying command, the absolute position and the relative position of the host carrier to a slave carrier which is closest to the host carrier and has no carrying task through the internet of vehicles.
In order to improve the reliability and the performability of the stop position judgment and execution, a mode of jointly judging by the cooperative operation of multiple sensors is adopted.
3) Performing parking from the vehicle: the slave vehicle judges the position of the slave vehicle, plans an optimal path to the parking position given by the host vehicle, and then moves to the parking position given by the host vehicle. The specific method comprises the following steps: when the slave carrier receives a carrying command, the central processing module calculates and plans an optimal driving path according to the position information sent by the host carrier, and drives the carrier to operate through the vehicle controller; the binocular camera device arranged on the vehicle judges whether an obstacle exists in a front driving area or not, if not, the binocular camera device is converged with the host vehicle, the radar device arranged on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, and after the checking is finished, the vehicle is braked and stopped, and the goods fall is waited; if the binocular camera device finds that an obstacle exists in front of the vehicle, the central processing module controls the vehicle to run in a decelerating mode through the vehicle controller, meanwhile, the radar device detects the relative position information of the radar device and the obstacle and sends the relative position information to the central processing module, whether the radar device can pass the obstacle or not is judged, if the radar device can pass the obstacle, the radar device is converged with the host vehicle, the radar device installed on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, the vehicle is braked and stopped, the goods fall is waited, otherwise, the central processing module plans the driving path again and drives the vehicle until the radar device is converged with the host vehicle, the relative.
4) Judging and executing the driving rotating speed: the weighing sensors on the carriers detect weight data borne by the carriers and send the weight data to the central processing module, and the central processing module calculates the most suitable driving rotating speed and sends the driving rotating speed to the vehicle controller to drive the hub motor to work. The specific method comprises the following steps: when all the vehicles (four vehicles in the embodiment) reach the parking positions, the upper control system lowers the goods onto a bearing platform formed by the four vehicles; the load sensors on the carriers detect the loaded weight data, send the data to the corresponding central processing module, calculate the most suitable driving rotating speed, and then send the data to the vehicle controller to drive the hub motor to work, so that the carriers move.
5) Scene judgment and tracing: and judging a carrying scene, carrying out tracking by combining with the unloading area, and carrying the goods to the unloading area according to the determined track. The specific method comprises the following steps: the upper control system sends carrying scene information to a host carrier, the host carrier selects a tracing mode, outdoor tracing is output to be 1, and if not, 0 is output; the central processing module judges whether the output is 1, if so, the GPS positioning device transmits positioning information to the central processing module to plan an optimal driving path, and meanwhile, the radar device detects peripheral obstacle information and transmits the peripheral obstacle information to the central processing module, and the central processing module controls the vehicle controller to drive and avoid obstacles until the vehicle controller reaches an unloading area; if the output is not 1, the central processing module judges that the indoor carrying scene is an indoor carrying scene, the two-dimensional code scanning device arranged at the bottom of the host carrier scans the two-dimensional code track strips attached to the indoor traveling path, path information is collected, meanwhile, the host carrier synchronizes the path information to the slave carrier through the internet of vehicles so as to carry out cooperative operation, and obstacle avoidance control is carried out through a radar device on the carrier until the unloading area is reached.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.
Claims (9)
1. The utility model provides a bee colony formula carrier loader carries control system in coordination which characterized in that includes:
the binocular camera devices are respectively arranged at the front part and the rear part of the carrier and are used for parking mark line distance measurement in parking position judgment, executing obstacle detection in a parking area in front of the carrier in parking and sending detection data to the central processing module;
the radar devices are respectively arranged at the front part, the rear part and the periphery of the carrier and are used for judging the relative distance between the radar devices and the barrier and the relative position between the radar devices and other carriers and sending the detection data to the central processing module;
the GPS positioning device is arranged on the carrier and used for determining the position of the carrier and planning a driving path;
the weighing sensor is arranged below the bearing plane of the carrier and used for acquiring weight information borne by the carrier and sending the weight information to the central processing module; and
and the central processing module is arranged on the carrier and used for receiving various sensor data, sending an execution command to the vehicle controller through data processing and judgment so as to control each execution mechanism of the carrier vehicle to work, including advancing, braking and steering.
2. The cooperative vehicle control system of claim 1, wherein the plurality of radar devices comprise lidar devices mounted at the front and rear of the vehicle and millimeter-wave radar devices mounted around the vehicle.
3. The cooperative carrying control system for the swarm-type carriers of claim 1, further comprising a two-dimension code scanner installed at the middle bottom of the carrier for scanning the two-dimension code strip on the traveling path during cargo transportation.
4. A cooperative carrying control method for swarm type carrying vehicles based on the system of any one of claims 1-3, wherein when a plurality of carrying vehicles carry out swarm type cooperative transportation, the carrying vehicles are controlled to operate according to the following steps:
1) judging the parking position of the host vehicle: the host vehicle determines whether the front information meets the parking condition, if so, the host vehicle enters a parking mode, and if not, the host vehicle continues to move to search for the area where the goods are located;
2) the host vehicle executes parking: the host carrier judges whether the parking position of the host carrier is matched with the goods falling point, if so, the host carrier executes parking braking of the carrier to stop the carrier, otherwise, the host carrier adjusts the position of the carrier until the position of the host carrier is matched with the goods falling point;
3) performing parking from the vehicle: judging the position of the slave carrier, planning an optimal path to a parking position given by the host carrier, and then advancing to the parking position given by the host carrier;
4) judging and executing the driving rotating speed: the weighing sensors on the carriers detect weight data borne by the carriers and send the weight data to the central processing module, and the central processing module calculates the most suitable driving rotating speed and sends the most suitable driving rotating speed to the vehicle controller to drive the hub motor to work;
5) scene judgment and tracing: and judging a carrying scene, carrying out tracking by combining with the unloading area, and carrying the goods to the unloading area according to the determined track.
5. The method as claimed in claim 4, wherein the method for determining the parking position of the host vehicle comprises: determining the absolute position of the carrier through a GPS positioning device, judging whether the position of the carrier is near the area where the goods are located, if so, outputting 1, otherwise, outputting 0; determining the relative position of the carrier through a binocular camera device and a radar device, identifying a parking identification line by the binocular camera, judging whether the position and the relative distance between the parking identification line and the goods are within a set range, if so, outputting 1, and otherwise, outputting 0; if the two steps output 1, the host vehicle enters a parking mode; if the host vehicle exits the parking area, the two-step output is set to 0 in whole.
6. The method as claimed in claim 5, wherein the host vehicle is parked by the following method: when the host vehicle enters a parking mode, the central processing module sends a deceleration command to the vehicle controller to decelerate the vehicle; the binocular camera device identifies whether an obstacle exists in a parking area in front of the carrier, if so, the radar device judges the relative position of a cargo falling point, transmits position information to the central processing unit, controls the carrier to operate, judges whether the carrier is matched with the position of the cargo falling point, and if so, executes parking brake of the carrier; if no obstacle exists in the parking area in front of the carrier, the carrier reaches a positioning position according to positioning information of the GPS positioning device, adjusts the posture of the carrier, brakes and stops the vehicle, and simultaneously sends a carrying command, the absolute position and the relative position of the host carrier to a slave carrier which is closest to the host carrier and has no carrying task through the internet of vehicles.
7. The method as claimed in claim 6, wherein the specific method for parking from the vehicle is as follows: when the slave carrier receives a carrying command, the central processing module calculates and plans an optimal driving path according to the position information sent by the host carrier, and drives the carrier to operate through the vehicle controller; the binocular camera device arranged on the vehicle judges whether an obstacle exists in a front driving area or not, if not, the binocular camera device is converged with the host vehicle, the radar device arranged on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, and after the checking is finished, the vehicle is braked and stopped, and the goods fall is waited; if the binocular camera device finds that an obstacle exists in front of the vehicle, the central processing module controls the vehicle to run in a decelerating mode through the vehicle controller, meanwhile, the radar device detects the relative position information of the radar device and the obstacle and sends the relative position information to the central processing module, whether the radar device can pass the obstacle or not is judged, if the radar device can pass the obstacle, the radar device is converged with the host vehicle, the radar device installed on the vehicle jointly checks the relative positions of the host vehicle and other slave vehicles, the vehicle is braked and stopped, the goods fall is waited, otherwise, the central processing module plans the driving path again and drives the vehicle until the radar device is converged with the host vehicle, the relative.
8. The method as claimed in claim 7, wherein the specific method for determining and executing the driving speed is as follows: when all the carriers reach the parking positions, the upper control system lowers the goods onto a bearing platform formed by all the carriers; the load sensors on the carriers detect the loaded weight data, send the data to the corresponding central processing module, calculate the most suitable driving rotating speed, and then send the data to the vehicle controller to drive the hub motor to work, so that the carriers move.
9. The method as claimed in claim 8, wherein the specific method for scene determination and tracking is as follows: the upper control system sends carrying scene information to a host carrier, the host carrier selects a tracing mode, outdoor tracing is output to be 1, and if not, 0 is output; the central processing module judges whether the output is 1, if so, the GPS positioning device transmits positioning information to the central processing module to plan an optimal driving path, and meanwhile, the radar device detects peripheral obstacle information and transmits the peripheral obstacle information to the central processing module, and the central processing module controls the vehicle controller to drive and avoid obstacles until the vehicle controller reaches an unloading area; if the output is not 1, the central processing module judges that the indoor carrying scene is an indoor carrying scene, the two-dimensional code scanning device arranged at the bottom of the host carrier scans the two-dimensional code track strips attached to the indoor traveling path, path information is collected, meanwhile, the host carrier synchronizes the path information to the slave carrier through the internet of vehicles so as to carry out cooperative operation, and obstacle avoidance control is carried out through a radar device on the carrier until the unloading area is reached.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112580702A (en) * | 2020-12-10 | 2021-03-30 | 深圳技术大学 | Multi-sensor cooperative sensing method and device |
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