CN113103833A - Automatic reversing and hanging system and method based on TOF camera - Google Patents
Automatic reversing and hanging system and method based on TOF camera Download PDFInfo
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- CN113103833A CN113103833A CN202110265840.0A CN202110265840A CN113103833A CN 113103833 A CN113103833 A CN 113103833A CN 202110265840 A CN202110265840 A CN 202110265840A CN 113103833 A CN113103833 A CN 113103833A
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- vehicle
- towed
- unmanned vehicle
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- tof camera
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 59
- 239000000126 substance Substances 0.000 claims description 2
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims 1
- 238000011112 process operation Methods 0.000 abstract 1
- 238000005065 mining Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
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- 238000009776 industrial production Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
- B60D1/36—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers, visual guide means, signalling aids
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/002—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like
- B60R1/003—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles specially adapted for covering the peripheral part of the vehicle, e.g. for viewing tyres, bumpers or the like for viewing trailer hitches
Abstract
The invention discloses an automatic reverse hanging system and method based on TOF camera, the system includes: the unmanned vehicle, the rear-view TOF camera, the connection detection device and the main control device; the rear-view TOF camera is arranged behind the unmanned vehicle and used for acquiring a rear-view depth image; the connection detection device is arranged at the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle and is used for realizing connection detection; the master control device is used for receiving the rearview depth image signals and the connection detection signals, identifying the positions to be dragged and the positions to be hung according to the rearview depth image signals, and setting a reversing path of the unmanned vehicle so as to realize reversing of the unmanned vehicle and enable the vehicles to be dragged and the unmanned vehicle to be dragged to be automatically connected; and the device is also used for identifying whether the connection between the trailer to be towed and the trailer is successful according to the connection detection signal. By the aid of the method and the system, the unmanned vehicle can be automatically butted with a goods trailer, so that the whole process operation of the unmanned vehicle is realized, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an automatic reverse hanging system and method based on a TOF camera.
Background
Along with the gradual industrial landing of the unmanned system, unmanned logistics in factories, ports and mining areas are gradually increased. Unmanned transportation is becoming the normal operation state in these fields, wherein the definition of unmanned logistics is that factory logistics, port logistics and mining logistics which once need to be driven by human drivers are changed into unmanned logistics transportation mainly based on unmanned vehicles.
However, in the current unmanned logistics transportation, the degree of unmanned transportation is concentrated on the transportation end, and the unmanned transportation is basically concentrated on the unmanned transportation of all vehicle equipment after the preparation is completed, namely, the vehicles on the road, so that the unmanned transportation cannot be truly realized at a station or an operation point, and the inconvenience of using unmanned vehicles is brought. Especially, the operation of hooking on the trailer of unmanned logistics is not realized, and the user experience needs to be improved.
Disclosure of Invention
The invention provides an automatic reverse hanging system and method based on a TOF camera, aiming at the problems in the prior art, and the system and method can realize the automatic butt joint of an unmanned vehicle and a goods trailer, thereby realizing the full-flow operation of the unmanned vehicle and reducing the transportation cost of industrial production.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention provides an automatic reversing hanging system based on a TOF camera, which comprises: the system comprises an unmanned vehicle, a rear-view TOF camera, a connection detection device and a main control device; wherein the content of the first and second substances,
the rear-view TOF camera is arranged behind the unmanned vehicle and used for acquiring a rear-view depth image and transmitting an acquired rear-view depth image signal to the main control device;
the connection detection device is arranged at the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle, and is used for realizing connection detection and transmitting a connection detection signal to the main control device;
the master control device is used for receiving the rearview depth image signal and the connection detection signal, identifying positions to be dragged and hung according to the rearview depth image signal, and setting a reversing path of the unmanned vehicle so as to realize reversing of the unmanned vehicle and enable automatic connection of the vehicle to be dragged and the unmanned vehicle to be dragged; and the device is also used for identifying whether the connection between the trailer to be towed and the trailer is successful according to the connection detection signal.
Preferably, the connection detection device is a mechanical collision device for realizing mechanical collision detection.
Preferably, the mechanical collision device is a mechanical switch sensor, the mechanical collision detection signal is 0 when the connection between the trailer and the trailer is not successful, and the mechanical collision detection signal is 1 when the connection between the trailer and the trailer is successful.
Preferably, the connection detection device is a pressure detection device for realizing pressure detection, the pressure detection signal is smaller than a preset value when the connection between the to-be-towed and the towing is not successful, and the pressure detection signal is greater than or equal to the preset value when the connection between the to-be-towed and the towing is successful.
Preferably, the initial position of the unmanned vehicle is at the front left or right of the trailer to be towed.
Preferably, under the condition that the first reverse towing connection is unsuccessful, the master control device is further configured to control the unmanned vehicle to advance, so as to implement repeated advancing and reversing for towing connection.
Preferably, the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle are/is further provided with an encoder, and the encoder is used for detecting the relative pose of the vehicle to be towed and the unmanned vehicle and transmitting a relative pose signal to the main control device; further, the air conditioner is provided with a fan,
the master control device is used for setting a reversing path of the unmanned vehicle according to the rearview depth image signal and the relative pose signal.
Preferably, the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle are/is further provided with a mark, and the mark is used for reducing the detection range of the position to be towed and/or the towing position.
Preferably, the method further comprises the following steps: and the communication unit is used for uploading the hung information to a cloud system, so that the whole system can share the current situation of the unmanned logistics vehicle in actual operation, and the efficient operation of the whole system is ensured.
The invention also provides an automatic reversing hanging method based on the TOF camera, which comprises the following steps:
s91: collecting a rear-view depth image behind the unmanned aerial vehicle through a TOF camera;
s92: identifying positions of the vehicle to be towed and the position of the vehicle to be towed according to the rearview depth image signal, and further setting a reversing path of the unmanned vehicle so as to realize that reversing of the unmanned vehicle promotes automatic connection of the vehicle to be towed and the vehicle to be towed;
s93: and detecting whether the connection between the vehicle to be towed and the unmanned aerial vehicle is successful or not.
Preferably, the step S93 is followed by:
s101: and when the connection between the to-be-towed vehicle and the towing vehicle is not successful, controlling the unmanned vehicle to advance so as to realize repeated advancing and reversing for multiple times to carry out towing connection.
Preferably, the S93 further comprises: detecting whether a connection is made between a vehicle to be towed of the vehicle to be towed and a tow of the drone through a mechanical collision signal and/or a pressure signal.
Preferably, the method further comprises the following steps: the hung information is uploaded to a cloud system, so that the whole system can share the current situation of the unmanned logistics vehicle in actual operation, and the efficient operation of the whole system is guaranteed.
The automatic reversing and hanging system and method based on the TOF camera have wide application scenes and can be used for small logistics scenes such as logistics scenes of factories, parks and airports; it can also be used in large logistics scenarios, such as transportation scenarios in mining areas.
Compared with the prior art, the embodiment of the invention has at least one of the following advantages:
(1) according to the automatic reverse hanging system and method based on the TOF camera, complete unmanned operation is achieved through the rear-view TOF camera, the connection detection device and the main control device, and user experience is greatly improved; moreover, the hooking process is unmanned, so that the safety of a factory is further improved, and the safety of workers is guaranteed;
(2) according to the automatic reverse hanging system and method based on the TOF camera, detection and tracking of a trailer are achieved through the rear-view TOF camera, conditions of day and night can be processed simultaneously, and all-weather operation is achieved;
(3) according to the automatic reverse hanging system and method based on the TOF camera, the reciprocating path planning is adopted, so that the path planning can be carried out again under the condition that the automatic dragging and hanging is failed, and the dragging and hanging are carried out again;
(4) according to the automatic backing up and hanging-up system and method based on the TOF camera, the hanging-up information is uploaded to the cloud system, so that the whole system can share the current situation of an unmanned logistics vehicle which is actually operated, and efficient operation of the whole system is guaranteed.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of an automatic reverse hanging system based on a TOF camera according to an embodiment of the invention;
fig. 2 is a flowchart of an automatic reverse hanging method based on a TOF camera according to an embodiment of the invention.
Description of reference numerals: the system comprises a vehicle 1, an unmanned vehicle 2, a rear-view TOF camera 3, a connection detection device and a main control device 4.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Fig. 1 is a schematic structural diagram of an automatic reverse hanging system based on a TOF camera according to an embodiment of the invention.
Referring to fig. 1, the automatic reverse hanging system of the present embodiment includes: unmanned vehicle 1, back view TOF camera 2, connection detection device 3 and master control unit 4. Wherein, back vision TOF camera 2 sets up in unmanned car 1's rear for realize the collection of back vision depth image, and give main control unit 4 with the back vision depth image signal transmission who gathers. The connection detection device 3 is arranged at a position to be towed of the vehicle to be towed and/or a towing position of the unmanned vehicle, and is used for realizing connection detection and transmitting a connection detection signal to the main control device 4. The main control device 4 is used for receiving the rearview depth image signal and the connection detection signal, identifying the positions to be dragged and the positions to be hung according to the rearview depth image signal, and setting a reversing path of the unmanned vehicle so as to realize reversing of the unmanned vehicle and enable the vehicles to be dragged and the unmanned vehicle to be dragged to be automatically connected; and the device is also used for identifying whether the connection between the trailer to be towed and the trailer is successful according to the connection detection signal.
In the embodiment, the rear-view TOF camera, the connection detection device and the main control device are adopted, so that complete unmanned operation is realized, and the user experience is greatly improved; moreover, the hooking process is unmanned, so that the safety of a factory is further improved, and the safety of workers is guaranteed. The detection and tracking of the trailing can be realized through the rear-view TOF camera, the conditions of day and night can be processed simultaneously, and all-weather operation is realized.
In a preferred embodiment, the connection detection device is a mechanical collision device for implementing mechanical collision detection. Further, the mechanical collision device may be a mechanical switch sensor, and when the connection between the to-be-towed and the towing is not successful, the mechanical collision detection signal is 0, and when the connection between the to-be-towed and the towing is successful, the mechanical collision detection signal is 1.
In another embodiment, the connection detection device may also be a pressure detection device for realizing pressure detection, where a pressure detection signal is smaller than a preset value when the connection between the to-be-towed and the towing is not successful, and the pressure detection signal is greater than or equal to the preset value when the connection between the to-be-towed and the towing is successful.
In a preferred embodiment, the initial position of the unmanned vehicle is either in front left or in front right of the vehicle to be towed, thereby enabling the TOF camera to visualize the position of the vehicle to be towed.
In a preferred embodiment, when the first reverse towing connection is unsuccessful, the master control device is further configured to control the unmanned vehicle to advance, so as to implement repeated forward and reverse towing connection for multiple times. Furthermore, the reciprocating path planning ensures that the automatic pulling and hanging can be carried out again under the condition of failed pulling and hanging, and the pulling and hanging can be carried out again.
In a preferred embodiment, the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle are/is further provided with an encoder, and the encoder is arranged on a main shaft to be towed and/or towed and is used for detecting the relative poses of the vehicle to be towed and the unmanned vehicle and transmitting a relative pose signal to the main control device; furthermore, the main control device is used for setting a reversing path of the unmanned vehicle according to the rearview depth image signal and the relative pose signal.
In a preferred embodiment, the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle are further provided with signs, such as: the reflective label or the label with bright color is used for reducing the detection range of the position to be dragged and/or the position to be dragged, so that the detection accuracy is improved.
In a preferred embodiment, the method further comprises: and the communication unit is used for uploading the hung information to a cloud system, so that the whole system can share the current situation of the unmanned logistics vehicle in actual operation, and the efficient operation of the whole system is ensured.
In different embodiments, the vehicle to be towed and the unmanned vehicle can be towed in the form of a hook; alternatively, other connection means may be used, such as: magnetic connections, pressure connections, etc. Further, when the hook form is adopted, when the position to be dragged is reached, the hook is put down, and therefore automatic hooking is achieved.
Fig. 2 is a flowchart of an automatic reverse hanging method based on a TOF camera according to an embodiment of the invention.
Referring to fig. 2, the automatic reverse hanging method of the present embodiment includes the following steps:
s91: collecting a rear-view depth image behind the unmanned aerial vehicle through a TOF camera;
s92: identifying positions of the vehicle to be towed and the position of the vehicle to be towed according to the rearview depth image signal, and further setting a reversing path of the unmanned vehicle so as to realize that reversing of the unmanned vehicle promotes automatic connection of the vehicle to be towed and the vehicle to be towed of the unmanned vehicle;
s93: whether connection between the vehicle to be towed and the unmanned aerial vehicle is successful is detected.
In a preferred embodiment, S93 is followed by:
s101: when the connection between the trailer to be towed and the trailer is not successful, the unmanned vehicle is controlled to move forward so as to realize repeated forward and reverse for towing connection.
In a preferred embodiment, S93 is further: whether a connection is made between the vehicle to be towed and the unmanned aerial vehicle is detected by a mechanical collision signal and/or a pressure signal.
Preferably, the method further comprises the following steps: the hung information is uploaded to a cloud system, so that the whole system can share the current situation of the unmanned logistics vehicle in actual operation, and the efficient operation of the whole system is guaranteed.
According to the embodiment of the invention, the hung information is uploaded to the cloud system, so that the whole system can share the current situation of the unmanned logistics vehicle which is actually operated, and the efficient operation of the whole system is ensured.
The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and not to limit the invention. Any modifications and variations within the scope of the description, which may occur to those skilled in the art, are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides an automatic system of hanging on backing a car based on TOF camera which characterized in that includes: the system comprises an unmanned vehicle, a rear-view TOF camera, a connection detection device and a main control device; wherein the content of the first and second substances,
the rear-view TOF camera is arranged behind the unmanned vehicle and used for acquiring a rear-view depth image and transmitting an acquired rear-view depth image signal to the main control device;
the connection detection device is arranged at the position to be towed of the vehicle to be towed and/or the towing position of the unmanned vehicle, and is used for realizing connection detection and transmitting a connection detection signal to the main control device;
the master control device is used for receiving the rearview depth image signal and the connection detection signal, identifying positions to be dragged and hung according to the rearview depth image signal, and setting a reversing path of the unmanned vehicle so as to realize reversing of the unmanned vehicle and enable automatic connection of the vehicle to be dragged and the unmanned vehicle to be dragged; and the device is also used for identifying whether the connection between the trailer to be towed and the trailer is successful according to the connection detection signal.
2. The automatic reverse hanging system based on TOF camera of claim 1 wherein the connection detection device is a mechanical collision device for implementing mechanical collision detection.
3. The automatic reverse hanging system based on TOF camera of claim 2, wherein the mechanical collision device is a mechanical switch sensor, the mechanical collision detection signal is 0 when the to-be-towed and the towed are not successfully connected, and the mechanical collision detection signal is 1 when the to-be-towed and the towed are successfully connected.
4. The automatic reverse hanging system based on TOF camera according to claim 1, wherein the connection detection device is a pressure detection device for realizing pressure detection, the pressure detection signal is smaller than a preset value when the connection between the to-be-dragged and the to-be-dragged is not successful, and the pressure detection signal is greater than or equal to the preset value when the connection between the to-be-dragged and the to-be-dragged is successful.
5. The TOF camera based automatic reverse hitching system of claim 1 wherein the initial position of the unmanned vehicle is either in front left or front right of the vehicle to be towed.
6. The automatic reverse hitching system based on the TOF camera according to claim 1, wherein the master control device is further configured to control the unmanned vehicle to advance when a first reverse hitching connection is unsuccessful, so as to realize multiple repeated forward and reverse hitching connections.
7. The automatic reversing and hanging system based on the TOF camera according to claim 1, wherein the position to be dragged of the vehicle to be dragged and/or the position to be dragged of the unmanned vehicle is further provided with an encoder for detecting the relative poses of the vehicle to be dragged and the unmanned vehicle and transmitting a relative pose signal to the master control device; further, the air conditioner is provided with a fan,
the master control device is used for setting a reversing path of the unmanned vehicle according to the rearview depth image signal and the relative pose signal.
8. The automatic reverse hanging system based on TOF camera according to any one of claims 1 to 7, wherein the position to be hung of the vehicle to be hung and/or the hanging position of the unmanned vehicle is further provided with a flag for narrowing the detection range of the position to be hung and/or the hanging position by the flag.
9. An automatic reverse hanging method based on a TOF camera is characterized by comprising the following steps:
s91: collecting a rear-view depth image behind the unmanned aerial vehicle through a TOF camera;
s92: identifying positions of the vehicle to be towed and the position of the vehicle to be towed according to the rearview depth image signal, and further setting a reversing path of the unmanned vehicle so as to realize that reversing of the unmanned vehicle promotes automatic connection of the vehicle to be towed and the vehicle to be towed;
s93: and detecting whether the connection between the vehicle to be towed and the unmanned aerial vehicle is successful or not.
10. The automatic reverse hanging method based on TOF camera of claim 8, further comprising after S93:
s101: and when the connection between the to-be-towed vehicle and the towing vehicle is not successful, controlling the unmanned vehicle to advance so as to realize repeated advancing and reversing for multiple times to carry out towing connection.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110265840.0A CN113103833A (en) | 2021-03-11 | 2021-03-11 | Automatic reversing and hanging system and method based on TOF camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110265840.0A CN113103833A (en) | 2021-03-11 | 2021-03-11 | Automatic reversing and hanging system and method based on TOF camera |
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Application publication date: 20210713 |