CN113885517A - Luggage carrying vehicle, luggage carrying system and method - Google Patents
Luggage carrying vehicle, luggage carrying system and method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
Abstract
The invention provides a luggage carrier, a luggage carrying system and a luggage carrying method, wherein the luggage carrier comprises a laser radar, a binocular camera, an industrial personal computer and a vehicle body; the laser radar and the binocular camera are both connected with an industrial personal computer; the binocular camera is used for acquiring images of the front environment; the industrial personal computer is used for extracting the characteristics of the image of the front environment and determining the position of the following target; the laser radar is used for determining the distance between the vehicle body and the following target; the industrial personal computer is also used for determining the running speed of the following target and the position of the vehicle body according to the distance between the vehicle body and the following target and the position of the following target; the industrial personal computer is also used for determining a target running path of the vehicle body according to the position of the following target and the position of the vehicle body, and controlling the vehicle body to move along the target running path according to the target running speed; the industrial personal computer is also used for controlling the braking of the vehicle body when the laser radar detects the obstacle. The invention can be suitable for carrying different amounts of luggage.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a luggage carrier, a luggage transfer system and a luggage transfer method.
Background
In large transportation hub scenes such as airports, railway stations and the like, people often need to carry luggage, and the transportation convenience can be greatly improved by using the luggage carrier. However, the conventional baggage transportation vehicle mainly uses a manual pushing manner and has a limited carrying capacity. If the amount of baggage carried by a traveler is large, it is laborious to transport the baggage even by using a hand-push type baggage handling vehicle. When the number of the luggage is too large, one luggage carrier cannot meet the use requirement, and one person cannot use a plurality of luggage carriers at the same time, thereby causing certain inconvenience. Meanwhile, if the passenger is unfamiliar with the route inside the airport or station, the passenger is easy to detour or walk by mistake and wastes much time, and the carried luggage also becomes a burden. Therefore, there is a need to find better solutions to the above problems.
Currently, there is a proposed automatic following baggage truck technology, for example, patent document CN109532993A discloses a baggage truck technology based on automatic following between a following motion system and a personnel wearing module through electromagnetic wave communication, which can make the truck automatically follow a target personnel to move, thereby realizing automatic operation of the truck and reducing physical power consumption of a user. But the user must wear the signal transmitting module, and the user experience is not convenient enough. Meanwhile, the following of a single carrier can be realized, the carrying amount is limited, and the use requirement of passengers carrying a large amount of luggage cannot be met.
The existing baggage handling robot technology can realize that the robot moves autonomously according to a certain planned route, for example, the robot technology which realizes autonomous navigation movement by using modules such as positioning, communication, processors and the like disclosed in patent document CN107458620A, but the moving route of the robot is relatively fixed. When a user needs to temporarily change the movement path to another position (for example, temporarily go to a toilet), the robot cannot flexibly cooperate with the user to change the movement path, and inconvenience is brought to the user. Meanwhile, the technical target is a single robot, and the use requirement of passengers carrying a large amount of luggage cannot be met.
Accordingly, there is a need to develop a baggage handling vehicle technology that is more flexible, convenient, and adaptable to different baggage quantities (including small and large quantities) and different baggage types (including whole and fragmented) to meet the diverse and differentiated needs of travelers.
Disclosure of Invention
The invention aims to provide a luggage carrier, a luggage carrying system and a method, wherein the luggage carrier is used as a component of a luggage carrying vehicle queue, can be suitable for carrying different luggage quantities, realizes automatic target following and increases the carrying capacity of single carrying.
The carrying amount of the luggage can be increased,
in order to achieve the purpose, the invention provides the following scheme:
a baggage handling vehicle comprising:
the system comprises a laser radar, a binocular camera, an industrial personal computer and a vehicle body;
the laser radar and the binocular camera are both connected with the industrial personal computer;
the binocular camera is used for acquiring images of the front environment;
the industrial personal computer is used for extracting the characteristics of the image of the front environment and determining the position of the following target;
the laser radar is used for determining the distance between the vehicle body and the following target;
the industrial personal computer is also connected with a power system of the vehicle body; the industrial personal computer is also used for determining the running speed of the following target and the position of the vehicle body according to the distance between the vehicle body and the following target and the position of the following target; the industrial personal computer is also used for determining a target running path of the vehicle body according to the position of the following target and the position of the vehicle body, and controlling the vehicle body to move along the target running path according to the target running speed;
the industrial personal computer is also used for controlling the vehicle body to brake when the laser radar detects the obstacle.
Optionally, the baggage handling vehicle further comprises:
a vehicle-mounted storage battery and a power switch;
and the vehicle-mounted storage battery is respectively connected with the industrial personal computer and the power switch.
A baggage handling system comprising:
a mobile terminal and a baggage handling vehicle queue;
the luggage van queue comprises a plurality of luggage vans which are arranged in sequence;
the industrial personal computers of the plurality of baggage handling vehicles are all in wireless connection with the mobile terminal;
the mobile terminal is used for acquiring a pilot mode selected by a user and sending the pilot mode to pilot vehicles in the baggage handling vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
the navigation vehicle is used for acquiring a destination position in an automatic navigation mode, constructing a global map according to information acquired by a laser radar and a binocular camera and determining the position of the navigation vehicle, then determining a navigation running path in the global map according to the position of the navigation vehicle and the destination position, and running along the navigation running path at a preset speed;
the piloting vehicle is also used for planning a target running path by taking a user as a following target and running along the target running path according to the following target running speed in the automatic following mode;
and the non-pilot vehicles in the baggage handling vehicle queue are used for planning a target running path by taking the previous baggage handling vehicle as a following target and running along the target running path according to the following target running speed.
Optionally, the formation control method is applied to a baggage handling system according to claim 3, the method comprising:
the method comprises the steps that a mobile terminal obtains a pilot mode selected by a user and sends the pilot mode to pilot vehicles in a baggage transportation vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
the piloting vehicle determines a piloting running path according to a selected piloting mode of a user and runs along the piloting running path;
and non-piloting vehicles in the baggage transportation vehicle queue take the previous baggage transportation vehicle as a following target to plan a target running path, and run along the target running path according to the following target running speed.
Optionally, the determining, by the pilot vehicle, a pilot driving path according to the pilot mode selected by the user specifically includes:
in an automatic navigation mode, the pilot vehicle acquires a destination position, a global map is constructed according to information acquired by a laser radar binocular camera, the position of the pilot vehicle is determined, and then a pilot driving path is determined in the global map according to the position of the pilot vehicle and the destination position;
in the automatic following mode, the pilot vehicle plans a target driving path by taking a user as a following target, and determines the target driving path as the pilot driving path.
Optionally, the non-piloting vehicle in the baggage handling vehicle queue plans a target travel path with a previous baggage handling vehicle as a following target, and travels along the target travel path at a following target travel speed, and then further includes:
determining that any baggage transporter in the queue of baggage transporters is a current baggage transporter;
and when the laser radar of the current luggage van detects an obstacle, the industrial personal computer controls the body brake of the current luggage van.
Optionally, after the industrial computer controls the vehicle body braking of the current luggage van, the industrial computer further includes:
controlling the current luggage van to travel along the target travel path at a car-following speed when the lidar of the current luggage van detects that the obstacle is removed; the car-following speed is greater than the running speed of the current luggage van before braking.
Optionally, when the lidar of the current baggage truck detects that the obstacle is removed, the method further includes controlling the current baggage truck to travel along the target travel path at a vehicle-following speed, and then:
and when the laser radar of the current luggage van detects that the distance between the current luggage van and the following target is equal to a preset distance threshold value, controlling the current luggage van to run along the target running path according to the target following running speed.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a luggage carrier, a luggage carrying system and a method, wherein the luggage carrier comprises: the system comprises a laser radar, a binocular camera, an industrial personal computer and a vehicle body; the laser radar and the binocular camera are both connected with an industrial personal computer; the binocular camera is used for acquiring images of the front environment; the industrial personal computer is used for extracting the characteristics of the image of the front environment and determining the position of the following target; the laser radar is used for determining the distance between the vehicle body and the following target; the industrial personal computer is also connected with a power system of the vehicle body; the industrial personal computer is also used for determining the running speed of the following target and the position of the vehicle body according to the distance between the vehicle body and the following target and the position of the following target; the industrial personal computer is also used for determining a target running path of the vehicle body according to the position of the following target and the position of the vehicle body, and controlling the vehicle body to move along the target running path according to the target running speed; the industrial personal computer is also used for controlling the braking of the vehicle body when the laser radar detects the obstacle. The invention can be used as a component of a baggage transportation vehicle queue by realizing the automatic following of the target and adapt to the transportation of different quantities of baggage by adjusting the quantity of baggage transportation vehicles.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described 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 without inventive exercise.
FIG. 1 is a schematic view of a baggage handling vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a baggage handling vehicle according to the present invention;
FIG. 3 is a general technical framework diagram of a baggage handling vehicle according to an embodiment of the present invention;
FIG. 4 is a technical roadmap for an automatic baggage carrier follow-up in an embodiment of the present invention;
FIG. 5 is a route diagram of an autonomous navigation technique for a baggage handling vehicle according to an embodiment of the present invention;
FIG. 6 is a route diagram of a baggage truck queue travel technique according to an embodiment of the present invention;
FIG. 7 is a logic diagram illustrating a baggage handling vehicle status according to an embodiment of the present invention;
FIG. 8 is a flow chart illustrating the use of a baggage handling vehicle according to an embodiment of the present invention;
FIG. 9 is a flow chart of a baggage handling method according to an embodiment of the present invention;
description of the drawings: 1-laser radar; 2-a vehicle body; 3-a dragging and carrying mechanism; 4-an industrial personal computer; 5-a loading mechanism; 6-binocular camera.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a luggage carrier, a luggage carrying system and a method, wherein the luggage carrier is used as a component of a luggage carrying vehicle queue, can be suitable for carrying different luggage quantities, realizes automatic target following and increases the carrying capacity of single carrying.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a baggage handling vehicle according to an embodiment of the present invention, and as shown in fig. 1, the present invention provides a baggage handling vehicle including:
the system comprises a laser radar 1, a binocular camera 6, an industrial personal computer 4 and a vehicle body 2;
the laser radar and the binocular camera are both connected with an industrial personal computer;
the binocular camera is used for acquiring images of the front environment;
the industrial personal computer is used for extracting the characteristics of the image of the front environment and determining the position of the following target;
the laser radar is used for determining the distance between the vehicle body and the following target;
the industrial personal computer is also connected with a power system of the vehicle body; the industrial personal computer is also used for determining the running speed of the following target and the position of the vehicle body according to the distance between the vehicle body and the following target and the position of the following target; the industrial personal computer is also used for determining a target running path of the vehicle body according to the position of the following target and the position of the vehicle body, and controlling the vehicle body to move along the target running path according to the target running speed;
the industrial personal computer is also used for controlling the braking of the vehicle body when the laser radar detects the obstacle.
Specifically, luggage carrier still includes:
a vehicle-mounted storage battery and a power switch;
the vehicle-mounted storage battery is respectively connected with the industrial personal computer and the power switch.
In addition, the present invention also provides a baggage handling system comprising:
a mobile terminal and a baggage handling vehicle queue;
the luggage van queue comprises a plurality of luggage vans which are arranged in sequence;
the industrial personal computers of the plurality of baggage handling vehicles are all in wireless connection with the mobile terminal;
the mobile terminal is used for acquiring a navigation mode selected by a user and sending the navigation mode to a navigation vehicle in a baggage transportation vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
the piloting vehicle is used for acquiring a destination position in an automatic navigation mode, constructing a global map according to information acquired by the laser radar and the binocular camera, determining the position of the piloting vehicle, then determining a piloting running path in the global map according to the position of the piloting vehicle and the destination position, and running along the piloting running path at a preset speed;
the pilot vehicle is also used for planning a target running path by taking the user as a following target and running along the target running path according to the following target running speed in the automatic following mode;
the non-piloted vehicles in the baggage transportation vehicle queue are used for planning a target running path by taking the previous baggage transportation vehicle as a following target and running along the target running path according to the following target running speed.
Fig. 9 is a flowchart of a baggage handling method according to an embodiment of the present invention, and referring to fig. 9, the present invention provides a baggage handling method applied to the baggage handling system, the method including:
step 901: the method comprises the steps that a mobile terminal obtains a navigation mode selected by a user and sends the navigation mode to navigation vehicles in a baggage transportation vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
step 902: the piloting vehicle determines a piloting running path according to the selected piloting mode of the user and runs along the piloting running path;
step 903: the non-pilot vehicles in the baggage transportation vehicle queue plan a target driving path by taking the previous baggage transportation vehicle as a follow target, and drive along the target driving path according to the follow target driving speed.
in the automatic navigation mode, the pilot vehicle acquires a destination position, a global map is constructed according to information acquired by the laser radar binocular camera, the position of the pilot vehicle is determined, and then a pilot running path is determined in the global map according to the position of the pilot vehicle and the destination position;
and in the automatic following mode, planning a target driving path by using the user as a following target by the pilot vehicle, and determining the target driving path as the pilot driving path.
Wherein, the non-pilot vehicle in the baggage transport vehicle queue takes the previous baggage transport vehicle as a following target planning target driving path and drives along the target driving path according to the following target driving speed, and then the method further comprises the following steps:
determining that any baggage handling vehicle in the queue of baggage handling vehicles is a current baggage handling vehicle;
when the laser radar of the current luggage van detects an obstacle, the industrial personal computer controls the vehicle body brake of the current luggage van.
Specifically, after the automobile body braking of current luggage carrier of industrial computer control, still include:
when the laser radar of the current luggage van detects that the obstacle is removed, controlling the current luggage van to run along the target running path according to the car tracking speed; the vehicle-following speed is higher than the running speed of the current luggage van before braking.
Specifically, when the laser radar of the current luggage van detects that the obstacle is removed, the current luggage van is controlled to travel along the target travel path according to the car-following speed, and then the method further includes:
and when the laser radar of the current luggage van detects that the distance between the current luggage van and the following target is equal to a preset distance threshold value, controlling the current luggage van to run along the target running path according to the target running speed.
In particular, a first objective of the present invention is to overcome the shortcomings of the prior art, and to provide an automatic queue following type baggage handling vehicle, so as to improve the convenience and flexibility of baggage handling, save manpower, and meet the handling requirements of different (especially ultra-large) quantities of baggage. Meanwhile, the transport vehicle can meet the requirement of part of passengers on the navigation of the walking route. The second purpose of the invention is to provide a working method of an automatic queue following type luggage carrier, which enables the carrier to realize two working modes through three technical means of automatic following, autonomous navigation and queue driving: a following mode and an autonomous mode.
In order to achieve the first objective, the present invention discloses a transporting vehicle, as shown in fig. 1, which mainly comprises: the vehicle body 2, hold and carry mechanism 5, drag and carry mechanism 3, laser radar 1, binocular camera 6, industrial computer 4.
The vehicle body is a main body of the carrier and comprises four parts, namely wheels, a chassis box, a main vehicle body structure and a power system, and a manual switch is arranged on the vehicle body to control the power on-off condition of the carrier.
The containing mechanism and the dragging mechanism are main carrying mechanisms of the carrier, wherein the containing mechanism is arranged on the upper portion of the carrier body, the dragging mechanism is arranged on the rear portion of the carrier body, the dragging mechanism and the carrier body are fixed through detachable bolts and nuts, and the carrier can be disassembled and assembled according to use requirements. In order to meet the carrying requirements of different types of luggage, the containing and carrying mechanism is mainly used for placing the luggage such as parcels and the like, and the dragging and carrying mechanism is mainly used for placing the whole luggage such as a luggage case and the like.
Laser radar and degree of depth camera are the main sensor of carrier, are responsible for realizing map construction earlier stage, perception location follow functions such as target, and wherein, laser radar installs on the support that holds mechanism upper portion, and the two mesh cameras are installed on the anterior bracket that holds the mechanism.
The industrial computer is the main control system of carrier, installs in the chassis incasement, is responsible for the power supply by on-vehicle battery.
To achieve the second object, the main working processes of the truck are specified as shown in fig. 2: an automatic queue following type luggage carrier system mainly comprises 1 pilot vehicle (vehicle 0) and n following vehicles (vehicles 1 to n) during working. When the carrier is in a following mode, the vehicle No. 0 moves along with the target person, then the vehicle No. 1 follows the vehicle No. 0, the vehicle No. 2 follows the vehicle No. 1, and so on, namely the vehicle No. n follows the vehicle No. n-1 until the luggage carrying requirement is met; when the carrier is in the autonomous mode, the vehicle No. 0 moves through the autonomous navigation technology, then the vehicle No. 1 follows the vehicle No. 0, the vehicle No. 2 follows the vehicle No. 1, and so on, namely the vehicle No. n follows the vehicle No. n-1 until the luggage carrying requirement is met. The main difference between the following mode and the autonomous mode is therefore the mode of operation of the pilot vehicle.
Although the truck of the present invention is functionally divided into a pilot truck and a follower truck, they are identical in structure. The carrying vehicle has unified structure and multiple functions, and the same carrying vehicle can be used as a pilot vehicle or a follow-up vehicle (one of the two vehicles is selected) in different work tasks. In addition, each baggage truck in the baggage truck queue is provided with a speed sensor, the speed of the baggage truck is measured and transmitted to the mobile terminal, and the terminal can transmit the speed of the baggage truck to the baggage truck adjacent to the terminal.
The carrier of the invention technically mainly comprises three parts: automatic following, autonomous navigation and queue driving. The corresponding functions of the carrier are realized mainly by two technologies of automatic following and queue running in the following mode, and the corresponding functions of the carrier are realized mainly by two technologies of autonomous navigation and queue running in the autonomous mode, and the corresponding relation is shown in fig. 3.
The meaning of the automatic following of the invention is as follows: the carrier can automatically move along with the target person, and the running track of the carrier is basically overlapped with the motion track of the target person.
The technical scheme of automatic following is shown in fig. 4 and mainly comprises stages of identifying target personnel, positioning the target personnel, following the target personnel and the like. First, a binocular camera mounted at the front end of a carrier is used to capture an image of a target person, and the target person is visually identified by a Histogram of Oriented Gradients (HOG) feature extraction method in Open CV. And after the truck finishes the identification of the target personnel, positioning the target personnel by utilizing a Cam Shift algorithm. And then the industrial personal computer processes the positioning information by utilizing a PID algorithm, and controls the motion direction and the speed of the carrier in real time by adjusting the corner and rotating speed signals sent to the power system of the carrier.
The meaning of the autonomous navigation is as follows: under the precondition that a global map is constructed on a working scene through laser radar scanning, the carrier realizes real-time positioning and path planning, and then autonomously moves according to a planned route and finally reaches a target position.
The technical scheme of the autonomous navigation is shown in fig. 5, and includes five contents: the method comprises the steps of sensing the environment, constructing a global map, realizing self positioning, implementing path planning and executing motion control. Firstly, the surrounding environment of the truck is sensed through laser radar scanning, and the construction of a global map and the self-positioning of the truck are realized by utilizing an SLAM technology. And then, a global map generated by utilizing the SLAM technology is combined with self positioning and a target position to find a fastest path going to the target position on the map by means of an A-x algorithm. When an obstacle occurs in the environment or the originally planned path is not favorable for the actual movement of the truck, the path needs to be locally adjusted by using a Dynamic Window Algorithm (DWA). The industrial personal computer sends command signals to the power system according to the planned path, and the carrier is controlled to move according to the planned path, so that the carrier can finally reach the target position autonomously.
The meaning of the queue driving of the invention is as follows: a plurality of (more than or equal to 1) carriers are arranged in a row, the carriers in the queue are in wireless connection through sensors carried by the carriers and a workshop communication system so as to ensure that different carriers can run along the same track, wherein the movement direction and speed of the whole queue are mainly determined by a leading pilot vehicle.
The technical scheme of the queue driving is shown in fig. 6. First, the navigator can implement movement that determines direction and speed by the aforementioned automatic following technique or autonomous navigation technique. The following vehicle behind utilizes laser radar and camera, information such as the speed of a vehicle, the vehicle distance of the preceding vehicle of collection detection to utilize workshop communication technology to carry out the correction to data message, improve data message's accuracy. Meanwhile, sensors such as a laser radar and a camera are also responsible for monitoring whether obstacles exist in the front driving path. And then, processing and calculating data information in an industrial personal computer by utilizing a PID algorithm to realize real-time decision, and transmitting a motion command to a power system of the carrier to realize real-time control under the condition of judging that no obstacle exists in the front, so that each carrier behind can move according to the running track of the front carrier.
When the sensors on the n number vehicles sense that an unknown person or object is inserted into the queue, namely, the situation that an obstacle exists in the front driving path is indicated, the n number vehicles should immediately execute an emergency braking procedure, and correspondingly, the vehicles behind the n number vehicles (the vehicles with the numbers larger than n) can also detect the change of the motion state of the front vehicle to immediately brake. When the sensors mounted on the n vehicles detect that the advancing direction of the n vehicles is free from obstacles, the n vehicles braked originally continue to advance, and the vehicles (the vehicles with the numbers larger than n) behind the n vehicles continue to advance sequentially according to the change of the moving states of the vehicles ahead. In general, the n-number vehicle takes the following carrier (the carrier having a number greater than n) and accelerates appropriately to catch up the n-1-number vehicle, thereby continuing to move while keeping the original queue state.
If the braked transport vehicle (vehicle n) is influenced for a long time and loses the target of the front vehicle (vehicle n-1) when moving forward again, the target of the front vehicle is autonomously tracked through a communication system between the vehicles and the autonomous navigation technology, and the specific process is as follows: firstly, for n number vehicles, judging whether n-1 number vehicles exist in the sensing range of a sensor, namely whether the speed and position information of the n-1 number vehicles can be detected through the sensor: if the result is negative, immediately sending a follow-up lost signal to the vehicle number n-1, and if the result is positive, following up according to the queue driving technology; after receiving a following loss signal sent by the n number of vehicles, the n-1 number of vehicles immediately send self instant positioning information to the n number of vehicles; and thirdly, the n number vehicle receives the instant positioning information sent by the n-1 number vehicle, takes the instant positioning information as a real-time target position, and automatically approaches the n-1 number vehicle through the autonomous navigation technology. When the n number vehicle is emergently braked and continues to move forward again, the circulation steps of the first step and the second step are repeated according to a certain frequency until the n number vehicle catches up with the n-1 number vehicle again, and then the tracking, losing and recovering functions of the carrier are realized, and the carrier can be ensured to recover the work state of the train.
Through the technical scheme, the carrying vehicle disclosed by the invention can realize the functions of saving manpower and carrying a large amount of luggage flexibly and conveniently in the following mode, and can also realize the functions of helping passengers to navigate and carry a large amount of luggage simultaneously in the autonomous mode, so that the diversified requirements of different users are met.
Preferably, the transport vehicle according to the present invention is divided into a sleep state and an active state according to whether or not the vehicle is powered on, and the switching between the two states is controlled by a manual switch attached to the vehicle body. The carrier in the dormant state is always powered off, and the brake is always locked; the active truck remains powered on all the time. In addition, the carrier in the activated state is divided into two sub-states of an idle state and a working state according to whether the carrier is working or not, and the switching of the two sub-states needs to be wirelessly controlled through a mobile phone APP matched with the carrier. The states have logical relationships including parallel logic relationships, as shown in fig. 7.
Preferably, the whole use process of the luggage van in the activated state in the invention is mainly wirelessly controlled by the mobile phone APP, and the luggage van can be manually turned off by a manual switch in case of emergency, and the whole use process is shown in fig. 8.
Preferably, the number of used vehicles and the queuing order thereof need to be determined by the mobile phone APP. When the mobile phone APP interface enters the queue selection module, the real-time position and the vehicle code number (represented by capital English letters such as A, B and C) of the carrier in the idle state at the moment can be displayed in the mobile phone interface through a real-time positioning technology. The user can select the number of the transporting vehicles (more than or equal to 1) according to the requirement, and match the vehicle code of the transporting vehicle with the queue number (represented by Arabic numerals such as 0,1,2 and the like), such as the A number vehicle (transporting vehicle code) is matched with the 0 number vehicle (queue number), the B number vehicle (transporting vehicle code) is matched with the 1 number vehicle (queue number) and the like. And after the matched vehicle is selected and the operation is determined to be completed, the selected truck is converted into the working state from the idle state. The user needs to select a fleet aggregation position in the scene map interface, and the transport vehicle can travel to the position selected by the user through the autonomous navigation technology to queue. After the queue is completed, the vehicles in the queue will remain braked and await further operating commands.
Preferably, after the assembly of the transporting vehicle fleet is completed, the user can load the luggage object onto the transporting vehicle and select the operation mode of the transporting vehicle (the pilot vehicle) on the mobile phone APP to be the following mode or the autonomous mode according to needs.
Preferably, in the following mode, the target person to be followed by the pilot vehicle (vehicle No. 0) can be selected by using the mobile phone APP, and the specific process is as follows: when cell-phone APP interface gets into target personnel selection module, the cell-phone end can pass through LAN transmission signal activation pilot vehicle (car 0), makes pilot vehicle (car 0) send camera image signal to cell-phone end, presents the personnel's image that the perception was surveyed to the camera of carrying on pilot vehicle (car 0) in cell-phone APP interface through image visualization technique to with a plurality of main personnel image automatic generation in the camera field for corresponding the option in order to supply the user to select. It should be noted that, if the user wants to make the carrier follow the user, the user should actively stand before the navigator (car No. 0) to make the user appear in the identification visual field of the camera, so that the mobile phone can generate the option corresponding to the user for the user to select. After a user determines a following object (target person) of a pilot vehicle (vehicle number 0) on a mobile phone APP, a signal is sent to the pilot vehicle from a mobile phone end. And after the pilot vehicle receives the signal, the target person is locked to follow the signal in real time. The following vehicles behind the pilot vehicle move according to the driving direction and speed of the respective front vehicles.
Preferably, when the user selects the end following mode using the mobile phone APP, the carrier (including the navigator and the following car) stops moving. At this time, the user can detach the luggage item from the carrier. When the user unloads the luggage articles, the user selects an option for finishing using on the mobile phone APP, and the transport vehicle is converted into an idle state from a working state.
Preferably, in the autonomous mode, a target position to be reached by a pilot vehicle (vehicle number 0) can be selected in a scene map interface by using the mobile phone APP. After the target position information is determined, the mobile phone end sends the signal to the pilot vehicle through the local area network. After receiving the signal, the pilot vehicle (vehicle 0) can automatically drive to a target position by an autonomous navigation technology, and the following vehicle moves according to the driving direction and speed of the front vehicle. The user can find the optimal walking route according to the driving path of the carrier, so that the phenomenon that the user walks around or walks wrongly in a strange environment is avoided, the aim of saving energy and time is fulfilled, and the carrier plays a role in navigation at the moment.
Preferably, when the pilot vehicle reaches the target position, that is, when the train of carriers reaches the periphery of the target position, the vehicle automatically stops moving according to the original setting program, and the autonomous mode is ended and the vehicle stands by. At this time, the user can detach the luggage item from the carrier. When the user unloads the luggage articles, the user selects an option for finishing using on the mobile phone APP, and the transport vehicle is converted into an idle state from a working state.
If an emergency occurs, a user can directly control the carrier from the activated state to the dormant state through a manual switch on the vehicle body, and the carrier can be immediately braked and powered off, so that the use safety is ensured to the maximum extent.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A baggage handling vehicle, comprising:
the system comprises a laser radar, a binocular camera, an industrial personal computer and a vehicle body;
the laser radar and the binocular camera are both connected with the industrial personal computer;
the binocular camera is used for acquiring images of the front environment;
the industrial personal computer is used for extracting the characteristics of the image of the front environment and determining the position of the following target;
the laser radar is used for determining the distance between the vehicle body and the following target;
the industrial personal computer is also connected with a power system of the vehicle body; the industrial personal computer is also used for determining the running speed of the following target and the position of the vehicle body according to the distance between the vehicle body and the following target and the position of the following target; the industrial personal computer is also used for determining a target running path of the vehicle body according to the position of the following target and the position of the vehicle body, and controlling the vehicle body to move along the target running path according to the target running speed;
the industrial personal computer is also used for controlling the vehicle body to brake when the laser radar detects the obstacle.
2. The baggage handling vehicle of claim 1, further comprising:
a vehicle-mounted storage battery and a power switch;
and the vehicle-mounted storage battery is respectively connected with the industrial personal computer and the power switch.
3. A baggage handling system, characterized in that the baggage handling system comprises:
a mobile terminal and a baggage handling vehicle queue;
the baggage truck queue comprising a plurality of baggage trucks according to claims 1-2 arranged in sequence;
the industrial personal computers of the plurality of baggage handling vehicles are all in wireless connection with the mobile terminal;
the mobile terminal is used for acquiring a pilot mode selected by a user and sending the pilot mode to pilot vehicles in the baggage handling vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
the navigation vehicle is used for acquiring a destination position in an automatic navigation mode, constructing a global map according to information acquired by a laser radar and a binocular camera and determining the position of the navigation vehicle, then determining a navigation running path in the global map according to the position of the navigation vehicle and the destination position, and running along the navigation running path at a preset speed;
the piloting vehicle is also used for planning a target running path by taking a user as a following target and running along the target running path according to the following target running speed in the automatic following mode;
and the non-pilot vehicles in the baggage handling vehicle queue are used for planning a target running path by taking the previous baggage handling vehicle as a following target and running along the target running path according to the following target running speed.
4. A baggage handling method, characterized in that the formation control method is applied to a baggage handling system according to claim 3, the method comprising:
the method comprises the steps that a mobile terminal obtains a pilot mode selected by a user and sends the pilot mode to pilot vehicles in a baggage transportation vehicle queue; the piloting mode comprises an automatic navigation mode and an automatic following mode;
the piloting vehicle determines a piloting running path according to a selected piloting mode of a user and runs along the piloting running path;
and non-piloting vehicles in the baggage transportation vehicle queue take the previous baggage transportation vehicle as a following target to plan a target running path, and run along the target running path according to the following target running speed.
5. The baggage handling method according to claim 4, wherein the determining of the piloted travel path by the piloted vehicle according to the user's selected piloting mode comprises:
in an automatic navigation mode, the pilot vehicle acquires a destination position, a global map is constructed according to information acquired by a laser radar binocular camera, the position of the pilot vehicle is determined, and then a pilot driving path is determined in the global map according to the position of the pilot vehicle and the destination position;
in the automatic following mode, the pilot vehicle plans a target driving path by taking a user as a following target, and determines the target driving path as the pilot driving path.
6. The baggage handling method according to claim 4, wherein the non-piloted vehicle in the baggage handling vehicle queue plans a target travel path with a preceding baggage handling vehicle as a follow-target and travels along the target travel path at a follow-target travel speed, and thereafter further comprising:
determining that any baggage transporter in the queue of baggage transporters is a current baggage transporter;
and when the laser radar of the current luggage van detects an obstacle, the industrial personal computer controls the body brake of the current luggage van.
7. The baggage handling method of claim 6, further comprising, after the industrial personal computer controls the body brake of the current baggage handling vehicle:
controlling the current luggage van to travel along the target travel path at a car-following speed when the lidar of the current luggage van detects that the obstacle is removed; the car-following speed is greater than the running speed of the current luggage van before braking.
8. The baggage handling method of claim 7, wherein controlling the current baggage handling vehicle to travel along the target travel path at a vehicle tracking speed when the lidar of the current baggage handling vehicle detects that the obstacle is removed further comprises:
and when the laser radar of the current luggage van detects that the distance between the current luggage van and the following target is equal to a preset distance threshold value, controlling the current luggage van to run along the target running path according to the target following running speed.
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