CN115782922A - Automatic trailer loading and unloading method and device for engineering vehicle and engineering vehicle - Google Patents
Automatic trailer loading and unloading method and device for engineering vehicle and engineering vehicle Download PDFInfo
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- CN115782922A CN115782922A CN202211599753.XA CN202211599753A CN115782922A CN 115782922 A CN115782922 A CN 115782922A CN 202211599753 A CN202211599753 A CN 202211599753A CN 115782922 A CN115782922 A CN 115782922A
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Abstract
The embodiment of the invention discloses a method and a device for automatically getting on and off a trailer of an engineering vehicle and the engineering vehicle. The automatic trailer loading and unloading method of the engineering vehicle comprises the following steps: acquiring environmental position information and a target position; determining a driving path according to the environment position information and the target position; controlling the engineering vehicle to travel to a target position according to the travel path; wherein the environmental location information includes a shape and a location of the trailer tailgate region and a shape and a location of the trailer platform region. The embodiment of the invention can automatically complete the operation of getting on and off the trailer of the engineering vehicle, avoid the problem of excessive dependence on the driving experience of a driver in the prior art and reduce the operation threshold of getting on and off the trailer of the engineering vehicle. Meanwhile, the damage caused by the fact that a driver in the vehicle falls off from the trailer due to misoperation in the process of getting on or off the trailer of the engineering vehicle is avoided. And the probability of damage caused by falling of the engineering vehicle is also reduced.
Description
Technical Field
The embodiment of the invention relates to the engineering vehicle technology, in particular to a method and a device for automatically getting on and off a trailer of an engineering vehicle and the engineering vehicle.
Background
Because the moving performance of engineering vehicles such as a crawler excavator is limited, the ground is damaged strongly, and when the engineering vehicles need to move in a large range, a trailer is required to be used for transition.
When the crawler excavator is used for driving up and down the trailer, the visual field of a driver of the crawler excavator is limited, the width difference between the trailer and the excavating crawler is not large basically, the driver is required to have rich excavator operation experience and operation hand feeling, or a commander is required to command the trailer or an accessory, so that the danger is high. Once misoperated, the excavator can fall off the trailer. During operation, the driver is located in the cab. In case misoperation appears, the driver can't carry out effectual injury and avoids, and vehicle and personnel all can receive the injury of different degrees of knowing.
Disclosure of Invention
The invention provides a method and a device for automatically getting on and off a trailer of an engineering vehicle and the engineering vehicle, which are used for avoiding vehicle damage and avoiding personnel injury. The operation requirements of the crawler excavator for getting on and off the trailer are reduced.
In a first aspect, an embodiment of the present invention provides an automatic trailer loading and unloading method for an engineering vehicle, including:
acquiring environment position information and a target position;
determining a driving path according to the environment position information and the target position;
controlling the engineering vehicle to travel to the target position according to the travel path;
wherein the environmental location information includes a shape and location of a trailer tail area and a shape and location of a trailer platform area.
Optionally, after the controlling the engineering vehicle to travel to the target position according to the travel path, the method further includes:
and returning to the step of acquiring the environmental position information and the target position, and continuing to execute the method for automatically getting on and off the trailer of the engineering vehicle until the engineering vehicle reaches the target position and then stops.
Optionally, the method further includes acquiring a control instruction of the mobile terminal.
Optionally, before the obtaining of the environmental location information and the target location, the obtaining of the control instruction of the mobile terminal includes:
and receiving a starting instruction of the mobile terminal, and if the starting instruction is acquired, starting execution from the acquisition of the environmental position information and the target position.
Optionally, before the obtaining of the environmental location information and the target location, the obtaining of the control instruction of the mobile terminal includes:
and receiving a starting instruction and a suspending instruction of the mobile terminal, and if the starting instruction is acquired and the suspending instruction is not acquired, starting execution from the acquisition of the environmental position information and the target position.
Optionally, the obtaining of the control instruction of the mobile terminal includes:
and receiving a termination instruction of the mobile terminal, and stopping the current action of the engineering vehicle if the termination instruction is obtained.
In a second aspect, an embodiment of the present invention further provides an automatic trailer loading and unloading device for an engineering vehicle, including:
the position acquisition module is used for acquiring environmental position information and a target position;
the path determining module is used for determining a driving path according to the environment position information and the target position;
the control driving module is used for controlling a traveling mechanism of the engineering vehicle to travel according to the traveling path;
wherein the environmental location information includes a shape and a location of a trailer tailgate region, and a shape and a location of a trailer platform region.
Optionally, the position acquisition module includes a radar.
Optionally, the position obtaining module further includes a camera.
In a third aspect, an embodiment of the present invention further provides an engineering vehicle, including any one of the above automatic trailer loading and unloading devices of the engineering vehicle, where the automatic trailer loading and unloading device of the engineering vehicle is used to operate any one of the above automatic trailer loading and unloading methods of the engineering vehicle.
After the environment position information and the target position are obtained, the driving path is determined according to the environment position information and the target position. And controlling the engineering vehicle to travel to the target position according to the travel path. Therefore, the operation of getting on and off the trailer of the engineering vehicle is automatically completed, the problem that the driving experience of a driver is excessively depended in the prior art is avoided, and the operation threshold of getting on and off the trailer of the engineering vehicle is reduced. Meanwhile, the damage caused by the fact that a driver in the vehicle falls off from the trailer due to misoperation in the process of getting on or off the trailer of the engineering vehicle is avoided. And the probability of damage caused by falling of the engineering vehicle is also reduced.
Drawings
Fig. 1 is a schematic flow chart of an automatic trailer loading and unloading method for a construction vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic trailer loading and unloading device of an engineering vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of an automatic trailer loading and unloading method for a work vehicle according to an embodiment of the present invention, and refer to fig. 1. The embodiment of the invention provides a method for automatically getting on and off a trailer of an engineering vehicle, which comprises the following steps:
s1: acquiring environmental position information and a target position;
the sensor can sense the outline of the obstacles around the engineering vehicle, the outline of objects such as a trailer and the like and the distance between the objects and the engineering vehicle. The acquisition of the contour of the object and the distance between the contour of the object and the engineering vehicle is equivalent to the acquisition of the shape and the position of the object, namely environment position information. The environmental location information includes the shape and location of the trailer bed area, as well as the shape and location of the trailer platform area. Optionally, at the beginning of designing and debugging the method for automatically loading and unloading the trailer according to the embodiment of the present invention, the environmental position information can be calibrated by using standard articles with known dimensions, so as to ensure the sensing accuracy. The target position is a position to be reached by the construction vehicle. The target location may be located in the trailer platform area when towing the trailer. When the trailer is being towed, the target location may be located on the ground proximate the trailer tailgate area. After the environment position information is obtained, whether the engineering vehicle needs to be controlled to get on or off the trailer currently can be determined, and then the target position is determined according to the operation mode. Optionally, the target position may be manually set by a mobile terminal wirelessly connected to the engineering vehicle.
S2: determining a driving path according to the environment position information and the target position;
the driving path of the engineering vehicle can be analyzed and planned through the acquired shape and position of the trailer tail plate area and the shape and position of the trailer platform area. The work vehicle may include a perception module and a perception processing and motion control module. The perception module transmits the perceived signal to the perception processing and motion control module. The perception processing and motion control module processes the perception signal and calculates a driving path. When the trailer moves up or down, the sensing module senses the relative position of the excavator and the trailer in real time by taking the edges on the two sides of the trailer as sensing objects, and provides information for the sensing processing and motion control module. The perception processing and motion control module plans the driving direction of the vehicle, and ensures that the movement of getting on and off the trailer is completed by the safest path.
S3: controlling the engineering vehicle to travel to a target position according to the travel path;
after the driving path is obtained, the sensing processing and motion control module controls an action mechanism of the engineering vehicle to operate, so that the engineering vehicle drives towards the target position. The sensing processing and motion control module CAN control the walking of the engineering vehicle body through a CAN bus or other communication modes and CAN control the engineering vehicle to move forwards, backwards, turn left and turn right. After the environment position information and the target position are obtained, the driving path is determined according to the environment position information and the target position. And controlling the engineering vehicle to travel to the target position according to the travel path. Therefore, the operation of getting on and off the trailer of the engineering vehicle is automatically completed, the problem that the driving experience of a driver is excessively depended in the prior art is avoided, and the operation threshold of getting on and off the trailer of the engineering vehicle is reduced. Meanwhile, the damage caused by the fact that a driver in the vehicle falls off from the trailer due to misoperation in the process of getting on or off the trailer of the engineering vehicle is avoided. And the probability of damage caused by falling of the engineering vehicle is also reduced.
Optionally, after controlling the engineering vehicle to travel to the target position according to the travel path, the method further includes:
and returning to the step of acquiring the environmental position information and the target position, and continuing to execute the method for automatically getting on and off the trailer of the engineering vehicle until the engineering vehicle reaches the target position and then stops.
After the engineering vehicle acquires the driving path, the engineering vehicle can drive towards the target position according to the driving path. However, due to various errors in the execution process, a certain offset between the position reached by the engineering vehicle and the target position may be caused. Therefore, the route can be planned and corrected according to the real-time position for many times, and the dynamic precision of the engineering vehicle in the process of driving to the target position and the static precision of the engineering vehicle reaching the final position are improved.
Optionally, the method for automatically getting on and off the trailer of the engineering vehicle further includes obtaining a control command of the mobile terminal.
The engineering vehicle has Bluetooth or WIFI communication capacity and can communicate with the mobile terminal. The mobile terminal can be a mobile phone with a specific APP and the like, and the vehicle can be conveniently controlled.
Optionally, before obtaining the environment location information and the target location, obtaining the control instruction of the mobile terminal includes:
and receiving a starting instruction of the mobile terminal, and if the starting instruction is acquired, starting execution from the acquisition of the environment position information and the target position.
The engineering vehicle can start to execute the method for automatically getting on and off the trailer according to any embodiment of the invention after receiving the starting instruction of the mobile terminal. Thereby realizing that the engineering vehicle is automatically started to get on or off the trailer remotely.
Optionally, before acquiring the environment location information and the target location, acquiring the control instruction of the mobile terminal includes:
and receiving a starting instruction and a suspending instruction of the mobile terminal, and if the starting instruction is acquired and the suspending instruction is not acquired, starting execution from the acquisition of the environment position information and the target position.
Wherein, the mobile terminal can send a start instruction and a pause instruction. And when the engineering vehicle receives the starting instruction and does not receive the pause instruction, the engineering vehicle executes automatic trailer loading and unloading. If a field security officer wants to leave the trailer loading and unloading field temporarily due to temporary needs, a pause instruction can be input at the mobile terminal, and the engineering vehicle can pause the operation of loading and unloading the trailer after finishing the current action.
Optionally, the obtaining of the control instruction of the mobile terminal includes:
and receiving a termination instruction of the mobile terminal, and stopping the current action of the engineering vehicle if the termination instruction is obtained.
Wherein, for avoiding appearing the accident in the automatic trailer in-process of getting on or off, the security personnel can monitor in the implementation process of automatic trailer on or off. Once the engineering vehicle obviously deviates from a reasonable path or any accident happens, a terminal-off instruction can be sent through the mobile terminal, and the engineering vehicle immediately stops all actions.
Fig. 2 is a schematic structural diagram of an automatic trailer loading and unloading device of a working vehicle according to an embodiment of the present invention, and refer to fig. 2. The embodiment of the invention also provides an automatic trailer loading and unloading device for the engineering vehicle, which comprises:
the position acquisition module 1 is used for acquiring environment position information and a target position;
the path determining module 2 is used for determining a driving path according to the environment position information and the target position;
the control driving module 3 is used for controlling a traveling mechanism of the engineering vehicle to travel according to the traveling path;
wherein the environmental location information includes a shape and a location of the trailer tailgate region and a shape and a location of the trailer platform region.
The position acquisition module 1 can be installed on the top or the front of the engineering vehicle, so as to better acquire the environmental position information. The automatic trailer loading and unloading device of the engineering vehicle in the embodiment of the invention can execute the automatic trailer loading and unloading method of the engineering vehicle, so the automatic trailer loading and unloading device of the engineering vehicle in the embodiment has the technical characteristics and beneficial effects corresponding to the automatic trailer loading and unloading method of the engineering vehicle.
Optionally, the position acquisition module 1 comprises a radar.
Wherein, can carry out the acquirement of environmental position information through the radar, the radar can be laser radar. The positioning by radar is more accurate and effective.
Optionally, the position acquiring module 1 further includes a camera.
The position acquisition module 1 may include not only a radar but also a camera. The sensing range is supplemented through the camera, and the environment position information can be better acquired.
The embodiment of the invention also provides the engineering vehicle which comprises the automatic trailer loading and unloading device of any engineering vehicle, and the automatic trailer loading and unloading device of the engineering vehicle is used for operating the automatic trailer loading and unloading method of any engineering vehicle.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. An automatic trailer loading and unloading method for a construction vehicle, comprising the following steps:
acquiring environmental position information and a target position;
determining a driving path according to the environment position information and the target position;
controlling the engineering vehicle to travel to the target position according to the travel path;
wherein the environmental location information includes a shape and location of a trailer tail area and a shape and location of a trailer platform area.
2. The method for automatically getting on and off the trailer of the engineering vehicle according to claim 1, wherein after the controlling the engineering vehicle to travel to the target position according to the travel path, the method further comprises:
and returning to the step of acquiring the environmental position information and the target position, and continuing to execute the method for automatically getting on and off the trailer of the engineering vehicle until the engineering vehicle reaches the target position and then stops.
3. The method for automatically getting on and off the trailer of the engineering vehicle as claimed in claim 1, further comprising obtaining a control command of the mobile terminal.
4. The method for automatically getting on and off a trailer of a construction vehicle according to claim 3, wherein before the obtaining the environmental position information and the target position, the obtaining the control instruction of the mobile terminal comprises:
and receiving a starting instruction of the mobile terminal, and if the starting instruction is acquired, starting execution from the acquisition of the environmental position information and the target position.
5. The method for automatically getting on and off a trailer of a construction vehicle according to claim 3, wherein before the obtaining the environmental position information and the target position, the obtaining the control instruction of the mobile terminal comprises:
and receiving a starting instruction and a suspending instruction of the mobile terminal, and if the starting instruction is acquired and the suspending instruction is not acquired, starting execution from the acquisition of the environmental position information and the target position.
6. The method for automatically getting on and off the trailer of the engineering vehicle as claimed in claim 3, wherein the obtaining of the control command of the mobile terminal comprises:
and receiving a termination instruction of the mobile terminal, and stopping the current action of the engineering vehicle if the termination instruction is obtained.
7. The utility model provides an automatic trailer device of getting on or off of engineering vehicle which characterized in that includes:
the position acquisition module is used for acquiring environment position information and a target position;
the path determining module is used for determining a driving path according to the environment position information and the target position;
the control driving module is used for controlling a traveling mechanism of the engineering vehicle to travel according to the traveling path;
wherein the environmental location information includes a shape and a location of a trailer tailgate region, and a shape and a location of a trailer platform region.
8. The automatic trailer loading and unloading device of a work vehicle according to claim 7, wherein the position acquisition module comprises a radar.
9. The automatic trailer loading and unloading device of a work vehicle according to claim 8, wherein the position acquisition module further comprises a camera.
10. A working vehicle comprising an automatic get-on/get-off trailer device of a working vehicle as claimed in any one of claims 7 to 9, the automatic get-on/get-off trailer device of a working vehicle being adapted to operate an automatic get-on/get-off trailer method of a working vehicle as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211599753.XA CN115782922A (en) | 2022-12-12 | 2022-12-12 | Automatic trailer loading and unloading method and device for engineering vehicle and engineering vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211599753.XA CN115782922A (en) | 2022-12-12 | 2022-12-12 | Automatic trailer loading and unloading method and device for engineering vehicle and engineering vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115782922A true CN115782922A (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211599753.XA Pending CN115782922A (en) | 2022-12-12 | 2022-12-12 | Automatic trailer loading and unloading method and device for engineering vehicle and engineering vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN115782922A (en) |
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- 2022-12-12 CN CN202211599753.XA patent/CN115782922A/en active Pending
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