CN116449341A - Target, tractor, docking method of towed target and electronic equipment - Google Patents

Target, tractor, docking method of towed target and electronic equipment Download PDF

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Publication number
CN116449341A
CN116449341A CN202310467189.4A CN202310467189A CN116449341A CN 116449341 A CN116449341 A CN 116449341A CN 202310467189 A CN202310467189 A CN 202310467189A CN 116449341 A CN116449341 A CN 116449341A
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CN
China
Prior art keywords
target
towed
tractor
targets
docking
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Pending
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CN202310467189.4A
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Chinese (zh)
Inventor
请求不公布姓名
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Jiuyao Intelligent Technology Zhejiang Co ltd
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Jiuyao Intelligent Technology Zhejiang Co ltd
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Priority to CN202310467189.4A priority Critical patent/CN116449341A/en
Publication of CN116449341A publication Critical patent/CN116449341A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a target, which is arranged on a towed target, wherein the towed target comprises a docking device, can be rotatably or fixedly arranged on the towed target, can be arranged on the towed target and can be driven by the docking device; the target comprises a plurality of reflecting plates, each reflecting plate is connected with the fixed connecting edges of other reflecting plates through the fixed connecting edges, the fixed connecting edges of all the reflecting plates are collinear, the reflecting plates extend outwards along the same axis and are provided with two reflecting surfaces, and the adjacent reflecting surfaces between the different reflecting plates are at preset angles; when the target is fixedly arranged on the traction target, after the laser radar emits laser, as the reflecting plates are provided with two reflecting surfaces, the adjacent reflecting surfaces between different reflecting plates are at a preset angle, the position of the target is determined by collecting the light reflected by the target, and then the position of the traction target is determined, so that the tractor and the traction target are accurately abutted.

Description

Target, tractor, docking method of towed target and electronic equipment
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a target, a tractor, a docking method of the towed target and electronic equipment.
Background
When goods are transported in an airport or the like, a trailer or a supporting plate is needed, and the trailer or the supporting plate is abutted by a tractor to realize the goods transportation. The process comprises the following steps: the automatic driving tractor reaches the docking position through the automatic driving route, and after the docking position is reached, the tractor is positioned and automatically hung according to the marker on the trailer or the supporting plate.
However, due to the complex field environment, there may be a deviation in the alignment process due to the influence of the tractor running accuracy, the noise of the field environment on the marker, and the like.
Therefore, how to accurately dock a tractor and a towed target is a technical problem to be solved.
Disclosure of Invention
In order to solve the technical problem of how to accurately dock a tractor with a towed target in the background technology, the application provides a target, a tractor and a towed target docking method and electronic equipment.
According to one aspect of the present application, there is provided a target for placement on a towed target, the towed target including a docking device rotatably or fixedly disposed on the towed target, the target being mountable on the towed target and being capable of following the docking device; the target comprises a plurality of reflecting plates, each reflecting plate is connected with the fixed connecting edges of other reflecting plates through the fixed connecting edges, the fixed connecting edges of all the reflecting plates are collinear, the reflecting plates are outwards extended and distributed along the same axis, each reflecting plate is provided with two reflecting surfaces, and adjacent reflecting surfaces between different reflecting plates are at preset angles.
Optionally, in the installed state, the fixed connection edge of each reflecting plate of the target is perpendicular to the ground.
Alternatively, the targets may be vertically mounted on the docking device, and in the mounted state, one reflecting plate in the targets is oriented perpendicular to the other side of the fixed connection side in the same direction as the docking device.
Optionally, the number of the reflecting plates is three, and the preset angle is 120 °.
According to another aspect of the present application, there is provided a docking method of a towing vehicle and a towed target, the towed target being provided with a docking device and a target as claimed in any one of the above, the towing vehicle being provided with a radar, the docking method comprising: when the tractor reaches the docking starting point position, acquiring point cloud data of at least two reflecting surfaces; calculating angle information of the tractor and each reflecting surface based on the point cloud data; and determining the travelling direction of the tractor based on the angle information so as to realize the butt joint of the tractor and a towed target.
Optionally, the adjusting the travel direction of the tractor based on the angle information includes: determining a relative attitude of the tractor and the docking device based on the angle information; a direction of travel of the tractor is determined based on the relative pose.
Optionally, a verification target is set on the towed target, and is used for performing verification coding on the towed target, and before the step of acquiring the point cloud data of at least two reflecting surfaces, the method further comprises: acquiring point cloud data of each target; determining a target belonging to a target towed target based on the point cloud data and the check code; and executing the step of acquiring point cloud data of at least two reflecting surfaces of the target.
Optionally, the check code comprises an arrangement state of the targets; the determining, based on the point cloud data and the check code, a target that belongs to a target-towed target includes: determining arrangement states among all targets in the radar field of view based on the point cloud data; and determining the target based on the arrangement state of the target corresponding to the verification code of the target towed target and the arrangement relation among all targets in the radar field of view.
Optionally, the arrangement of the targets of different towed targets is different; determining the target based on the arrangement state of the target corresponding to the verification code of the target towed by the target and the arrangement relation among all targets in the radar field of view comprises: traversing the arrangement state of targets of any target number combination; selecting a target of a target number combination which accords with the arrangement state of the targets of the target towed target as the target.
According to another aspect of the application, an electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus, and the memory is used for storing a computer program; the processor is configured to execute the method of docking a tractor and a towed target as claimed in any one of the preceding claims by running the computer program stored on the memory.
The invention discloses a target, which is arranged on a towed target, wherein the towed target comprises a docking device which can be rotatably or fixedly arranged on the towed target, and the target can be arranged on the towed target and can be driven by the docking device; the target comprises a plurality of reflecting plates, each reflecting plate is connected with the fixed connecting edges of other reflecting plates through the fixed connecting edges, the fixed connecting edges of all the reflecting plates are collinear, the reflecting plates extend outwards along the same axis and are provided with two reflecting surfaces, and adjacent reflecting surfaces between different reflecting plates are at a preset angle; setting a target to be a three-dimensional structure and rotationally or fixedly setting the target on the towed target; when the target is fixedly arranged on the traction target, after the laser radar emits laser, as the reflecting plates are provided with two reflecting surfaces, the adjacent reflecting surfaces between different reflecting plates form a preset angle, and the position of the target is determined by collecting the light reflected by the target, so that the position of the traction target is determined, and the accurate butt joint between the tractor and the traction target is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of a target structure according to an embodiment of the present application;
fig. 2 is a flow chart of a method for docking a tractor with a towed target according to an embodiment of the present application.
Fig. 3 is a block diagram of an alternative electronic device according to an embodiment of the present application.
Detailed Description
For a clearer understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the drawings, in which like reference numerals refer to identical or structurally similar but functionally identical components throughout the separate views.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
As described in the background of the application, the process of docking a tractor with a towed target is quite different from the existing automatic driving path planning, the tractor is docked with the towed target based on a fixed identifier, the tractor is driven to a fixed point, for example, a towing device is arranged on a trailer head, a docking device corresponding to the towing device is arranged on a supporting plate, and when docking is completed, the towing device needs to be hooked on the docking device, so that docking precision may require a decimeter level or a centimeter level, and the existing automatic driving scheme cannot meet the current requirements. In addition, the existing butt joint positioning mode often adopts a positioning mode of a laser radar, a target of the laser radar is arranged on a towed target, and the position of the butt joint device is determined by collecting point cloud data of the target and the position relation between the target and the butt joint device.
However, existing methods of docking targets, tractors, and towed targets have the following problems: firstly, the existing target is often set to be a plane type, usually a reflective patch attached to a towed target, and as time increases, the reflective patch surface may bulge, and the edge may have a edge tilting phenomenon, and when the target is blown by wind, the edge may have a swinging phenomenon, which may cause the target to deviate; the offset of the target point can cause the problem that the traction device and the docking device of the tractor cannot dock correctly.
Secondly, aiming at the existing docking device of the towed target, on one hand, aiming at the situation that the docking device of the towed target is fixed, there may be the situation that when a tractor drives to a fixed point position, the angle of the tractor is not a preset angle, and the towing device and the docking device are not in the same straight line; on the other hand, in the case where the docking device of the towed target is not fixed, there may be a case where, for example, the docking device angle is changed, thereby bringing about a case where the towing device and the docking device are not in the same straight line; in the case of the above two aspects, if the docking operation is still performed according to the preset path plan, a problem may occur in that the traction device and the docking device of the tractor cannot be correctly docked.
Thus, in order to solve the above-mentioned problems, according to one aspect of the present application, there is provided a target provided on a towed target, the towed target including a docking device rotatably or fixedly provided on the towed target, the target being mountable on the towed target and being capable of following the docking device; the target comprises a plurality of reflecting plates, each reflecting plate is connected with the fixed connecting edges of other reflecting plates through the fixed connecting edges, the fixed connecting edges of all the reflecting plates are collinear, the reflecting plates are outwards extended and distributed along the same axis, each reflecting plate is provided with two reflecting surfaces, and adjacent reflecting surfaces between different reflecting plates are at preset angles.
As shown in fig. 1, the target may include three reflection plates, which are not the first, second and third reflection plates 101, 102 and 103, respectively. Wherein a first preset angle is formed between the first reflecting plate 101 and the second reflecting plate 102, a second preset angle is formed between the second reflecting plate 102 and the third reflecting plate 103, and a third preset angle is formed between the third reflecting plate 103 and the first reflecting plate 101. In this embodiment, the first preset angle, the second preset angle, and the third preset angle may be the same or different.
For the technical scheme, the target is arranged into a three-dimensional structure and is rotationally or fixedly arranged on the towed target; when the target is fixedly arranged on the traction target, after the laser radar emits laser, as the reflecting plates are provided with two reflecting surfaces, the adjacent reflecting surfaces between the different reflecting plates form a preset angle, and the position of the target is determined by collecting the light reflected by the target, so that the position of the traction target is determined; specifically, the target can be installed on the docking device, if the angle of the docking device is changed, the point clouds of the laser reflected by the reflecting plates received by the radar also show different distributions because the adjacent reflecting surfaces between the same reflecting plates are at preset angles; for example, if the point cloud of the laser reflected by the reflecting plate received by the radar and the point cloud received by the radar when the docking device is at a position capable of being correctly docked are in the same distribution, it can be confirmed that the traction device and the docking device are at a position capable of being correctly docked at this time.
As an exemplary embodiment, the target is in an installed state, and a fixed connection edge of each reflection plate of the target is perpendicular to the ground.
As an alternative embodiment, the targets may be mounted vertically on the docking device, and in the mounted state, one reflecting plate in the targets is oriented vertically to the other side of the fixed connection side in the same direction as the docking device.
According to the technical scheme, the target can be vertically arranged on the docking device, the fixed connecting edge of each reflecting plate of the target is vertical to the ground, the other edge of one reflecting plate in the target, which is vertical to the fixed connecting edge, faces the same as the docking device, and when the tractor reaches the positioning starting point position, radar rays can be scanned to at least two surfaces; by means of the method, the included angles between the two surfaces and the laser radar can be calculated, the gesture of the docking device and the traction device of the towed target can be calculated, the docking device is aligned to the traction device according to the gesture adjustment angle, and accordingly the docking device and the traction device are located at positions capable of being correctly docked.
As an exemplary embodiment, fig. 1 is a schematic structural diagram of an alternative target in an embodiment of the present application, and as shown in fig. 1, the reflection plate includes a first reflection plate, a second reflection plate, and a third reflection plate, and the preset angle is 120 °; for example, the target may be disposed on the docking device, wherein the third reflection plate is disposed perpendicular to the docking device.
According to another aspect of the present application, there is provided a docking method of a towing vehicle and a towed target, the towed target being provided with a docking device and a target as claimed in any one of the above, the towing vehicle being provided with a radar, as shown in fig. 2, the docking method comprising:
s10, acquiring point cloud data of at least two reflecting surfaces when the tractor reaches the docking starting point position; wherein the towed target is provided with a docking device and a target, the tractor is provided with a laser radar for detecting the target, the laser radar emits laser according to a fixed direction and receives reflected light, and forms point cloud data of a target based on reflectivity.
S20, calculating angle information of the tractor and each reflecting surface based on the point cloud data;
filtering the point cloud data according to the distribution of the point cloud data, for example, taking a region with the point cloud data density reaching a preset degree as a target region of interest, and further screening by using shape information of the target to determine the point cloud data belonging to the target; and screening the point cloud data of each reflecting surface based on the point cloud data belonging to the target, and calculating the angle information of the tractor and each surface based on the point cloud data of each reflecting surface.
S30, determining the advancing direction of the tractor based on the angle information so as to achieve the butt joint of the tractor and the towed target. In the embodiment of the application, after calculating the angle information of the tractor and each surface based on the point cloud data of each reflecting surface, determining the travelling direction of the tractor based on the angle information; for example, the direction of travel of the tractor may be determined to be a direction of travel that ensures that the traction device and the docking device are in a position that enables proper docking, to avoid the problem of the traction device and the docking device not being able to dock properly as described above.
As an exemplary embodiment, the adjusting the travel direction of the tractor based on the angle information includes: determining a relative attitude of the tractor and the docking device based on the angle information; a direction of travel of the tractor is determined based on the relative pose.
In order to avoid the problem that the traction device and the docking device cannot dock correctly, the relative postures of the tractor and the docking device are determined based on the angle information; for example, after confirming the angle information, planning a walking path of the tractor based on the angle information, so that the tractor can dock with the docking device through the traction device by means of the relative gesture at a path end of the walking path close to the towed target; specifically, the relative posture of the tractor and the docking device may be set such that the tractor and the docking device are in a state of being coaxial and concentric, and the traveling direction of the tractor is determined to be directed toward the towed device based on the relative posture, and the path is such that the tractor can be in a state of being coaxial and concentric with the docking device when the traveling path approaches the end of the path of the towed target.
As an exemplary embodiment, the method further includes, before the step of acquiring the point cloud data of at least two reflection surfaces, setting a verification target on the towed target, for performing verification encoding on the towed target: acquiring point cloud data of each target; determining a target belonging to a target towed target based on the point cloud data and the check code; and executing the step of acquiring point cloud data of at least two reflecting surfaces of the target.
For the technical scheme, a docking device and at least three targets are arranged on the towed target, wherein at least two targets are positioning targets of the docking device, and at least one target is matched with other targets to form a verification code of the towed target; according to the method, the positioning targets used for determining the position information of the towed targets are arranged on the towed targets, targets which can be matched with the positioning targets to form different check codes are arranged, when the radar detects a plurality of targets, point cloud data of each detected target are firstly acquired, the check codes corresponding to the towed targets are identified, the towed targets can be determined, the positioning targets on the towed targets are acquired, the specific positions of the towed targets are determined through the positioning targets, then the butt joint paths of the towing vehicle and the towed targets are planned, accurate butt joint is realized, the situation that the towed targets cannot be accurately determined when the radar simultaneously identifies the targets is avoided, and the accuracy of tracking the towed targets is improved.
As an exemplary embodiment, the check code includes an arrangement state of the target; the determining, based on the point cloud data and the check code, a target that belongs to a target-towed target includes: determining arrangement states among all targets in the radar field of view based on the point cloud data; and determining the target based on the arrangement state of the target corresponding to the verification code of the target towed target and the arrangement relation among all targets in the radar field of view.
As an exemplary embodiment, the arrangement of targets of different towed targets is different; determining the target based on the arrangement state of the target corresponding to the verification code of the target towed by the target and the arrangement relation among all targets in the radar field of view comprises: traversing the arrangement state of targets of any target number combination; selecting a target of a target number combination which accords with the arrangement state of the targets of the target towed target as the target.
For the technical scheme, different verification coding modes can be used for identifying the arrangement state of targets, different distance parameters can be set between targets arranged on the towed targets, and when the number of targets detected by the radar is larger than the number of targets arranged on the towed targets, the towed targets of the targets can be determined through the preset distance parameters between the targets, so that the accurate identification of the towed targets of the targets is realized.
The arrangement mode of targets arranged on the towed targets is the same or different, when the arrangement states of targets of different towed targets are different, the arrangement mode of targets detected by the radar can be traversed directly, when the target arrangement combination which is the same as the arrangement mode of targets on the towed targets is identified, the towed targets corresponding to the target combination can be determined to be the target towed targets, at the moment, the radar obtains the positioning targets, determines the positions of the target towed targets according to the positioning targets, plans a docking path, and completes docking.
When the arrangement states of the targets of different towed targets are the same, exemplary, determining the target based on the arrangement states of the targets corresponding to the check codes of the towed targets and the arrangement relation between all targets in the radar field of view includes: sequentially checking the target arrangement states of the number of targets, grouping all targets in the radar field of view, wherein the target arrangement states of the same group conform to the arrangement states of the targets of the towed targets; determining a distance between the target of each group and the tractor based on the point cloud data; a set of targets with the shortest distance is selected as the target of interest. In this embodiment, when the radar identifies at least 2 towed targets having the same target arrangement pattern as the target towed targets, point cloud data of the targets having the same target arrangement pattern is obtained, and a distance between each group of targets and the tractor is calculated according to the point cloud data, wherein the target having the shortest distance to the tractor is found, that is, the target towed target is found.
After the tractor determines the positioning target of the target to be towed, the point cloud data of the target is acquired, when the distance between the tractor and the target to be towed is gradually shortened, the point cloud data acquired by the radar is gradually increased, and the change information of the point cloud data is smaller in change under normal conditions, so that the position of the docking device of the target to be towed can be predicted through the change information of the point cloud data.
According to another aspect of the present application, there is provided an electronic device, as shown in fig. 3, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete communication with each other through the communication bus, and the memory is configured to store a computer program; the processor is configured to execute the method of docking a tractor and a towed target as claimed in any one of the preceding claims by running the computer program stored on the memory.
Optionally also memory and a bus, and the electronic device allows to include the hardware required for other services. The memory may include memory and non-volatile memory (non-volatile memory) and provide the processor with instructions and data for execution. By way of example, the Memory may be a Random-Access Memory (RAM), and the non-volatile Memory may be at least 1 disk Memory.
Wherein the bus is used to interconnect the processor, memory, and network interfaces together. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, an EISA (Extended Industry Standard Architecture ) bus, and the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in fig. 3, but this does not represent only one bus or one type of bus.
In one possible implementation manner of the electronic device, the processor may first read the corresponding execution instruction from the nonvolatile memory to the memory and then execute the execution instruction, or may first obtain the corresponding execution instruction from another device and then execute the execution instruction. The processor, when executing the execution instructions stored in the memory, can implement the docking method of any one of the tractors and the towed targets described above in the present disclosure.
It will be appreciated by those skilled in the art that the above-described method of docking a tractor with a towed target may be applied to or implemented by a processor. The processor is illustratively an integrated circuit chip having the capability of processing signals. During execution of the above-described method for docking a tractor with a towed target by a processor, the steps of the above-described method for docking a tractor with a towed target may be performed by instructions in the form of integrated logic circuits in hardware or software in the processor. Further, the processor may be a general purpose processor such as a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, a microprocessor, and any other conventional processor.
Thus far, the technical solution of the present disclosure has been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the protective scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments may be split and combined by those skilled in the art without departing from the technical principles of the present disclosure, and equivalent modifications or substitutions may be made to related technical features, which all fall within the scope of the present disclosure.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims (10)

1. A target, characterized in that the target is arranged on a towed target, the towed target comprises a docking device which can be rotatably or fixedly arranged on the towed target, and the target can be arranged on the towed target and can be driven by the docking device;
the target comprises a plurality of reflecting plates, each reflecting plate is connected with the fixed connecting edges of other reflecting plates through the fixed connecting edges, the fixed connecting edges of all the reflecting plates are collinear, the reflecting plates are outwards extended and distributed along the same axis, each reflecting plate is provided with two reflecting surfaces, and adjacent reflecting surfaces between different reflecting plates are at preset angles.
2. The target of claim 1, wherein the fixed connection edge of each reflector plate of the target is perpendicular to the ground in the installed state of the target.
3. A target according to claim 2, wherein the target is vertically mountable on the docking means, and wherein in the mounted state one of the reflecting plates of the target is oriented perpendicular to the other side of the fixed connection edge in the same direction as the docking means.
4. The target of claim 1, wherein the number of reflecting plates is three and the predetermined angle is 120 °.
5. A method of docking a towing vehicle and a towed target, wherein the towed target is provided with a docking device and a target as claimed in any one of claims 1 to 4, the towing vehicle being provided with a radar, the docking method comprising:
when the tractor reaches the docking starting point position, acquiring point cloud data of at least two reflecting surfaces;
calculating angle information of the tractor and each reflecting surface based on the point cloud data;
and determining the travelling direction of the tractor based on the angle information so as to realize the butt joint of the tractor and a towed target.
6. The method of interfacing a tractor and a towed target according to claim 5, wherein said adjusting a direction of travel of said tractor based on said angle information includes:
determining a relative attitude of the tractor and the docking device based on the angle information;
a direction of travel of the tractor is determined based on the relative pose.
7. The method of interfacing a tractor and a towed object of claim 5, wherein a verification target is disposed on the towed object for verification encoding the towed object, further comprising, prior to the step of acquiring point cloud data for at least two reflective surfaces:
acquiring point cloud data of each target;
determining a target belonging to a target towed target based on the point cloud data and the check code;
and executing the step of acquiring point cloud data of at least two reflecting surfaces of the target.
8. The method of interfacing a tractor and a towed target according to claim 7, wherein said verification code includes an arrangement of said target;
the determining, based on the point cloud data and the check code, a target that belongs to a target-towed target includes:
determining arrangement states among all targets in the radar field of view based on the point cloud data;
and determining the target based on the arrangement state of the target corresponding to the verification code of the target towed target and the arrangement relation among all targets in the radar field of view.
9. The method of docking a tractor and a towed target according to claim 8, wherein the alignment of targets of different towed targets is different;
determining the target based on the arrangement state of the target corresponding to the verification code of the target towed by the target and the arrangement relation among all targets in the radar field of view comprises:
traversing the arrangement state of targets of any target number combination;
selecting a target of a target number combination which accords with the arrangement state of the targets of the target towed target as the target.
10. An electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, characterized in that,
the memory is used for storing a computer program;
the processor for performing the method of docking a tractor and a towed object according to any of claims 5 to 9 by running the computer program stored on the memory.
CN202310467189.4A 2023-04-25 2023-04-25 Target, tractor, docking method of towed target and electronic equipment Pending CN116449341A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310467189.4A CN116449341A (en) 2023-04-25 2023-04-25 Target, tractor, docking method of towed target and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310467189.4A CN116449341A (en) 2023-04-25 2023-04-25 Target, tractor, docking method of towed target and electronic equipment

Publications (1)

Publication Number Publication Date
CN116449341A true CN116449341A (en) 2023-07-18

Family

ID=87120184

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310467189.4A Pending CN116449341A (en) 2023-04-25 2023-04-25 Target, tractor, docking method of towed target and electronic equipment

Country Status (1)

Country Link
CN (1) CN116449341A (en)

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