CN207264194U - Container truck automated driving system - Google Patents
Container truck automated driving system Download PDFInfo
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- CN207264194U CN207264194U CN201720943279.6U CN201720943279U CN207264194U CN 207264194 U CN207264194 U CN 207264194U CN 201720943279 U CN201720943279 U CN 201720943279U CN 207264194 U CN207264194 U CN 207264194U
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Abstract
The disclosure provides a kind of container truck automated driving system.The system comprises：Remote monitoring device, for the map using harbour where default Container Transport plan and container, generates transport task and transit route；Vehicle-mounted servomechanism on container truck, for receiving the transport task and the transit route that the remote monitoring device issues, controls the container truck to advance, completes the transport task based on the transit route.The problem of such scheme, both need not carry out large-scale redevelopment to infrastructure such as quay surfaces, and conevying efficiency caused by also solving the problem that pilot steering container truck is low, operational reliability is poor.
Description
Technical field
A kind of this disclosure relates to automatic Pilot field, and in particular, to container truck automated driving system.
Background technology
As the development of globalised economy tide, trade of the sea-freight carrying whole world more than 60% are big with its low cost, freight volume
The features such as occupy always transport tap.The important means that container is transported by sea with other means of transportation as linking, its handling capacity are
The important evaluation index of port capacity is weighed, so the conevying efficiency and means of transportation of container are always by the pass of international community
Note.
Traditional Transportation mode is mainly transported by pilot steering container truck between suspension bridge and stockyard, but due to control
Required precision processed is high, operating condition difference and operation single reason, the driver such as dull are easily made a fault, and causes transport task
Even there is security incident in failure, influences overall conevying efficiency.
In order to reduce driver's labor intensity, mitigate manpower pressure, improve container the efficiency of loading and unloading and operation it is reliable
Stability, automatic technology become the important means of each port and pier concern.Early in 1985 or so, held high in labor cost
Expensive and poor area, just has harbour to carry out correlative study, and Delta Sealand container terminals in 1993 have been gone into operation the world
Upper first automated container terminal, utilizes AGV (English：Automatic Guided Vehicle, Chinese：Homing guidance
Transport vehicle) transport container.The shortcomings that this means of transportation is to need to carry out large-scale redevelopment to infrastructure such as quay surfaces,
It cannot be used for the harbour of traditional, man-machine mixed running；In addition, because it customizes the reasons such as degree is higher and yield is few, price
It is often expensive up to millions of, be not as economical and practical as container truck.
Utility model content
, both need not be to quay surface etc. it is a general object of the present disclosure to provide a kind of container truck automated driving system
Infrastructure carries out large-scale redevelopment, and conevying efficiency caused by also solving the problem that pilot steering container truck is low, operational reliability
The problem of poor.
To achieve these goals, the disclosure provides a kind of container truck automated driving system, the system comprises：
Remote monitoring device, it is raw for the map using harbour where default Container Transport plan and container
Into transport task and transit route；
Vehicle-mounted servomechanism on container truck, the institute issued for receiving the remote monitoring device
Transport task and the transit route are stated, controls the container truck to advance based on the transit route, completes the transport
Task.
Alternatively, the remote monitoring device, is additionally operable to show the transport task and the transport road to monitoring personnel
Line, and the adjustment information that the monitoring personnel is inputted for the transport task and/or the transit route is preserved, changed
Transport task afterwards and transit route.
Alternatively, the vehicle-mounted servomechanism includes：
Communication module, for receiving the transport task and the transit route that the remote monitoring device issues；
Vehicle bus, for obtaining the operating status of the container truck；
Line traffic control unit, for reference to the operating status, being carried out by the vehicle bus to the container truck whole
Car controls, and the container truck is advanced according to the transit route, completes the transport task.
Alternatively, the vehicle-mounted servomechanism further includes：
Onboard sensor, for obtaining the obstacle information of the container truck local environment；
Vehicle carried pick device, for obtaining the positional information of the container truck；
Inertial navigation unit, for obtaining the operation posture and the speed of service of the container truck；
The line traffic control unit, for utilizing the obstacle information, the positional information, the operation posture and the fortune
Scanning frequency degree, adjusts the transit route, and controls the container truck according to the transport after adjustment by the vehicle bus
Route is advanced.
Alternatively, the onboard sensor includes：
Camera device and/or laser radar, installed in the container truck headstock and towards direct of travel, Yi Jichao
To the left and right sides of direct of travel；
Millimeter wave, installed in the container truck headstock and towards direct of travel.
Alternatively, the vehicle carried pick device is installed on the top of the container truck headstock.
Alternatively, the inertial navigation unit is installed on the headstock of the container truck and towards the left and right of direct of travel
One of both sides.
Alternatively, the communication module, is additionally operable to upload the obstacle information, institute's rheme to the remote monitoring device
Confidence breath, the operation posture and the speed of service, next step transport task analysis is carried out for the remote monitoring device.
Alternatively, the communication module, is additionally operable to control the speed of the container truck adjustment in the line traffic control unit
And/or the changing value of corner reports exception when being more than predetermined threshold value to the remote monitoring device.
In disclosure scheme, remote monitoring device can cooperate with vehicle-mounted servomechanism, realize container card
The automatic Pilot of car.Specifically, remote monitoring device utilizes the map at harbour where Container Transport plan and container, life
Into after transport task and transit route, vehicle-mounted servomechanism can be issued to；Vehicle-mounted servomechanism is installed on packaging
On case truck, container truck company can be controlled based on the transit route received into complete transport task.Such scheme,
Both large-scale redevelopment need not be carried out to infrastructure such as quay surfaces, and also solved the problem that fortune caused by pilot steering container truck
The problem of defeated efficiency is low, operational reliability is poor.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Attached drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool
Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is the structure diagram of disclosure container truck automated driving system.
Description of reference numerals：1st, camera device, 2, millimeter wave, 3, laser radar, 4, vehicle carried pick device, 5, communication mould
Block, 7, laser radar, 8, inertial navigation unit, 9, remote monitoring device.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with attached drawing.It should be appreciated that this place is retouched
The embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Referring to Fig. 1, the structure diagram of embodiment of the present disclosure container truck automated driving system is shown.The system can
With including：Remote monitoring device 9 and vehicle-mounted servomechanism.The two cooperate, it is possible to achieve container truck it is automatic
Drive, need not both carry out large-scale redevelopment to infrastructure such as quay surfaces, and also solve the problem that pilot steering container truck was led
The problem of conevying efficiency of cause is low, operational reliability is poor.
As a kind of example, remote monitoring device can be with One-to-one communication with vehicle-mounted servomechanism；Alternatively, can also
One-to-many communication, i.e. a remote monitoring device can carry servomechanism with more trolleys and communicate, and control more container cards
Car realizes automatic Pilot.Disclosure scheme can not limit this, can specifically combine practical application request and set.
As a kind of example, wireless communication mode can be used between remote monitoring device and vehicle-mounted servomechanism,
Disclosure scheme is also not specifically limited this.
As a kind of example, the remote monitoring device in disclosure scheme can be presented as a computer.The computer
The map at harbour where Container Transport plan, container can be obtained, is needing to control container truck to realize automatic Pilot
When, can the map based on harbour where Container Transport plan, container, generation transport task and transit route.This public affairs
Evolution case can not limit the process of generation transport task and transit route, specifically can refer to the correlation techniques such as path planning
Realize, be not detailed herein.
It is to be appreciated that remote monitoring device can locally preserve more parts of Container Transport plans, more parts of harbour maps,
When needed, further according to container truck to be controlled, corresponding Container Transport plan and harbour map, generation transport are matched
Task and transit route.Alternatively, Container Transport plan, harbour map can be stored in third-party server, when needed, by
Remote monitoring device from server matches and reads corresponding Container Transport plan and harbour according to container truck to be controlled
Map, generates transport task and transit route.Disclosure scheme obtains Container Transport plan and harbour to remote monitoring device
The mode of map can be not specifically limited.As a kind of example, harbour map can be 3D numerical maps.
In actual application, remote monitoring device can include：Display, human-computer interaction module, communication module, meter
Calculate unit.In this way, after computing unit generates transport task and transit route, can be looked into by display exhibits to monitoring personnel
See, if monitoring personnel is found in the presence of the place for needing to optimize, adjustment information, computing unit can be inputted by human-computer interaction module
Adjustment information can be preserved, obtains amended transport task and transit route, then by communication module by amended transport
Task and transit route are issued to vehicle-mounted servomechanism., whereas if there is no the place that needs optimize, monitoring personnel can
The transport task of generation and transit route are issued to car by human-computer interaction module input validation information, triggering communication module
Carry servomechanism.As a kind of example, computing unit can be presented as the zFas of Audi, the tall and handsome PX2 reached, disclosure side
Case can be not specifically limited this.
Vehicle-mounted servomechanism in disclosure scheme may be mounted on container truck, and be filled based on remote monitoring
Put the transit route issued and control container truck company into completion transport task.
As a kind of example, schematic diagram shown in Figure 1, vehicle-mounted servomechanism can include：Communication module 5, car
Carry bus (not shown), line traffic control unit (not shown).Issued in this way, communication module 5 receives remote monitoring device 9
Transport task and transit route after, line traffic control unit can by vehicle bus obtain container truck operating status, for example,
The information such as the throttle of container truck, brake, steering, braking, gear, and using the operating status as the initial of container truck
State carries out reaction type control to vehicle, i.e. operating status after the adjustment of container truck is obtained by vehicle bus in real time, if
Container truck can advance according to transit route, then operating status is constant after maintaining the adjustment, otherwise continues through vehicle bus
Full-vehicle control is carried out, untill container truck is advanced according to transit route.
As a kind of example, the line traffic control unit in disclosure scheme can be presented as entire car controller (English：Vehicle
Control Unit, referred to as：VCU).Line traffic control unit carries out the process of full-vehicle control by vehicle bus, can refer to correlation technique
Realize, be not detailed herein.
It is vehicle-mounted automatic in order to improve the safety and reliability of container truck automatic Pilot in actual application
Pilot instrument can also combine actual driving situation, the transit route that adjustment remote monitoring device 9 issues, and domination set in real time
Truck of casing is advanced according to the transit route after adjustment.Corresponding to this, schematic diagram shown in Figure 1, vehicle-mounted servomechanism
It can also include：Onboard sensor, vehicle carried pick device 4, inertial navigation unit 8.
Specifically, the obstacle information of container truck local environment can be obtained by onboard sensor；By vehicle-mounted
Positioner 4 obtains the positional information of container truck；By inertial navigation unit 8 obtain container truck operation posture and
The speed of service.Information, positional information, operation posture and the speed of service in this way, line traffic control unit breaks the barriers, can determine to work as
The state and variation tendency of the periphery situation of preceding container truck, i.e. periphery things, and then determine to collect according to periphery situation
The next step operation reserve of vanning truck, realizes that transit route adjusts.From practical application request, the fortune in disclosure scheme
Row strategy can be with car, overtake other vehicles, lane change etc..As a kind of example, after line traffic control unit obtains periphery situation, A* etc. can be passed through
Searching algorithm determines next step route planning, realizes that transit route adjusts.Such scheme, is improving container truck Transportation Efficiency
While rate, the Transport Safety and reliability of container truck can also be improved.
As a kind of example, vehicle carried pick device 4 may be mounted on the headstock or trailer of container truck, for example,
It can refer to the top that headstock is preferably mounted at shown in Fig. 1.As a kind of example, vehicle carried pick device 4 can be presented as differential GPS
Base station and movement station；Alternatively, vehicle carried pick device 4 can be presented as UWB (English：Ultra Wideband, Chinese：Ultra-wide
Band) equipment, disclosure scheme can be not specifically limited this.
As a kind of example, inertial navigation unit 8 may be mounted on the headstock or trailer of container truck, for example,
One of headstock and the left and right sides towards direct of travel preferably are installed on, as shown in Figure 1, inertial navigation unit 8 is installed on car
Head is towards the left side of direct of travel.
As a kind of example, onboard sensor can include：Camera device and/or laser radar, installed in the packaging
The headstock of case truck and towards direct of travel, and the left and right sides towards direct of travel；Millimeter wave, installed in the container
The headstock of truck and towards direct of travel.That is, in order to obtain the surrounding enviroment of container truck, onboard sensor should be adopted
Collect front, the left and right sides of container truck, the obstacle information on these three directions.
For example, onboard sensor can with as shown in Figure 1, including：For gathering the barrier in front of container truck
Camera device 1, millimeter wave 2, the laser radar 3 of information；For gathering the laser thunder of the obstacle information on the left of container truck
Up to 7；For gathering the laser radar (not shown) of the obstacle information on the right side of container truck.
As a kind of example, it is opposite that the obstacle information in disclosure scheme can include the size of barrier, barrier
The position of container truck, movement velocity of barrier etc..
As a kind of example, the positional information of container truck is obtained by vehicle carried pick device 4, is filled by inertial navigation
, can also be from laser in order to further improve data accuracy after putting the operation posture and the speed of service of 8 acquisition container trucks
Extraction point cloud characteristic point, the abstract image characteristic point from the information that camera device 1 obtains in the information that radar obtains, recycle special
The methods of sign matching and Kalman filtering, verification is modified to above-mentioned positional information, operation posture and the speed of service.
As a kind of example, in actual application, vehicle-mounted servomechanism can also will be hindered by communication module 5
Hinder thing information, positional information, operation posture and the speed of service to be uploaded to remote monitoring device 9, be based on by remote monitoring device 9 upper
State information and carry out next step transport task analysis.
For example, after next step transport task can be current transportation task, remote monitoring device 9 is based on packaging
The periphery situation of case truck, Container Transport plan, harbour map, generate next transport task and corresponding transit route.
For example, next step transport task can be current transportation task not at the end of, remote monitoring device 9 is to monitoring
After personnel show the periphery situation of container, according to the driving information of monitoring personnel input, determine to be to continue with being driven automatically by vehicle-mounted
Sail device and carry out automatic Pilot, or far-end remote control driving is carried out by monitoring personnel, or carried out by container truck driver
Pilot steering.For example, periphery situation can represent there are other vehicles on same track, that is, there is traffic congestion situation, can be by distally supervising
Control device 9 carries out conflict resolution to it.Such scheme, can combine practical application request, select suitable driving scheme, help
In the driving flexibility for improving disclosure scheme.
As a kind of example, the priority of three kinds of drive manners could be provided as：Pilot steering highest priority, distal end are distant
Control drives priority and takes second place, and automatic Pilot priority is minimum, and disclosure scheme can be not specifically limited this.
As a kind of example, in actual application, vehicle-mounted servomechanism can also monitoring containers card in real time
Whether car there is exception during automatic Pilot, then can be by communication module 5 to remote monitoring device 9 if there is exception
Report exception.When occurring abnormal, container truck can be controlled to stop in emergency；Alternatively, related personnel can lead in time
The mode adapter container truck such as distal end remote driving, pilot steering is crossed, ensures the security of Container Transport operation.
As a kind of example, if the speed of line traffic control unit control container truck adjustment and/or the changing value of corner are big
In predetermined threshold value, then it can determine that during automatic Pilot exception occur, can be by communication module 5 to remote monitoring device 9
Report exception.
With reference to introduction made above, the advantages of disclosure scheme, is explained again below.
1. the automatic Pilot realized with remote monitoring device and vehicle-mounted servomechanism, is improving conevying efficiency
Meanwhile need not only large-scale redevelopment be carried out to infrastructure such as quay surfaces, but also can be mutually simultaneous with common container truck
Hold, when installing vehicle-mounted servomechanism on container truck, transform and install additional that simple and practicable, cost is low, and will not destroy
The function and performance of former car.
The map at harbour where 2. remote monitoring device can utilize Container Transport plan, container, generation transport road
Line, in addition, vehicle-mounted servomechanism can be combined with the periphery situation of container truck, carries out transit route adjustment.Also
It is to say, when on periphery, situation does not change, vehicle-mounted servomechanism can be directly according to the transit route domination set of generation
Truck of casing is advanced；When on periphery, situation changes, vehicle-mounted servomechanism can be according to the transit route control after adjustment
Container truck processed is advanced.The Transport Safety and reliability of container truck can be improved.
3. disclosure scheme can set the drive manner of different priorities, can driven automatically with reference to practical application request
Sail, far-end remote control drives, switches between pilot steering, improve driving flexibility.
4. the automatic Pilot that disclosure scheme is realized, can be continual from the limitation of the factors such as weather, activity duration
Hauling operation is carried out continuously, improves container efficiency.
The preferred embodiment of the disclosure is described in detail above in association with attached drawing, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can
The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought, it should equally be considered as disclosure disclosure of that.
Claims (9)
- A kind of 1. container truck automated driving system, it is characterised in that the system comprises：Remote monitoring device, for the map using harbour where default Container Transport plan and container, generation fortune Defeated task and transit route；Vehicle-mounted servomechanism on container truck, the fortune issued for receiving the remote monitoring device Defeated task and the transit route, control the container truck to advance, complete the transport task based on the transit route.
- 2. system according to claim 1, it is characterised in thatThe remote monitoring device, is additionally operable to show the transport task and the transit route to monitoring personnel, and preserves institute The adjustment information that monitoring personnel is inputted for the transport task and/or the transit route is stated, amended transport is obtained and appoints Business and transit route.
- 3. system according to claim 1, it is characterised in that the vehicle-mounted servomechanism includes：Communication module, for receiving the transport task and the transit route that the remote monitoring device issues；Vehicle bus, for obtaining the operating status of the container truck；Line traffic control unit, for reference to the operating status, vehicle control to be carried out to the container truck by the vehicle bus System, makes the container truck advance according to the transit route, completes the transport task.
- 4. system according to claim 3, it is characterised in that the vehicle-mounted servomechanism further includes：Onboard sensor, for obtaining the obstacle information of the container truck local environment；Vehicle carried pick device, for obtaining the positional information of the container truck；Inertial navigation unit, for obtaining the operation posture and the speed of service of the container truck；The line traffic control unit, for utilizing the obstacle information, the positional information, the operation posture and the operation speed Degree, adjusts the transit route, and controls the container truck according to the transit route after adjustment by the vehicle bus Advance.
- 5. system according to claim 4, it is characterised in that the onboard sensor includes：Camera device and/or laser radar, installed in the container truck headstock and towards direct of travel, and towards row Into the left and right sides in direction；Millimeter wave, installed in the container truck headstock and towards direct of travel.
- 6. system according to claim 4, it is characterised in thatThe vehicle carried pick device is installed on the top of the container truck headstock.
- 7. system according to claim 4, it is characterised in thatThe inertial navigation unit is installed on one of the headstock of the container truck and the left and right sides towards direct of travel.
- 8. system according to claim 4, it is characterised in thatThe communication module, is additionally operable to upload the obstacle information, positional information, described to the remote monitoring device Posture and the speed of service are run, next step transport task analysis is carried out for the remote monitoring device.
- 9. according to claim 3 to 8 any one of them system, it is characterised in thatThe communication module, is additionally operable to control the speed and/or corner of container truck adjustment in the line traffic control unit When changing value is more than predetermined threshold value, exception is reported to the remote monitoring device.
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| CN201720943279.6U CN207264194U (en) | 2017-07-31 | 2017-07-31 | Container truck automated driving system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272703A (en) * | 2017-07-31 | 2017-10-20 | 张天雷 | Container truck automated driving system and method |
| CN109017630A (en) * | 2018-06-26 | 2018-12-18 | 上海西井信息科技有限公司 | Failure monitoring method, device, electronic equipment, the storage medium of truck |
| CN109669464A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
| CN109711787A (en) * | 2018-11-07 | 2019-05-03 | 上海图森未来人工智能科技有限公司 | A kind of harbour intelligence control system and related system and device |
| CN110427024A (en) * | 2019-07-15 | 2019-11-08 | 沈阳航空航天大学 | A kind of unpiloted personnel's Material Transportation vehicle |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
| CN112233453A (en) * | 2020-08-28 | 2021-01-15 | 宁波大榭招商国际码头有限公司 | Instruction and service system applied to container terminal environment |
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- 2017-07-31 CN CN201720943279.6U patent/CN207264194U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107272703A (en) * | 2017-07-31 | 2017-10-20 | 张天雷 | Container truck automated driving system and method |
| CN109017630A (en) * | 2018-06-26 | 2018-12-18 | 上海西井信息科技有限公司 | Failure monitoring method, device, electronic equipment, the storage medium of truck |
| CN109017630B (en) * | 2018-06-26 | 2020-06-12 | 上海西井信息科技有限公司 | Fault monitoring method and device for truck, electronic equipment and storage medium |
| CN109669464A (en) * | 2018-07-12 | 2019-04-23 | 北京图森未来科技有限公司 | Realize the system and relevant device of automatic transport of goods |
| US12118498B2 (en) | 2018-07-12 | 2024-10-15 | Beijing Tusen Zhitu Technology Co., Ltd. | System for realizing automated transport of goods and related apparatus |
| CN109711787A (en) * | 2018-11-07 | 2019-05-03 | 上海图森未来人工智能科技有限公司 | A kind of harbour intelligence control system and related system and device |
| CN109711787B (en) * | 2018-11-07 | 2024-04-19 | 北京图森智途科技有限公司 | Port intelligent control system and related system and device |
| US11972501B2 (en) | 2018-11-07 | 2024-04-30 | Beijing Tusen Zhitu Technology Co., Ltd. | Intelligent port control system and related systems and apparatuses |
| CN110427024A (en) * | 2019-07-15 | 2019-11-08 | 沈阳航空航天大学 | A kind of unpiloted personnel's Material Transportation vehicle |
| CN111583678A (en) * | 2020-04-30 | 2020-08-25 | 福建中科云杉信息技术有限公司 | Unmanned truck port horizontal transportation system and method |
| CN112233453A (en) * | 2020-08-28 | 2021-01-15 | 宁波大榭招商国际码头有限公司 | Instruction and service system applied to container terminal environment |
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Effective date of registration: 20230728 Address after: 100176 room 656, 6 / F, block a, building 1, yard 19, Ronghua Middle Road, economic and Technological Development Zone, Daxing District, Beijing Patentee after: BEIJING ZHUXIAN TECHNOLOGY Co.,Ltd. Address before: No. 2 Tuanjie Road, Dashiqiao Village, Shuangta District, Zhuozhou City, Baoding City, Hebei Province 072750 Patentee before: Zhang Tianlei |
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