Automatic reversing and hanging system and method based on TOF camera
A TOF camera, automatic technology, applied in vehicle parts, optical observation devices, traction connectors, etc., can solve the problems of inconvenient use of unmanned vehicles, inability to achieve unmanned, and user experience to be improved.
Pending Publication Date: 2021-07-13
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
[0003] However, in the current unmanned logistics transportation, the unmanned degree is concentrated on the transportation end, and the unmanned driving is basically concentrated on the completion of all vehicle equipment preparations, that is, the unmanned transportation of vehicles on the road. Unable to achieve true unmanned, bringing inconvenience to the use of unmanned vehicles
In particular, the hook-up operation of unmanned logistics trailers has not been able to achieve completely unmanned operations, and the user experience needs to be improved
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[0037] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
[0038] Such as figure 1 Shown is a schematic structural diagram of an automatic reversing and hook-up system based on a TOF camera according to an embodiment of the present invention.
[0039] Please refer to figure 1 , The automatic reversing and hanging system of this embodiment includes: an unmanned vehicle 1 , a rear-view TOF camera 2 , a connection detection device 3 and a main control device 4 . Wherein, the rear-view TOF camera 2 is arranged at the rear of the unmanned vehicle 1 to realize the collection of rear-view depth images, and transmit the collected rear-view depth image signals to the main control...
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The invention discloses an automatic reversing and hanging system and method based on a TOF camera. The system comprises an unmanned vehicle, a rearview TOF camera, a connection detection device and a main control device. The rear-view TOF camera is arranged behind the unmanned vehicle and is used for collecting a rear-view depth image; the connection detection device is arranged at the to-be-towed position of the to-be-towed vehicle and / or the towed position of the unmanned vehicle and used for achieving connection detection. The main control device is used for receiving the rearview depth image signal and the connection detection signal, identifying a to-be-towed vehicle and a towed position according to the rearview depth image signal, and setting a reversing path of the unmanned vehicle, so that the reversing of the unmanned vehicle is realized, and the to-be-towed vehicle and the tow of the unmanned vehicle are automatically connected; and the main control device is also used for identifying whether the to-be-towed and the towed are successfully connected according to the connection detection signal. According to the automatic reversing and hanging system, automatic docking between the unmanned vehicle and the cargo trailer can be realized, so that full-process operation of the unmanned vehicle is realized, and the cost is reduced.
Description
technical field [0001] The invention relates to the field of unmanned driving technology, in particular to an automatic reversing and hanging system and method based on a TOF camera. Background technique [0002] With the gradual industrialization of unmanned driving systems, unmanned logistics in factories, unmanned ports, and unmanned logistics in mining areas are gradually emerging. Unmanned transportation has gradually become the operating norm in these fields. Among them, the definition of unmanned logistics refers to the transformation of factory logistics, port logistics and mining logistics that once required human drivers to drive and implement, into unmanned logistics based on unmanned vehicles. logistics transportation. [0003] However, in the current unmanned logistics transportation, the unmanned degree is concentrated on the transportation end, and the unmanned driving is basically concentrated on the completion of all vehicle equipment preparations, that is,...
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IPC IPC(8): B60D1/36B60R1/00
CPCB60D1/36B60R1/003
Inventor 袁伟杨明张晓王春香
Owner SHANGHAI JIAO TONG UNIV