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Proximity capture method for reconfigurable unmanned vehicle autonomous docking process

An unmanned vehicle, near-end technology, applied in motor vehicles, vehicle position/route/altitude control, instruments, etc., can solve problems such as the inability to meet the needs of new intelligent vehicles, achieve multi-functional and complex working environments, improve The effect of docking efficiency

Active Publication Date: 2021-09-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

Obviously, the traditional fixed configuration of unmanned vehicles has been difficult to meet the above challenges, and cannot meet the needs of new intelligent vehicles in future intelligent transportation and smart cities

Method used

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  • Proximity capture method for reconfigurable unmanned vehicle autonomous docking process
  • Proximity capture method for reconfigurable unmanned vehicle autonomous docking process

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Embodiment Construction

[0025] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0026] This embodiment provides a proximal capture method for the autonomous docking process of the reconfigurable unmanned vehicle, which can solve the problem of difficulty in determining the docking timing during the docking process of the reconfigurable unmanned vehicle, and significantly improve the docking efficiency of the reconfigurable unmanned vehicle.

[0027] The reconfigurable unmanned vehicle has more than two unmanned vehicle units, and the two or more unmanned vehicle units are connected back and forth according to actual use requirements to realize the reconstruction of the unmanned vehicle. Each unmanned vehicle unit is provided with a docking mechanism for docking. The docking mechanism includes a movable end 1 and a fixed end 2, wherein the movable end 1 of the docking mechanism is set at the front end of the unmanned vehicle unit, and t...

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Abstract

The invention provides a near-end capture method for the autonomous docking process of a reconfigurable unmanned vehicle, which is used to determine the docking timing in the docking process of the reconfigurable unmanned vehicle, so that the unmanned vehicle unit can quickly reach the pose required for docking, and improve the docking process. efficiency. The near-end capture method provides two judgment conditions of attitude judgment and position judgment. When the two judgment conditions are met at the same time, it indicates that the two unmanned vehicle units to be docked have reached the docking time, and the docking of the movable end and the fixed end can be carried out. This method can meet the complex control requirements of autonomous topology reconfiguration of reconfigurable unmanned vehicles.

Description

technical field [0001] The invention relates to a near-end capture method in the autonomous docking process of a reconfigurable unmanned vehicle, which belongs to the technical field of unmanned vehicles. Background technique [0002] Unmanned vehicles can independently perform functional tasks such as logistics, transportation, distribution, patrol, public transportation, retail, cleaning, connection, and rescue, and are the core elements of future intelligent transportation and smart city construction. It is foreseeable that in future transportation and human life, most tasks will be completed by unmanned vehicles instead of humans. Vehicles will evolve from traditional vehicles to intelligent carriers for performing functional tasks, and will have a major impact on the development of human society. Compared with traditional intelligent networked vehicles, unmanned vehicles are designed to perform functional tasks and do not have a human driving mechanism, subverting the b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0225G05D2201/0216
Inventor 倪俊杨续袁昊吴家枫姜旭
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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