An automatic guided vehicle system based on laser radar and depth camera fusion perception

Abstract

The application provides an automatic guided vehicle system based on laser radar and depth camera fusion perception, which comprises built-in laser radars arranged on both sides of a vehicle body and a depth camera arranged on the front side of the vehicle body, the built-in laser radars and the depth camera are connected with a vehicle computing platform, and the automatic guided vehicle system further comprises an external radar system, a vehicle body moving system and a guided vehicle computing platform; the automatic guided vehicle system realizes simultaneous entry of front vehicles and rear vehicles into a warehouse, and the front vehicles and the rear vehicles do not affect each other, so that the parking and entry efficiency is obviously improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic parking technology, and in particular to an automatic guided vehicle system based on laser radar and depth camera fusion perception. Background Art

[0002] Currently, automated assisted driving has entered a period of rapid development. Both traditional fuel-powered vehicle manufacturers and new-generation electric vehicle manufacturers have invested heavily in its R&D. New vehicles are now equipped with lidar and depth cameras. Lidar relies on time-of-flight technology, which allows for more precise spatial modeling than traditional millimeter-wave radar. Combined with depth cameras, it can quickly detect depth and distance. Lidar can quickly emit a large number of laser beams, using the time difference between the laser signals to determine the distance to surrounding objects and perform real-time modeling. GPU computing platforms and power steering systems then control the vehicle's automatic parking.

[0003] However, the automated guided vehicle system currently in use only refers to the part installed in the car. If the vehicle ahead is also parking during automatic parking, human intervention is required to force the system to be interrupted. The system must be restarted after the vehicle ahead parks or the driver manually parks the vehicle. However, it is common to encounter situations such as cars ahead in parking lots. Therefore, the system still has defects such as lack of intelligence and inability to improve current parking efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to improve the parking efficiency of the automatic guided vehicle system and provide an automatic guided vehicle system based on the fusion perception of laser radar and depth camera.

[0005] A technical solution of the present invention is an automatic guided vehicle system based on the fusion perception of laser radar and depth camera, comprising built-in laser radars on both sides of the vehicle body and a depth camera on the front side of the vehicle body, the built-in laser radar and the depth camera are both connected to the vehicle computing platform, and also comprising an external radar system, a vehicle body transfer system, and a guide vehicle computing platform; the external radar system comprises a first external laser radar and a second external laser radar, the first external laser radar and the second external laser radar are respectively arranged at the entrances of two adjacent parking spaces and are respectively arranged on both sides of the corresponding parking space entrances, the first external laser radar is located at a parking space in the two parking spaces corresponding to the front position of the vehicle in the direction of travel, the second external laser radar is located at a parking space in the two parking spaces corresponding to the rear position of the vehicle in the direction of travel, the first external laser radar and the second external laser radar are both used to detect whether the front or rear end of the vehicle has entered the warehouse; the vehicle body transfer system comprises an installation area arranged on the vehicle's travel path, The installation area is partially located outside the entrance of the parking space where the second external laser radar is located, and the length line starts between two adjacent parking spaces and ends away from two adjacent parking spaces. A lifting platform is provided in the installation area, and a transfer track that moves along the direction of vehicle travel is provided on the lifting platform. A number of transfer rollers are provided on the transfer track, and the setting direction of the transfer rollers is perpendicular to the setting direction of the transfer track. The transfer rollers are driven by a motor; the guide vehicle computing platform is connected to the first external laser radar and the second external laser radar. When the guide vehicle computing platform receives the vehicle entry signal of the first external laser radar and the second external laser radar, it generates a transfer signal to control the vehicle body transfer system; the guide vehicle computing platform is also connected to the lifting platform, the transfer track, and the motor. When the vehicle body transfer system receives the transfer signal, the lifting platform lifts the rear wheel of the vehicle, and the transfer track and the motor are started synchronously to send the rear of the vehicle to the side where the front of the vehicle is located.

[0006] As an embodiment, the installation area opening is square, and the width line is located within the lane in the direction of vehicle travel.

[0007] As an embodiment, before the vehicle body transfer system receives the transfer signal, the transfer track on the lifting platform is flush with the lane surface, and the transfer roller is restricted by the braking unit that cooperates with the motor and remains stationary; wherein, when the motor is started, the braking unit releases the restriction on the transfer roller.

[0008] As an embodiment, the installation area is an installation pit provided in the driveway, the longitudinal section of the installation pit is in the shape of an inverted trapezoid, a liftable crossbeam arm is provided in the installation pit, the lifting platform includes a lifting frame, the crossbeam arm is inserted horizontally through the lifting frame, the lifting platform also includes a transfer wheel disc near both ends of the lifting frame, the transfer crawler transmission is connected to the transfer wheel disc, and the transfer crawler is supported by an inverted trapezoidal inner frame to make the transfer crawler in the shape of an inverted trapezoid.

[0009] As an embodiment, the transfer crawler is a multi-section type that is hinged and engaged with each other, and the transfer roller is provided in each section of the belt.

[0010] As an embodiment, after the vehicle body transfer system receives the transfer signal, the crossbeam arm causes the lifting frame of the lifting platform to lift the rear wheel of the vehicle, the transfer wheel starts the transfer shoe to move in the direction of vehicle travel, and the motor starts to rotate the transfer roller in a set direction; wherein, the set direction is a counterclockwise rotation direction on the orthographic projection plane of the vehicle travel direction.

[0011] As an embodiment, the second external laser radar is also used to check whether the front of the vehicle enters the warehouse directly. The verification standard is whether the vehicle body data detected by the second external laser radars on both sides are mirror data after eliminating tolerance.

[0012] As an embodiment, the crossbeam arm is connected to an L-shaped jacking arm, and the jacking arm and the crossbeam arm rise and fall synchronously, and the jacking arm extends to the bottom between two adjacent parking spaces, and the jacking arm is provided with a first rotating arm, a polygonal shaft, and a second rotating arm connected in sequence, and the radius of the polygonal shaft is larger than the radius of the first rotating arm, and the ground where the parking space is located is provided with a polygonal bayonet for the polygonal shaft to pass through, and the polygonal bayonet is located at a position close to half of the depth of the parking space, and the second rotating arm is provided with a sealing plate, and the sealing plate is used to seal one of the two parking spaces corresponding to the rear position of the vehicle's travel direction, and the ground where the parking space is located is also provided with a fixing ring for the second rotating arm to pass through, and a damping element is connected between the fixing ring and the second rotating arm, and the transfer wheel is connected to the first rotating arm through a transmission system. The second rotating arm is also connected to a bearing element, and the bearing element is connected to a lifting rod provided on the ground where the parking space is located; wherein, after the vehicle body transfer system receives the transfer signal, the crossbeam arm and the lifting arm are synchronously lifted to disengage the polygonal axis from the polygonal bayonet; the transfer wheel activates the transfer shoe and also rotates the first rotating arm, the polygonal axis, and the second rotating arm connected in sequence by 90 degrees, thereby retracting the sealing plate that seals the parking space toward the inside of the parking space; the polygonal axis is again inserted into the polygonal bayonet as the crossbeam arm and the lifting arm return to their original position, and the lifting rod lifts the first rotating arm and the polygonal axis when the second external laser radar detects that the vehicle has left the garage to disengage the polygonal axis again, so that the sealing plate seals the parking space under the action of the damping element.

[0013] As an embodiment, the first rotating arm and the polygonal shaft are detachably connected, a square platform is provided at the bottom of the polygonal shaft, a downward circular plug-in shaft is provided on the square platform, and a platform groove and an axis groove are provided on the top of the first rotating arm to respectively match the square platform and the plug-in shaft.

[0014] As an embodiment, the damping element is a conical spring.

[0015] Compared with the prior art, the beneficial effect of the present invention is that it enables the front vehicle and the rear vehicle to enter the garage at the same time without affecting each other, thereby significantly improving the parking efficiency. The specific implementation method is that the front vehicle reverses into the garage as usual, while the rear vehicle directly enters the garage with the help of the external radar system, the body transfer system, and the guide vehicle computing platform. Among them, when the first external laser radar and the second external laser radar both detect the vehicle entering the garage, it means that the front vehicle and the rear vehicle are entering the garage at the same time. That is, when the guide vehicle computing platform receives the vehicle entry signal from the first external laser radar and the second external laser radar, it generates a transfer signal to control the body transfer system. The corresponding specific scenario is that the front part of the rear vehicle has been obliquely inserted into the parking space where the second external laser radar is located, and the rear wheels are pressed on the transfer tracks. Then the body transfer system receives the transfer signal, and the lifting platform lifts the rear wheels of the vehicle. Then the transfer tracks send the vehicle in the direction of travel, and the motor drives the transfer rollers to send the vehicle in the opposite direction of entering the warehouse. The driver in the car keeps the steering wheel turned to the right, and the corresponding displacement of the vehicle is with the right front wheel of the vehicle as the center of rotation. The vehicle undergoes a nearly circular displacement to adjust the vehicle relative to the parking space, and then the steering wheel can be returned to the center to enter the warehouse directly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 An application scenario view of an automatic guided vehicle system based on laser radar and depth camera fusion perception provided by an embodiment of the present invention;

[0017] Figure 2 A block diagram of an automated guided vehicle system based on laser radar and depth camera fusion perception provided by an embodiment of the present invention;

[0018] Figure 3 A partial plan view of a vehicle body transfer system provided in an embodiment of the present invention;

[0019] Figure 4 A partial perspective schematic diagram of a vehicle body transfer system provided in an embodiment of the present invention;

[0020] Figure 5 Schematic diagram of the connection structure between the first rotating arm and the polygonal axis provided in an embodiment of the present invention.

[0021] In the figure: 100, built-in laser radar; 200, depth camera; 300, vehicle computing platform; 400, external radar system; 410, first external laser radar; 420, second external laser radar; 500, vehicle body transfer system; 510, mounting area; 520, lifting platform; 521, lifting frame; 522, transfer wheel disc; 530, transfer track; 540, transfer roller; 550, motor; 560, cross beam arm; 570, inner frame; 580, jacking arm; 590, first rotating arm; 591, table groove; 592, shaft groove; 5100, multi-edge shaft; 5101, square table; 5102, shaft insertion; 5110, second rotating arm; 5120, multi-edge bayonet; 5130, sealing plate; 5140, fixed ring; 5150, damping element; 5160, transmission system; 5170, bearing element; 5180, jacking rod; 600, guide vehicle computing platform. DETAILED DESCRIPTION

[0022] The above and other embodiments and advantages of the present application will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements in the figures, and wherein:

[0023] In an embodiment, as shown in FIG. 1, the vehicle computing platform 300 is configured to receive data from the built-in laser radar 100, the depth camera 200, the external radar system 400, and the guide vehicle computing platform 600. Figures 1-2

[0024] ​The automatic guided vehicle system based on laser radar and depth camera fusion perception provided in this embodiment includes an internal laser radar 100 arranged on both sides of the vehicle body and a depth camera 200 arranged on the front side of the vehicle body. The internal laser radar 100 and the depth camera 200 are both connected to the vehicle computing platform 300. It also includes an external radar system 400, a vehicle body transfer system 500, and a guide vehicle computing platform 600; the external radar system 400 includes a first external laser radar 410 and a second external laser radar 420. The first external laser radar 410 and the second external laser radar 420 are connected to the vehicle computing platform 300. The external laser radars 420 are respectively arranged at the entrances of two adjacent parking spaces and are respectively arranged on both sides of the corresponding parking space entrances. The first external laser radar 410 is located at a parking space in the front direction of the two parking spaces corresponding to the direction of travel of the vehicle, and the second external laser radar 420 is located at a parking space in the rear direction of the two parking spaces corresponding to the direction of travel of the vehicle. The first external laser radar 410 and the second external laser radar 420 are both used to detect whether the front or rear end of the vehicle has entered the warehouse; the vehicle body transfer system 500 includes an installation area 510 located on the vehicle's travel path, The installation area 510 is partially located outside the entrance of the parking space where the second external laser radar 420 is located, and the length line starts between two adjacent parking spaces and ends at a position far away from two adjacent parking spaces. A lifting platform 520 is provided in the installation area 510. A transfer track 530 that moves along the direction of vehicle travel is provided on the lifting platform 520. A plurality of transfer rollers 540 are provided on the transfer track 530. The setting direction of the transfer rollers 540 is perpendicular to the setting direction of the transfer track 530. The transfer rollers 540 are driven by a motor 550. The guide vehicle computing platform 600 is connected to the guide vehicle computing platform 600. It is connected to the first external laser radar 410 and the second external laser radar 420. When the guide vehicle computing platform 600 receives the vehicle entry signal from the first external laser radar 410 and the second external laser radar 420, it generates a transfer signal to control the vehicle body transfer system 500; the guide vehicle computing platform 600 is also connected to the lifting platform 520, the transfer track 530, and the motor 550. When the vehicle body transfer system 500 receives the transfer signal, the lifting platform 520 lifts the rear wheel of the vehicle, and the transfer track and the motor 550 are started synchronously to move the rear of the vehicle to the side where the front of the vehicle is located.

[0025] In this embodiment, Figure 1 The figure shows a schematic diagram of the automatic guided vehicle system in a specific application scenario. The specific application scenario is a parking lot with two lanes in both directions connected to the parking spaces. At present, most parking lots in China have this configuration. There are several parking spaces on both sides of the lanes. For the convenience of explanation, only two adjacent parking spaces on one side are shown in the figure. The automatic guided vehicle system also uses two adjacent parking spaces as the minimum unit. In the existing technical application, if you encounter Figure 1As shown in the figure, when the rear vehicle is parking, the front vehicle is also parking. The current common practice is to wait for the front vehicle to park and then reverse into the garage in the same way as the front vehicle, which leads to low parking efficiency.

[0026] In this embodiment, the front vehicle and the rear vehicle can enter the garage at the same time without affecting each other, thereby significantly improving the efficiency of parking. The specific implementation method is that the front vehicle reverses into the garage as usual, while the rear vehicle directly enters the garage with the help of the external radar system 400, the body transfer system 500, and the guide vehicle computing platform 600. Among them, when the first external laser radar 410 and the second external laser radar 420 both detect that the vehicle enters the garage, it means that the front vehicle and the rear vehicle are entering the garage at the same time. That is, when the guide vehicle computing platform 600 receives the vehicle entry signal from the first external laser radar 410 and the second external laser radar 420, it generates a transfer signal to control the body transfer system 500. The corresponding specific scenario is that the front part of the rear vehicle has been obliquely inserted into the parking space where the second external laser radar 420 is located, and the rear wheels are pressed on the transfer track 530. Then the body transfer system 500 receives the transfer signal, and the lifting platform 520 lifts the rear wheels of the vehicle. Then the transfer track 530 sends the vehicle in the direction of travel, and the motor 550 drives the transfer roller 540 to send the vehicle in the opposite direction of entering the warehouse. The driver in the car keeps the steering wheel turned to the right. Then the corresponding displacement on the vehicle is based on the right front wheel of the vehicle as the center of rotation. The vehicle undergoes a nearly circular displacement to adjust the vehicle relative to the parking space, and then the steering wheel can be returned to the center to enter the warehouse directly. It should be noted that the lifting platform 520 is only slightly lifted as a warning sign that it is in working condition.

[0027] Of course, in another embodiment, the built-in laser radar 100 installed on both sides of the vehicle body can detect the parking space and then directly establish a communication connection with the guide vehicle computing platform 600 through the vehicle computing platform 300, thereby controlling the vehicle body transfer system 500.

[0028] In one embodiment, Figure 1 shown.

[0029] This embodiment provides an automatic guided vehicle system based on laser radar and depth camera fusion perception, wherein the installation area 510 opening is square, and the width line is located within the lane in the direction of vehicle travel.

[0030] In this embodiment, the entire installation area 510 is located within one lane, and thus will not affect the normal movement of vehicles in the opposite lane.

[0031] In one embodiment, Figure 2 shown.

[0032] The automatic guided vehicle system based on laser radar and depth camera fusion perception provided in the embodiment is characterized in that before the vehicle body moving system 500 receives a moving signal, the moving track 530 on the lifting platform 520 is flush with the ground of the lane, and the moving roller 540 is kept static by the brake unit of the cooperating motor 550; when the motor 550 is started, the brake unit releases the restriction on the moving roller 540.

[0033] In the embodiment, when the moving track 530 on the lifting platform 520 is flush with the ground of the lane, and the moving roller 540 is kept static by the brake unit of the cooperating motor 550, the vehicle can pass through the lane without being affected.

[0034] In an embodiment, as shown in Figure 3 .

[0035] The automatic guided vehicle system based on laser radar and depth camera fusion perception provided in the embodiment is characterized in that the installation area 510 is an installation pit arranged in the lane, the longitudinal section of the installation pit is in the shape of an inverted trapezoid, the installation pit is provided with a liftable cross beam arm 560, the lifting platform 520 comprises a lifting frame 521, the cross beam arm 560 is transversely inserted through the lifting frame 521, the lifting platform 520 further comprises moving wheel plates 522 near both ends of the lifting frame 521, the moving track 530 is drivingly connected to the moving wheel plates 522, and the moving track 530 is provided with an inverted trapezoidal inner frame 570 inside to make the moving track 530 in the shape of an inverted trapezoid.

[0036] In the embodiment, a partial structure schematic diagram of the vehicle body moving system 500 is output, in which the lifting of the lifting frame 521 is controlled by the cross beam arm 560, and the movement of the moving track 530 is controlled by the moving wheel plates 522, and these components are all buried in the dug installation pit.

[0037] In an embodiment, as shown in Figure 1 .

[0038] The automatic guided vehicle system based on laser radar and depth camera fusion perception provided in the embodiment is characterized in that the moving track 530 is multi-segmented and hinged to each other, and the moving roller 540 is arranged in each segment of the track body. In the embodiment, the moving track 530 is multi-segmented.

[0039] In an embodiment, as shown in Figure 1 .

[0040] This embodiment provides an automated guided vehicle system based on laser radar and depth camera fusion sensing. When the vehicle body transfer system 500 receives a transfer signal, the crossbeam arm 560 causes the lifting frame 521 of the lifting platform 520 to raise the rear wheels. The transfer wheel 522 activates the transfer track to move in the direction of vehicle travel, and the motor 550 activates the transfer roller 540 to rotate in a set direction; the set direction is counterclockwise on the orthographic projection of the vehicle's direction of travel. In this embodiment, the vehicle can be displaced in a nearly circular trajectory with the right front wheel as the center of rotation, thereby adjusting the vehicle relative to the parking space.

[0041] In one embodiment, the second external laser radar 420 is also used to check whether the front of the vehicle enters the warehouse directly. The verification standard is whether the vehicle body data detected by the second external laser radars 420 on both sides are mirror data after eliminating tolerance.

[0042] In this embodiment, the mirror data means that the data measured by the second external laser radar 420 on both sides contains the orientation information. After eliminating the deviation value within a reasonable range, that is, the tolerance, and ignoring the orientation information, whether the data is the same.

[0043] In one embodiment, Figures 4-5 shown.

[0044] The automatic guide vehicle system based on fusion perception of laser radar and depth camera provided by the embodiment has an L-shaped jacking arm 580 connected with the cross beam arm 560, the jacking arm 580 and the cross beam arm 560 are synchronous lifting, the jacking arm 580 extends to the lower part between two adjacent parking spaces, the jacking arm 580 is provided with a first rotating arm 590, a multi-edge shaft 5100 and a second rotating arm 5110 connected in sequence, the radius of the multi-edge shaft 5100 is greater than the radius of the first rotating arm 590, the ground where the parking space is located is provided with a multi-edge socket 5120 through which the multi-edge shaft 5100 passes, the multi-edge socket 5120 is arranged at a position close to one half of the depth of the parking space, the second rotating arm 5110 is provided with a sealing plate 5130, the sealing plate 5130 is used for sealing one of the two parking spaces corresponding to the rear position in the direction of vehicle travel, the ground where the parking space is located is further provided with a fixing ring 5140 through which the second rotating arm 5110 penetrates, a damping element 5150 is connected between the fixing ring 5140 and the second rotating arm 5110, a moving wheel disc 522 is drivingly connected with the first rotating arm 590 through a transmission system 5160, the second rotating arm 5110 is further connected with a bearing element 5170, and the bearing element 5170 is connected with a jacking rod 5180 arranged on the ground where the parking space is located; wherein, after the vehicle body moving system 500 receives a moving signal, the cross beam arm 560 and the jacking arm 580 are synchronous lifting, so that the multi-edge shaft 5100 is separated from the multi-edge socket 5120; the moving wheel disc 522 makes the moving track start to rotate, and the first rotating arm 590, the multi-edge shaft 5100 and the second rotating arm 5110 connected in sequence are rotated by 90 degrees, so that the sealing plate 5130 sealing the parking space is folded inward; the multi-edge shaft 5100 is again clamped into the multi-edge socket 5120 along with the descending of the cross beam arm 560 and the jacking arm 580, and the jacking rod 5180 lifts the first rotating arm 590 and the multi-edge shaft 5100 when the second external laser radar 420 detects that the vehicle leaves the garage, so that the multi-edge shaft 5100 is separated from the multi-edge socket 5120 again, and the sealing plate 5130 seals the parking space under the action of the damping element 5150.

[0045] In the embodiment, the parking lot is taken as the minimum unit of two adjacent parking spaces, and the vehicle is first introduced into the parking space where the first external laser radar 410 is located when parking, because the parking space where the second external laser radar 420 is located is temporarily blocked by the sealing plate 5130 and cannot be used. When the vehicle is parked in the parking space where the first external laser radar 410 is located, if the second external laser radar 420 detects that the front part of the vehicle has been obliquely inserted into the parking space where the second external laser radar 420 is located, a moving signal will be generated. After the vehicle body moving system 500 receives the moving signal, the sealing plate 5130 is driven to fold, so that the vehicle can be parked in the parking lot. Of course, if there is no vehicle parked in the parking space where the first external laser radar 410 is located, the condition for generating the moving signal will not be met, and the vehicle cannot be parked in the parking space where the second external laser radar 420 is located. Therefore, all parking spaces in the parking lot can be efficiently utilized, that is, the possibility of the parking space with the sealing plate 5130 being occupied first is excluded, so that each minimum unit can be used to simultaneously park the front and rear vehicles.

[0046] In the embodiment, the work of driving the sealing plate 5130 to fold so that the vehicle can be parked in the parking lot is that, after the vehicle body moving system 500 receives the moving signal, the cross beam arm 560 and the lifting arm 580 are synchronously lifted to make the polygon shaft 5100 disengage from the polygon socket 5120. After the polygon shaft 5100 disengages from the polygon socket 5120, the first rotating arm 590, the polygon shaft 5100, and the second rotating arm 5110 connected in sequence can be freely rotated. The moving wheel disc 522 starts the moving track 530, and at the same time, the transmission system 5160 also rotates the first rotating arm 590, the polygon shaft 5100, and the second rotating arm 5110 connected in sequence by 90 degrees, so as to fold the sealing plate 5130 blocking the parking space to the inside of the parking space. After folding, the polygon shaft 5100 is again clamped into the polygon socket 5120 with the descending of the cross beam arm 560 and the lifting arm 580. Of course, as a complete use process, if the second external laser radar 420 detects that the vehicle leaves the garage, the first rotating arm 590 and the polygon shaft 5100 are lifted by the lifting rod 5180 to make the polygon shaft 5100 disengage from the polygon socket 5120 again, so that the sealing plate 5130 blocks the parking space under the action of the damping element 5150. The lifting rod 5180 can lift the first rotating arm 590 and the polygon shaft 5100, because the first rotating arm 590 and the polygon shaft 5100 are detachably connected, the polygon shaft 5100 is provided with a square platform 5101, the square platform 5101 is provided with a downward circular insertion shaft 5102, and the first rotating arm 590 is provided with a platform groove 591 and a shaft groove 592 respectively matched with the square platform 5101 and the insertion shaft 5102. When the lifting rod 5180 is lifted upward, the square platform 5101 on the polygon shaft 5100 disengages from the platform groove 591, and the insertion shaft 5102 and the shaft groove 592 remain connected, so that the sealing plate 5130 is reset to block the parking space under the action of the damping element 5150.

[0047] In one embodiment, Figures 4-5 shown.

[0048] The automatic guided vehicle system based on laser radar and depth camera fusion perception provided in this embodiment has a damping element 5150 that is a conical spring.

[0049] The specific embodiments described above further illustrate the purpose of the present invention, technical solutions, and beneficial effects. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. In particular, it should be noted that for those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic guided vehicle system based on laser radar and depth camera fusion perception, comprising built-in laser radars (100) arranged on both sides of a vehicle body and a depth camera (200) arranged on the front side of the vehicle body, wherein the built-in laser radars (100) and the depth camera (200) are both connected to a vehicle computing platform (300), characterized in that: It also includes an external radar system (400), a vehicle body transfer system (500), and a guided vehicle computing platform (600); The external radar system (400) includes a first external laser radar (410) and a second external laser radar (420), wherein the first external laser radar (410) and the second external laser radar (420) are respectively arranged at two adjacent parking space entrances and are respectively arranged on both sides of the corresponding parking space entrances, the first external laser radar (410) is located at a parking space corresponding to a front position in the direction of travel of the vehicle among the two parking spaces, and the second external laser radar (420) is located at a parking space corresponding to a rear position in the direction of travel of the vehicle among the two parking spaces, and the first external laser radar (410) and the second external laser radar (420) are both used to detect whether the front or rear end of the vehicle has entered the garage; The vehicle body transfer system (500) includes an installation area (510) located on a vehicle travel path, wherein the installation area (510) is partially located outside the entrance of the parking space where the second external laser radar (420) is located, and the length line starts between two adjacent parking spaces and ends at a position away from the two adjacent parking spaces. A lifting platform (520) is provided in the installation area (510), and a transfer crawler (530) that moves along the vehicle travel direction is provided on the lifting platform (520). A plurality of transfer rollers (540) are provided on the transfer crawler (530), and the setting direction of the transfer rollers (540) is perpendicular to the setting direction of the transfer crawler (530). The transfer rollers (540) are driven by a motor (550). The guide vehicle computing platform (600) is connected to the first external laser radar (410) and the second external laser radar (420). When the guide vehicle computing platform (600) receives the vehicle entry signal from the first external laser radar (410) and the second external laser radar (420), it generates a transfer signal to control the vehicle body transfer system (500); the guide vehicle computing platform (600) is also connected to the lifting platform (520), the transfer crawler (530), and the motor (550). When the vehicle body transfer system (500) receives the transfer signal, the lifting platform (520) lifts the rear wheel of the vehicle, and the transfer crawler (530) and the motor (550) are started synchronously to move the rear of the vehicle to the side where the front of the vehicle is located.

2. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 1 is characterized in that: The installation area (510) has a square opening, and a width line is located within the lane in the direction of vehicle travel.

3. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 2 is characterized in that: Before the vehicle body transfer system (500) receives a transfer signal, the transfer track (530) on the lifting platform (520) is flush with the road surface, and the transfer roller (540) is restrained and kept stationary by a brake unit that cooperates with the motor (550); wherein, when the motor (550) is started, the brake unit releases the restraint on the transfer roller (540).

4. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 1 is characterized in that: The installation area (510) is an installation pit provided in a lane, the longitudinal section of the installation pit is in the shape of an inverted trapezoid, a liftable crossbeam arm (560) is provided in the installation pit, the lifting platform (520) includes a lifting frame (521), the crossbeam arm (560) is inserted horizontally through the lifting frame (521), the lifting platform (520) further includes a transfer wheel disc (522) near both ends of the lifting frame (521), the transfer crawler (530) is transmission-connected to the transfer wheel disc (522), and the transfer crawler (530) is supported by an inverted trapezoidal inner frame (570) to make the transfer crawler (530) in the shape of an inverted trapezoid.

5. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 4 is characterized in that: The transfer crawler (530) is a multi-section type that is hinged and engaged with each other, and the transfer roller (540) is arranged in each section of the belt.

6. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 4 is characterized in that: After the vehicle body transfer system (500) receives a transfer signal, the crossbeam arm (560) causes the lifting frame (521) of the lifting platform (520) to lift the rear wheel of the vehicle, the transfer wheel disc (522) causes the transfer shoe to start moving in the direction of vehicle travel, and the motor (550) starts to cause the transfer roller (540) to rotate in a set direction; wherein the set direction is a counterclockwise rotation direction on the orthographic projection plane of the vehicle travel direction.

7. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 6 is characterized in that: The second external laser radar (420) is also used to check whether the front of the vehicle enters the warehouse directly, and the verification standard is whether the vehicle body data detected by the second external laser radars (420) on both sides are mirror data after eliminating tolerance.

8. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 4 is characterized in that: The crossbeam arm (560) is connected to an L-shaped lifting arm (580). The lifting arm (580) and the crossbeam arm (560) are raised and lowered synchronously. The lifting arm (580) extends to the bottom between two adjacent parking spaces. The lifting arm (580) is provided with a first rotating arm (590), a polygonal shaft (5100), and a second rotating arm (5110) connected in sequence. The radius of the polygonal shaft (5100) is greater than the radius of the first rotating arm (590). The ground where the parking space is located is provided with a polygonal bayonet (5120) for the polygonal shaft (5100) to pass through. The polygonal bayonet (5120) is located at a position close to half the depth of the parking space. The second rotating arm (5110) is provided with a first rotating arm (590), a polygonal shaft (5100), and a second rotating arm (5110). 0) is provided with a sealing plate (5130), the sealing plate (5130) is used to seal one of the two parking spaces corresponding to the rear position of the vehicle's traveling direction, the ground where the parking space is located is also provided with a fixing ring (5140) for the second rotating arm (5110) to pass through, a damping element (5150) is connected between the fixing ring (5140) and the second rotating arm (5110), the transfer wheel (522) is connected to the first rotating arm (590) through a transmission system (5160), the second rotating arm (5110) is also connected to a bearing element (5170), and the bearing element (5170) is connected to a lifting rod (5180) provided on the ground where the parking space is located; Wherein, after the vehicle body transfer system (500) receives the transfer signal, the crossbeam arm (560) and the lifting arm (580) are synchronously lifted, so that the polygonal shaft (5100) is separated from the polygonal bayonet (5120); the transfer wheel (522) activates the transfer shoe and also causes the first rotating arm (590), the polygonal shaft (5100), and the second rotating arm (5110) connected in sequence to rotate 90 degrees, thereby retracting the sealing plate (5130) that seals the parking space toward the inside of the parking space; the polygonal shaft (5100) As the crossbeam arm (560) and the lifting arm (580) are lowered, they are again locked in the polygonal latch (5120). When the second external laser radar (420) detects that the vehicle has left the garage, the lifting rod (5180) lifts the first rotating arm (590) and the polygonal axis (5100) to allow the polygonal axis (5100) to disengage from the polygonal latch (5120) again, thereby allowing the sealing plate (5130) to seal the parking space under the action of the damping element (5150).

9. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 8, characterized in that: The first rotating arm (590) and the polygonal shaft (5100) are detachably connected, a square platform (5101) is provided at the bottom of the polygonal shaft (5100), a downward circular plug-in shaft (5102) is provided on the square platform (5101), and a platform groove (591) and an axis groove (592) are provided on the top of the first rotating arm (590) for respectively matching the square platform (5101) and the plug-in shaft (5102).

10. The automatic guided vehicle system based on laser radar and depth camera fusion perception according to claim 8, characterized in that: The damping element (5150) is a conical spring.

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