Tractor to box method, apparatus, loading computing platform, and tractor

Abstract

The present application relates to the field of intelligent driving, and particularly relates to a method and device for docking a trailer with a cargo box, a loading calculation platform and a trailer. The method comprises: scanning a target cargo box by using a preset sensor to obtain sensor data corresponding to the target cargo box; identifying the sensor data to obtain first position information of a trailer hitch corresponding to the target cargo box in a vehicle body coordinate system; converting the first position information to obtain second position information of the trailer hitch in a geodetic coordinate system; and adjusting the position and direction of the trailer according to the relationship between the second position information and the position information of the trailer to center the saddle of the trailer with the trailer hitch. The above method does not limit the docking mode of the trailer and the target cargo box, is simple to calculate, and efficiently and accurately completes the docking between the trailer and the target cargo box.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving, specifically to a method, apparatus, loading calculation platform, and tractor unit for docking a tractor unit with a cargo box. Background Technology

[0002] Trailer-drop transportation refers to a method of transport where trucks / trains, according to a predetermined plan, are unloaded at various loading and unloading points and attached to designated trailers to continue their journey. Trailer-drop transportation is a crucial means of improving transport efficiency, minimizing the downtime of trucks and thus maximizing the utilization of traction capacity and improving transport effectiveness. For autonomous driving tractors, docking with trailers is a vital step in achieving fully automated driving capabilities.

[0003] In existing technologies, there are many limitations to the methods of docking tractor vehicles with trailers or cargo boxes, and the calculations are numerous and inefficient. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a method for docking a tractor with a cargo box, which aims to solve the problems in the prior art where the methods for docking a tractor with a trailer or cargo box are subject to many limitations, involve a lot of calculations, and are inefficient.

[0005] According to a first aspect, embodiments of the present invention provide a method for docking a tractor with a cargo box, comprising:

[0006] The target cargo box is scanned using a preset sensor to obtain the sensor data corresponding to the target cargo box; the preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle;

[0007] The sensor data is identified to obtain the first position information of the tractor pin corresponding to the target cargo box in the vehicle coordinate system. The vehicle coordinate system is based on the rear axle center as the origin, with the X-axis parallel to the ground and pointing forward of the tractor vehicle, and the Y-axis perpendicular to the X-axis and pointing to the left.

[0008] The first position information is transformed to obtain the second position information of the carriage traction pin in the geodetic coordinate system;

[0009] Based on the relationship between the second position information and the position information of the tractor, the position and direction of the tractor are adjusted so that the tractor's saddle is aligned with the traction pin of the carriage.

[0010] The method for docking a tractor-trailer with a cargo box provided in this invention utilizes a preset sensor to scan the target cargo box, acquiring corresponding sensor data and ensuring the accuracy of the acquired sensor data. Then, the sensor data is identified to obtain the first position information of the cargo box's traction pin in the vehicle coordinate system, ensuring the accuracy of this first position information. The first position information is then converted to obtain the second position information of the traction pin in the geodetic coordinate system, ensuring the accuracy of this second position information. Based on the relationship between the second position information and the tractor's position information, the position and direction of the tractor are adjusted to align the tractor's saddle with the cargo box traction pin, thereby achieving efficient and accurate docking of the tractor-trailer with the target cargo box. This method is not limited to the docking method between the tractor-trailer and the target cargo box, is computationally simple, and efficiently and accurately completes the docking between the tractor-trailer and the target cargo box.

[0011] In conjunction with the first aspect, in the first embodiment of the first aspect, identifying sensor data and obtaining the first position information of the trailer traction pin corresponding to the target cargo box in the vehicle body coordinate system includes:

[0012] The sensor data is identified to determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box and the fourth position information of the second center point corresponding to the second reflective strip in the vehicle body coordinate system. The first reflective strip is located at one end of the side of the target cargo box that is close to the rear of the tractor chassis; the second reflective strip is located at the other end of the side of the target cargo box that is close to the rear of the tractor chassis.

[0013] Based on the relationship between the third and fourth position information, the first position information of the traction pin of the target cargo box is calculated.

[0014] The method for docking a tractor-trailer with a cargo box provided in this invention identifies sensor data and determines the third position information of the first center point corresponding to the first reflective strip of the target cargo box, and the fourth position information of the second center point corresponding to the second reflective strip, in the vehicle coordinate system. This ensures the accuracy of determining the third position information of the first center point corresponding to the first reflective strip and the fourth position information of the second center point corresponding to the second reflective strip. Then, based on the relationship between the third and fourth position information, the first position information of the cargo box traction pin corresponding to the target cargo box is calculated, ensuring the accuracy of the calculated first position of the cargo box traction pin. This, in turn, ensures the accuracy of converting the first position information into the second position information, and guarantees the accuracy of docking the tractor-trailer and the cargo box traction pin.

[0015] In conjunction with the first embodiment of the first aspect, in the second embodiment of the first aspect, the first position information of the carriage traction pin corresponding to the target cargo box is calculated based on the relationship between the third position information and the fourth position information, including:

[0016] Obtain the fifth position information of the preset sensor in the vehicle body coordinate system;

[0017] Based on the fifth position information, a target coordinate system is established with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the vehicle as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis.

[0018] Based on the relationship between the target coordinate system and the vehicle coordinate system, determine the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system;

[0019] Calculate the heading angle of the target cargo container based on the sixth and seventh position information;

[0020] Obtain the first distance between the midpoint between the first center point and the second center point and the traction pin of the carriage, and the second distance between the preset sensor and the center of the rear axle;

[0021] Based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance, the first position information of the traction pin of the target cargo box is calculated.

[0022] The method for docking a tractor with a cargo box provided in this embodiment of the invention obtains the fifth position information of a preset sensor in the vehicle coordinate system. Based on the fifth position information, a target coordinate system is established with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the vehicle as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis, ensuring the accuracy of the established target coordinate system. Then, based on the relationship between the target coordinate system and the vehicle coordinate system, the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system are determined, ensuring the accuracy of the determined sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system. Based on the sixth and seventh position information, the heading angle of the target cargo box is calculated, ensuring the accuracy of the calculated heading angle of the target cargo box. The system obtains the first distance between the midpoint between the first and second center points and the traction pin of the cargo box, as well as the second distance between the preset sensor and the rear axle center. Based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance, it calculates the first position information of the traction pin of the cargo box corresponding to the target cargo box. This ensures the accuracy of the calculated first position information of the traction pin of the cargo box corresponding to the target cargo box, thereby ensuring the accuracy of converting the first position information into the second position information and ensuring the accuracy of docking the tractor and the traction pin of the cargo box.

[0023] In conjunction with the first aspect, in the third embodiment of the first aspect, the first position information is transformed to obtain the second position information of the carriage traction pin in the geodetic coordinate system, including:

[0024] Obtain the eighth position information corresponding to the center point of the rear axle of the tractor in the geodetic coordinate system;

[0025] Obtain the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the traction pin of the carriage in the geodetic coordinate system;

[0026] Based on the positional relationship between the eighth position information and the first position information, the first position information is transformed to obtain the second position information of the carriage traction pin in the geodetic coordinate system.

[0027] The method for docking a tractor-trailer with a cargo box provided in this invention obtains the eighth position information corresponding to the center point of the rear axle of the tractor-trailer in a geodetic coordinate system. Then, it obtains the positional relationship between the eighth position information and the first position information corresponding to the cargo box traction pin in the geodetic coordinate system. Based on this relationship, the first position information is transformed to obtain the second position information of the cargo box traction pin in the geodetic coordinate system, ensuring the accuracy of the obtained second position information. This, in turn, ensures the accuracy of docking the tractor-trailer and the cargo box traction pin.

[0028] In conjunction with the first aspect, in the fourth embodiment of the first aspect, the preset sensor is a lidar sensor. The preset sensor is used to scan the target cargo box to obtain sensor data corresponding to the target cargo box, including:

[0029] Receive a towing command to tow the target cargo box, the towing command including the target location information of the target cargo box;

[0030] Based on the target location information of the target cargo box, obtain the first planned path corresponding to the target cargo box to be towed;

[0031] According to the first planned route, drive to the trailer position corresponding to the target location information;

[0032] At the trailer location, a lidar sensor is used to scan the target cargo box and obtain the corresponding lidar point cloud data.

[0033] The tractor-to-cargo docking method provided in this embodiment of the invention receives a towing command to tow a target cargo box, obtains a first planned path corresponding to the towing of the target cargo box based on the target location information of the target cargo box, and ensures the accuracy of the obtained first planned path. Then, according to the first planned path, the tractor travels to the towing position corresponding to the target location information; at the towing position, a lidar sensor scans the target cargo box to obtain the corresponding lidar point cloud data, ensuring the accuracy of the obtained lidar point cloud data and avoiding inaccurate lidar point cloud data caused by the target cargo box being too close or too far from the tractor.

[0034] In conjunction with the first aspect, in the fifth embodiment of the first aspect, after adjusting the position and direction of the tractor vehicle based on the relationship between the second position information and the position information of the tractor vehicle, the method further includes:

[0035] After the saddle and the carriage traction pin are aligned, the unloading command is received to transport the target cargo box to the unloading position.

[0036] Based on the unloading location, obtain the second planned path corresponding to the driving to the unloading location;

[0037] According to the second planned route, the target cargo container will be unloaded to the unloading position.

[0038] The method for docking a tractor with a cargo box provided in this embodiment of the invention receives an unloading command to transport the target cargo box to the unloading position after the saddle and the tractor pin of the cargo box are aligned. Based on the unloading position, a second planned path corresponding to the unloading position is obtained, ensuring the accuracy of the obtained second planned path. Then, the target cargo box is unloaded to the unloading position according to the second planned path, ensuring the accuracy of unloading the target cargo box to the unloading position.

[0039] According to a second aspect, embodiments of the present invention also provide a tractor-trailer docking device, comprising:

[0040] The scanning module is used to scan the target cargo box using a preset sensor to obtain the sensor data corresponding to the target cargo box; the preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle;

[0041] The identification module is used to identify sensor data and obtain the first position information of the tractor pin corresponding to the target cargo box in the vehicle coordinate system. The vehicle coordinate system is based on the rear axle center as the origin, with the X-axis parallel to the ground and pointing forward of the tractor vehicle, and the Y-axis perpendicular to the X-axis and pointing to the left.

[0042] The conversion module is used to convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system;

[0043] The adjustment module is used to adjust the position and direction of the tractor vehicle based on the relationship between the second position information and the position information of the tractor vehicle, so as to align the tractor vehicle's saddle with the traction pin of the carriage.

[0044] The tractor-cargo docking device provided in this embodiment of the invention uses a preset sensor to scan the target cargo box, acquiring sensor data corresponding to the target cargo box, ensuring the accuracy of the acquired sensor data. Then, the sensor data is identified to obtain the first position information of the cargo box's traction pin in the vehicle coordinate system, ensuring the accuracy of the first position information. The first position information is converted to obtain the second position information of the cargo box traction pin in the geodetic coordinate system, ensuring the accuracy of the second position information. Based on the relationship between the second position information and the tractor's position information, the position and direction of the tractor are adjusted to align the tractor's saddle with the cargo box traction pin, thereby achieving efficient and accurate docking of the tractor and the target cargo box. The above device is not limited to the docking method between the tractor and the target cargo box, and its calculation is simple, efficiently and accurately completing the docking between the tractor and the target cargo box.

[0045] According to a third aspect, embodiments of the present invention provide a loading computing platform, including at least one tractor and a yard management device, wherein each tractor is communicatively connected to the yard management device; wherein: the yard management device is used to send towing and unloading instructions to each tractor according to the loading status and position of each cargo box in the loading area; each tractor is used to receive the towing and unloading instructions sent by the yard management device and execute the tractor docking cargo box method in the first aspect or any embodiment of the first aspect.

[0046] According to a fourth aspect, an embodiment of the present invention provides a tractor unit, including a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the tractor unit docking cargo box method of the first aspect or any embodiment of the first aspect.

[0047] According to a fifth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer instructions for causing a computer to perform the tractor-to-cargo docking method of the first aspect or any embodiment of the first aspect. Attached Figure Description

[0048] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a flowchart of the method for docking a tractor with a cargo box provided in the embodiments of the present invention;

[0050] Figure 2 This is a flowchart of a method for docking a tractor with a cargo box provided by another embodiment of the present invention;

[0051] Figure 3 This is a simplified diagram illustrating the ideal state of docking between a tractor and a target cargo box, provided by another embodiment of the present invention.

[0052] Figure 4 This is a simplified diagram illustrating the deviation between the tractor and the target cargo box provided by another embodiment of the present invention;

[0053] Figure 5 This is a geometric relationship diagram between the rear axle center of the tractor and the traction pin of the carriage, provided by another embodiment of the present invention;

[0054] Figure 6 This is a flowchart of a method for docking a tractor with a cargo box provided by another embodiment of the present invention;

[0055] Figure 7 This is a functional block diagram of the tractor docking cargo box device provided in the embodiments of the present invention;

[0056] Figure 8 This is a functional block diagram of a tractor docking cargo box device provided by another embodiment of the present invention;

[0057] Figure 9 This is a flowchart of cluster operations provided in the embodiments of the present invention;

[0058] Figure 10 This is a flowchart of cluster operations provided in the embodiments of the present invention;

[0059] Figure 11 This is a schematic diagram of the arrangement of forward sensors of a tractor provided by another embodiment of the present invention;

[0060] Figure 12 This is a schematic diagram of the arrangement of side sensors of the tractor and the target cargo box provided by another embodiment of the present invention;

[0061] Figure 13This is a simplified top view of the tractor and the target cargo box provided by another embodiment of the present invention;

[0062] Figure 14 This is a schematic diagram of the hardware structure of the tractor provided in the embodiments of the present invention. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] It should be noted that the method for docking a tractor with a cargo box provided in this application can be executed by a device for docking the tractor with the cargo box. This device can be implemented as part or all of the tractor through software, hardware, or a combination of both. The tractor can be part of a loading computing platform, which includes at least one tractor and yard management equipment. The yard management equipment is used to send towing and unloading commands to each tractor based on the loading status and location of each cargo box in the loading area. Each tractor is used to receive the towing and unloading commands sent by the yard management equipment and execute the method for docking the tractor with the cargo box according to any one of the embodiments. In the following method embodiments, the tractor is used as the executing entity for description.

[0065] In one embodiment of this application, such as Figure 1 As shown, a method for docking a tractor with a cargo box is provided. Taking the application of this method to a tractor as an example, the method includes the following steps:

[0066] S11. Use preset sensors to scan the target cargo box and obtain the sensor data corresponding to the target cargo box.

[0067] The preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle.

[0068] Specifically, the tractor can use a pre-set sensor installed at the rear of the tractor's base, behind the center of the rear axle, to scan the target cargo box and obtain the sensor data corresponding to the target cargo box.

[0069] S12. Identify the sensor data and obtain the first position information of the traction pin of the target cargo box in the vehicle coordinate system.

[0070] The vehicle coordinate system has the rear axle center as the origin, the X-axis which is parallel to the ground and points forward of the tractor, and the Y-axis which is perpendicular to the X-axis and points to the left.

[0071] In one optional embodiment of this application, the tractor can identify sensor data using a preset sensor data identification method, and then determine the cargo box towing pin in the sensor data. Then, based on the position of the cargo box towing pin in the sensor data, the first position information of the cargo box towing pin corresponding to the target cargo box in the vehicle coordinate system is determined.

[0072] The preset sensor data recognition method can be a machine learning method or a data recognition method. This application embodiment does not specifically limit the preset sensor data recognition method.

[0073] This step will be explained in detail below.

[0074] S13. Convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system.

[0075] In one optional embodiment of this application, the tractor can convert the first position information according to the conversion relationship between the vehicle coordinate system and the geodetic coordinate system to obtain the second position information of the tractor pin in the geodetic coordinate system.

[0076] This step will be explained in detail below.

[0077] S14. Based on the relationship between the second position information and the position information of the tractor, adjust the position and direction of the tractor so that the saddle of the tractor is aligned with the traction pin of the carriage.

[0078] Specifically, after obtaining the second position information of the tractor pin in the geodetic coordinate system, the tractor can adjust the position and direction of the tractor based on the positional deviation between the second position information of the tractor pin in the geodetic coordinate system and the position information of the saddle in the tractor, thereby adjusting the position of the saddle in the tractor so that the saddle of the tractor is aligned with the tractor pin of the tractor.

[0079] The method for docking a tractor-trailer with a cargo box provided in this invention utilizes a preset sensor to scan the target cargo box, acquiring corresponding sensor data and ensuring the accuracy of the acquired sensor data. Then, the sensor data is identified to obtain the first position information of the cargo box's traction pin in the vehicle coordinate system, ensuring the accuracy of this first position information. The first position information is then converted to obtain the second position information of the traction pin in the geodetic coordinate system, ensuring the accuracy of this second position information. Based on the relationship between the second position information and the tractor's position information, the position and direction of the tractor are adjusted to align the tractor's saddle with the cargo box traction pin, thereby achieving efficient and accurate docking of the tractor-trailer with the target cargo box. This method is not limited to the docking method between the tractor-trailer and the target cargo box, is computationally simple, and efficiently and accurately completes the docking between the tractor-trailer and the target cargo box.

[0080] In one embodiment of this application, such as Figure 2 As shown, a method for docking a tractor with a cargo box is provided. Taking the application of this method to a tractor as an example, the method includes the following steps:

[0081] S21. Use preset sensors to scan the target cargo box and obtain the sensor data corresponding to the target cargo box.

[0082] The preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle.

[0083] For details on this step, please refer to [link / reference]. Figure 1 The details of S11 will not be elaborated here.

[0084] S22. Identify the sensor data and obtain the first position information of the traction pin of the target cargo box in the vehicle coordinate system.

[0085] The vehicle coordinate system has the rear axle center as the origin, the X-axis which is parallel to the ground and points forward of the tractor, and the Y-axis which is perpendicular to the X-axis and points to the left.

[0086] In an optional embodiment of this application, step S22, "identifying the sensor data and obtaining the first position information of the trailer traction pin corresponding to the target cargo box in the vehicle coordinate system," may include the following steps:

[0087] S221. Identify the sensor data and determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box and the fourth position information of the second center point corresponding to the second reflective strip in the vehicle body coordinate system.

[0088] The first reflective strip is located at one end of the side of the target cargo box near the rear of the tractor chassis; the second reflective strip is located at the other end of the side of the target cargo box near the rear of the tractor chassis.

[0089] Specifically, the tractor can identify sensor data using a preset sensor data recognition method, and then determine the positions of the first center point corresponding to the first reflective strip of the target cargo box and the second center point corresponding to the second reflective strip in the sensor data. Then, based on the positions of the first center point corresponding to the first reflective strip of the target cargo box and the second center point corresponding to the second reflective strip in the sensor data, the third position information of the first center point corresponding to the first reflective strip of the target cargo box and the fourth position information of the second center point corresponding to the second reflective strip are determined.

[0090] The preset sensor data recognition method can be a machine learning method or a data recognition method. This application embodiment does not specifically limit the preset sensor data recognition method.

[0091] S222. Based on the relationship between the third position information and the fourth position information, calculate the first position information of the traction pin of the target cargo box.

[0092] In one optional embodiment of this application, the tractor can calculate the first position information of the carriage traction pin corresponding to the target cargo box based on the positional relationship between the tractor and the target cargo box, as well as the relationship between the third position information and the fourth position information.

[0093] like Figure 3 As shown, the tractor and the target cargo box are ideally aligned, and their heading angles are the same. The rear axle center point E of the tractor has coordinates (x, y, z, θ) in the geodetic coordinate system and (0, 0, 0) in the vehicle body coordinate system. The preset sensor point G has coordinates (-a, 0, 0) in the vehicle body coordinate system. The saddle point F and the towing pin point H are perfectly aligned in the vehicle body coordinate system, with coordinates (ba, 0, 0). Points M and N correspond to the third position information of the first center point corresponding to the first reflective strip and the fourth position information of the second center point corresponding to the second reflective strip, respectively.

[0094] Based on the relationship between the third and fourth position information, the tractor determines the midpoint between the first and second center points, and determines the first position information of the tractor pin corresponding to the target cargo box based on the distance from the midpoint between the first and second center points to the tractor pin of the cargo box.

[0095] In an optional embodiment of this application, the above-mentioned step S222, "calculating the first position information of the carriage traction pin corresponding to the target cargo box based on the relationship between the third position information and the fourth position information," may include the following steps:

[0096] (1) Obtain the fifth position information of the preset sensor in the vehicle body coordinate system.

[0097] (2) Based on the fifth position information, a target coordinate system is established with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the vehicle as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis.

[0098] (3) Based on the relationship between the target coordinate system and the vehicle coordinate system, determine the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system.

[0099] (4) Calculate the heading angle of the target cargo container based on the sixth and seventh position information.

[0100] (5) Obtain the first distance between the midpoint between the first center point and the second center point and the traction pin of the carriage, and the second distance between the preset sensor and the center of the rear axle.

[0101] (6) Calculate the first position information of the carriage traction pin corresponding to the target cargo box based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance and the second distance.

[0102] Specifically, the tractor can determine the fifth position information of the preset sensor in the vehicle coordinate system based on the position of the preset sensor in the tractor. Then, based on the fifth position information, the tractor establishes a target coordinate system with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the vehicle as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis.

[0103] After establishing the target coordinate system, the tractor can determine the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system based on the relationship between the target coordinate system and the vehicle coordinate system.

[0104] Then, the tractor can use the relationship between the sixth and seventh position information to calculate the heading angle of the target cargo box.

[0105] In one optional embodiment of this application, the tractor can receive a first distance between the midpoint between the first center point and the second center point and the towing pin of the carriage, and a second distance between the preset sensor and the rear axle center, input by the user. It can also receive the first distance between the midpoint between the first center point and the second center point and the towing pin of the carriage, and the second distance between the preset sensor and the rear axle center, sent by other devices. The tractor can also calculate the first distance between the midpoint between the first center point and the second center point and the towing pin of the carriage based on the relationship between the sixth position information and the seventh position information, and calculate the second distance between the preset sensor and the rear axle center based on the positional relationship between the preset sensor and the rear axle center.

[0106] After obtaining the heading angle, first distance, and second distance of the target cargo box, the tractor can calculate the first position information of the tractor pin corresponding to the target cargo box based on the relationship between the heading angle, sixth position information, seventh position information, first distance, and second distance.

[0107] For example, such as Figure 4 As shown, Figure 4 In the diagram, M is the first center point, N is the second center point, G is the preset sensor, H is the target cargo box's traction pin, F is the saddle of the tractor, and E is the rear axle center of the tractor.

[0108] The tractor establishes a target coordinate system with a preset sensor as the origin, an X-axis parallel to the ground pointing forward of the vehicle, and a Y-axis perpendicular to the X-axis pointing to the left. After establishing the target coordinate system, the tractor can determine the coordinates of the first center point M (x1, y1) and the second center point N (x2, y2) in the target coordinate system based on the relationship between the target coordinate system and the vehicle coordinate system.

[0109] The tractor can use the relationship between the sixth and seventh position information to calculate the heading angle of the target cargo box using the following formula:

[0110] tanΦ=(x1-x2) / (y1-y2) (1)

[0111] Φ=arc tan[(x1-x2) / (y1-y2)] (2)

[0112] Where Φ is the heading angle of the target cargo container.

[0113] Depend on Figure 4 It can be seen that the coordinates of the midpoint L between the first center point and the second center point are ((x1-x2) / 2, (y1-y2) / 2).

[0114] The first distance between the midpoint L between the first center point and the second center point and the traction pin H of the carriage is b+c, and the second distance between the preset sensor G and the rear axle center E is a.

[0115] Based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance, the tractor calculates the first position information of the tractor pin corresponding to the target cargo box as ((x1-x2) / 2+(b+c)cosΦ-a, (y1-y2) / 2+(b+c)sinΦ).

[0116] S23. Convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system.

[0117] In an optional embodiment of this application, step S23, "converting the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system," may include the following steps:

[0118] S231. Obtain the eighth position information corresponding to the center point of the rear axle of the tractor in the geodetic coordinate system.

[0119] Specifically, the tractor can use an inertial navigation system to obtain the tractor's position information in the geodetic coordinate system, and then determine the eighth position information corresponding to the rear axle center point of the tractor in the geodetic coordinate system based on the position of the rear axle center point of the tractor.

[0120] S232. Obtain the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the carriage traction pin in the geodetic coordinate system.

[0121] In one optional implementation of the application, the tractor can receive the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the trailer traction pin, which is input by the user. It can also receive the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the trailer traction pin, which is sent by other devices. The tractor can also obtain the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the trailer traction pin in the geodetic coordinate system based on the relationship between the vehicle coordinate system and the target coordinate system.

[0122] For example, such as Figure 5 As shown, by Figure 5 It can be seen that, in the geodetic coordinate system, the center point E of the rear axle of the tractor and the traction pin H of the tractor body have the following relationship:

[0123] X H =X E -x0*cosθ-y0*sinθ (3)

[0124] Y H =Y E -x0*sinθ+y0*sinθ (4)

[0125] θ H =θ-Φ (5)

[0126] Where θ is the heading angle of the tractor, Φ is the heading angle of the target cargo box, and (x0, y0) are the coordinates of point H of the cargo box traction pin in the vehicle coordinate system, i.e., the first position information corresponding to the cargo box traction pin; (X E Y E ) represents the coordinates of point E, the center of the rear axis, in the geodetic coordinate system, which is the eighth position information corresponding to the center point of the rear axis.

[0127] S233. Based on the positional relationship between the eighth position information and the first position information, the first position information is converted to obtain the second position information of the carriage traction pin in the geodetic coordinate system.

[0128] Specifically, after the tractor obtains the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the tractor pin of the cargo box, the tractor can convert the first position information according to the positional relationship between the eighth position information and the first position information to obtain the second position information of the tractor pin of the cargo box in the geodetic coordinate system.

[0129] For example, as can be seen from the above embodiments,

[0130] X H =X E -x0*cosθ-y0*sinθ (3)

[0131] Y H =Y E -x0*sinθ+y0*sinθ (4)

[0132] θ H =θ-Φ (5)

[0133] The tractor can use the first position information of the tractor pin calculated in the above embodiment as ((x1-x2) / 2+(b+c)cosΦ-a,(y1-y2) / 2+(b+c)sinΦ), substitute it with the positional relationship between the eighth position information and the first position information, and transform the first position information to obtain the second position information of the tractor pin in the geodetic coordinate system:

[0134] X H =X E -[(x1-x2) / 2+(b+c)cosΦ-a]*cosθ-[(y1-y2) / 2+(b+c)sinΦ]*sinθ (6)

[0135] Y H =Y E -[(x1-x2) / 2+(b+c)cosΦ-a]*sinθ+[(y1-y2) / 2+(b+c)sinΦ]*sinθ (7)

[0136] θ H =θ-arc tan[(x1-x2) / (y1-y2)] (8)

[0137] S24. Based on the relationship between the second position information and the position information of the tractor, adjust the position and direction of the tractor so that the saddle of the tractor is aligned with the traction pin of the carriage.

[0138] For details on this step, please refer to [link / reference]. Figure 1 The details of S14 will not be elaborated here.

[0139] The tractor-to-cargo docking method provided in this embodiment of the invention identifies sensor data to determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box, and the fourth position information of the second center point corresponding to the second reflective strip, in the vehicle coordinate system. This ensures the accuracy of the determined third and fourth position information of the first and second center points. Then, the fifth position information of a preset sensor in the vehicle coordinate system is obtained. Based on this fifth position information, a target coordinate system is established with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the vehicle, and the Y-axis perpendicular to the X-axis and pointing to the left. This ensures the accuracy of the established target coordinate system. Then, based on the relationship between the target coordinate system and the vehicle coordinate system, the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system are determined. This ensures the accuracy of the determined sixth and seventh position information of the first and second center points in the target coordinate system. Based on the sixth and seventh position information, the heading angle of the target cargo box is calculated, ensuring the accuracy of the calculated heading angle. The system obtains the first distance between the midpoint between the first and second center points and the traction pin of the cargo box, as well as the second distance between the preset sensor and the rear axle center. Based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance, it calculates the first position information of the traction pin of the cargo box corresponding to the target cargo box. This ensures the accuracy of the calculated first position information of the traction pin of the cargo box corresponding to the target cargo box, thereby ensuring the accuracy of converting the first position information into the second position information and ensuring the accuracy of docking the tractor and the traction pin of the cargo box.

[0140] Furthermore, the method for docking a tractor with a cargo box provided in this embodiment of the invention obtains the eighth position information corresponding to the rear axle center point of the tractor in a geodetic coordinate system. Then, it obtains the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the cargo box traction pin in the geodetic coordinate system. Based on the positional relationship between the eighth position information and the first position information, the first position information is transformed to obtain the second position information of the cargo box traction pin in the geodetic coordinate system, ensuring the accuracy of the obtained second position information of the cargo box traction pin in the geodetic coordinate system. This, in turn, ensures the accuracy of docking the tractor and the cargo box traction pin.

[0141] In one embodiment of this application, such as Figure 6 As shown, a method for docking a tractor with a cargo box is provided. Taking the application of this method to a tractor as an example, the method includes the following steps:

[0142] S31. Use preset sensors to scan the target cargo box and obtain the sensor data corresponding to the target cargo box.

[0143] The preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle.

[0144] In one optional embodiment of this application, the preset sensor is a lidar sensor, and the above step S31, "scanning the target cargo box using the preset sensor to obtain sensor data corresponding to the target cargo box," may include the following steps:

[0145] S311, Receive a towing command to tow the target cargo container.

[0146] The towing instruction includes the target location information of the target cargo container.

[0147] Specifically, the tractor can receive towing instructions from the site management equipment to tow the target cargo box based on the communication connection between the tractor and the site management equipment.

[0148] S312. Based on the target location information of the target cargo box, obtain the first planned path corresponding to the target cargo box to be towed.

[0149] Optionally, after receiving the towing instruction from the site management equipment, the tractor can plan a first planned path for towing the target cargo box based on the target location information of the target cargo box and a preset path planning method.

[0150] Optionally, after receiving the towing instruction sent by the yard management equipment, the tractor can obtain the first planned path corresponding to the target cargo box sent by the yard management equipment based on the target location information of the target cargo box.

[0151] This application does not specifically limit the method by which the tractor obtains the first planned path corresponding to the target cargo box.

[0152] S313. According to the first planned route, drive to the trailer position corresponding to the target location information.

[0153] Specifically, after obtaining the first planned path, the tractor can automatically drive to the trailer position corresponding to the target location information.

[0154] The towing position can be a position at a preset distance from the target position information of the target cargo box. The towing position can be determined by the tractor based on the target position information of the target cargo box, or it can be sent to the tractor by the site management equipment. This application embodiment does not specifically limit the method by which the tractor obtains the towing position.

[0155] S314. At the trailer position, use a lidar sensor to scan the target cargo box and obtain the corresponding lidar point cloud data of the target cargo box.

[0156] Specifically, after the tractor arrives at the trailer location, it can use a lidar sensor to scan the target cargo box and obtain lidar point cloud data.

[0157] S32. Identify the sensor data and obtain the first position information of the traction pin of the target cargo box in the vehicle coordinate system.

[0158] The vehicle coordinate system has the rear axle center as the origin, the X-axis which is parallel to the ground and points forward of the tractor, and the Y-axis which is perpendicular to the X-axis and points to the left.

[0159] For details on this step, please refer to [link / reference]. Figure 2 The details of S22 will not be elaborated here.

[0160] S33. Convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system.

[0161] For details on this step, please refer to [link / reference]. Figure 2 The details of S23 will not be elaborated here.

[0162] S34. Based on the relationship between the second position information and the position information of the tractor, adjust the position and direction of the tractor so that the saddle of the tractor is aligned with the traction pin of the carriage.

[0163] For details on this step, please refer to [link / reference]. Figure 2 The details of S24 will not be elaborated here.

[0164] S35. After the saddle and the carriage traction pin are aligned, receive the unloading instruction to transport the target cargo box to the unloading position.

[0165] Specifically, after the saddle and the tractor pin are aligned, the tractor can receive an unloading command from the site management equipment to transport the target cargo box to the unloading position.

[0166] The unloading command may include the unloading location corresponding to the target cargo box.

[0167] S36. Based on the unloading location, obtain the second planned path corresponding to the driving to the unloading location.

[0168] Specifically, after receiving the unloading command, the tractor plans a second planned path to the unloading location using a preset path planning method, based on the unloading location.

[0169] S37. According to the second planned path, unload the target cargo container to the unloading position.

[0170] Specifically, after obtaining the second planned path, the tractor can unload the target cargo box to the unloading position according to the second planned path.

[0171] The tractor-to-cargo docking method provided in this embodiment of the invention receives a towing command to tow a target cargo box, obtains a first planned path corresponding to the towing of the target cargo box based on the target location information of the target cargo box, and ensures the accuracy of the obtained first planned path. Then, according to the first planned path, the tractor travels to the towing position corresponding to the target location information; at the towing position, a lidar sensor scans the target cargo box to obtain the corresponding lidar point cloud data, ensuring the accuracy of the obtained lidar point cloud data and avoiding inaccurate lidar point cloud data caused by the target cargo box being too close or too far from the tractor.

[0172] Furthermore, the tractor docking method provided in this embodiment of the invention receives an unloading command to transport the target cargo box to the unloading position after the saddle and the cargo box traction pin are aligned. Based on the unloading position, a second planned path corresponding to the unloading position is obtained, ensuring the accuracy of the obtained second planned path. Then, based on the second planned path, the target cargo box is unloaded to the unloading position, ensuring the accuracy of unloading the target cargo box to the unloading position.

[0173] It should be understood that, although Figure 1 , Figure 2 as well as Figure 6 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 , Figure 2 as well as Figure 6 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0174] like Figure 7 As shown, this embodiment provides a tractor-trailer docking device, including:

[0175] The scanning module 41 is used to scan the target cargo box using a preset sensor to obtain the sensor data corresponding to the target cargo box; the preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle.

[0176] The identification module 42 is used to identify the sensor data and obtain the first position information of the tractor pin of the target cargo box in the vehicle coordinate system. The vehicle coordinate system is based on the rear axle center as the origin, with the X-axis parallel to the ground and pointing forward of the tractor vehicle, and the Y-axis perpendicular to the X-axis and pointing to the left.

[0177] The conversion module 43 is used to convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system;

[0178] The adjustment module 44 is used to adjust the position and direction of the tractor vehicle according to the relationship between the second position information and the position information of the tractor vehicle, so as to align the saddle of the tractor vehicle with the traction pin of the carriage.

[0179] In one embodiment of this application, the aforementioned identification module 42 is specifically used to identify sensor data, determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box in the vehicle coordinate system, and the fourth position information of the second center point corresponding to the second reflective strip. The first reflective strip is located at one end of the side of the target cargo box that is close to the rear of the tractor chassis; the second reflective strip is located at the other end of the side of the target cargo box that is close to the rear of the tractor chassis; and calculates the first position information of the cargo box traction pin corresponding to the target cargo box based on the relationship between the third position information and the fourth position information.

[0180] In one embodiment of this application, the aforementioned identification module 42 is specifically used to acquire the fifth position information of a preset sensor in the vehicle body coordinate system; based on the fifth position information, establish a target coordinate system with the preset sensor as the origin, the X-axis parallel to the ground pointing forward of the vehicle as the X-axis, and the Y-axis perpendicular to the X-axis pointing to the left as the Y-axis; determine the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system based on the relationship between the target coordinate system and the vehicle body coordinate system; calculate the heading angle of the target cargo box based on the sixth and seventh position information; acquire the first distance between the midpoint between the first and second center points and the cargo box towing pin, and the second distance between the preset sensor and the rear axle center; and calculate the first position information of the cargo box towing pin corresponding to the target cargo box based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance.

[0181] In one embodiment of this application, the conversion module 43 is specifically used to obtain the eighth position information corresponding to the rear axle center point of the tractor in the geodetic coordinate system; obtain the positional relationship between the eighth position information corresponding to the rear axle center point and the first position information corresponding to the tractor pin in the geodetic coordinate system; and convert the first position information according to the positional relationship between the eighth position information and the first position information to obtain the second position information of the tractor pin in the geodetic coordinate system.

[0182] In one embodiment of this application, the scanning module 41 is specifically used to receive a towing command for towing a target cargo box, the towing command including target location information of the target cargo box; obtain a first planned path corresponding to towing the target cargo box according to the target location information; drive to the towing position corresponding to the target location information according to the first planned path; and at the towing position, scan the target cargo box using a lidar sensor to obtain the lidar point cloud data corresponding to the target cargo box.

[0183] like Figure 8 As shown in one embodiment of this application, the above-mentioned tractor-trailer docking device further includes:

[0184] The receiving module 45 is used to receive an unloading command to transport the target cargo box to the unloading position after the saddle and the traction pin of the carriage are aligned.

[0185] The acquisition module 46 is used to obtain the second planned path corresponding to the unloading location based on the unloading location.

[0186] The unloading module 47 is used to unload the target cargo box to the unloading position according to the second planned path.

[0187] For specific limitations and beneficial effects regarding the tractor-to-cargo docking device, please refer to the method limitations above, which will not be repeated here. Each module in the aforementioned tractor-to-cargo docking device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in the tractor-to-cargo docking device, or stored in the tractor-to-cargo docking device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0188] This invention also provides a loading computing platform, including at least one tractor unit and a yard management device, wherein each tractor unit is communicatively connected to the yard management device; wherein:

[0189] The site management equipment is used to send towing and unloading instructions to each tractor based on the loading status and location of each cargo box in the loading area.

[0190] Each tractor unit is used to receive towing and unloading instructions sent by the site management equipment and to execute any of the tractor unit docking methods in the embodiments.

[0191] Specifically, the site management equipment can send towing and unloading instructions to each tractor based on the loading status and location of each cargo box in the loading area.

[0192] After receiving towing and unloading instructions from the yard management equipment, each tractor-trailer travels to the location corresponding to the target cargo box and docks with it according to the above-described implementation method. After docking with the target cargo box, the target cargo box is unloaded and moved to the unloading position.

[0193] For example, such as Figure 9 As shown and Figure 10 As shown, the site management equipment issues an instruction to tractor-1 to load the fully loaded target cargo box C3 in loading area A3 and stop it in unloading area B3. Based on the position of target cargo box C3 in the geodetic coordinate system, tractor-1 aligns with target cargo box C3. The site administrator retracts the outriggers of target cargo box C3 / connects the air hose and removes the pin, and reports the "confirmed locking status" to the site management equipment. After receiving the locking status of tractor-1 and target cargo box C3, the site management equipment issues a start operation instruction to tractor-1.

[0194] After tractor-trailer No. 3, carrying target cargo box C5, is unloaded into unloading area B2, it locks the location of target cargo box C5 in the geodetic coordinate system and reports it to the yard management equipment. The yard administrator lowers the outriggers of target cargo box C5, disconnects the air line, and removes the pin, and reports the "confirmed unattachment status" to the yard management equipment; the yard management equipment receives the unattachment status of tractor-trailer No. 3 and target cargo box C5.

[0195] The site management equipment issues an instruction to tractor-3 to tow the empty C6 cargo box to the B3 unloading area and park it in the A3 loading area; based on the UTM coordinates of the C6 target cargo box, tractor-3 aligns with the C6 target cargo box and parks; the site administrator retracts the C6 target cargo box outriggers / connects the air hose and removes the pin, and reports the "confirmed locking status" to the site management equipment; the site management equipment receives the locking status between tractor-3 and the C6 cargo box; the site management equipment issues a start operation instruction to tractor-3.

[0196] This invention also provides a tractor unit, such as... Figures 11-13 As shown, the tractor unit has one long-range lidar located in the center of the roof; one forward-facing camera affixed to the center below the windshield; two mid-range lidars located on either side of the windshield; one forward-facing millimeter-wave radar located in the center below the front of the vehicle; six ultrasonic radars distributed in front of and to the sides of the cab to compensate for the blind spots of the mid-range lidars; and one mid-range lidar located at the rear of the chassis, as well as in the cab where the integrated inertial navigation and computing platform is located. Figure 11 A schematic diagram showing the arrangement of the forward sensors on the tractor unit; Figure 12 A schematic diagram showing the arrangement of sensors on the side of the tractor and the target cargo box; Figure 13 A simplified view of the tractor and cargo box from above.

[0197] like Figure 14 As shown, Figure 14This is a schematic diagram of the structure of an electronic device in a tractor provided by an optional embodiment of the present invention, such as... Figure 14 As shown, the electronic device may include: at least one processor 51, such as a CPU (Central Processing Unit), at least one communication interface 53, memory 54, and at least one communication bus 52. The communication bus 52 is used to enable communication between these components. The communication interface 53 may include a display screen or a keyboard; optionally, the communication interface 53 may also include a standard wired interface or a wireless interface. The memory 54 may be high-speed RAM (Random Access Memory) or non-volatile memory, such as at least one disk storage device. Optionally, the memory 54 may also be at least one storage device located remotely from the aforementioned processor 51. The processor 51 may be combined with... Figure 7 or Figure 8 The described apparatus has an application program stored in memory 54, and the processor 51 calls the program code stored in memory 54 to perform any of the above method steps.

[0198] The communication bus 52 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The communication bus 52 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 14 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0199] The memory 54 may include volatile memory, such as random-access memory (RAM); the memory may also include non-volatile memory, such as flash memory, hard disk drive (HDD) or solid-state drive (SSD); the memory 54 may also include a combination of the above types of memory.

[0200] The processor 51 can be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP.

[0201] The processor 51 may further include a hardware chip. This hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0202] Optionally, memory 54 is also used to store program instructions. Processor 51 can invoke program instructions to implement the functions described in this application. Figure 1 , Figure 2 as well as Figure 6 The method for docking a tractor with a cargo box is shown in the embodiment.

[0203] This invention also provides a non-transitory computer storage medium storing computer-executable instructions that can execute the tractor-to-cargo docking method in any of the above method embodiments. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium may also include combinations of the above types of memory.

[0204] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for docking a tractor-trailer with a cargo box, characterized in that, include: The target cargo box is scanned using a preset sensor to obtain the sensor data corresponding to the target cargo box; The preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle; The sensor data is identified to obtain the first position information of the tractor pin corresponding to the target cargo box in the vehicle coordinate system; the vehicle coordinate system is with the center of the rear axle as the origin, with the X-axis parallel to the ground and pointing forward of the tractor vehicle as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis. The first position information is converted to obtain the second position information of the carriage traction pin in the geodetic coordinate system; Based on the relationship between the second position information and the position information of the tractor, the position and direction of the tractor are adjusted so that the saddle of the tractor is aligned with the traction pin of the carriage. The step of identifying the sensor data and obtaining the first position information of the trailer traction pin corresponding to the target cargo box in the vehicle coordinate system includes: The sensor data is identified to determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box and the fourth position information of the second center point corresponding to the second reflective strip in the vehicle body coordinate system. The first reflective strip is located at one end of the side of the target cargo box that is close to the rear of the tractor chassis; the second reflective strip is located at the other end of the side of the target cargo box that is close to the rear of the tractor chassis. Based on the relationship between the third position information and the fourth position information, the first position information of the carriage traction pin corresponding to the target cargo box is calculated.

2. The method according to claim 1, characterized in that, The step of calculating the first position information of the carriage traction pin corresponding to the target cargo box based on the relationship between the third position information and the fourth position information includes: Obtain the fifth position information of the preset sensor in the vehicle body coordinate system; Based on the fifth position information, a target coordinate system is established with the preset sensor as the origin, the X-axis parallel to the ground and pointing forward of the tractor as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis. Based on the relationship between the target coordinate system and the vehicle coordinate system, determine the sixth position information of the first center point and the seventh position information of the second center point in the target coordinate system; Calculate the heading angle of the target cargo container based on the sixth and seventh position information; Obtain the first distance between the midpoint between the first center point and the second center point and the traction pin of the carriage, and the second distance between the preset sensor and the center of the rear axle; Based on the relationship between the heading angle, the sixth position information, the seventh position information, the first distance, and the second distance, the first position information of the carriage traction pin corresponding to the target cargo box is calculated.

3. The method according to claim 1, characterized in that, The step of converting the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system includes: Obtain the eighth position information corresponding to the center point of the rear axle of the tractor in the geodetic coordinate system; Under the geodetic coordinate system, obtain the positional relationship between the eighth position information corresponding to the center point of the rear axle and the first position information corresponding to the traction pin of the carriage; Based on the positional relationship between the eighth positional information and the first positional information, the first positional information is transformed to obtain the second positional information of the carriage traction pin in the geodetic coordinate system.

4. The method according to claim 1, characterized in that, The preset sensor is a lidar sensor. The step of scanning the target cargo box using the preset sensor to obtain sensor data corresponding to the target cargo box includes: Receive a towing command to tow the target cargo box, the towing command including the target location information of the target cargo box; Based on the target location information of the target cargo box, obtain the first planned path corresponding to towing the target cargo box; According to the first planned path, drive to the trailer position corresponding to the target location information; At the towing location, the LiDAR sensor is used to scan the target cargo box to obtain the corresponding laser point cloud data of the target cargo box.

5. The method according to claim 1, characterized in that, After adjusting the position and direction of the tractor vehicle based on the relationship between the second position information and the position information of the tractor vehicle, the method further includes: After the saddle is aligned with the carriage traction pin, an unloading command is received to transport the target cargo box to the unloading position. Based on the unloading location, obtain the second planned path to the unloading location; According to the second planned path, the target cargo container is unloaded to the unloading position.

6. A tractor-trailer docking device for a cargo box, characterized in that, include: The scanning module is used to scan the target cargo box using a preset sensor to obtain the sensor data corresponding to the target cargo box; The preset sensor is installed at the rear of the chassis of the tractor, behind the center of the rear axle; The identification module is used to identify the sensor data and obtain the first position information of the towing pin corresponding to the target cargo box in the vehicle body coordinate system. The vehicle body coordinate system has the rear axle center as the origin, the X-axis parallel to the ground and pointing forward of the tractor as the X-axis, and the Y-axis perpendicular to the X-axis and pointing to the left as the Y-axis. The step of identifying the sensor data and obtaining the first position information of the towing pin corresponding to the target cargo box in the vehicle body coordinate system includes: identifying the sensor data to determine the third position information of the first center point corresponding to the first reflective strip of the target cargo box and the fourth position information of the second center point corresponding to the second reflective strip in the vehicle body coordinate system. The first reflective strip is located at one end of the target cargo box near the rear of the tractor chassis; the second reflective strip is located at the other end of the target cargo box near the rear of the tractor chassis. Based on the relationship between the third and fourth position information, the first position information of the towing pin corresponding to the target cargo box is calculated. The conversion module is used to convert the first position information to obtain the second position information of the carriage traction pin in the geodetic coordinate system; The adjustment module is used to adjust the position and direction of the tractor vehicle according to the relationship between the second position information and the position information of the tractor vehicle, so that the saddle of the tractor vehicle is aligned with the traction pin of the carriage.

7. A loading computing platform, characterized in that, It includes at least one tractor unit and a yard management device, wherein each tractor unit is communicatively connected to the yard management device; wherein: The site management equipment is used to send towing and unloading commands to each of the tractor vehicles according to the loading status and location of each cargo box in the loading site. Each of the aforementioned tractor units is configured to receive the towing command and the unloading command sent by the site management equipment, and to execute the tractor unit docking method for cargo boxes as described in any one of claims 1-5.

8. A tractor unit, characterized in that, It includes a memory and a processor, as well as at least one preset sensor. The memory stores computer instructions, and the processor executes the computer instructions to perform the tractor docking method for the cargo box as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the tractor docking method for cargo box as described in any one of claims 1-5.

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