Automatic parking system of unmanned tractor

Abstract

The invention discloses an automatic parking system of an unmanned tractor, which utilizes various sensors and control technologies to realize automatic control and positioning of the unmanned tractor. Wherein the laser radar and the camera are used for acquiring three-dimensional space information and image features of the surrounding environment so as to identify and track the position and attitude of the aircraft. And the distance, the angle and the relative position between the aircraft and the tractor are accurately calculated and judged by utilizing machine learning and mode recognition technologies. And adjusting the wheel speed, steering and braking of the unmanned tractor by using an autonomous control algorithm so as to enable the unmanned tractor to accurately run and stop according to a preset path and a stop point. The invention aims to provide an efficient, accurate and safe mode, so that the unmanned tractor can be automatically parked at a specified position and is reliably connected with an aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles, and in particular to an automatic parking system for an unmanned tractor. Background Art

[0002] With the development of unmanned driving technology, automated driving systems are gradually being applied to various fields. As an important means of transportation at airports, the safety and accuracy of the docking operation of tractors is crucial to the smooth operation of transportation operations. Traditional docking operations rely on the driver's experience and skills, but there are human factors and operational risks. Therefore, the development of an automatic docking system for unmanned tractors has important application value. Summary of the invention

[0003] The invention provides an automatic parking system for an unmanned tractor, aiming to provide a safe, accurate and automatic parking operation mode.

[0004] The automatic parking system for an unmanned tractor of the present invention comprises the following components: a sensor component, a data processing unit, a control unit and a communication module.

[0005] The sensor assembly is used to sense the environment around the tractor, including but not limited to a laser radar sensor, a camera, an ultrasonic sensor, etc. As a specific example, the sensor assembly may include an RSLAM-10 laser radar, a CMOS camera module, and a UTS-200 ultrasonic sensor. The sensor assembly can obtain information such as obstacles, space conditions, and traffic conditions around the tractor.

[0006] The data processing unit receives and processes the data acquired by the sensor components. The data processing unit can process and analyze the acquired data through functions such as the Picasso-5000 image processing chip, the Environment-AI algorithm, and the PathFinder-2.0 path planning module. The data processing unit can provide accurate environmental perception information and path planning results to provide guidance for docking operations.

[0007] The control unit controls the movement and docking operation of the tractor according to the output result of the data processing unit. The control unit adopts PID control algorithm and Adaptive Cruise Control adaptive cruise control algorithm, which can achieve precise movement control and ensure that the tractor can complete the docking task safely and accurately. As a specific example, the control unit may include an STM32F103 series microcontroller and an ACC-500 controller.

[0008] The communication module exchanges data with external systems to achieve connection and communication with vehicle networks, cloud servers, etc. The communication module uses LTE-M communication technology and CAN bus protocol, so that the unmanned tractor can efficiently transmit data and remotely control other vehicles or base stations, and realize the functions of remote monitoring, scheduling and collaborative work. As a specific example, the communication module may include a SIM7600E-H LTE-M module and a CAN-BUS converter.

[0009] The automatic parking system for unmanned tractor of the present invention has the following technical effects: 1. Provide accurate environmental perception capabilities, allowing the tractor to perceive surrounding obstacles, space conditions and traffic conditions, and make corresponding docking decisions. 2. Realize automated path planning and motion control to ensure that the tractor can complete the docking task safely and accurately. 3. Realize remote data interaction and remote control, and provide convenience for the monitoring, dispatching and collaborative work of unmanned tractors. At the same time, the use of LTE-M communication technology and CAN bus protocol ensures efficient data transmission and reliability of remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 Connection relationship between various components

[0010] Figure 2 How it works DETAILED DESCRIPTION

[0010] The present invention will be further described below with reference to examples, but the examples do not limit the scope of the present invention. (Embodiments are described herein, including but not limited to specific sensor components, data processing algorithms, implementations of control units, etc.)

[0011] Example:

[0012] The embodiment of the unmanned tractor automatic parking system of the present invention includes a laser radar sensor for sensing obstacles around the tractor, a set of cameras for acquiring image information of the road in front of the tractor, and an ultrasonic sensor for detecting the distance behind the tractor. These sensor components can acquire environmental information around the tractor in real time.

[0013] In terms of the data processing unit, this embodiment uses an image processing algorithm to identify and analyze the road image information obtained by the camera to realize the recognition of lane lines and traffic signals. At the same time, an environmental perception algorithm is used to process the data obtained by the laser radar sensor and the ultrasonic sensor to provide accurate environmental perception information.

[0014] The control unit uses a PID control algorithm. After receiving the environmental perception information and path planning results output by the data processing unit, it controls the tractor to dock safely and accurately through precise PID motion control. The control unit also takes into account factors such as the center of gravity and stability of the tractor to ensure the stability and reliability of the docking operation.

[0015] In order to realize the functions of remote monitoring, dispatching and collaborative work, this embodiment also includes a communication module. The communication module enables the unmanned tractor to exchange data and remotely control with other vehicles or base stations to realize real-time monitoring and dispatching, and improve transportation efficiency and safety.

[0016] Through the above-mentioned embodiments, the automatic parking system for unmanned tractor of the present invention can provide a safe, accurate and automated parking operation mode, which brings convenience and reliability to the parking operation of the tractor.

[0017] It should be noted that the above embodiments are only examples and do not limit the scope of the present invention. In fact, under the premise of maintaining the core concept described in the present invention, appropriate changes and improvements can be made according to actual needs. Therefore, the specific details and configurations of this embodiment can be adjusted and optimized according to actual conditions. For example, the appropriate sensor layout and number can be selected according to the model and size of the tractor, and the data processing algorithm and control algorithm can be adjusted to adapt to different road environments and docking requirements. The specific configuration and protocol of the communication module can also be selected and customized according to the actual application scenario.

Claims

1. The automatic parking system for unmanned tractor includes the following functional components: a) A LiDAR sensor to detect obstacles and the environment around the tractor. b) A set of cameras for acquiring image information of the road ahead of the tractor. c) A set of image processing algorithms to analyze and process the road image information obtained by the camera to realize the recognition of lane lines and traffic signs. d) A GPS navigation system to provide coordinate information of the tractor's current location and destination. e) An Inertial Measurement Unit (IMU) to measure the acceleration, angular velocity and orientation of the tractor vehicle. f) A control unit that integrates and processes the sensor information and controls the movement of the tractor according to a preset docking algorithm. g) A communication module for communicating with other vehicles or base stations to achieve data transmission and remote control.

2. According to the functional components of the unmanned tractor automatic parking system, its functional characteristics are as follows: The automatic parking system for unmanned tractor according to claim 1 is characterized in that The laser radar sensor is used to detect obstacles and environment around the tractor. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The camera is used to obtain image information of the road ahead of the tractor. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The image processing algorithm is used to analyze and process the road image information acquired by the camera to realize the recognition of lane lines and traffic signals. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The GPS navigation system is used to provide coordinate information of the current position and destination of the tractor. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The inertial measurement unit (IMU) is used to measure the acceleration, angular velocity and direction of the tractor. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The control unit is used to integrate and process sensor information and control the movement of the tractor according to a preset parking algorithm. The automatic parking system for unmanned tractor according to claim 1 is characterized in that The communication module is used to communicate with other vehicles or base stations to achieve data transmission and remote control.

3. The automatic parking system for unmanned tractor according to claim 1 has the following technical effects: Through the use of lidar sensors, obstacles and environments around the tractor can be accurately detected, providing reliable environmental perception capabilities, thereby ensuring the safety of the tractor during the docking process. With the help of cameras and image processing algorithms, road image information can be acquired and processed in real time, lane lines and traffic signals can be identified, and the driving and parking operations of the tractor can be effectively guided. Using the location information provided by the GPS navigation system and the measurement data of the inertial measurement unit (IMU), the current position, direction and motion state of the tractor can be accurately calculated, providing an accurate positioning basis for automatic docking. By integrating and processing sensor information in the control unit and combining it with a preset docking algorithm, precise control of the tractor's movement is achieved, ensuring that the tractor can complete the docking operation safely and accurately. The application of communication modules enables the unmanned tractor to carry out efficient data transmission and remote control with other vehicles or base stations, realizing the functions of remote monitoring, scheduling and collaborative work.

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