Unmanned equipment based on multi-modal information fusion perception technology

Abstract

The invention discloses an unmanned device based on a multi-modal information fusion perception technology in the technical field of unmanned driving, the unmanned device comprises an unmanned vehicle and a collection device arranged on the unmanned vehicle, the unmanned vehicle is provided with a multi-modal information fusion module and a control module, the unmanned vehicle comprises a vehicle body and a compartment, and the vehicle body is provided with a multi-modal information fusion module and a control module. A moving groove extending in the advancing direction of the vehicle body is formed in the vehicle body, a moving piece used for being arranged in the moving groove in a sliding mode is arranged on the compartment, and a speed reduction assembly is arranged on the moving piece. When the vehicle body is suddenly braked, the moving part moves in the moving groove, so that the compartment can continuously move forwards for a certain distance, the compartment is prevented from being subjected to a large inertia effect immediately when the vehicle body is braked, the moving part is continuously decelerated through the speed reduction assembly until the moving part stops, and the speed reduction of the compartment is more stable in the process; inertia borne by the carriage is reduced, and the probability of displacement or collision of articles in the carriage is reduced.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to an unmanned driving device based on multimodal information fusion perception technology. Background Art

[0002] With the rapid development of artificial intelligence, sensor technology and communication technology, driverless technology has become the focus of the transportation field. By integrating multiple sensors (such as cameras, lidar, millimeter-wave radar, etc.) and advanced environmental perception algorithms, driverless vehicles can perceive the surrounding environment in real time and make decisions, thereby achieving safe and efficient autonomous driving. This technology has shown great application potential in logistics, public transportation, shared travel and other fields. For example, driverless express delivery vehicles can significantly improve delivery efficiency and reduce labor costs.

[0003] However, the existing unmanned driving technology still has certain limitations in practical applications. For example, during the operation of an unmanned express delivery vehicle, when an emergency situation requires emergency braking, due to inertia, objects inside the car (such as express parcels) will be subjected to a large force, which may cause the objects to shift, be damaged, or even cause impacts on the car structure. This not only affects the safety of the transported items, but may also have a negative impact on the stability and reliability of the unmanned driving equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned driving device based on multimodal information fusion sensing technology to solve the problem raised in the above background technology that when an emergency situation requires emergency braking, objects inside the car (such as express parcels) will be subjected to a large force due to inertia, which may cause the objects to shift, be damaged, or even cause impact on the car structure.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned driving device based on multimodal information fusion perception technology, comprising: an unmanned driving vehicle and a collection device arranged on the unmanned driving vehicle, the unmanned driving vehicle is provided with a multimodal information fusion module and a control module, the collection device is used to collect environmental information around the unmanned driving vehicle, the multimodal information fusion module is used to fuse the information collected by the collection device, and the control module is used to analyze the information fused by the multimodal information fusion module and control the driving of the unmanned driving vehicle according to the analysis result;

[0006] The unmanned vehicle includes a vehicle body and a carriage. The vehicle body is provided with a movable groove extending along the forward direction of the vehicle body. The carriage is provided with a movable part for sliding in the movable groove. The movable part is provided with a deceleration component. The movable part is used to move in the movable groove when the vehicle body brakes suddenly so that the carriage continues to move forward, and the deceleration component is used to decelerate the moving movable part.

[0007] Preferably, there are two deceleration assemblies, and the two deceleration assemblies are respectively arranged on both sides of the moving part;

[0008] Among them, the deceleration assembly includes a support rod and a pressure block arranged on the support rod, a mounting hole is arranged on the side wall of the movable part, the support rod is slidably inserted into the mounting hole, an elastic part is arranged between the mounting hole and the support rod, and the distance between the inner walls on both sides of the movable groove gradually decreases along the forward direction of the vehicle body.

[0009] Preferably, the support rod is connected to the pressing block via a hinge.

[0010] Preferably, a block for limiting the movement of the movable member and a driving device for driving the block to move are provided in the movable groove, and the driving device is used to drive the block to move away when the vehicle body brakes suddenly.

[0011] Preferably, a mounting box is provided on the vehicle body, a movable plate and an elastic reset member connected to the movable plate are slidably provided in the mounting box, and a flexible connecting member is provided between the movable plate and the moving member.

[0012] Preferably, an air bag is provided on the inner side wall of the carriage, an air pump is provided in the installation box, the outlet of the air pump is connected to the air bag through an air inlet pipe, and a first one-way valve is provided on the air inlet pipe;

[0013] Wherein, the airbag is connected to the installation box through an exhaust pipe, and a second one-way valve is provided on the exhaust pipe.

[0014] Preferably, a pressure sensor for detecting the air pressure inside the installation box is provided in the installation box.

[0015] Preferably, a blocking piece is provided on the movable plate, and the blocking piece is used to isolate the exhaust pipe from the installation box when the movable piece moves;

[0016] Wherein, the blocking member includes a connecting member and a baffle slidably arranged on the connecting member.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: when the vehicle body brakes suddenly, the moving part moves in the moving groove, allowing the carriage to continue to move forward for a certain distance, thereby avoiding the carriage being immediately subjected to a large inertia when the vehicle body brakes to a stop, significantly reducing the impact force on the carriage and its internal objects at the moment of sudden braking, and continuously decelerating the moving part through the deceleration component until it stops. This process makes the deceleration of the carriage smoother, reduces the inertia of the carriage, reduces the probability of displacement or collision of objects inside the carriage, and ensures the stability and reliability of the unmanned driving equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is a schematic diagram of the structure of the unmanned driving equipment of the present invention;

[0019] Figure 2 It is a schematic diagram of the connection structure between the vehicle body and the vehicle compartment of the present invention;

[0020] Figure 3 It is a schematic diagram of the vehicle body structure of the present invention;

[0021] Figure 4 It is a schematic diagram of the connection structure between the moving part and the deceleration assembly of the present invention;

[0022] Figure 5 This is a schematic diagram of the connection structure between the installation box and the flexible connector of the present invention;

[0023] Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure in the middle.

[0024] In the figure: 1. body; 2. compartment; 3. collection equipment; 4. moving part; 5. guide block; 6. guide groove; 7. airbag; 8. moving groove; 9. block; 10. deceleration assembly; 101. support rod; 102. hinge; 103. pressure block; 11. mounting hole; 12. elastic part; 13. flexible connector; 14. mounting box; 15. elastic reset part; 16. air pump; 17. first one-way valve; 18. intake pipe; 19. pressure sensor; 20. exhaust pipe; 21. second one-way valve; 22. blocking part; 221. baffle; 222. connector; 23. movable plate. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example 1

[0027] See also Figure 1, an unmanned driving device based on multimodal information fusion perception technology, including: an unmanned vehicle, the unmanned vehicle refers to an unmanned express delivery vehicle, a collection device 3 is installed on the top wall of the unmanned vehicle, the collection device 3 includes a camera, a laser radar, a radar, an ultrasonic sensor, an infrared sensor, etc. (the collection device 3 used on the unmanned vehicle is specifically set according to actual needs, and the equipment is all existing, so it is not described in detail here); the unmanned vehicle is provided with a multimodal information fusion module and a control module, the collection device 3 is used to collect environmental information around the unmanned vehicle (such as lane lines, traffic signs, pedestrians and obstacles), and the multimodal information fusion module is used to fuse the collected information (the multimodal information fusion module includes a data preprocessing unit, a feature extraction unit, a data fusion unit, and an environmental modeling unit; the above components are used to perform the following operations to denoise, align and time synchronize the original data to ensure the consistency of multi-sensor data The method comprises the following steps: extracting environmental features from the preprocessed data, extracting visual features from the camera data, extracting point cloud features from the lidar data, extracting speed and distance features from the radar data, fusing the multimodal data using Kalman filtering, particle filtering and deep learning algorithms (such as a fusion network based on TensorFlow), generating high-precision environmental perception results, constructing a three-dimensional environmental model based on the fused data, and marking obstacles, lane lines and drivable areas; the above-mentioned methods belong to the prior art and are not described in detail here); the control module comprises a path planning unit (using the A* algorithm or the Dijkstra algorithm to plan the driving path of the unmanned vehicle according to the environmental model), a behavior decision unit (generating a driving strategy (such as acceleration, deceleration, steering and parking) based on the perception results and the path planning results) and a control execution unit (converting the behavior decision results into control instructions for the unmanned vehicle to achieve precise control of the unmanned vehicle).

[0028] See also Figure 1 , Figure 2 and Figure 3 The unmanned vehicle comprises a vehicle body 1 and a carriage 2 (the vehicle body 1 is the lower structure of the unmanned vehicle, the carriage 2 is the upper structure of the unmanned vehicle, and the carriage 2 has a storage space inside for storing items, such as express delivery). A moving groove 8 is provided on the top wall of the vehicle body 1, and the moving groove 8 extends along the forward direction of the vehicle body 1. A moving member 4 (i.e., a moving block) is provided on the bottom wall of the carriage 2. The moving member 4 is slidably arranged in the moving groove 8, and a deceleration assembly 10 is provided on both sides of the moving member 4.

[0029] Among them, see Figure 3 and Figure 4The deceleration assembly 10 includes a support rod 101 and a pressure block 103 arranged on the support rod 101. Mounting holes 11 are opened on both side walls of the movable member 4. The support rod 101 is slidably inserted into the mounting hole 11. An elastic member 12 (spring) is provided between the mounting hole 11 and the support rod 101. The distance between the inner walls on both sides of the movable groove 8 gradually decreases along the forward direction of the vehicle body 1. The side wall of the pressure block 103 away from the support rod 101 is in contact with the inner wall of the movable groove 8.

[0030] It should be noted that two guide grooves 6 are provided on the top wall of the vehicle body 1, the two guide grooves 6 are located on both sides of the movable groove 8 and the guide grooves 6 are parallel to the movable groove 8, a guide block 5 is installed at the bottom of the vehicle body 2, and the guide block 5 is slidably arranged in the inner cavity of the guide groove 6; the guide block 5 is used to slide in the guide groove 6 to guide the movement of the vehicle body 2.

[0031] Working principle: During express delivery, the vehicle body 1 drives the carriage 2 on the road, the acquisition device 3 is used to collect the conditions around the vehicle body 1, the multimodal information fusion module is used to fuse the collected information, and the control module analyzes the information fused by the multimodal information fusion module and controls the driving state of the vehicle body 1 according to the analysis results; when encountering an emergency (such as obstacles, potholes, etc. in the forward direction of the vehicle body 1), the vehicle body 1 brakes suddenly to stop the movement of the vehicle body 1; at this time, the moving part 4 moves in the moving slot 8 to allow the carriage 2 to continue to move forward a certain distance; the movement of the moving part 4 will With the deceleration component 10 sliding in the moving groove 8, as the distance between the inner walls on both sides of the moving groove 8 gradually decreases, the support rod 101 of the deceleration component 10 moves toward the inside of the mounting hole 11, compressing the elastic member 12, increasing the pressure of the pressure block 103 in contact with the inner wall of the moving groove 8, thereby increasing the friction between the pressure block 103 and the moving groove 8, and as the moving amplitude of the moving block 4 increases, the friction between the pressure block 103 and the moving groove 8 will also increase, which is used to decelerate the moving member 4, stop it from moving, stop the moving carriage 2, and shorten the travel distance of the carriage 2.

[0032] In this embodiment, as a further optimized solution, please refer to Figure 4 The support rod 101 is connected to the pressure block 103 through a hinge 102, and the hinge 102 refers to a rotating shaft. A spring is provided between the support rod 101 and the pressure block 103, and the spring is used to support the pressure block 103 so that it will not rotate easily; through the setting of the rotating shaft, the pressure block 103 can rotate on the support rod 101, so that the contact surface of the side wall of the pressure block 103 away from the support rod 101 and the inner side wall of the movable groove 8 will not change.

[0033] In this embodiment, as a further optimized solution, please refer to Figure 3A mounting groove is provided at the bottom of the inner cavity of the movable groove 8, and a driving device (such as an electric telescopic rod) is installed in the inner cavity of the mounting groove. A stopper 9 is installed on the movable end of the electric telescopic rod. The stopper 9 is located in the forward direction of the movable part 4 and is in contact with it, so as to limit the movement of the movable part 4; when the vehicle body 1 brakes suddenly, the control module on the vehicle body 1 will control the electric telescopic rod to retract, so that the stopper 9 moves down and does not contact the movable part 4, thereby releasing the restriction on the movable part 4, so that the carriage 2 will not automatically move relative to the vehicle body 1 at ordinary times, and its frequent shaking is avoided.

[0034] In this embodiment, as a further optimized solution, please refer to Figure 4 and Figure 5 A mounting box 14 is provided on the car body 1, and a movable plate 23 is slidably provided in the inner cavity of the mounting box 14, an elastic reset member 15 (spring) is provided between the mounting box 14 and the movable plate 23, and a flexible connecting member 13 (rope, but not limited to rope) is provided between the movable plate 23 and the moving member 4; when the moving member 4 moves, the flexible connecting member 13 is pulled to move the movable plate 23, and the elastic reset member 15 is stretched at this time to decelerate the moving member 4 to shorten the travel of the car 2, and the reset of the elastic reset member 15 can also pull the moving member 4 to reset.

[0035] It should be noted that, in order to enable the carriage 2 to be reset, an electric push rod is installed on the body 1 to push the moving member 4 to reset after moving, and after the moving member 4 is reset, the electric push rod and the electric telescopic rod are reset.

[0036] In this embodiment, as a further optimized solution, please refer to Figure 2 and Figure 5 The inner walls of the four sides of the carriage 2 are all provided with airbags 7, an air pump 16 is provided in the inner cavity of the installation box 14, a partition is installed inside the installation box 14, the partition separates the air pump 16 from the movable plate 23 (dividing the installation box 14 into two mutually isolated cavities, the cavity where the air pump 16 is located is filled with gas, such as air), the outlet of the air pump 16 is connected with the airbag 7 through an intake pipe 18, and a first one-way valve 17 is provided on the intake pipe 18, so that the gas can only enter the interior of the airbag 7 through the intake pipe 18; the airbag 7 is connected with the installation box 14 through an exhaust pipe 20, and a second one-way valve 21 is provided on the exhaust pipe 20, The gas inside the exhaust pipe 20 can only enter the inner cavity of the installation box 14; when the vehicle body 1 brakes suddenly, the control module on the vehicle body 1 will control the air pump 16 to start, and quickly inject the gas inside the installation box 14 into the airbag 7 through the intake pipe 18, so that it is inflated and expanded to achieve a buffering effect; the gas inside the airbag 7 slowly flows into the installation box 14 through the exhaust pipe 20, so that the gas inside the airbag 7 can automatically return to the installation box 14. Compared with the flow rate when the air pump 16 delivers gas, the speed at which the gas inside the airbag 7 is discharged is slower, thereby extending the time it takes to reset the airbag 7.

[0037] In this embodiment, as a further optimized solution, please refer to Figure 5 A pressure sensor 19 is provided in the inner cavity of the installation box 14. The pressure sensor 19 is used to detect the air pressure inside the installation box 14. When the air pressure is lower than a preset value, the control module controls the air pump 16 to stop working.

[0038] In this embodiment, as a further optimized solution, please refer to Figure 5 and Figure 6 A blocking member 22 is provided on the movable plate 23, and the blocking member 22 is used to separate the exhaust pipe 20 from the installation box 14 when the movable member 4 moves; the blocking member 22 includes a connecting member 222 and a baffle 221 slidably mounted on the outer wall of the connecting member 222, and the end of the connecting member 222 away from the baffle 221 is connected to the movable plate 23; a through hole is opened in the communication area between the installation box 14 and the exhaust pipe 20; when the movable member 4 moves and pulls the movable plate 23 to move, the connecting member 222 will move with the movable plate 23, so that the baffle 221 blocks the through hole, so that when the movable plate 23 is not reset, the through hole will not be opened, so as to prevent the internal gas of the airbag 7 from being discharged and extend the buffering time of the airbag 7.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned driving device based on multimodal information fusion perception technology, characterized in that: include: An unmanned vehicle and a collection device (3) arranged on the unmanned vehicle, wherein the unmanned vehicle is provided with a multimodal information fusion module and a control module, the collection device (3) is used to collect environmental information around the unmanned vehicle, the multimodal information fusion module is used to fuse the information collected by the collection device (3), and the control module is used to analyze the information fused by the multimodal information fusion module and control the driving of the unmanned vehicle according to the analysis result; The unmanned vehicle comprises a vehicle body (1) and a carriage (2); the vehicle body (1) is provided with a moving groove (8) extending in the forward direction of the vehicle body (1); the carriage (2) is provided with a moving member (4) for sliding in the moving groove (8); the moving member (4) is provided with a deceleration component (10); the moving member (4) is used to move in the moving groove (8) when the vehicle body (1) brakes suddenly, so that the carriage (2) continues to move forward, and the deceleration component (10) is used to decelerate the moving member (4).

2. The unmanned driving device based on multimodal information fusion perception technology according to claim 1, characterized in that: There are two deceleration assemblies (10), and the two deceleration assemblies (10) are respectively arranged on both sides of the moving part (4); The deceleration assembly (10) comprises a support rod (101) and a pressure block (103) arranged on the support rod (101); a mounting hole (11) is arranged on the side wall of the movable member (4); the support rod (101) is slidably inserted into the mounting hole (11); an elastic member (12) is arranged between the mounting hole (11) and the support rod (101); and the spacing between the inner walls on both sides of the movable groove (8) gradually decreases along the forward direction of the vehicle body (1).

3. The unmanned driving device based on multimodal information fusion perception technology according to claim 2 is characterized in that: The support rod (101) is connected to the pressing block (103) via a hinge (102).

4. The unmanned driving device based on multimodal information fusion perception technology according to claim 1, characterized in that: A stopper (9) for limiting the movement of the moving member (4) and a driving device for driving the stopper (9) to move are arranged in the moving groove (8); the driving device is used to drive the stopper (9) to move away when the vehicle body (1) brakes suddenly.

5. The unmanned driving device based on multimodal information fusion perception technology according to claim 1, characterized in that: The vehicle body (1) is provided with an installation box (14), a movable plate (23) and an elastic reset member (15) connected to the movable plate (23) are slidably arranged in the installation box (14), and a flexible connecting member (13) is arranged between the movable plate (23) and the moving member (4).

6. The unmanned driving device based on multimodal information fusion perception technology according to claim 5 is characterized in that: An air bag (7) is provided on the inner wall of the carriage (2), an air pump (16) is provided in the installation box (14), an outlet of the air pump (16) is connected to the air bag (7) through an air intake pipe (18), and a first one-way valve (17) is provided on the air intake pipe (18); The air bag (7) is connected to the installation box (14) through an exhaust pipe (20), and a second one-way valve (21) is provided on the exhaust pipe (20).

7. The unmanned driving device based on multimodal information fusion perception technology according to claim 6 is characterized in that: A pressure sensor (19) for detecting the internal air pressure of the installation box (14) is arranged in the installation box (14).

8. The unmanned driving device based on multimodal information fusion perception technology according to claim 6 is characterized in that: The movable plate (23) is provided with a blocking member (22), and the blocking member (22) is used to isolate the exhaust pipe (20) from the installation box (14) when the movable member (4) moves; Wherein, the blocking member (22) comprises a connecting member (222) and a baffle (221) slidably arranged on the connecting member (222).

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