Multi-mode sensing docking method and system for unmanned transport vehicle and loading and unloading equipment

Abstract

The invention discloses a docking method and system for an unmanned transport vehicle and loading and unloading equipment based on multi-modal environment perception, and the method comprises the steps: carrying out the multi-modal environment perception of the loading and unloading equipment and the surrounding environment in a preset range, and obtaining the multi-modal environment perception data; synthesizing the multi-modal environment sensing data to generate a multi-modal environment model; generating a selected docking path from the current position of the unmanned transport vehicle to the loading and unloading equipment through a path planning algorithm under the condition of considering the factors of obstacles, the loading and unloading equipment and the driving speed; when the unmanned transport vehicle runs on the basis of the selected docking path, dynamically adjusting the selected docking path on the basis of the multi-modal environment sensing data acquired in real time; the unmanned transport vehicle runs towards the loading and unloading equipment based on the adjusted selected docking path; when it is sensed that the distance between the unmanned transport vehicle and the loading and unloading equipment is within the preset distance, the vehicle speed and the position of the unmanned transport vehicle are adjusted through self-adaptive PID control, so that the unmanned transport vehicle and the loading and unloading equipment are in accurate butt joint.

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