Low-speed unmanned distribution vehicle parking control system and low-speed unmanned distribution vehicle

Abstract

The utility model discloses a low-speed unmanned distribution vehicle parking control system and a low-speed unmanned distribution vehicle. The low-speed unmanned distribution vehicle parking control system comprises a vehicle control unit (VCU), a motor control unit (MCU), a millimeter wave radar, an ultrasonic radar and a camera, the millimeter wave radar, the ultrasonic radar and the camera are all connected with the vehicle control unit VCU, the output end of the vehicle control unit VCU is connected to the motor control unit MCU, and the motor control unit MCU is used for driving a motor to rotate so as to control the unmanned delivery vehicle to move front and back. The low-speed unmanned distribution vehicle has the advantages that the driving and parking sensing data are provided for the low-speed unmanned distribution vehicle by adopting a navigation fusion mode of various sensors, so that the parking reliability is improved; and after parking, reminding is automatically sent to the user, so that goods of the unmanned distribution vehicle can be conveniently received and processed by the user in time.

Description

Technical Field

[0001] The utility model relates to the field of low-speed unmanned delivery vehicles, and in particular to a low-speed unmanned delivery vehicle parking control system and a low-speed unmanned delivery vehicle. Background Art

[0002] With the development of unmanned driving technology, low-speed unmanned delivery vehicles are increasingly widely used in express delivery and other industries. For example, the patent application number is 201820524891.4, which is an unmanned express delivery vehicle and an unmanned express delivery system. The unmanned express delivery vehicle includes an unmanned vehicle body, an express shelf is provided on the unmanned vehicle body, and a flow box with an identification label is provided in the express shelf, and the express items are placed in different flow boxes; the express shelf is provided with a mechanical arm for taking and placing the flow box from the express shelf, and the top of the unmanned vehicle body or / and the top of the express shelf is provided with a three-dimensional space measurement sensor; the mechanical arm is provided with a visual sensor; the unmanned vehicle body is provided with a control unit, a communication unit and a storage unit, and the communication unit and the storage unit are respectively connected to the control unit, and the control unit is electrically connected to the control circuit of the mechanical arm and the three-dimensional space measurement sensor. It can be seen that unmanned delivery vehicles are widely used in the fields of express delivery and cargo distribution.

[0003] Low-speed unmanned delivery vehicles are used in the fields of cargo delivery, and have gradually moved from closed and semi-closed environments to full-scene environments, meeting the delivery needs of goods within a short distance. When unmanned delivery vehicles deliver in closed scenes, they are limited by the closed scenes, so their unmanned form and parking at the destination can be easily achieved. However, when driving and parking in a short distance in a non-closed full scene, a simple laser radar cannot achieve vehicle driving control and parking control. In addition, unlike the semi-closed scene where the destination is determined to be unique and the range fluctuation is small, the destination parking range in the non-closed scene becomes larger, and users cannot quickly and accurately locate the vehicle for operations such as picking up goods. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a low-speed unmanned delivery vehicle parking control system and a low-speed unmanned delivery vehicle, which are used to improve the reliability of the driving control and parking control of the unmanned delivery vehicle through a multi-sensor method, and at the same time can achieve reliable positioning of the unmanned vehicle, making it convenient for users to find the location of the unmanned delivery vehicle in time.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A parking control system for a low-speed unmanned delivery vehicle includes a vehicle controller VCU, a motor controller MCU, a millimeter-wave radar, an ultrasonic radar, and a camera; the millimeter-wave radar, the ultrasonic radar, and the camera are all connected to the vehicle controller VCU, and the output end of the vehicle controller VCU is connected to the motor controller MCU, and the motor controller MCU is used to drive the motor to rotate to control the unmanned delivery vehicle to move forward and backward.

[0007] The camera is installed in front of the unmanned delivery vehicle for visual navigation and positioning.

[0008] The ultrasonic radar is installed on the front, rear, left and right sides of the unmanned delivery vehicle to obtain the distance of obstacles and lane lines around the vehicle.

[0009] The millimeter-wave radar is installed at the front and rear of the unmanned delivery vehicle to obtain the speed and distance between the front and rear vehicles.

[0010] The control system also includes an Internet of Things module, and the vehicle controller VCU is connected to the user terminal through the Internet of Things module, so as to send notification information to the user terminal after parking.

[0011] The control system also includes a timing module, and the vehicle controller is connected to the timing module for timing the parking time.

[0012] The control system also includes a parking environment photographing module, and the vehicle controller VCU is connected to the parking environment photographing module for taking photos of the parking environment. The vehicle controller VCU sends the parking environment photos to the user terminal via the Internet of Vehicles module.

[0013] A low-speed unmanned delivery vehicle, comprising the low-speed unmanned delivery vehicle parking control system.

[0014] The advantages of the utility model are: it adopts a multi-sensor navigation fusion method to provide driving and parking sensor data for low-speed unmanned delivery vehicles, thereby improving the reliability of parking; it automatically sends a reminder to the user after parking, so that the goods of the unmanned delivery vehicle are conveniently received and processed by the user in time; in order to facilitate the user to find the location of the vehicle in time, a photo is taken in the environment near the parking position of the unmanned delivery vehicle and sent to the user, so that the user can quickly find and locate the unmanned delivery vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following is a brief description of the contents expressed in the drawings of the present invention and the symbols in the drawings:

[0016] Figure 1 This is the principle diagram of the control system of the utility model;

[0017] Figure 2This is the schematic diagram of ultrasonic radar;

[0018] Figure 3 This is the schematic diagram of millimeter wave radar;

[0019] Figure 4 This is a working principle diagram of the camera. DETAILED DESCRIPTION

[0020] The specific implementation of the present invention will be further explained in detail below by describing the optimal embodiment with reference to the accompanying drawings.

[0021] This solution is mainly aimed at the reliability of driving and parking of unmanned delivery vehicles in non-restricted areas and full-scene areas. Since the existing radar method in restricted areas cannot meet the problem, this application provides a parking control system for low-speed unmanned delivery vehicles with multi-sensor fusion. It recognizes the surrounding information of the vehicle based on the data of multiple sensors to achieve the purpose of unmanned driving and unmanned parking, avoiding the occurrence of failures of low-speed unmanned delivery vehicles. The specific solution is as follows:

[0022] A parking control system for a low-speed unmanned delivery vehicle includes a vehicle controller VCU, a motor controller MCU, a millimeter-wave radar, an ultrasonic radar, and a camera; the millimeter-wave radar, the ultrasonic radar, and the camera are all connected to the vehicle controller VCU, and the output end of the vehicle controller VCU is connected to the motor controller MCU, which is used to drive the motor to rotate to control the unmanned delivery vehicle to move forward and backward. Among them:

[0023] The camera is installed on the front of the unmanned delivery vehicle for visual navigation and positioning.

[0024] Ultrasonic radars are installed on the front, back, left and right sides of the unmanned delivery vehicle to obtain the distances to obstacles and lane lines around the vehicle.

[0025] Millimeter-wave radars are installed on the front and rear of the unmanned delivery vehicle to obtain the speed and distance of the vehicles in front and behind.

[0026] The motor controller MCU is used to realize the drive control of the motor of the unmanned delivery vehicle, thereby realizing the operation of the vehicle.

[0027] BMS is installed in the vehicle to detect and control the battery power. BMS is connected to VCU, controlled by VCU and exchanges data with VCU.

[0028] When the low-speed unmanned delivery vehicle is driving and parking, due to the complex scene, this application is equipped with sensors such as cameras, millimeter-wave radars, and ultrasonic radars on the unmanned delivery vehicle to achieve the purpose of unmanned driving control through sensors. When the low-speed unmanned logistics vehicle is performing a delivery task, it can accurately park at the destination. This solution reduces costs, which is of great significance to the commercial vehicle industry. Millimeter-wave radar can detect information such as the distance, speed, and angle of an object. It has the characteristics of all-weather and all-day, and has strong penetration ability for media such as fog, smoke, and dust. The camera can obtain image information such as the color, shape, and texture of an object, and has the advantages of high resolution and high definition. By fusing the information of the millimeter-wave radar and the camera, complementary advantages can be achieved, and the accuracy and reliability of perception and recognition can be improved. Specifically, the data obtained by the millimeter-wave radar and the camera can be matched and fused, and the data can be processed using algorithms and rules to obtain more comprehensive and accurate perception results. The accuracy and redundancy of environmental perception are improved by using information fusion.

[0029] First, the millimeter-wave radar sensor and the road perception part of the camera collect information about the surrounding environment, and the unmanned vehicle module is used to analyze and process the collected information to generate a real-time map. Then, the unmanned vehicle is controlled to stop accurately at the destination through unmanned driving technology. During parking and driving, obstacles can be detected through ultrasonic radar to avoid collision accidents. In the embodiments of this application, the automatic navigation driving technology using the visual solution of the camera and the radar solution and reaching the destination are both existing technologies. Only a brief introduction is made in this application, and no improvement is made to the automatic driving technology.

[0030] The working principle of ultrasonic radar, ultrasonic radar is mainly composed of two parts: ultrasonic sensor generator and ultrasonic sensor receiver. Ultrasonic radar uses the ultrasonic generator in the sensor to emit ultrasonic waves, and then the receiving probe receives the ultrasonic waves reflected by obstacles, and calculates the distance to the obstacles based on the time difference of ultrasonic reflection reception. Ensure the safety of the delivery vehicle during the process of parking at the destination and prevent collisions.

[0031] The ranging principle of ultrasonic radar: ranging = speed of sound × time ÷ 2. The speed of sound is related to the transmission medium and the temperature. The relationship between the speed of sound (c) and the temperature (t) can be simplified as: c = C0 + 0.607t. That is, the speed of sound at 15°C is 340m / s. C0 is the propagation speed of sound waves, which is 331.4 at 15°C.

[0032] Millimeter wave radar mainly consists of three parts: transceiver antenna, front-end transceiver components, signal processor and algorithm. Millimeter wave radar transmits millimeter waves through the antenna, receives the target reflection signal, and quickly and accurately obtains the physical environment information around the car body (such as the relative distance, relative speed, angle, movement direction, etc. between the car and other objects) after post-processing, and then tracks and identifies and classifies the target based on the detected object information, and then combines the body dynamic information for data fusion, and finally performs intelligent processing through the central processing unit (ECU). Make corresponding decisions.

[0033] How cameras work Figure 4 The target object generates an optical image through the lens and projects it onto the image sensor; the image sensor converts the light signal into a digital signal that can be processed by the computer based on information such as pixel distribution, brightness, and color; the digital signal processor operates on these signals to extract the target's features (area, center of gravity, length, position, etc.) and completes the classification and recognition of objects in the image.

[0034] In a preferred embodiment of the present application, an Internet of Things module is also provided on the low-speed unmanned vehicle, and the vehicle controller VCU is connected to the user terminal through the Internet of Things module, and is used to send notification information to the user terminal after parking. When the unmanned delivery vehicle arrives at the destination and stops, the VCU sends a reminder signal to the user terminal with a telephone and communication method reserved in advance through the vehicle networking module, reminding the user to pick up the goods in the unmanned delivery vehicle in time, wherein the user terminal can be a user's mobile phone or other device, and the Internet of Things module can be implemented using a communication chip such as a 4G chip.

[0035] Since unmanned delivery vehicles are mainly used to deliver goods, if the user does not come, the long wait will reduce the delivery efficiency. Therefore, a timing module is provided in this embodiment, and the vehicle controller is connected to the timing module to time the parking time. The timing is started after the purpose is reached. After the timing ends, if the user does not come, the unmanned delivery vehicle can continue with the next delivery task to avoid long waiting.

[0036] In a preferred embodiment of the present application, in order to facilitate users to quickly find the location of the delivery vehicle, a parking environment photo taking module is provided on the vehicle, and the vehicle controller VCU is connected to the parking environment photo taking module for taking photos of the parking environment. The vehicle controller VCU sends the parking environment photos to the user terminal via the Internet of Vehicles module. While notifying the user after parking, the taken photos of the parking location environment can also be sent to the user, so that the user can quickly locate and arrive. The parking environment photo taking module is mainly a camera that takes pictures, so it can reuse the camera used for navigation driving on the vehicle, thereby saving costs.

[0037] In a preferred embodiment of the present application, a low-speed unmanned delivery vehicle is also provided, and the low-speed unmanned delivery vehicle includes the above-mentioned low-speed unmanned delivery vehicle parking control system.

[0038] Obviously, the specific implementation of the present invention is not limited to the above-mentioned methods. As long as various non-substantial improvements are made using the method concept and technical solution of the present invention, they are all within the protection scope of the present invention.

Claims

1. A parking control system for a low-speed unmanned delivery vehicle, characterized in that: It includes a vehicle controller VCU, a motor controller MCU, a millimeter-wave radar, an ultrasonic radar, and a camera; the millimeter-wave radar, ultrasonic radar, and camera are all connected to the vehicle controller VCU, and the output end of the vehicle controller VCU is connected to the motor controller MCU. The motor controller MCU is used to drive the motor to rotate to control the unmanned delivery vehicle to move forward and backward.

2. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 1, characterized in that: The camera is installed in front of the unmanned delivery vehicle for visual navigation and positioning.

3. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 1, characterized in that: The ultrasonic radar is installed on the front, back, left and right sides of the unmanned delivery vehicle to obtain the distance of obstacles and lane lines around the vehicle.

4. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 1, characterized in that: The millimeter-wave radar is installed at the front and rear of the unmanned delivery vehicle to obtain the speed and distance between the front and rear vehicles.

5. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 1, characterized in that: The control system also includes an Internet of Things module, and the vehicle controller VCU is connected to the user terminal through the Internet of Things module, so as to send notification information to the user terminal after parking.

6. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 1, characterized in that: The control system also includes a timing module, and the vehicle controller is connected to the timing module for timing the parking time.

7. A parking control system for a low-speed unmanned delivery vehicle as claimed in claim 5, characterized in that: The control system also includes a parking environment photographing module, and the vehicle controller VCU is connected to the parking environment photographing module for taking photos of the parking environment. The vehicle controller VCU sends the parking environment photos to the user terminal via the Internet of Vehicles module.

8. A low-speed unmanned delivery vehicle, characterized by: The low-speed unmanned delivery vehicle includes a low-speed unmanned delivery vehicle parking control system as described in any one of claims 1-7.

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