Unmanned vehicle environment interaction control system
Through the environmental interaction control system of unmanned vehicles, wireless signals are used to control the opening and closing state of road facilities, the problem that unmanned vehicles cannot flexibly adapt to complex environments is solved, and barrier-free passage and safety improvement are achieved.
Patent Information
- Application Number
- CN202421571596.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-05-06
- Estimated Expiration
- 2034-07-04
AI Technical Summary
Existing unmanned vehicle systems cannot adapt flexibly when encountering obstacles or complex environments, resulting in transportation disruptions and increased safety risks.
An unmanned vehicle environmental interaction control system is designed. The system interacts with the road facilities through the vehicle control module, signal transmitter and signal receiver, and uses wireless signals to control the opening and closing state of the road facilities to achieve barrier-free passage and avoid collisions.
The system enables driverless vehicles to pass through in complex environments without barriers, reducing transportation disruptions and safety risks, and improving operational efficiency and safety.
Smart Images
Figure CN222838358U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to an unmanned vehicle environment interaction control system. Background Art
[0002] With the continuous development of industrial automation and intelligence, various types of unmanned vehicles (such as automatic material traction vehicles, referred to as AGVs) have been widely used in factories, workshops, warehouses, automated logistics systems, etc. Unmanned vehicles navigate and locate through built-in control systems and sensors, and transport materials efficiently and stably between different locations along preset paths without the need for manual driving or remote control, which significantly improves production efficiency and logistics efficiency and reduces labor costs.
[0003] However, there are some limitations to the existing unmanned vehicle systems. First, unmanned vehicles can usually only operate in fixed routes that are completely barrier-free. This means that once an obstacle is encountered, such as a closed roller shutter door, a gate, or other temporarily set obstacles, the unmanned vehicle will not be able to continue the mission, resulting in transportation interruption. This reliance on fixed paths limits the flexibility and adaptability of unmanned vehicles in complex environments.
[0004] Secondly, existing unmanned vehicle systems have the risk of collision with people and other vehicles. On the one hand, the risk comes from the transporter itself, which has limited recognition capabilities and speed in responding to dynamic obstacles. The transporter may not be able to recognize and avoid suddenly appearing people or objects in time, thereby increasing the risk of collision with surrounding people. On the other hand, workplace safety risks do not only come from the lack of obstacle avoidance of the transporter, but also from the carelessness of the personnel themselves. In a busy working environment, workers may fail to notice the arrival of the transporter in time due to distraction or lack of attention to the operating status of the unmanned vehicle, and thus fail to take evasive measures. This human factor, combined with the limitations of the transporter's obstacle avoidance ability, further exacerbates workplace safety risks. In addition, even if there is no collision, the presence of surrounding staff or moving objects will interfere with the movement of the transporter and reduce its work efficiency.
[0005] Therefore, it is hoped that there is a solution that enables unmanned vehicles to pass through obstacles such as rolling doors and gates without obstacles, and / or avoid collisions with pedestrians and vehicles on other routes, thereby improving operational safety. Utility Model Content
[0006] In response to the above-mentioned problems and needs, the present disclosure proposes an unmanned vehicle environment interaction control system, which solves the above-mentioned problems and brings other technical effects by adopting the following technical features.
[0007] The unmanned vehicle environment interactive control system proposed in the present disclosure includes: an unmanned vehicle environment, the unmanned vehicle environment including a vehicle control module environment located thereon or therein and a signal transmitter environment communicatively connected to the vehicle control module environment, wherein the vehicle control module environment is configured to send a vehicle control signal to the signal transmitter environment in response to the unmanned vehicle environment being in a predetermined position, and the signal transmitter environment is configured to send a wireless signal to a signal receiver environment based on the vehicle control signal; the signal receiver environment, the signal receiver environment is configured to be connected to a road facility environment including an actuator environment, and the road facility environment is configured to switch between an open state allowing passage and a closed state prohibiting passage through the actuator environment in response to the signal receiver environment receiving the wireless signal.
[0008] According to a preferred embodiment, the unmanned vehicle environment interactive control system includes the road facility environment, and the road facility environment is located on a predetermined driving route of the unmanned vehicle environment, or on a road intersecting with the predetermined driving route of the unmanned vehicle environment.
[0009] According to a preferred embodiment, the road facility environment includes a facility control module environment and an actuator environment, the signal receiver environment is configured to send a facility control signal to the facility control module environment after receiving a wireless signal from a signal transmitter environment, and the facility control module environment sends an execution control signal to the actuator environment based on the facility control signal, and the actuator environment switches the road facility between the open state and the closed state based on the execution control signal.
[0010] According to a preferred embodiment, the vehicle control module environment and the signal transmitter environment are connected by wires; and / or the signal receiver environment and the facility control module environment are connected by wires; and / or the facility control module environment and the actuator environment are connected by wires.
[0011] According to a preferred solution, the wireless signal is a wireless radio frequency signal.
[0012] According to a preferred embodiment, the road facility environment is located on a predetermined driving route of the unmanned vehicle environment, and the unmanned vehicle environment is configured to transmit a first wireless signal to a signal receiver environment through a signal transmitter environment when the unmanned vehicle environment travels to a first position, and the road facility environment is switched to an open state based on the first wireless signal.
[0013] According to a preferred embodiment, the unmanned vehicle environment is also configured to transmit a second wireless signal to the signal receiver environment through the signal transmitter environment when the unmanned vehicle environment travels to a second position downstream of the first position, and the road facility environment is switched to a closed state based on the second wireless signal.
[0014] According to a preferred embodiment, the road facility environment is located on a road that intersects with a predetermined driving route of the unmanned vehicle environment; the unmanned vehicle environment is configured to transmit a first wireless signal to a signal receiver environment through a signal transmitter environment when the unmanned vehicle environment travels to a first position, and the road facility environment is switched to a closed state based on the first wireless signal.
[0015] According to a preferred embodiment, the unmanned vehicle environment is also configured to transmit a second wireless signal to the signal receiver environment through the signal transmitter environment when the unmanned vehicle environment travels to a second position downstream of the first position, and the road facility environment switches to an open state based on the second wireless signal.
[0016] According to a preferred embodiment, the road facility environment is a door or a barrier.
[0017] The best embodiments for implementing the present disclosure will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present disclosure can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments of the present disclosure are briefly introduced below. The drawings are only used to show some embodiments of the present disclosure, but not to limit all embodiments of the present disclosure thereto.
[0019] Figure 1 A block diagram showing an exemplary embodiment of an unmanned vehicle environment interaction control system of the present disclosure is shown;
[0020] Figures 2A to 2C Different operating states of the first exemplary embodiment are respectively shown;
[0021] Figures 3A to 3C Different operating states of the second exemplary embodiment are respectively shown.
[0022] Reference numerals list
[0023] 10. Autonomous Vehicles
[0024] 11 Vehicle Control Module
[0025] 12 Signal Transmitter
[0026] 20 Road facilities
[0027] 21 Signal Receiver
[0028] 22 Facility Control Module
[0029] 23 Executive Agency
[0030] A First Position
[0031] B Second position
[0032] L1 Scheduled driving route
[0033] L2 Road DETAILED DESCRIPTION
[0034] In order to make the purpose, technical solution and advantages of the technical solution of the present disclosure clearer, the technical solution of the embodiment of the present disclosure will be clearly and completely described in conjunction with the drawings of the specific embodiments of the present disclosure. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.
[0035] Compared to the embodiments shown in the drawings, feasible implementations within the scope of the present disclosure may have fewer components, other components not shown in the drawings, different components, differently arranged components, or differently connected components, etc. In addition, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.
[0036] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity restriction. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0037] The present disclosure proposes an unmanned vehicle environment interaction control system, which enables an unmanned vehicle 10 to pass through various doors, gates and other road facilities 20 that may provide obstacles without obstacles, and / or avoid collisions with pedestrians and vehicles on other routes, thereby improving operational safety.
[0038] The unmanned vehicle 10 refers to any form of mobile device that can move automatically without a person operating it. The present disclosure does not limit the specific structure of the unmanned vehicle 10, and it does not necessarily have the appearance of a conventional vehicle. In particular, the unmanned vehicle 10 can refer to an automatic material traction vehicle, referred to as an AGV, for transporting materials.
[0039] like Figure 1 As shown, in the unmanned vehicle environment interactive control system proposed in the present disclosure, the unmanned vehicle 10 includes a vehicle control module 11 located on or inside the unmanned vehicle 10 and a signal transmitter 12 communicatively connected to the vehicle control module 11. The "communicative connection" means that signals can be transmitted between the two.
[0040] The vehicle control module 11 is configured to send a vehicle control signal to the signal transmitter 12 in response to the unmanned vehicle 10 being at a predetermined position. The predetermined position may refer to one or more specific positions in the vehicle's route. Generally, the unmanned vehicle 10 may be configured to travel based on a predetermined driving route, in which case the predetermined position may be one or more specific pre-set positions on the predetermined driving route, including but not limited to positions A and B mentioned later. The unmanned vehicle 10 may have a navigation system to know the driving position at any time.
[0041] In some embodiments, the vehicle control module 11 and the signal transmitter 12 may be connected via wires. In some embodiments, the vehicle control signal emitted by the vehicle control module 11 is an electrical signal transmitted to the signal transmitter 12 via wires. In other embodiments, there may be no wire connection between the vehicle control module 11 and the signal transmitter 12, and the transmitted signal may be other types of signals, such as wirelessly transmitted signals.
[0042] The signal transmitter 12 is configured to transmit a wireless signal to the signal receiver 21 based on receiving the vehicle control signal. The wireless signal is preferably a wireless radio frequency signal, i.e., an RF signal. The advantage of using an RF signal as a control signal is that it allows data to be transmitted without a physical connection, which is flexible. In addition, the RF signal can cover a wider geographical area, has strong anti-interference ability, and has good device compatibility.
[0043] The signal receiver 21 is used in conjunction with the signal transmitter 12 to receive the RF signal from the signal transmitter 12. In the unmanned vehicle environment interaction control system disclosed in the present invention, the signal receiver 21 is configured to be connected to the road facility 20.
[0044] The road facilities 20 are facilities that can selectively provide certain obstacles to the road, such as various doors such as rolling shutters, sliding doors, gates, revolving doors, and roadblocks, fences, gates, etc. that can be opened and closed or raised and lowered. The road facilities 20 can be switched between an open state that allows passage and a closed state that prohibits passage. In the open state, vehicles or pedestrians can pass through the road facilities 20 without hindrance. In the closed state, vehicles or pedestrians are blocked by the road facilities 20 and cannot pass. It should be noted that the road facilities 20 may be part of the unmanned vehicle environment interaction control system disclosed in the present invention, or may not be part of the system, but the environment in which the system is applied.
[0045] The road facility 20 may include an actuator 23 for switching the road facility 20 between the open state and the closed state. The specific form of the actuator 23 is not limited, and it can use a variety of mechanical features such as a mechanical arm, a gear, a hydraulic cylinder or a cylinder, an electric motor, a gear system, a connecting rod mechanism, etc. to achieve different forms of state switching.
[0046] The signal receiver 21 may be connected to the road facility 20 via a wire to transmit the vehicle control signal via the wire. In other embodiments, there may be no wire connection between the two, and the transmitted signal may be other types of signals, such as wirelessly transmitted signals. The signal receiver 21 may be directly mounted on or in the road facility 20. The road facility 20 is configured to switch between an open state and a closed state via an actuator 23 in response to the signal receiver 21 receiving a wireless signal.
[0047] Through the above-mentioned solution of the present disclosure, when the unmanned vehicle 10 travels to a predetermined position, it can interact with the road facility 20 through the signal transmitter 12 and the signal receiver 21, so as to switch the state of the road facility 20, for example, from an open state to a closed state or vice versa. Figures 2A-2C In the described embodiment, the unmanned vehicle 10 may not be blocked by the closed road facilities 20, but may continue to move by opening the road facilities 20; in other cases, for example, as described below in conjunction with Figure 3A-2C In the described embodiment, when the driverless vehicle 10 travels to a specific location, the risk of collision with pedestrians, vehicles, etc. on other routes can be avoided by closing the road facilities 20.
[0048] The road facility 20 may further include a facility control module 22. After receiving the wireless signal from the signal transmitter 12, the signal receiver 21 sends a facility control signal to the facility control module 22, and the facility control module 22 sends an execution control signal to the execution mechanism 23 based on the facility control signal, and the execution mechanism 23 switches between the open state and the closed state based on the execution control signal.
[0049] Preferably, the signal receiver 21 is connected to the facility control module 22 via a wire, and the facility control signal can be sent via the wire. However, in other embodiments, there may be no wire connection between the signal receiver 21 and the facility control module 22, and the facility control signal may be other types of signals, such as wirelessly transmitted signals.
[0050] The facility control module 22 and the actuator 23 are also preferably connected by wires, and the execution signal can be sent through the wires. However, in other embodiments, there may be no wire connection between the facility control module 22 and the actuator 23, and the execution signal may be other types of signals, such as wirelessly transmitted signals.
[0051] In the present disclosure, the road facility 20 may be located on the predetermined driving route L1 of the unmanned vehicle 10, or may be located on a road intersecting with the predetermined driving route of the unmanned vehicle 10. Figures 2A to 2C A first exemplary embodiment is described in which the road facility 20 is located on the predetermined travel route L1 of the unmanned vehicle 10 .
[0052] In this exemplary embodiment, the unmanned vehicle 10 travels from left to right along the predetermined driving route L1. The vehicle control module 11 is configured to transmit a first wireless signal to the signal receiver 21 through the signal transmitter 12 when the unmanned vehicle 10 travels to the first position A, and the road facility 20 is switched to the open state based on the first wireless signal. The unmanned vehicle 10 is also configured to transmit a second wireless signal to the signal receiver 21 through the signal transmitter 12 when the unmanned vehicle 10 travels to a second position downstream of the first position, and the road facility 20 is switched to the closed state based on the second wireless signal. In this way, the unmanned vehicle 10 can continue to travel by opening the road facility 20 without being blocked by the closed road facility 20.
[0053] Specifically, in Figure 2AIn the figure, the unmanned vehicle 10 travels from left to right along the predetermined driving route L1 and has not yet reached the first position A. No action will be triggered at this time. Once the unmanned vehicle 10 travels to the first position A, the vehicle control module 11 sends a first vehicle control signal to the signal transmitter 12, based on which the signal transmitter 12 transmits a first wireless signal to the signal receiver 21. After receiving the first wireless signal, the signal receiver 21 sends a first facility control signal to the facility control module 22, so that the control module sends a first execution signal to the actuator 23. Based on the first execution signal, the actuator 23 switches the road facility 20 to the open state.
[0054] in, Figure 2B It is shown that the driverless vehicle 10 has passed the first position A and the road facilities 20 are already in the open state.
[0055] After that, the unmanned vehicle 10 continues to travel from left to right along the predetermined driving route L1. When it reaches the second position B, the vehicle control module 11 sends a second vehicle control signal to the signal transmitter 12. Based on this, the signal transmitter 12 transmits a second wireless signal to the signal receiver 21. After receiving the second wireless signal, the signal receiver 21 sends a second facility control signal to the facility control module 22, so that the control module sends a second execution signal to the actuator 23. Based on the second execution signal, the actuator 23 switches the road facility 20 to the closed state. Figure 2C It is shown that the driverless vehicle 10 has passed the second position B, and the road facilities 20 are in a closed state.
[0056] In the first exemplary embodiment, the road facility 20 may be, in particular, various doors, such as a rolling door.
[0057] References below Figures 3A to 3C A second exemplary embodiment is described in which the road facility 20 is located on the road L2 intersecting with the planned travel route L1 of the unmanned vehicle 10 .
[0058] In this exemplary embodiment, the unmanned vehicle 10 travels from the upper right to the lower left along the predetermined driving route L1. The road facilities 20 are arranged on the road L2 intersecting with the predetermined driving route L1. The unmanned vehicle 10 is configured to transmit a first wireless signal to the signal receiver 21 through the signal transmitter 12 when the unmanned vehicle 10 travels to the first position A, and the road facilities 20 are switched to a closed state based on the first wireless signal. The unmanned vehicle 10 is also configured to transmit a second wireless signal to the signal receiver 21 through the signal transmitter 12 when the unmanned vehicle 10 travels to a second position located downstream of the first position, and the road facilities 20 are switched to an open state based on the second wireless signal. In this way, when the unmanned vehicle 10 travels to a position close to the road L2, the road facilities 20 located on the road L2 are closed, thereby preventing pedestrians, vehicles, etc. on the road L2 from continuing to travel, thereby avoiding possible collision risks. When the unmanned vehicle 10 continues to travel and moves away from the road L2, the road facilities 20 located on the road L2 are opened, so that pedestrians, vehicles, etc. on the road L2 can continue to travel.
[0059] Specifically, in Figure 3A In the figure, the unmanned vehicle 10 is traveling from the upper right to the lower left along the predetermined driving route L1, and has not yet reached the first position A. No action will be triggered at this time. Once the unmanned vehicle 10 reaches the first position A, the vehicle control module 11 sends a first vehicle control signal to the signal transmitter 12, based on which the signal transmitter 12 transmits a first wireless signal to the signal receiver 21. After receiving the first wireless signal, the signal receiver 21 sends a first facility control signal to the facility control module 22, so that the control module sends a first execution signal to the actuator 23. Based on the first execution signal, the actuator 23 switches the road facility 20 to a closed state to prevent pedestrians and vehicles on the road L2 from traveling in the direction of the unmanned vehicle 10.
[0060] in, Figure 3B It is shown that the driverless vehicle 10 has passed the first position A and the road facilities 20 are in a closed state.
[0061] After that, the unmanned vehicle 10 continues to travel along the predetermined driving route L1 in the lower left direction. When it reaches the second position B, the vehicle control module 11 sends a second vehicle control signal to the signal transmitter 12. Based on this, the signal transmitter 12 transmits a second wireless signal to the signal receiver 21. After receiving the second wireless signal, the signal receiver 21 sends a second facility control signal to the facility control module 22, so that the control module sends a second execution signal to the actuator 23. Based on the second execution signal, the actuator 23 switches the road facility 20 to the open state. Figure 2CIt shows that the unmanned vehicle 10 has passed the second position B, and the road facilities 20 are already in the open state. At this time, pedestrians and vehicles on the road L2 can continue to pass normally.
[0062] In the second exemplary embodiment, the road facilities 20 may be various road-blocking facilities, such as a gate or the like.
[0063] In other exemplary embodiments not shown, the road facilities may include a plurality of road facilities, for example, a plurality of road facilities located at different locations or on different roads, for example, a plurality of different types of road facilities, for example, including both Figures 2A-2C The road facilities shown also include Figures 3A-3C Road facilities shown, etc.
[0064] In the present disclosure, the intersection of the road L2 and the planned driving route L1 means that the road L2 and the planned driving route L1 only need to intersect, and the two do not necessarily need to form an x-like shape.
[0065] In the present disclosure, the setting of the predetermined position can be calculated based on the travel speed of the unmanned vehicle 10 and the opening / closing speed of the road facility 20, and a certain margin can be provided.
[0066] The exemplary implementation scheme of the present disclosure is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.
Claims
1. An unmanned vehicle environment interactive control system, characterized in that: include: An unmanned vehicle (10), the unmanned vehicle (10) comprising a vehicle control module (11) located on or in the unmanned vehicle and a signal transmitter (12) communicatively connected to the vehicle control module (11), wherein the vehicle control module (11) is configured to send a vehicle control signal to the signal transmitter (12) in response to the unmanned vehicle (10) being in a predetermined position, and the signal transmitter (12) is configured to send a wireless signal to a signal receiver (21) based on the vehicle control signal; The signal receiver (21) is configured to be connected to a road facility (20) including an actuator (23), and the road facility (20) is configured to switch between an open state for allowing passage and a closed state for prohibiting passage through the actuator (23) in response to the signal receiver (21) receiving the wireless signal.
2. The unmanned vehicle environment interactive control system according to claim 1, characterized in that: The unmanned vehicle environment interaction control system comprises the road facility (20), wherein the road facility (20) is located on a predetermined driving route of the unmanned vehicle (10), or on a road intersecting with the predetermined driving route of the unmanned vehicle (10).
3. The unmanned vehicle environment interactive control system according to claim 2, characterized in that: The road facility (20) comprises a facility control module (22) and an actuator (23). The signal receiver (21) is configured to send a facility control signal to the facility control module (22) after receiving a wireless signal from the signal transmitter (12), and the facility control module (22) sends an execution control signal to the execution mechanism (23) based on the facility control signal, and the execution mechanism (23) switches the road facility between the open state and the closed state based on the execution control signal.
4. The unmanned vehicle environment interactive control system according to claim 3, characterized in that: The vehicle control module (11) and the signal transmitter (12) are connected via wires; and / or The signal receiver (21) is connected to the facility control module (22) via an electric wire; and / or The facility control module (22) and the actuator (23) are connected via electric wires.
5. The unmanned vehicle environment interactive control system according to claim 1, characterized in that: The wireless signal is a wireless radio frequency signal.
6. The unmanned vehicle environment interactive control system according to claim 1, characterized in that: The road facility (20) is located on a predetermined driving route of the unmanned vehicle (10). The unmanned vehicle (10) is configured to transmit a first wireless signal to a signal receiver (21) via a signal transmitter (12) when the unmanned vehicle (10) travels to a first position, and the road facility (20) is switched to an open state based on the first wireless signal.
7. The unmanned vehicle environment interactive control system according to claim 6, characterized in that: The unmanned vehicle (10) is also configured to transmit a second wireless signal to a signal receiver (21) via a signal transmitter (12) when the unmanned vehicle (10) travels to a second position downstream of the first position, and the road facility (20) is switched to a closed state based on the second wireless signal.
8. The unmanned vehicle environment interactive control system according to claim 1, characterized in that: The road facility (20) is located on a road that intersects with a predetermined driving route of the unmanned vehicle (10); The unmanned vehicle (10) is configured to transmit a first wireless signal to a signal receiver (21) via a signal transmitter (12) when the unmanned vehicle (10) travels to a first position, and the road facility (20) is switched to a closed state based on the first wireless signal.
9. The unmanned vehicle environment interactive control system according to claim 8, characterized in that: The unmanned vehicle (10) is also configured to transmit a second wireless signal to a signal receiver (21) via a signal transmitter (12) when the unmanned vehicle (10) travels to a second position downstream of the first position, and the road facility (20) is switched to an open state based on the second wireless signal.
10. The unmanned vehicle environment interactive control system according to claim 1, characterized in that: The road facility (20) is a gate or a barrier.