Positioning system and unloading control system of unmanned vehicle
By setting up graphic signs on the retaining wall of the crushing station and using the unmanned vehicle's camera for recognition, the unmanned vehicle can accurately locate and unload materials within the crushing station, solving the problem of insufficient positioning accuracy caused by GPS signal obstruction.
Patent Information
- Application Number
- CN202422970102.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-02
- Publication Date
- 2025-09-19
- Estimated Expiration
- 2034-12-02
AI Technical Summary
Unmanned vehicles cannot meet the high-precision positioning requirements in the crushing station, especially when the GPS signal is blocked, making it difficult to achieve accurate docking and unloading.
Multiple graphic signs, such as QR code signs, are set up on the retaining wall of the crushing station and arranged at specified intervals. These signs are then recognized by the camera of the unmanned vehicle to achieve precise positioning.
It realizes the precise positioning and unloading of unmanned vehicles in the crushing station, and solves the problem of reduced positioning accuracy caused by GPS signal obstruction.
Smart Images
Figure CN223362523U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicles and unmanned driving technology, and in particular to a positioning system and unloading control system for an unmanned vehicle. Background Art
[0002] Mining unmanned vehicles rely on high-precision positioning for operation. When operating in obstructed scenarios, high-precision location information cannot be obtained due to GPS signal obstruction. When entering the crushing port, the vehicle tires need to stick close to the crushing retaining wall and cannot collide with the retaining wall. The accuracy of the vehicle position is very high, and it needs to meet the parking requirement of several centimeters.
[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Utility Model Content
[0004] The embodiments of the present application provide a positioning system and a discharge control system for an unmanned vehicle, so as to at least solve the technical problem in the related art that the unmanned vehicle cannot meet the positioning accuracy requirements at the crushing station.
[0005] According to one aspect of an embodiment of the present application, a positioning system for an unmanned vehicle is provided, wherein the positioning system is arranged at a crushing station, wherein the crushing station includes a crushing station entrance, a crushing port, and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, and the positioning system is located on at least one retaining wall, and the unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the positioning system includes: a plurality of graphic identifiers, wherein the plurality of graphic identifiers are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along a direction extending from the crushing station entrance to the crushing port, and different graphic identifiers among the plurality of graphic identifiers have different identification features, and the plurality of graphic identifiers appear within the perception range of the camera of the unmanned vehicle when the unmanned vehicle drives from outside the crushing station to the crushing port, wherein the at least one retaining wall includes the first retaining wall.
[0006] Optionally, different identification features represent different distances from the graphic mark to the crushing opening.
[0007] Optionally, the different identification features comprise different patterns.
[0008] Optionally, the graphic identifier includes a QR code identifier.
[0009] Optionally, the plurality of graphic logos are provided on both the first retaining wall and the second retaining wall, and the at least one retaining wall includes the second retaining wall.
[0010] Optionally, the graphic marks on the first retaining wall and the second retaining wall are symmetrically arranged relative to the crushing opening or the crushing station entrance.
[0011] Optionally, the crushing opening includes a crushing opening retaining wall and a discharge opening, and the unmanned vehicle is used to travel to the crushing opening retaining wall to unload the material to the discharge opening.
[0012] Optionally, the at least one retaining wall further includes the second retaining wall, and no graphic logo is provided on the second retaining wall.
[0013] Optionally, the multiple graphic logos are evenly arranged on the first retaining wall at specified intervals.
[0014] According to another aspect of an embodiment of the present application, a unmanned vehicle unloading control system is also provided, the unloading control system includes an unmanned vehicle and a positioning system; wherein, the positioning system is arranged at a crushing station, the crushing station includes a crushing station entrance, a crushing port and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, and the positioning system is located on at least one retaining wall; the positioning system includes a plurality of graphic logos, and the plurality of graphic logos are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the crushing station entrance to the crushing port, and different graphic logos among the plurality of graphic logos have different identification features, wherein the at least one retaining wall includes the first retaining wall; the unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the unmanned vehicle is provided with a camera, and the plurality of graphic logos appear within the perception range of the camera of the unmanned vehicle when the unmanned vehicle drives from outside the crushing station to the crushing port.
[0015] The positioning system and unloading control system of the unmanned vehicle in the present application are achieved by setting the positioning system in a crushing station, wherein the crushing station includes a crushing station entrance, a crushing port and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, the positioning system is located on at least one retaining wall, and the positioning system includes multiple graphic logos, the multiple graphic logos are arranged at specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the crushing station entrance to the crushing port, and different graphic logos among the multiple graphic logos have different identification features, wherein the at least one retaining wall includes the first retaining wall; an unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the unmanned vehicle is provided with a camera, and the multiple graphic logos appear within the perception range of the camera of the unmanned vehicle during the process of the unmanned vehicle driving from the outside of the crushing station to the crushing port, thereby realizing accurate positioning of the unmanned vehicle in the crushing station, and solving the technical problem in the related art that the unmanned vehicle cannot meet the positioning accuracy requirements in the crushing station. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
[0017] Figure 1 is a schematic diagram of a positioning system for an unmanned vehicle according to an embodiment of the present application;
[0018] Figure 2 It is a schematic diagram of an unmanned vehicle unloading control system according to an embodiment of the present application. DETAILED DESCRIPTION
[0019] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings 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 in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.
[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0021] Figure 1 is a schematic diagram of a positioning system for an unmanned vehicle according to an embodiment of the present application, such as Figure 1 As shown, the positioning system is set in a crushing station, which includes a crushing station entrance, a crushing port and two retaining walls (including a first retaining wall) extending from the crushing station entrance to both sides of the crushing port. The positioning system is located on at least one retaining wall (for example, Figure 1The first retaining wall in the crushing station), the unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the positioning system includes: a plurality of graphic identifiers, the plurality of graphic identifiers are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the entrance of the crushing station to the crushing port, different graphic identifiers among the plurality of graphic identifiers have different identification features, and the plurality of graphic identifiers appear in the perception range of the camera of the unmanned vehicle when the unmanned vehicle is driving from outside the crushing station to the crushing port, wherein the at least one retaining wall includes the first retaining wall.
[0022] In this embodiment, the multiple graphic identifiers include but are not limited to multi-dimensional codes (such as QR codes, 6D codes, etc.), bar codes, and RFID (Radio Frequency Identification). In the embodiment of the present disclosure, different graphic identifiers correspond to different distances to the crushing opening, for example, Figure 1 The distance between the graphic mark 1 closest to the crushing station entrance and the crushing opening is the first distance L1, and the distance between the graphic mark 2 second closest to the crushing station entrance and the crushing opening is the second distance L1+L2 (that is, L2 represents the distance between two adjacent graphic marks), and so on.
[0023] In this embodiment, a plurality of graphic logos are provided on at least one side of the retaining walls on both sides of the crushing station, and may be provided on one of the two retaining walls, or may be provided on both retaining walls.
[0024] In this embodiment, the multiple graphic logos may be arranged at equal intervals or at unequal intervals, which can be selected according to user needs.
[0025] In this embodiment, when the unmanned vehicle is close to the crushing station, the obstruction of the crushing station building may affect the GPS / GNSS positioning signal, resulting in a decrease in its accuracy. Therefore, with the help of the above embodiment, when the unmanned vehicle is close to the crushing station, the information of the above-mentioned multiple graphic identifications can be collected in sequence by the camera, and the collected graphic identification information can help the unmanned vehicle to perform accurate positioning.
[0026] Optionally, in the above embodiment, the distances between different graphic markers and the crushing opening can be pre-calibrated. In this way, when the unmanned vehicle recognizes a specific graphic marker, it can determine the distance between the current unmanned vehicle and the crushing opening based on the correspondence between the recognized graphic marker and the distance, thereby achieving accurate positioning of the unmanned vehicle. Preferably, when locating the current position of the unmanned vehicle, multiple graphic markers may appear within the perception range of the camera. In this case, the current position of the unmanned vehicle can be located based on the graphic marker closest to the unmanned vehicle (other graphic markers can be ignored).
[0027] Optionally, the different identification features include different patterns. It should be noted that the pattern can be any pattern, including but not limited to different shapes, colors, etc.
[0028] Optionally, different identification features represent different distances from the graphic mark to the crushing opening. In this embodiment, different distances correspond to different identification features.
[0029] Optionally, the graphic identifier includes a QR code identifier. The QR code identifier is simple and easy to identify, which can effectively reduce the difficulty of detection and improve detection efficiency.
[0030] Optionally, the plurality of graphic markers are provided on both the first and second retaining walls, and the at least one retaining wall includes the second retaining wall. Optionally, the at least one retaining wall also includes the second retaining wall, and no graphic markers are provided on the second retaining wall. It should be noted that providing graphic markers on only one retaining wall can effectively reduce positioning costs. Providing graphic markers on both sides not only ensures positioning accuracy but also further assists the unmanned vehicle in detecting its own position and orientation.
[0031] Optionally, when graphic markings are provided on both the first retaining wall and the second retaining wall, the graphic markings on each retaining wall may be provided according to their respective setting rules. Preferably, the graphic markings on the first retaining wall and the second retaining wall are symmetrically arranged relative to the crushing opening or the crushing station entrance. Optionally, the graphic markings on the first retaining wall and the second retaining wall are staggered.
[0032] Optionally, the crushing opening includes a crushing opening retaining wall and a discharge opening, and the unmanned vehicle is used to travel to the crushing opening retaining wall to unload the material to the discharge opening.
[0033] Optionally, the plurality of graphic logos may be arranged at uniform or non-uniform intervals on the retaining wall. Preferably, the plurality of graphic logos are arranged at uniform intervals on the first retaining wall at a specified distance. For example, the interval may be 2 m.
[0034] According to the positioning system of the unmanned vehicle in the above embodiment, the positioning system is set at the crushing station, the crushing station includes a crushing station entrance, a crushing port and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, the positioning system is located on at least one retaining wall, and the positioning system includes a plurality of graphic logos, the plurality of graphic logos are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the crushing station entrance to the crushing port, and different graphic logos among the plurality of graphic logos have different identification features, wherein the at least one retaining wall includes the first retaining wall; an unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the unmanned vehicle is provided with a camera, and the plurality of graphic logos appear within the perception range of the camera of the unmanned vehicle during the process of the unmanned vehicle driving from the outside of the crushing station to the crushing port, thereby realizing accurate positioning of the unmanned vehicle in the crushing station, and solving the technical problem in the related art that the unmanned vehicle cannot meet the positioning accuracy requirements in the crushing station.
[0035] According to the embodiment of the present disclosure, a unmanned vehicle unloading control system is also provided. Figure 2 As shown, the unloading control system includes an unmanned vehicle and a positioning system; wherein, the positioning system is arranged at a crushing station, and the crushing station includes a crushing station entrance, a crushing port and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, and the positioning system is located on at least one retaining wall; the positioning system includes a plurality of graphic identifications, and the plurality of graphic identifications are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the crushing station entrance to the crushing port, and different graphic identifications among the plurality of graphic identifications have different identification features, wherein the at least one retaining wall includes the first retaining wall; the unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the unmanned vehicle is provided with a camera, and the plurality of graphic identifications appear within the perception range of the camera of the unmanned vehicle when the unmanned vehicle is driving from outside the crushing station to the crushing port.
[0036] In this embodiment, the multiple graphic identifiers include, but are not limited to, multi-dimensional codes (such as QR codes, 6D codes, etc.), bar codes, and RFID (Radio Frequency Identification). In the disclosed embodiment, different graphic identifiers correspond to different distances from the crushing opening. For example, graphic identifier 1, which is located closest to the crushing station entrance, corresponds to a first distance from the crushing opening, graphic identifier 2, which is located next closest to the crushing station entrance, corresponds to a second distance from the crushing opening, and so on.
[0037] In this embodiment, a plurality of graphic logos are provided on at least one side of the retaining walls on both sides of the crushing station, and may be provided on one of the two retaining walls, or may be provided on both retaining walls.
[0038] In this embodiment, the multiple graphic logos may be arranged at equal intervals or at unequal intervals, which can be selected according to user needs.
[0039] In this embodiment, when the unmanned vehicle is close to the crushing station, the obstruction of the crushing station building may affect the GPS / GNSS positioning signal, resulting in a decrease in its accuracy. Therefore, with the help of the above embodiment, when the unmanned vehicle is close to the crushing station, the information of the above-mentioned multiple graphic identifications can be collected in sequence by the camera, and the collected graphic identification information can help the unmanned vehicle to perform accurate positioning.
[0040] Optionally, in the above embodiment, the distances between different graphic markers and the crushing opening can be pre-calibrated. In this way, when the unmanned vehicle recognizes a specific graphic marker, it can determine the distance between the current unmanned vehicle and the crushing opening based on the correspondence between the recognized graphic marker and the distance, thereby achieving accurate positioning of the unmanned vehicle. Preferably, when locating the current position of the unmanned vehicle, multiple graphic markers may appear within the perception range of the camera. In this case, the current position of the unmanned vehicle can be located based on the graphic marker closest to the unmanned vehicle (other graphic markers can be ignored).
[0041] Optionally, the different identification features include different patterns. It should be noted that the pattern can be any pattern, including but not limited to different shapes, colors, etc.
[0042] Optionally, different identification features represent different distances from the graphic mark to the crushing opening. In this embodiment, different distances correspond to different identification features.
[0043] Optionally, the graphic identifier includes a QR code identifier. The QR code identifier is simple and easy to identify, which can effectively reduce the difficulty of detection and improve detection efficiency.
[0044] Optionally, the first retaining wall and the second retaining wall (the retaining wall can be arranged parallel to the first retaining wall to form a vehicle passage area between the two) are both provided with the multiple graphic identifiers, and the at least one retaining wall includes the second retaining wall. Optionally, the at least one retaining wall also includes the second retaining wall, and no graphic identifiers are provided on the second retaining wall. It should be noted that providing graphic identifiers only on one side of the retaining wall can effectively reduce positioning costs. Providing image identifiers on both sides can not only ensure the accuracy of positioning, but also further help the unmanned vehicle to detect its own posture and orientation.
[0045] Optionally, when graphic markings are provided on both the first retaining wall and the second retaining wall, the graphic markings on each retaining wall may be provided according to their respective setting rules. Preferably, the graphic markings on the first retaining wall and the second retaining wall are symmetrically arranged relative to the crushing opening or the crushing station entrance. Optionally, the graphic markings on the first retaining wall and the second retaining wall are staggered.
[0046] Optionally, the crushing opening includes a crushing opening retaining wall and a discharge opening, and the unmanned vehicle is used to travel to the crushing opening retaining wall to unload the material to the discharge opening.
[0047] Optionally, the plurality of graphic logos may be arranged at uniform or non-uniform intervals on the retaining wall. Preferably, the plurality of graphic logos are arranged at uniform intervals on the first retaining wall at a specified distance. For example, the interval may be 2 m.
[0048] According to the unloading control system of the unmanned vehicle in the above embodiment, a positioning system is set at the crushing station, the crushing station includes a crushing station entrance, a crushing port and two retaining walls extending from the crushing station entrance toward both sides of the crushing port, the positioning system is located on at least one retaining wall, and the positioning system includes a plurality of graphic identifications, the plurality of graphic identifications are arranged at intervals of specified distances on the first retaining wall, and the arrangement is expanded along the direction extending from the crushing station entrance to the crushing port, and different graphic identifications among the plurality of graphic identifications have different identification features, wherein the at least one retaining wall includes the first retaining wall; an unmanned vehicle is used to transport the loaded materials to the crushing port for unloading, and the unmanned vehicle is provided with a camera, and the plurality of graphic identifications appear within the perception range of the camera of the unmanned vehicle during the process of the unmanned vehicle driving from the outside of the crushing station to the crushing port, thereby realizing accurate positioning of the unmanned vehicle in the crushing station, and solving the technical problem in the related art that the unmanned vehicle cannot meet the positioning accuracy requirements in the crushing station.
[0049] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.
[0050] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.
[0051] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
[0052] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.
[0053] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. A positioning system for an unmanned vehicle, characterized in that: The positioning system is provided at a crushing station, which includes a crushing station entrance, a crushing port, and two retaining walls extending from the crushing station entrance toward both sides of the crushing port. The positioning system is located on at least one retaining wall. The unmanned vehicle is used to transport the loaded materials to the crushing port for unloading. The positioning system includes: A plurality of graphic identifiers are arranged at intervals of specified distances on a first retaining wall, the arrangement extending along a direction extending from the entrance of the crushing station toward the crushing port, different graphic identifiers among the plurality of graphic identifiers have different identification features, and the plurality of graphic identifiers appear within the perception range of a camera of the unmanned vehicle when the unmanned vehicle travels from outside the crushing station toward the crushing port, wherein the at least one retaining wall includes the first retaining wall.
2. The positioning system according to claim 1, wherein: Different identification features represent different distances from the graphic mark to the crushing opening.
3. The positioning system according to claim 1, wherein: The different identification features include different patterns.
4. The positioning system according to claim 1, wherein: The graphic identification includes a QR code identification.
5. The positioning system according to claim 1, wherein: The plurality of graphic logos are provided on both the first retaining wall and the second retaining wall, and the at least one retaining wall includes the second retaining wall.
6. The positioning system according to claim 5, characterized in that The graphic marks on the first retaining wall and the second retaining wall are symmetrically arranged relative to the crushing opening or the crushing station entrance.
7. The positioning system according to claim 1, wherein: The crushing opening includes a crushing opening retaining wall and a discharge opening, and the unmanned vehicle is used to travel to the crushing opening retaining wall to unload the material to the discharge opening.
8. The positioning system according to claim 1, wherein: The at least one retaining wall further includes a second retaining wall, and no graphic identification is provided on the second retaining wall.
9. The positioning system according to claim 1, wherein: The multiple graphic logos are evenly arranged at intervals of a specified distance on the first retaining wall.
10. A unmanned vehicle unloading control system, characterized in that: The unloading control system includes an unmanned vehicle and a positioning system; wherein, The positioning system is provided at a crushing station, the crushing station comprising an entrance to the crushing station, a crushing opening, and two retaining walls extending from the entrance to both sides of the crushing opening, the positioning system being located on at least one of the retaining walls; the positioning system comprising a plurality of graphic marks arranged at intervals of specified distances on the first retaining wall, the arrangement extending in a direction extending from the entrance to the crushing opening, different graphic marks among the plurality of graphic marks having different identification features, wherein the at least one retaining wall comprises the first retaining wall; The unmanned vehicle is used to transport the loaded materials to the crushing port for unloading. The unmanned vehicle is provided with a camera, and the multiple graphic logos appear within the perception range of the camera of the unmanned vehicle when the unmanned vehicle is driving from outside the crushing station to the crushing port.