Off-Board Scanner for Heavy Truck Autonomous Docking
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Solution Overview
Problem
Current systems face challenges in autonomously docking trailer truck combinations due to limited maneuvering space and the complexity of analyzing 3D scenes during reverse driving, requiring efficient localization and collision-free path planning.
Innovation Solution
A method using an off-board vehicle scanner to identify the trailer's position and orientation, transmitting this data to a docking controller for guiding the vehicle along a collision-free path, with optional Kalman filtering for accuracy and wireless communication with warehouse control systems for real-time adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an off-board vehicle scanner is used to identify vehicle position, then measurement precision is improved, but device complexity increases
Solution Approach 1:
An off-board vehicle scanner is introduced as an intermediary device mounted at a fixed position relative to the dock station. This scanner captures images of the vehicle and transmits them to the docking controller, which then processes the images to identify the vehicle's position and orientation. This intermediary approach improves measurement precision while keeping the vehicle's own equipment simple.
2Reliability
If complex 3D scene analysis is performed during reverse driving, then reliability of docking is improved, but use of energy increases
Solution Approach 1:
The system captures images of the vehicle at a fixed dock station position before the docking maneuver begins. By obtaining the vehicle's position and orientation information in advance through image capture and processing, the system eliminates the need for continuous complex 3D scene analysis during reverse driving, thereby reducing energy consumption while maintaining docking reliability.
3Manufacturing precision
If precise vehicle localization is achieved through off-board scanning, then manufacturing precision of docking is improved, but difficulty of detecting and measuring increases
Solution Approach 1:
The system replaces complex mechanical measurement and detection systems with an optical imaging approach. An off-board scanner captures images of the vehicle, and the docking controller processes these images to identify the vehicle's position and orientation. This substitution of mechanical detection with optical imaging and image processing simplifies the detection process while achieving high docking precision.
Data Source
AI summary
It is aimed to provide a method for guiding of a motor vehicle on the basis of image data, particularly when manoeuvring trucks toward docking stations by a docking controller coupled to a steering system, comprising: identifying, by the docking controller the vehicle's current position; receiving a collision free path; and manoeuvring the vehicle by said docking controller according to said free path, wherein the vehicle's current position is identified by means of an off board vehicle scanner that is mounted in a fixed position relative to the dock station; wherein said vehicle scanner produces scan data signifying a set that are analyzed to identify a reference point of the vehicle and a vehicle's orientation; wherein said reference point and vehicle orientation are transmitted to the docking controller to update the vehicle's current position.