According to the reconfigurable unmanned vehicle autonomous docking control method and control system provided by the invention, autonomous dynamic docking and disintegration among unmanned vehicle units can be realized, so that topology reconfiguration of the unmanned vehicle is quickly realized. After the two unmanned vehicle units receive a docking command, an active docking vehicle preliminarily adjusts the position of a docking active end according to the position information of an image recognition positioning plate on a docking passive end collected by a visual sensor, so that the relative position of the docking active end and the docking passive end meets the set docking position requirement; then the active docking vehicle obtains an included angle between the axis of the active docking end and the axis of the passive docking end according to distance information between the active docking vehicle and a laser sensor detection plate on the passive docking end, wherein the distance information is detected by more than two laser distance measuring sensors distributed at the active docking end of the active docking vehicle; then the active butt-joint vehicle further adjusts the posture of the butt-joint active end to eliminate the included angle, and the axis of the butt-joint active end coincides with the axis of the butt-joint passive end; and finally, the active butt-joint vehicle controls the butt-joint active end and the butt-joint passive end to be in coaxial butt joint.
本发明提供一种可重构无人车自主对接控制方法及控制系统,能够实现无人车单元之间的自主动态对接和解体,从而快速实现无人车的拓扑重构。当两辆无人车单元收到对接命令后,主动对接车依据视觉传感器获取到的对接被动端上的图像识别定位板的位置信息,初步调整对接主动端的位置,使对接主动端和对接被动端的相对位置达到设定的对接位置要求;然后主动对接车依据其对接主动端分布的两个以上激光测距传感器检测到的与对接被动端上激光传感器检测板之间的距离信息,获得对接主动端轴线与对接被动端轴线之间的夹角;随后主动对接车进一步调整对接主动端的姿态消除该夹角,使对接主动端轴线与对接被动端轴线重合;最后主动对接车控制对接主动端与对接被动端同轴对接。
Reconfigurable unmanned vehicle autonomous docking control method and control system
可重构无人车自主对接控制方法及控制系统
2021-08-13
Patent
Electronic Resource
Chinese
IPC: | B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS |
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