The invention relates to near-field docking of unmanned vehicles, in particular to a near-field docking control system of a vehicle-cabinet separated unmanned charging vehicle, and the system comprises a laser radar which is installed on an unmanned vehicle and is used for identifying the relative position of a charging cabinet and identifying the identification of the charging cabinet; the position sensor is installed on the unmanned vehicle and used for detecting the position feature point of the charging cabinet and helping to judge whether the unmanned vehicle is effectively connected with the charging cabinet or not; the charging cabinet identifier is an identifier of the orientation of the charging cabinet and is an important reference for the laser radar to identify the relative position of the charging cabinet; the drive-by-wire chassis controller is used for carrying out chassis control on the unmanned vehicle and carrying out butt joint instruction transmission and self-inspection power-on; the near-field docking controller performs charging cabinet autonomous identification, near-field docking pre-control and near-field docking control according to the point cloud data acquired by the laser radar, and performs vehicle cabinet docking control according to the detection data of the position sensor; according to the technical scheme provided by the invention, the defect that near-field docking of the unmanned vehicle and the charging cabinet cannot be well controlled can be effectively overcome.
本发明涉及无人车近场对接,具体涉及一种车柜分离式无人充电车的近场对接控制系统,激光雷达,安装于无人车上,用于识别充电柜的相对位置及识别充电柜标识;位置传感器,安装于无人车上,用于检测充电柜的位置特征点,帮助判断无人车是否与充电柜有效对接;充电柜标识,为充电柜所处方位的标识,是激光雷达识别充电柜相对位置的重要参照;线控底盘控制器,用于对无人车进行底盘控制,并对接指令传递及自检上电;近场对接控制器,根据激光雷达采集的点云数据进行充电柜自主识别、近场对接预控制和近场对接控制,并根据位置传感器的检测数据进行车柜对接控制;本发明提供的技术方案能够有效克服不能对无人车与充电柜的近场对接进行较好控制的缺陷。
Near-field docking control system of unmanned charging vehicle with separated vehicle cabinet
一种车柜分离式无人充电车的近场对接控制系统
2024-04-26
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60P Fahrzeuge zum Transport von Lasten oder zum Befördern, Tragen oder Aufnehmen besonderer Lasten oder Gegenstände , VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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