The invention discloses a method and a system for realizing indoor and outdoor autonomous unhooking of an unmanned tractor, and the method comprises the steps: taking the pose of the unmanned vehicle as an optimization variable based on a factor graph optimization fusion frame, dividing the optimization variable into a unitary side, a binary side and a multivariate side according to the number of constraint bound optimization variables, and fusing the observation information from multiple sensors to realize the unhooking of the unmanned tractor. And high-precision autonomous positioning of the unmanned tractor is realized. On the basis of the positioning information, a drivable global path of the unmanned tractor is planned on a road from a parking apron to an aviation freight station, and at the same time, in the hooking area, according to the current coordinates of the tractor, the characteristic of high emissivity of a reflection sticker is utilized, and the relative geometric position of the reflection sticker on the tractor is combined; and the position of a towing ring of the pallet truck is calculated through coordinate conversion, and a hook reversing path is planned. According to the invention, hitching accuracy and operation efficiency are realized, manual intervention is reduced, and the application scene of the unmanned tractor is more general and wider.

    本发明公开了一种无人驾驶牵引车实现室内外自主脱挂的方法及系统,基于因子图优化融合框架,将无人车的位姿作为优化变量,并根据约束绑定的优化变量数目分为一元边、二元边和多元边,通过融合来自多传感器的观测信息,实现无人驾驶牵引车的高精度自主定位。基于上述的定位信息,从停机坪到航空货运站的道路上,规划一条无人驾驶牵引车的可行驶全局路径,同时在挂钩区域内,根据车辆当前坐标,利用反射贴高发射率的特性,结合其在牵引车上的相对几何位置,经过坐标转换计算得出拖板车牵引环的位置,规划一条挂钩倒车路径。本发明实现了挂接的精准性和运行效率,减少了人工干预,使无人驾驶牵引车的应用场景更普遍、更广泛。


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    Title :

    Method and system for realizing indoor and outdoor autonomous unhooking of unmanned tractor


    Additional title:

    一种无人驾驶牵引车实现室内外自主脱挂的方法及系统


    Contributors:
    ZHOU PENGFEI (author) / WANG ZHILING (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / G01S RADIO DIRECTION-FINDING , Funkpeilung



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