CN106846864A - For the vehicle guide system and method for guiding vehicles of depot - Google Patents
For the vehicle guide system and method for guiding vehicles of depot Download PDFInfo
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- CN106846864A CN106846864A CN201710050079.2A CN201710050079A CN106846864A CN 106846864 A CN106846864 A CN 106846864A CN 201710050079 A CN201710050079 A CN 201710050079A CN 106846864 A CN106846864 A CN 106846864A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
The invention provides a kind of vehicle guide system and method for guiding vehicles for depot, the method for guiding vehicles is comprised the following steps：(A) an at least path of navigation of an at least car group is determined；(B) transmission on the path of navigation information at least guides signal at least one vehicle of the car group；And path of navigation described in guiding lower edge of the stem vehicle of (C) described car group in the guiding signal is travelled, other vehicles of the car group are followed automatically.The vehicle guide system and method for guiding vehicles for depot can correct in time and ensure the car group each vehicle synchronous travel situations.
Description
Technical field
The present invention relates to vehicle information technologies field, more particularly to a kind of vehicle guide system and vehicle for depot
Bootstrap technique.
Background technology
With the development of technology, the automaticity more and more higher of vehicle manufacturing industry.Although having occurred in that peace now
Automatic driving vehicle equipped with DAS (Driver Assistant System), but when vehicle depot is assembled complete after, such as just batch type
Get off from production line, the specific region that the vehicle car group of arranged in groups needs to be moved in depot carries out performance test
Or other purposes.
The car group that the rows of vehicle at present completing manufacture in depot is formed moves to the specific region in depot
Method has many kinds.One of which method is artificial movement, that is the staff of depot each drives a vehicle, will be into
The car group that the vehicle of row is formed moves to the purpose region in depot.This is one of conventional method.But the problem for existing
It is inefficient, depot itself is higher due to the automaticity of manufacturing process, therefore staff is less, can not be disposable
A large amount of rows of car groups are moved to specific region or purpose region by ground.Also it is exactly if it is intended to raising efficiency, then need
With the number of vehicles of car group close to the staff of number, the cost of depot is so increased indirectly.And if more
Staff is driven if car group, the loss of new car can be increased to a certain degree, and be unfavorable for the sale of new car.
Another method is that the devices such as rows of Vehicle lock chain head and the tail are coupled together into shape using less staff
Into locomotive group, so only need to the vehicle that a small number of staff are driven before in car groups and be used to drive vehicle movement below
To specific region or purpose region.Although this mode reduces the quantity of staff, but end to end connection is filled
It is equipped with the scuffing of the bodywork surface for being likely to result in new car, the value of detraction depot new car.On the other hand, head and the tail have been used immediately
The attachment means of connection, just with the vehicle below of the vehicle drive before car group, are not only due to the tractive force for needing
It is excessive, the impairment of value even failure of above towing vehicle can be caused, and due to not being straight trip road in moving process
Line, the scratching of the vehicle body of vehicle below can be caused in corner accidentally.Therefore, although it improves the effect of locomotive group
Rate, but the route compared with short distance and straight trip is suitable only in depot.
Therefore, current depot needs a kind of car group mobile system and shifting that can improve efficiency and reduction vehicle loss
Dynamic method, the target area progressive that the vehicle for completing assembled manufacture is efficiently and safely moved in depot in depot
Other purposes such as energy test.
The content of the invention
It is an object of the invention to provide a kind of vehicle guide system and method for guiding vehicles for depot, it can
So that guiding lower edge at least path of navigation traveling of at least one vehicle of an at least car group at least one guiding signal, institute
Other vehicles for stating car group are followed automatically.
Another object of the present invention is to provide a kind of vehicle guide system and method for guiding vehicles for depot, its
Can in time correct and ensure the synchronous travel situations of each vehicle of the car group.
Another object of the present invention is to provide a kind of vehicle guide system and method for guiding vehicles for depot, its
Each car of the car group can be ensured by controlling the rotational angle and velocity of rotation of each tire of each vehicle of the car group
Synchronous travel situations.
Another object of the present invention is to provide a kind of vehicle guide system and method for guiding vehicles for depot, institute
Will not be collided between each vehicle for stating car group, improve boot efficiency, it is to avoid the loss of the value of new car vehicle.
Another object of the present invention is to provide a kind of vehicle guide system and method for guiding vehicles for depot, institute
Che Zuneng is stated efficiently, cost-effectively to be directed to be travelled along the path of navigation.
In order to realize above-mentioned at least one goal of the invention, the invention provides a kind of method for guiding vehicles for depot,
Comprise the following steps：
(A) an at least path of navigation of an at least car group is determined；
(B) transmission on the path of navigation information at least guides signal at least one car of the car group
；And
(C) path of navigation traveling, institute described in guiding lower edge of the stem vehicle of the car group in the guiding signal
Other vehicles for stating car group are followed automatically.
In certain embodiments, the step (C) also includes step：Other vehicles of the car group are set with identical speed
Automatically follow its each before vehicle.
In certain embodiments, the step (C) is further comprising the steps of：(C1) at least the one of the stem vehicle is obtained
The rotational angle and velocity of rotation of tire；(C2) the rotational angle data of the tire of the stem vehicle are transmitted and is turned
Move other vehicles of speed data to the car group；And (C3) sets the rotation of an at least tire of the car group other vehicles
Angle-data and velocity of rotation data, make the rotational angle data of the tire of the car group other vehicles and rotate speed
Rotational angle data and velocity of rotation data of the degrees of data numerically with the tire of the stem vehicle are identical, so that
Realize that the automatic of other vehicles of the car group follows.
In certain embodiments, the step (C) is further comprising the steps of：(Ca) set multiple on the path of navigation
Sensing and communication device, when the stem vehicle is travelled to wherein one sensing and during communication device, the sensing and communication device
Immediately sense and obtain the travel speed of the stem vehicle and the data of travel direction；(Cb) sensing and communication device
The travel speed data of the stem vehicle that will be obtained and the data transfer of travel direction are to the sensing and communication device
Other vehicles of the car group in communication context；And (Cc) set and correct the travel speed of the car group other vehicles with
And travel direction, make the travel speed data of the car group other vehicles and travel direction data numerically with it is described
The travel speed data of stem vehicle and the data of travel direction are identical, so as to realize other vehicles of the car group
Automatically follow.
In certain embodiments, the step (Cc) is further comprising the steps of：Multiple schools are set on the path of navigation
Pair and communication device, by the check and correction and communication device proofread the car group other vehicles the travel speed data and
Travel direction data numerically with the error of the data of the travel speed data and travel direction of the stem vehicle,
If error exceedes preset range, by the check and correction and communication device and the sensing and the communication of communication device, adjustment
The travel speed and travel direction of the car group other vehicles, so that the travel speed number of the car group other vehicles
According to this and travel direction data numerically with the travel speed data and the data of travel direction of the stem vehicle
It is identical.
According to another aspect of the present invention, a kind of vehicle guide system for depot is additionally provided, including：An at least car
Group, at least a path of navigation setup module and at least one guiding signal emission module, the path of navigation setup module communication
Be connected to the guiding signal emission module, the path of navigation setup module sets an at least path of navigation, described to draw
Leading signal emission module will guide signal transmission to the car group at least the one of the path of navigation information, the car group
Path of navigation described in guiding lower edge of each vehicle in the guiding signal is synchronously travelled.
In certain embodiments, each vehicle of the car group also includes an at least network communication module, by the network
The data syn-chronization of communication module, path of navigation synchronization line described in the guiding lower edge of each vehicle of the car group in the guiding signal
Sail.
In certain embodiments, each vehicle of the car group includes an at least network communication module, at least a sensing module
And an at least control module, the network communication module, the sensing module and the control module be communicatively connected,
Each travel speed data of each vehicle of car group described in the sensing module, the control is passed to by the network communication module
Molding block, the control module controls the travel speed of each vehicle of the car group, so that each vehicle of the car group exists
Path of navigation described in the guiding lower edge of the guiding signal is synchronously travelled.
In certain embodiments, each vehicle of the car group includes an at least network communication module, at least a travel speed
Sensor and at least one traveling speed control, are connected each module communication, and the travel speed controller is controlled and adjusted
The travel speed of each vehicle of the whole car group, the travel speed controller and the road speed sensors set described
Car group it is each behind vehicle with identical speed follow automatically its each before vehicle so that each vehicle of the car group is in institute
Path of navigation described in the guiding lower edge of guiding signal is stated synchronously to travel.
In certain embodiments, each vehicle of the car group includes an at least network communication module, at least a tyre rotation
Velocity sensor, at least a tyre rotation angular transducer, at least a speed of tire rotations controller and an at least tyre revolution
Dynamic angle controller, the speed of tire rotations sensor obtains the velocity of rotation of the tire of each vehicle of the car group, described
Tyre rotation angular transducer obtains the rotational angle of the tire of each vehicle of the car group, the speed of tire rotations controller
The velocity of rotation of the tire of each vehicle of the car group is controlled and adjusts, the tyre rotation angle controller is controlled and adjusts institute
State the rotational angle of the tire of each vehicle of car group.
In certain embodiments, the vehicle guide system for depot also includes at least one sensing and communication module,
Each vehicle of the car group includes an at least network communication module, and each network communication module is communicatively connected to the sense
Answer and communication module, the sensing and communication module are arranged at the path of navigation, to guide each vehicle institute of the car group
Path of navigation is stated synchronously to travel.
In certain embodiments, the vehicle guide system for depot also includes at least one check and correction and communication module,
The check and correction and communication module are communicatively connected to the sensing and communication module and each network communication module respectively,
The travel speed data and travel direction data that the check and correction and communication module proofread other vehicles of the car group exist
Numerically with the error of the data of the travel speed data and travel direction of the stem vehicle, to ensure that guiding is described
Path of navigation described in each vehicle of car group is synchronously travelled.
In certain embodiments, each network communication module is bluetooth communication module.
In certain embodiments, the path of navigation setup module and the guiding signal emission module be arranged at by
An at least remote processing devices of remote control.
In certain embodiments, the path of navigation setup module and the guiding signal emission module are arranged at respectively
The onboard system equipment of vehicle.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of method for guiding vehicles for depot according to a preferred embodiment of the present invention.
Fig. 2 is a kind of schematic diagram of method for guiding vehicles for depot according to a preferred embodiment of the present invention.
Fig. 3 is a kind of system module of vehicle guide system for depot according to a preferred embodiment of the present invention
Schematic diagram.
Specific embodiment
Hereinafter describe for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in below describing
Embodiment is selected to be only used as citing, it may occur to persons skilled in the art that other obvious modifications.Define in the following description
General principle of the invention can apply to other embodiments, deformation program, improvement project, equivalent and without the back of the body
From the other technologies scheme of the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", " on ",
The orientation of the instruction such as D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " or position are closed
System is that, based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies and describes, without referring to
Show or imply that the device or element of meaning must be with specific orientation, with specific azimuth configuration and operation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
One quantity of element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " " is no
It is understood that to be limitation to quantity.
It is as shown in Figure 1 to Figure 3 a kind of vehicle guide system for depot based on a preferred embodiment of the present invention
And method for guiding vehicles.By described vehicle guide system and method for guiding vehicles for depot, when in depot
After the completion of the assembled manufacture of vehicle, car group can be in batches formed from an at least prime area under the guiding of guiding signal
The specific at least target area being directed in depot carries out vehicle performance test or waits the others purposes such as to be transported,
So as to the work in every being more quickly completed before vehicle goes out depot.
It is understood that the car group in the present invention is defined as the combination formed by vehicle in column, of the invention
In the vehicle guide system and method for guiding vehicles for depot, using guide signal with car group be unit guide car group
Interior each vehicle is directed to the target area from the prime area.
Specifically, a kind of method for guiding vehicles for depot is comprised the following steps：
(A) an at least path of navigation of an at least car group is determined；
(B) transmission on the path of navigation information at least guides signal at least one car of the car group
；And
(C) path of navigation traveling, institute described in guiding lower edge of the stem vehicle of the car group in the guiding signal
Other vehicles for stating car group are followed automatically.
It is understood that because in bootup process, the car group is that vehicle arow is directed, along the guiding
Path, the vehicle that foremost is guided in the car group is defined as the hand vehicle in the present invention, can analogize
It is to be defined as afterbody vehicle in the present invention in rearmost vehicle in the car group.
For example, as shown in Fig. 2 in depot, when the car group that vehicle in column is formed is in depot's manufacture streamline
It is the prime area with flow shop after assembled manufacture is finished, when the car group needs to be guided to performance survey
When examination, performance test workshop is the target area, then the path of navigation is from flow shop to performance test
Workshop.The guiding signal for being related to the information content to be the path of navigation from flow shop to performance test workshop afterwards is passed
The stem vehicle N1 of the car group is handed to, the stem vehicle N1 draws under the guiding of the guiding signal along described
Guiding path is travelled.Another vehicle N2 after the stem vehicle N1 is arranged to follow the stem vehicle N1 automatically,
Another vehicle N3 after the vehicle N2 is arranged to follow automatically the vehicle N2 before it, analogically, the car group
The afterbody vehicle Nn be arranged to follow automatically another vehicle N (n-1) before it.By the stem vehicle N1 is in institute
State and travelled along the path of navigation under the guiding of guiding signal, and other vehicles of the car group below are arranged to certainly
Move and follow, therefore the car group can efficiently, cost-effectively be directed to be travelled along the path of navigation.
It is noted that the step (C) also includes step：Set other vehicles of the car group with identical speed from
It is dynamic follow its each before vehicle.Therefore, because the travel speed of each vehicle of the car group is identical, in the path of navigation
On, will not be collided between each vehicle of the car group, improve boot efficiency, it is to avoid the damage of the value of new car vehicle
Consumption.
It will be appreciated by those skilled in the art that, the automatic letter for following of the vehicle between each vehicle of the car group
The transmission of breath can be set by an at least network communication module.For example, the mechanics of communication that the network communication module is used can
Being WiFi (Wireless Fidelity, the WLAN based on IEEE 802.11b standards) technology, 3G (The 3rd
Generation Telecommunication, third generation mobile communications technology) technology, 4G (The 4rd Generation
Telecommunication, the 4th third-generation mobile communication technology) technology, Bluetooth technology, radiotechnics, near-field communication technology, GSM
(Global System for Mobile Communications, global system for mobile communications) technology, CDMA (Code
Division Multiple Access, CDMA) technology, WiMAX (Worldwide Interoperability for
Microwave Access, worldwide interoperability for microwave accesses) technology, and combinations of the above or with adaptability and necessary communication
The similar techniques of resources technology such as 4G networks.The present invention is not limited thereto in this regard.Preferably, in reality of the invention
Apply in example, use Bluetooth technology.Because Bluetooth technology is a home control network communication protocol for standard, make based on devices with low cost
Transponder chip, transmission range is near, low-power consumption, meets the simple and rapid demand of guiding needs for car group in depot.
Although the range of the relevant device of Bluetooth technology is in 100m, in each bootup process, the entire length of the car group
Often within 100m, and the distance between each vehicle of the car group is also within appropriate numerical value such as 10m, in bluetooth
Within the range of technology.
It is noted that the step (C) is further comprising the steps of：(C1) at least one wheel of the stem vehicle is obtained
The rotational angle and velocity of rotation of tire；(C2) rotational angle data and the rotation of the tire of the stem vehicle are transmitted
Speed data to the car group other vehicles；And (C3) sets the angle of rotation of an at least tire of the car group other vehicles
Degrees of data and velocity of rotation data, make the rotational angle data and velocity of rotation of the tire of the car group other vehicles
Rotational angle data and velocity of rotation data of the data numerically with the tire of the stem vehicle are identical, so that real
The automatic of other vehicles of the existing car group follows.
It is noted that the step (C) is further comprising the steps of：(Ca) multiple senses are set on the path of navigation
Answer and communication device, when the stem vehicle is travelled when wherein one sensing and communication device, the sensing and communication device are
When sense and obtain the travel speed of the stem vehicle and the data of travel direction；(Cb) sensing and communication device will
The travel speed data of the stem vehicle for obtaining and the data transfer of travel direction are logical to the sensing and communication device
Other vehicles of the car group in the range of news；And (Cc) set and correct the car group other vehicles travel speed and
Travel direction, make the travel speed data of the car group other vehicles and travel direction data numerically with the head
The travel speed data of portion's vehicle and the data of travel direction are identical, so as to realize the car group other vehicles from
It is dynamic to follow.
It is noted that the step (Cc) is further comprising the steps of：Multiple check and correction are set on the path of navigation
And communication device, the travel speed data and row of other vehicles of the car group are proofreaded by the check and correction and communication device
Sail bearing data numerically with the error of the data of the travel speed data and travel direction of the stem vehicle, such as
Fruit error exceedes preset range, then by the check and correction and communication device and the sensing and the communication of communication device, adjust institute
The travel speed and travel direction of other vehicles of car group are stated, so that the travel speed data of the car group other vehicles
And travel direction data numerically with the travel speed data and the data phase of travel direction of the stem vehicle
Together.
It is illustrated in figure 3 a kind of system mould of the vehicle guide system for depot based on the preferred embodiments of the present invention
Block schematic diagram.Wherein described vehicle guide system includes a car group 10, the guiding signal transmitting of a path of navigation setup module 20,
Module 30, one senses and the check and correction of communication module 40 and one and communication module 50.The path of navigation setup module 20 is communicatively
It is connected to the guiding signal emission module 30.It is understood that the path of navigation setup module 20 and described drawing
Leading signal emission module 30 can be arranged at an at least remote processing devices, and the remote processing devices can be that meet can
Implement any computer, the PDA (Personal of the instruction of the method or the system according to the present invention
DigitalAssistant, personal digital assistant), panel computer, smart phone, notebook computer, net book etc..Depot passes through
The remote processing devices are operated, an at least path of navigation is set in the path of navigation setup module 20.Wherein described guiding
Routing information content can be position zinformation instruction, for example, the car group 10 is moved at least from an at least prime area
One purpose region.The guiding signal emission module 30 will give at least the one of path of navigation information guiding signal transmission
The car group 10, to guide the car group 10 to be guided to the purpose from the prime area along path of navigation in depot
Region.Preferably, path of navigation traveling, institute described in guiding lower edge of the stem vehicle of the car group in the guiding signal
Other vehicles for stating car group are followed automatically, and the vehicle being easy in depot efficiently, easily and cost-effectively completes to dispatch from the factory
Preceding every preparation.
Further, each vehicle of the car group 10 also includes a network communication module 11, a sensing module 12 and
Control module 13.The network communication module 11, the sensing module 12 and the control module 13 are communicatively connected.It is logical
The network communication module 11 of the car group 10 is crossed, the car group 10 is realized and the guiding signal emission module 30, institute
State sensing and communication module 40 and the check and correction and the communicatively connection of communication module 50.
The sensing module 12 includes a road speed sensors 121, and the road speed sensors 121 obtain the car
The travel speed of each vehicle of group 10, the control module 13 includes a traveling speed control 131, the travel speed control
Device 131 control and adjust the car group 10 each vehicle travel speed, the travel speed controller 131 and the traveling
Velocity sensor 121 set the car group it is each behind vehicle with identical speed follow automatically its each before vehicle.Enter
And, because the travel speed of each vehicle of the car group 10 is identical, on the path of navigation, each vehicle of the car group 10 it
Between will not collide, improve the boot efficiency of the vehicle guide system, it is to avoid each new car vehicle of the car group 10
Value loss.
The sensing module 12 includes a speed of tire rotations sensor 122 and a tyre rotation angular transducer 123.
The control module 13 includes a speed of tire rotations controller 132 and a tyre rotation angle controller 133.The tire
Rotational speed sensor 122 obtains the velocity of rotation of the tire of each vehicle of the car group 10, the tyre rotation angle sensor
Device 123 obtains the rotational angle of the tire of each vehicle of the car group 10.The speed of tire rotations controller 132 is controlled and adjusted
The velocity of rotation of the tire of each vehicle of the whole car group 10.The tyre rotation angle controller 133 is controlled and adjusts described
The rotational angle of the tire of each vehicle of car group 10.That is, the tyre revolution of the stem vehicle of the car group 10
Dynamic velocity sensor 122 obtains the velocity of rotation of an at least tire, the tyre revolution of the stem vehicle of the car group 10
Dynamic angular transducer 123 obtains the rotational angle of an at least tire, and the network communication module 11 transmits the stem vehicle
The rotational angle data and velocity of rotation data of the tire to other vehicles of the car group each described control module 13,
Each described speed of tire rotations controller 132 of other vehicles of each car group is according to the stem vehicle of transmission
The velocity of rotation data of tire are set or adjusted the velocity of rotation data of an at least tire of the car group other vehicles, each described
Each described tyre rotation angle controller 133 of other vehicles of car group is according to the tire of the stem vehicle of transmission
Rotational angle data are set or adjusted the rotational angle data of an at least tire of the car group other vehicles, and then make the car
Group other vehicles the tire rotational angle data and velocity of rotation data numerically with the institute of the stem vehicle
The rotational angle data and velocity of rotation data for stating tire are identical, so as to realize the car group 10 other vehicles it is automatic with
With.
Further, the sensing and communication module 40 include multiple sensings and communication device, the sensing and communication dress
Put and be arranged on the path of navigation, when the stem vehicle of the car group 10 is travelled to one of sensing and communication dress
When putting, the sensing and communication device sense and obtain the travel speed of the stem vehicle and the number of travel direction immediately
According to；The travel speed data and the data transfer of travel direction of the stem vehicle that the sensing and communication device will be obtained
To other vehicles of the car group 10 in the sensing and communication device communication context, so that other cars of the car group 10
The travel speed data and travel direction data numerically with the travel speed data of the stem vehicle
And the data of travel direction are identical, so as to the automatic of other vehicles for realizing the car group 10 follows.
Further, the check and correction and communication module 50 also include multiple check and correction and communication device, each check and correction and logical
News device is arranged on the path of navigation, and other vehicles of the car group 10 are proofreaded by the check and correction and communication device
The travel speed data and travel direction data numerically with the travel speed data of the stem vehicle and
The error of the data of travel direction, if error exceedes preset range, by the check and correction and communication device and the sensing
And the communication of communication device, adjust the travel speed and travel direction of the car group other vehicles so that the car group its
The travel speed data and travel direction data of his vehicle numerically with the travel speed of the stem vehicle
The data of data and travel direction are identical.
It will be appreciated by those skilled in the art that, the stem vehicle can also be driven by the staff of depot
With what is guided, the path of navigation setup module 20 and the guiding signal emission module 30 are not set in this case
In the remote processing devices, but the onboard system for being arranged at the stem vehicle of the car group 10 is by and then the car
Other vehicles of group 10 are travelled according to the track of the operation of vehicle above.Certainly, in this regard, other can also close
The variant embodiment of reason, the present invention is not limited thereto in this regard.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as citing
And it is not intended to limit the present invention.The purpose of the present invention completely and is effectively realized.Function of the invention and structural principle exist
Show in embodiment and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (15)
1. a kind of method for guiding vehicles for depot, it is characterised in that comprise the following steps：
(A) an at least path of navigation of an at least car group is determined；
(B) transmission on the path of navigation information at least guides signal at least one vehicle of the car group；With
And
(C) path of navigation traveling, the car described in guiding lower edge of the stem vehicle of the car group in the guiding signal
Other vehicles of group are followed automatically.
2. the method for guiding vehicles of depot is used for as claimed in claim 1, wherein the step (C) also includes step：Set
Other vehicles of the car group with identical speed follow automatically its each before vehicle.
3. the method for guiding vehicles of depot is used for as claimed in claim 1, wherein the step (C) is further comprising the steps of：
(C1) rotational angle and velocity of rotation of an at least tire of the stem vehicle are obtained；(C2) the stem vehicle is transmitted
The rotational angle data and velocity of rotation data of the tire to the car group other vehicles；And (C3) sets the car
The rotational angle data and velocity of rotation data of an at least tire of group other vehicles, make the described of the car group other vehicles
The rotational angle data and velocity of rotation data of tire numerically with the rotational angle of the tire of the stem vehicle
Data and velocity of rotation data are identical, so as to the automatic of other vehicles for realizing the car group follows.
4. the method for guiding vehicles of depot is used for as claimed in claim 1, wherein the step (C) is further comprising the steps of：
(Ca) multiple sensings and communication device are set on the path of navigation, when the stem vehicle is travelled to wherein one sensing and is led to
During news device, the sensing and communication device immediately sense and obtain the travel speed and travel direction of the stem vehicle
Data；(Cb) travel speed data and the number of travel direction of the stem vehicle that the sensing and communication device will be obtained
According to other vehicles for passing to the car group in the sensing and communication device communication context；And (Cc) sets and corrects institute
State the travel speed and travel direction of other vehicles of car group, make the travel speed data of the car group other vehicles and
Data of the travel direction data numerically with the travel speed data of the stem vehicle and travel direction are identical, from
And realize the automatic of other vehicles of the car group and follow.
5. the method for guiding vehicles of depot is used for as claimed in claim 4, wherein the step (Cc) is further comprising the steps of：
Multiple check and correction and communication device are set on the path of navigation, by the check and correction and communication device proofread the car group other
The travel speed data and travel direction data of vehicle numerically with the travel speed number of the stem vehicle
According to this and travel direction data error, if error exceed preset range, by it is described check and correction and communication device and institute
Sensing and the communication of communication device are stated, the travel speed and travel direction of other vehicles of the car group is adjusted, so that described
The travel speed data and travel direction data of car group other vehicles numerically with the row of the stem vehicle
The data for sailing speed data and travel direction are identical.
6. a kind of vehicle guide system for depot, it is characterised in that including：An at least car group, an at least path of navigation set
Module and at least one guiding signal emission module are put, the path of navigation setup module is communicatively connected to the guiding letter
Number transmitter module, the path of navigation setup module sets an at least path of navigation, and the guiding signal emission module will be on
At least one guiding signal transmission of the path of navigation information gives the car group, and each vehicle of the car group is in the guiding signal
Guiding lower edge described in path of navigation synchronously travel.
7. the vehicle guide system of depot is used for as claimed in claim 6, wherein each vehicle of the car group is also included at least
One network communication module, by the data syn-chronization of the network communication module, each vehicle of the car group is in the guiding signal
Guiding lower edge described in path of navigation synchronously travel.
8. the vehicle guide system of depot is used for as claimed in claim 6, wherein each vehicle of the car group includes at least one
Network communication module, at least a sensing module and at least a control module, the network communication module, the sensing module with
And the control module is communicatively connected, each travel speed data of each vehicle of car group described in the sensing module passes through
The network communication module passes to the control module, and the control module controls the traveling of each vehicle of the car group
Speed, so that path of navigation described in guiding lower edge of each vehicle of the car group in the guiding signal is synchronously travelled.
9. the vehicle guide system of depot is used for as claimed in claim 6, wherein each vehicle of the car group includes at least one
Network communication module, at least a road speed sensors and at least one traveling speed control, are connected each module communication,
The travel speed controller control and adjust the car group each vehicle travel speed, the travel speed controller and
The road speed sensors set the car group it is each behind vehicle with identical speed follow automatically its each before car
, so that path of navigation described in guiding lower edge of each vehicle of the car group in the guiding signal is synchronously travelled.
10. the vehicle guide system of depot is used for as claimed in claim 6, wherein each vehicle of the car group includes at least one
Network communication module, at least a speed of tire rotations sensor, at least a tyre rotation angular transducer, at least a tyre rotation
Speed control and at least a tyre rotation angle controller, the speed of tire rotations sensor obtain each of the car group
The velocity of rotation of the tire of vehicle, the tyre rotation angular transducer obtains the angle of rotation of the tire of each vehicle of the car group
Degree, the speed of tire rotations controller control and adjust the car group each vehicle tire velocity of rotation, the tire
Rotational angle controller control and adjust the car group each vehicle tire rotational angle.
11. vehicle guide systems for being used for depot as claimed in claim 6, wherein the vehicle guide system for depot
Also include at least one sensing and communication module, each vehicle of the car group includes an at least network communication module, each network
Communication module is communicatively connected to the sensing and communication module, and the sensing and communication module are arranged at the guiding road
Footpath, to guide path of navigation described in each vehicle of the car group synchronously to travel.
12. vehicle guide systems for being used for depot as claimed in claim 11, wherein the vehicle for depot guides system
System also includes at least one check and correction and communication module, and the check and correction and communication module are communicatively connected to the sensing and lead to respectively
News module and each network communication module, the check and correction and communication module proofread the row of other vehicles of the car group
Sail the travel speed data and traveling side of speed data and travel direction data numerically with the stem vehicle
To data error, to ensure to guide that path of navigation is synchronously travelled described in each vehicle of the car group.
In 13. such as claim 6 to 12 it is any as described in the vehicle guide system for depot, wherein each network communication mould
Block is bluetooth communication module.
In 14. such as claim 6 to 12 it is any as described in the vehicle guide system for depot, wherein the path of navigation set
Module and the guiding signal emission module are arranged at by an at least remote processing devices of remote control.
In 15. such as claim 6 to 12 it is any as described in the vehicle guide system for depot, wherein the path of navigation set
Module and the guiding signal emission module are arranged at the onboard system equipment of each vehicle.
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| CN201710050079.2A CN106846864A (en) | 2017-01-23 | 2017-01-23 | For the vehicle guide system and method for guiding vehicles of depot |
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| CN201710050079.2A CN106846864A (en) | 2017-01-23 | 2017-01-23 | For the vehicle guide system and method for guiding vehicles of depot |
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Application publication date: 20170613 |