CN109445429A - The narrow passage entry control method of automatic running equipment - Google Patents
The narrow passage entry control method of automatic running equipment Download PDFInfo
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- CN109445429A CN109445429A CN201811197295.0A CN201811197295A CN109445429A CN 109445429 A CN109445429 A CN 109445429A CN 201811197295 A CN201811197295 A CN 201811197295A CN 109445429 A CN109445429 A CN 109445429A
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- positioning
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of narrow passage entry control methods of automatic running equipment, positioning signal reception system is configured in automatic running equipment, positioning signal is set at the standage with narrow passage and sends system, determine as needed automatic running equipment safety enter each locating signal receiver when narrow passage from each positioning signal transmitter satisfaction needed for received positioning signal set of circumstances；Each positioning signal transmitter periodically sends positioning signal in signal sending system, positioning signal is divided into two cross-talk signals, respectively standage mark and each positioning signal sender identification, automatic running equipment monitors positioning signal in the process of moving, when listening to standage mark, to standage direction running, after adjust self-position according to the positioning signal sender identification received after, until all conditions are all satisfied, subsequently into standage.Automatic running equipment energy consumption and implementation complexity can be effectively reduced in the present invention.
Description
Technical field
The invention belongs to communicate and field of locating technology, more specifically, it is related to a kind of the narrow logical of automatic running equipment
Road entry control method.
Background technique
Autonomous driving vehicle storage, unmanned plane landing and storage etc. are all the difficult points of automatic control technology at present.It is existing
Technology mostly use radar system greatly, i.e. autonomous driving vehicle and unmanned plane sends electromagnetic wave signal, and receives return
Signal adjusts position of host machine and enters hangar to judge the distance between host and each object.Radar system it is excellent
Gesture is that multiple objects can be detected.And collision between each object can be prevented.However, the energy consumption of radar system compared with
More, the system based on radar system is also complex.Equipment small in size, that energy storage is low this kind of for unmanned plane and electric car is come
It says, is inappropriate based on radar system storage positioning.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of narrow passages of automatic running equipment to enter control
Method processed, by the reception system of positioning signal and transmission system be respectively set with automatic running equipment and standage, reduce from
Dynamic traveling apparatus energy consumption, and reduce implementation complexity.
For achieving the above object, the narrow passage entry control method of automatic running equipment of the present invention includes following step
It is rapid:
S1: configuring positioning signal reception system in automatic running equipment, includes N number of positioning in positioning signal reception system
Positioning signal is arranged at the standage with narrow passage and sends system, wraps in positioning signal transmission system for signal receiver
M positioning signal transmitter is included, determines that automatic running equipment safety enters each positioning signal reception when narrow passage as needed
Device from each positioning signal transmitter satisfaction needed for received positioning signal set of circumstances Φ；
S2: each positioning signal transmitter periodically sends positioning signal, each positioning signal in signal sending system
smIt is divided into two cross-talk signal sm,1And sm,2, subsignal sm,1It is standage mark, M subsignal sm,1It is sent using synchronous,
Subsignal sm,2For each positioning signal sender identification；
S3: automatic running equipment in the process of moving, N number of locating signal receiver in receiving system while listening for
Positioning signal, when listening to standage mark, to standage direction running, when listening to M positioning signal transmitter
Positioning signal sender identification when, judge each locating signal receiver from the received positioning of each positioning signal transmitter institute
Whether signal meets all conditions in set of circumstances Φ, if conditions are not met, self-position is then adjusted, until all conditions are full
Foot, subsequently into standage.
The narrow passage entry control method of automatic running equipment of the present invention configures positioning signal in automatic running equipment and connects
Positioning signal is arranged at the standage with narrow passage and sends system, determines automatic running equipment as needed for receipts system
It is full needed for the received positioning signal of each positioning signal transmitter institute that safety enters each locating signal receiver when narrow passage
The set of circumstances of foot；Each positioning signal transmitter periodically sends positioning signal, positioning signal point in signal sending system
For two cross-talk signals, respectively standage mark and each positioning signal sender identification, automatic running equipment is being run over
Positioning signal is monitored in journey, when listening to standage mark, to standage direction running, basis is received after close
Positioning signal sender identification adjust self-position, until all conditions are all satisfied, subsequently into standage.The present invention can
Automatic running equipment energy consumption and implementation complexity is effectively reduced.
Detailed description of the invention
Fig. 1 is the specific embodiment flow chart of the narrow passage entry control method of automatic running equipment of the present invention；
Fig. 2 is the schematic diagram that unmanned plane enters hangar in the present embodiment；
Fig. 3 is the schematic diagram that autonomous driving vehicle enters garage in the present embodiment.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate main contents of the invention, these descriptions will be ignored herein.
Fig. 1 is the specific embodiment flow chart of the narrow passage entry control method of automatic running equipment of the present invention.Such as Fig. 1
Shown, the specific steps of the narrow passage entry control method of automatic running equipment of the present invention include:
S101: positioning system configuration:
Positioning signal reception system is configured in automatic running equipment, includes that N number of positioning is believed in positioning signal reception system
Positioning signal is arranged at the standage with narrow passage and sends system, includes M in positioning signal transmission system for number receiver
A positioning signal transmitter, determine as needed automatic running equipment safety enter when narrow passage each locating signal receiver from
Each positioning signal transmitter the set of circumstances Φ that meets needed for received positioning signal.
The quantity N of the locating signal receiver and quantity M of positioning signal transmitter is arranged according to practical application scene
, it is desirable to be able to so that automatic running equipment is completed positioning.For set of circumstances, and determined according to application scenarios.
Such as when the hangar that automatic running equipment is unmanned plane, standage is doorframe structure, due to unmanned plane volume
It is smaller, 1 locating signal receiver is set generally on unmanned plane, 1 positioning letter is respectively set in four orientation up and down
Number transmitter, unmanned plane need to make unmanned plane at a distance from upper and lower two positioning signal transmitters in error when entering hangar
It is equal in range and equal in error range at a distance from two positioning signal transmitters of unmanned plane and left and right.Judging distance
When equal, whether can unanimously be judged by receiving the time difference of signal with the preset time difference.
In another example when automatic running equipment is autonomous driving vehicle, since automobile volume is larger, generally in automatic Pilot
1 locating signal receiver is respectively set in the headstock and the tailstock of automobile, and 1 is respectively set at the right boundary in standage and determines
Position sender unit, autonomous driving vehicle is when entering the standage, it is clear that should make two positioning on autonomous driving vehicle
Signal receiver is equal in error range at a distance from two positioning signal transmitters.
When the volume of automatic running equipment is larger, environment in irregular shape or standage is complex, Ke Yishe
More locating signal receivers or positioning signal transmitter are set, so that automatic running equipment can be positioned preferably.
S102: signal sending system sends positioning signal:
Each positioning signal transmitter periodically synchronizes positioning signal, each positioning signal s in signal sending systemmPoint
For two cross-talk signal sm,1And sm,2, neutron signal sm,1It is standage mark, M subsignal sm,1It is sent using synchronous,
Subsignal sm,2For each positioning signal sender identification, M subsignal sm,2Sending method according to set of circumstances Φ determine.
Clearly as subsignal sm,1It is synchronous transmission, thus the total signal energy of standage mark is larger, calling
Range is remote, can guarantee that automatic running equipment receives signal larger distance is i.e. audible, close to the standage.Automatically
Traveling apparatus judges and adjusts certainly in the unlike signal that can receive the transmission of unlike signal generator behind standage
Oneself position, to enter standage in most suitable position.Therefore, subsignal sm,2Transmission power without too big, thus
Reduce energy consumption.The sending cycle of positioning signal is determine according to actual needs.
S103: automatic running equipment enters standage:
Automatic running equipment monitors positioning signal in the process of moving, by the receiving system that configures, when listening to
When standage identifies, to standage direction running, when the positioning signal transmitter mark for listening to M positioning signal transmitter
When knowledge, judge whether each locating signal receiver meets condition set from the received positioning signal of each positioning signal transmitter institute
The all conditions in Φ are closed, if conditions are not met, then adjust self-position, until all conditions are all satisfied, subsequently into parking field
Institute.
Embodiment 1
By taking unmanned plane enters hangar as an example, the present invention will be described.Fig. 2 is that unmanned plane enters hangar in the present embodiment
Schematic diagram.As shown in Fig. 2, unmanned plane is configured with 1 locating signal receiver (identifying with triangle), unmanned plane in the present embodiment
Hangar is doorframe structure, is configured with 4 positioning signal generators (with circular indicia), is located at the upper of hangar doorframe central point
The orientation of lower left and right four, number are respectively 1,2,3,4.Unmanned plane is when entering hangar in the present embodiment, need to make unmanned plane with
The distance of upper and lower two positioning signal transmitters is equal in error range, and two positioning signal transmitters of unmanned plane and left and right
Distance it is equal in error range, therefore need to include two above condition in set of circumstances Φ.
The positioning signal of No. 1 positioning signal transmitter is 0...1...1, and the positioning signal of No. 2 positioning signal transmitters is
0...2...2, the positioning signal of No. 3 positioning signal transmitters is 0...3...3, the positioning signal of No. 4 positioning signal transmitters
For 0...4...4.As it can be seen that hangar is identified as 0 in the present embodiment, positioning signal sender identification is reference numeral.Positioning signal
It generates each second 10 times, i.e. the period is 0.1s.When each positioning signal is sent, standage mark and positioning signal transmitter
Mark is synchronous transmission.Unmanned plane at a distance at this time receives signal 0, constantly close towards hangar position.When being close to
When certain distance, 2, the 3 signal generators generation of 1, the 2 signal generators generation of 1 signal generator generation can be told
The 4 of 3,4 signal generators generation.If there is positioning signal 1 and 4 in the positioning signal sender identification signal that unmanned plane receives
Time difference, i.e. unmanned plane are at a distance from 1,2 positioning signal transmitters and unequal, it can be determined that unmanned plane is not on machine at this time
The center of library upper and lower frames needs the flight by adjusting unmanned plane, so that Isosorbide-5-Nitrae signal does not have the time difference, i.e. unmanned plane is located at upper
Lower center.Similarly, while by the time difference of positioning signal 2,3 flight for adjusting unmanned plane, can also enable the position of unmanned plane
Setting in the center of left and right, unmanned plane can enter hangar at this time.
Embodiment 2
By taking autonomous driving vehicle reversing enters garage as an example, the present invention will be described.Fig. 3 is driven automatically in the present embodiment
Sail the schematic diagram that automobile enters garage.As shown in figure 3, the headstock tailstock of autonomous driving vehicle is each configured with 1 in the present embodiment
A locating signal receiver (being identified with triangle), garage are symmetrical set 2 positioning signal transmitters A and B (with circle
Mark).Autonomous driving vehicle should make two locating signal receivers and two on autonomous driving vehicle when reversing enters garage
The distance of a positioning signal transmitter is equal in error range, therefore needs to include conditions above in set of circumstances Φ.
The positioning signal of A positioning signal transmitter is 0...A, and the positioning signal of B positioning signal transmitter is 0...B.It is fixed
Position generates 100 times signal each second, i.e. the period is 0.01s.When each positioning signal is sent, A, B positioning signal transmitter are simultaneously
Send 0.Autonomous driving vehicle at a distance at this time receives signal 0, constantly close towards 0 signal location.It is certain when being close to
Apart from when, can tell A positioning signal transmitter generation A, B positioning signal transmitter generate B.Assuming that A, B the two
Signal mistake 5ms transmitting, if A received by former and later two locating signal receivers of autonomous driving vehicle, B signal difference are 5ms,
This shows that automobile is located at the median line in garage, and automobile steering is correct, and can directly move backward storage.If two positioning signals connect
A received by receipts device, B signal difference are not 5ms, then show that automobile is not on garage median line.If tailstock positioning letter
It is 5ms that number receiver, which receives signal difference, and it is not 5ms that headstock locating signal receiver, which receives signal difference, then shows that the tailstock is located at just
Middle line, but automobile steering is not just not parallel with garage direction, can not directly move backward storage.If headstock positioning signal reception
It is 5ms that device, which receives signal difference, and it is not 5ms that tailstock locating signal receiver, which receives signal difference, then shows that headstock is located at median line, vehicle
There are direction offsets for tail, and can not directly move backward storage.At latter three kinds, the row by adjusting autonomous driving vehicle is needed
It sails, is allowed to be located at garage median line, garage can be entered at this time.Obviously, two signal time difference length of A, B, as long as just
In the time difference for determining received positioning signal.
From the above description, it can be seen that the present invention and existing system difference, system existing first is radar system, needs to lead
Prow, which first issues signal, reception signal, processing signal, can realize positioning and navigation.And proposed by the present invention is a kind of separation
System issues signal by standage, and automatic running equipment only need to receive and handle signal, by the time difference for receiving signal
Realize the positioning and navigation between fixed garage or airplane parking area.Secondly, existing radar system, without considering that automatic running is set
Preparation go out signal include how much information, as long as the signal received is consistent with the signal contrast of sending, can be realized positioning and
Navigation.And in the present invention, in positioning signal transmission system, each positioning signal transmitter is sending identical signal at first,
It guides automatic running equipment close, then sends unlike signal and be used to navigate to the automatic running equipment of short distance, can pass through
Signal setting, realizes more flexible location navigation, enters the standage with narrow passage convenient for automatic running equipment.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.
Claims (3)
1. a kind of narrow passage entry control method of automatic running equipment, which comprises the following steps:
S1: configuring positioning signal reception system in automatic running equipment, includes N number of positioning signal in positioning signal reception system
Positioning signal is arranged at the standage with narrow passage and sends system, includes M in positioning signal transmission system for receiver
Positioning signal transmitter determines that automatic running equipment safety enters when narrow passage each locating signal receiver from each as needed
A positioning signal transmitter the set of circumstances Φ that meets needed for received positioning signal；
S2: each positioning signal transmitter periodically sends positioning signal, each positioning signal s in signal sending systemmIt is divided into
Two cross-talk signal sm,1And sm,2, subsignal sm,1It is standage mark, subsignal sm,2For each positioning signal transmitter mark
Know；
S3: in the process of moving, N number of locating signal receiver in receiving system is while listening for positioning for automatic running equipment
Signal, when listening to standage mark, to standage direction running, when listening to determining for M positioning signal transmitter
When the sender unit mark of position, judge each locating signal receiver from the received positioning signal of each positioning signal transmitter institute
Whether all conditions in set of circumstances Φ are met, if conditions are not met, self-position is then adjusted, until all conditions are all satisfied,
Subsequently into standage.
2. narrow passage entry control method according to claim 1, which is characterized in that the automatic running equipment is for nobody
Machine, standage are the unmanned plane hangar of doorframe structure, and unmanned plane is configured with 1 locating signal receiver, and hangar is configured with 4
Locating signal receiver generator is located at four orientation up and down of hangar doorframe central point；Institute in set of circumstances Φ
There are two the conditions that need to include: unmanned plane is equal in error range at a distance from upper and lower two positioning signal transmitters, and nothing
It is man-machine equal in error range at a distance from the two positioning signal transmitters in left and right.
3. narrow passage entry control method according to claim 1, which is characterized in that the automatic running equipment is automatic
Driving, standage is garage, and the headstock tailstock of autonomous driving vehicle is each configured with 1 locating signal receiver, vehicle
Library is symmetrical set 2 positioning signal transmitters.The condition for including needed in set of circumstances Φ are as follows: on autonomous driving vehicle
Two locating signal receivers are equal in error range at a distance from two positioning signal transmitters.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811197295.0A CN109445429A (en) | 2018-10-15 | 2018-10-15 | The narrow passage entry control method of automatic running equipment |
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| CN201811197295.0A CN109445429A (en) | 2018-10-15 | 2018-10-15 | The narrow passage entry control method of automatic running equipment |
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Application publication date: 20190308 |