CN111806596A - Unmanned automatic running system and method for farmer market fresh loading vehicle - Google Patents
Unmanned automatic running system and method for farmer market fresh loading vehicle Download PDFInfo
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- CN111806596A CN111806596A CN202010549074.6A CN202010549074A CN111806596A CN 111806596 A CN111806596 A CN 111806596A CN 202010549074 A CN202010549074 A CN 202010549074A CN 111806596 A CN111806596 A CN 111806596A
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- 238000013439 planning Methods 0.000 claims abstract description 26
- 238000007726 management method Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 54
- 235000013311 vegetables Nutrition 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012384 transportation and delivery Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 238000013480 data collection Methods 0.000 claims 2
- 230000004888 barrier function Effects 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 47
- 235000013305 food Nutrition 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 238000005057 refrigeration Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention discloses an unmanned automatic running system and method for a farmer market fresh loading vehicle. The invention can realize the control of the existing unmanned fresh loading vehicle through the mobile terminal; the system is provided with an area management module and an APP operation module, so that the existing unmanned fresh loading vehicle can be operated and managed, a user can start the system by scanning a code, and the unmanned fresh loading vehicle can automatically return to a specified parking area; the unmanned fresh loading vehicle is driven to automatically plan a destination route through the tracking identification module, the positioning module and the route planning module, and automatically goes to the destination; through keeping away the barrier module automatically, can realize that unmanned life bright load wagon detects the road conditions at the in-process of automatic travel to avoid the roadblock automatically.
Description
Technical Field
The invention relates to the field of automatic control, in particular to an unmanned automatic running system and method for a farmer market fresh loading vehicle.
Background
Vegetable buying is a necessary thing in daily life of all people, but vegetable buying is also a trivial thing in daily life. Along with the improvement of living standard of people, the trivial affair like this takes much time, and is a painstakingly affair for people who work through one day, especially high-pressure workers in cities, the working time of each day is long, so the rest time is extremely short, and the people who go home need to drag tired bodies to buy dishes, which is difficult for both subjective intention and physical load, and the dishes are bought and need to be carried in hands, and the load is not small for people who work for one day.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an unmanned automatic running system and method for a farmer market live fresh loading vehicle.
The invention aims to be realized by the following technical scheme: an unmanned automatic running system of a farmer market fresh loading vehicle comprises the unmanned fresh loading vehicle, a user terminal and a background total system, wherein the unmanned fresh loading vehicle comprises a vehicle body, a controller, a positioning device, a tracking identification device, an automatic obstacle avoidance device and a driving mechanism; the background total system module comprises a data processing module, a data acquisition module, a route planning module, an APP operation module and an area management module; the data processing module receives and processes the request sent by the user terminal, the collected data information sent by the data collecting module, the vehicle position information sent by the tracking identification device and the following information sent by the positioning device, and sends the information to the route planning module, the APP operation module and the area management module, the route planning module, the APP operation module and the area management module receive, process and calculate, the information after receiving, processing and calculating is sent to the data processing module, the data processing module sends the processed information to the driving module through the controller, and the unmanned fresh life loading vehicle is driven.
The APP operation module scans the two-dimensional code through the user terminal, sends scanning information to the data processing module, and the data processing module identifies the scanning information, and sends the processed scanning information to the driving module through the controller to drive the unmanned life fresh loading vehicle.
The data acquisition module is used for acquiring the vegetable market position information of the vegetable market in the authorized district and the parking position information of the specified parking area, and sending the position information to the data processing module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
The tracking identification module is used for identifying the user terminal to obtain following information and sending the following information to the data processing module; the data processing module processes the following information, and sends the processed following information to the driving module through the controller to drive the unmanned fresh loading vehicle to follow the user terminal.
The positioning module is used for acquiring vehicle position information of an unmanned fresh-life loading vehicle in an authorized jurisdiction and sending the acquired vehicle position information to the data processing module; the data processing module processes the vehicle position information and sends the vehicle position information to the route planning module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
The route planning module comprises a calculation server, calculates the position information of the vegetable market and the unmanned fresh vehicle by receiving the position information and the collected data information sent by the data processing module to obtain the optimal route information, and sends the optimal route information to the data processing module; the data processing module sends the processed optimal route information to the driving module through the controller, and drives the unmanned fresh loading vehicle to run according to the optimal route.
The automatic obstacle avoidance module identifies road conditions by receiving the route information sent by the route planning module, detects obstacles and automatically avoids the obstacles.
The area management module comprises a calculation server, calculates the position information of the specified parking area and the unmanned fresh vehicle by receiving the position information and the collected data information sent by the data processing module to obtain return route information, and sends the return route information to the data processing module; the data processing module sends the processed return route information to the driving module through the controller, and the unmanned fresh loading vehicle is driven to return to the specified parking area according to the return route.
An unmanned automatic running method for a farmer market fresh loading vehicle comprises the following steps:
s1, downloading an intelligent farmer market fresh unmanned automatic driving APP by a user, registering, scanning a two-dimensional code of an APP operation module, and starting an unmanned fresh loading vehicle;
s2, selecting following mode or automatic purchasing mode by the user, and when the following mode is selected, executing step S3; when the automatic purchase is selected, step S4 is performed;
s3, automatically identifying the position of the user terminal by the tracking identification module and purchasing dishes along with the user terminal;
s4, the fresh unmanned loading vehicle automatically goes to nearby or appointed vegetable market to buy vegetables;
and S5, the unmanned fresh loading vehicle finishes purchasing and returns to the specified parking area through the positioning module and the area management module.
The step S4 further includes the following sub-steps:
s401, a user issues a nearby purchase instruction or a place-appointed purchase instruction to an unmanned fresh loading vehicle, and sets a delivery place;
s402, starting a positioning module of the unmanned fresh loading vehicle to find a nearest purchase place or a designated purchase place;
s403, automatically planning a route by the unmanned fresh loading vehicle through the route planning module;
s404, the unmanned fresh loading vehicle drives to a purchasing place or a designated purchasing place through the automatic obstacle avoidance module;
s405, buying vegetables;
s406, the purchased good dishes are distributed to the delivery place.
The step S404 further includes the following sub-steps:
s4041, identifying traffic rules, driving at low speed, and only walking on sidewalks in authorized districts;
s4042, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
the step S5 further includes the following sub-steps:
s501, searching a nearest parking area for the unmanned fresh loading vehicle through a positioning module;
and S502, the unmanned fresh loading vehicle runs to the nearest parking area through the automatic obstacle avoidance module.
The step S502 further includes the following substeps:
s5021, identifying traffic rules, driving at low speed and only walking on sidewalks in authorized districts;
s5022, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
wherein, when the fresh load car of unmanned life needs to charge, still include step S6: look for nearest charging station through orientation module, unmanned life bright load wagon drives to nearest charging station through keeping away the barrier module voluntarily, charges.
The charging station is arranged in an authorized district.
The invention has the beneficial effects that:
(1) the invention can realize the control of the existing unmanned fresh loading vehicle through the mobile terminal;
(2) the system is provided with the area management module and the APP operation module, so that the existing unmanned fresh loading vehicle can be operated and managed, a user can start the system by scanning a code, and the unmanned fresh loading vehicle can automatically return to a specified parking area;
(3) the unmanned fresh-life loading vehicle is driven to automatically plan a destination route and automatically go to the destination through the tracking identification module, the positioning module and the route planning module;
(4) according to the invention, through the automatic obstacle avoidance module, the road condition can be detected and the roadblock can be automatically avoided in the automatic driving process of the unmanned fresh loading vehicle.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
fig. 2 is a schematic structural view of an unmanned fresh food loading vehicle according to an embodiment of the invention;
fig. 3 is a schematic structural view of a water tank layer of the unmanned fresh load vehicle according to the embodiment of the invention;
fig. 4 is a schematic structural view of a vehicle body of the unmanned fresh food loading vehicle according to the embodiment of the invention;
FIG. 5 is a schematic structural diagram of a frame portion of an unmanned fresh food loading vehicle according to an embodiment of the invention;
fig. 6 is a schematic structural view of a normal temperature layer of the unmanned fresh food loading vehicle according to the embodiment of the invention;
fig. 7 is a schematic structural view of a refrigerating layer of the unmanned fresh food loading vehicle according to the embodiment of the invention;
FIG. 8 is a block flow diagram of a method of the present invention.
In the figure: 1-a normal temperature layer, 2-a scanning radar, 3-a refrigeration layer, 4-an ultrasonic sensor, 5-4G modules, 6-a controller, 7-a vehicle body, 8-a switch, 9-a battery, 10-a water tank layer, 11-a frame, 12-a camera group, 13-a spring hinge, 14-a water tank cover, 15-a filter plate, 16-a front door, 17-an electric push-pull rod, 18-a slide rail, 19-a water outlet, 20-an electromagnetic valve, 21-a steering engine, 22-a water inlet, 23-a liquid level sensor, 24-a damping spring, 26-a charging seat, 27-a support rod, 28-a fixing plate, 29-a slide rail bracket, 30-a U-shaped frame, 33-a refrigerator and 34-a refrigerating unit.
Detailed Description
In order to more clearly understand the technical features, objects and effects of the present invention, the embodiments of the present invention will be described with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, an unmanned automatic driving system of a farmer market fresh-keeping loading vehicle comprises an unmanned fresh-keeping loading vehicle, a user terminal and a background total system, wherein the unmanned fresh-keeping loading vehicle comprises a vehicle body 8, a controller 6, a positioning device, a tracking and identifying device, an automatic obstacle avoidance device and a driving mechanism; the background total system module comprises a data processing module, a data acquisition module, a route planning module, an APP operation module and an area management module; the request that the data processing module received and handled user terminal and sent, the data information collection that the data acquisition module sent, the vehicle position information that follow information and positioner sent that the tracking recognition device sent, and with information transmission to route planning module, APP operation module and regional management module, route planning module, APP operation module and regional management module are through receiving, handle and calculate, information transmission to data processing module after will receiving processing calculation, data processing module sends the information after handling to drive module through controller 6, drive unmanned life bright load wagon.
APP operation module passes through user terminal scanning two-dimensional code, sends scanning information to data processing module, and data processing module discerns scanning information to scanning information after will handling sends to drive module, drives unmanned life and bright load wagon through controller 6.
The data acquisition module is used for acquiring the vegetable market position information of the vegetable market in the authorized district and the parking position information of the specified parking area, and sending the position information to the data processing module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
The tracking identification module is used for identifying the user terminal to obtain following information and sending the following information to the data processing module; the data processing module processes the following information, and sends the processed following information to the driving module through the controller 6 to drive the unmanned fresh loading vehicle to follow the user terminal.
The positioning module is used for acquiring vehicle position information of an unmanned fresh-life loading vehicle in an authorized jurisdiction and sending the acquired vehicle position information to the data processing module; the data processing module processes the vehicle position information and sends the vehicle position information to the route planning module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
The route planning module comprises a calculation server, calculates the position information of the vegetable market and the unmanned fresh vehicle by receiving the position information and the collected data information sent by the data processing module to obtain the optimal route information, and sends the optimal route information to the data processing module; the data processing module sends the processed optimal route information to the driving module through the controller 6, and the unmanned fresh-life loading vehicle is driven to run according to the optimal route.
The automatic obstacle avoidance module identifies road conditions by receiving the route information sent by the route planning module, detects obstacles and automatically avoids the obstacles.
The area management module comprises a calculation server, calculates the position information of the specified parking area and the unmanned fresh vehicle by receiving the position information and the collected data information sent by the data processing module to obtain return route information, and sends the return route information to the data processing module; the data processing module sends the processed return route information to the driving module through the controller 6, and the unmanned fresh loading vehicle is driven to return to the specified parking area according to the return route.
Referring to fig. 2, the intelligent fresh food loading vehicle includes a driving portion and a storage portion. Wherein the main body of the traveling part is a vehicle body 7, and the storage part is a frame 11 arranged on the vehicle body 7; the frame 11 is divided into three layers, namely a normal temperature layer 1 positioned at the top, a refrigeration layer 3 positioned at the middle and a water tank layer 10 positioned at the bottom.
In order to automatically go out to buy vegetables, the automatic traveling vehicle is provided with a controller 6, a switch 8, a wireless communication module, a plurality of scanning radars 2, an ultrasonic sensor 4 and a plurality of camera groups 12; wherein the controller 6 is electrically connected to the wireless communication module, the plurality of scanning radars 2, the ultrasonic sensor 4, and the plurality of camera groups 12 through the switch 8.
The wireless communication module is a 4G module 5, a GPS is arranged in the controller 6, and navigation is constructed through the 4G module 5, the GPS and the scanning radar 2, so that the automatic traveling vehicle can automatically plan a route to buy vegetables. The objects in front of and on the left and right sides of the vehicle body 7 are scanned by the ultrasonic sensor 4 and the plurality of camera groups 12, thereby achieving obstacle avoidance.
Wherein scanning radar 2 includes upper scanning radar 2, middle level scanning radar 2 and lower floor scanning radar 2 and all lie in same one side, upper scanning radar 2 is fixed in and is located 1 one side in normal temperature layer, middle level scanning radar 2 is fixed in and is located water tank layer 10 one side, lower floor scanning radar 2 is located the front side of automobile body 7. Navigation is built by the 4G module 5 and the three scanning radars 2.
The ultrasonic sensor 4 is arranged on the cold storage layer 3 and is positioned on one side of the vehicle head.
The camera group 12 is a binocular camera, and the camera groups 12 are arranged on the normal temperature layer 1 and are respectively positioned in the front, back, left and right directions of the vehicle body 7.
The utility model discloses a refrigerator, including water tank layer 10, controller 6, switch 8, wireless communication module, ultrasonic sensor 4, a plurality of camera group 12, drive assembly, a plurality of electronic push-pull rod 17, a plurality of motor, refrigerator 33 and refrigeration unit 34 electricity, automobile body 7 bottom is provided with charging seat 26, controller 6 is provided with electric quantity monitoring program, and the control car moves nearest place of charging when battery 9 electric quantity is not enough and charges.
A UWB following unit is arranged in the controller 6, so that the automatic traveling vehicle can follow a user in front to walk. When the fresh cars buy vegetables outside, the UWB following unit can be used for enabling the mobile driving cars to follow automatically. Therefore, the automatic traveling vehicle can work whether people buy vegetables or not.
As shown in fig. 6, an umbrella frame and a steering engine 21 are arranged on the normal temperature layer 1, the umbrella frame is a plurality of U-shaped frames 30, two ends of each U-shaped frame 30 are hinged to the steering engine 21, the U-shaped frames 30 are controlled to rotate by the steering engine 21, and tarpaulins are arranged among the U-shaped frames 30; under the effect of steering wheel 21, U type frame 30 can swing to the realization is expanded tarpaulin and is carried out the sunshade and keep off the rain. Because the U-shaped frames 30 are connected through the tarpaulin, when one U-shaped frame 30 is pulled, the other U-shaped frames 30 can be pulled by the tarpaulin to completely unfold the umbrella frame, and the sun shading and rain shielding are realized.
As shown in fig. 7, the refrigerating layer 3 includes a refrigerator 33 and a refrigerating unit 34, an electric push-pull rod 17 is disposed below the refrigerator 33, a door of the refrigerator 33 is hinged to one end of the electric push-pull rod 17, and the other end of the electric push-pull rod 17 is hinged to the rack 11; the automatic opening and closing of the door of the refrigerator 33 can be realized by the expansion and contraction of the electric push-pull rod 17.
As shown in fig. 3, a water tank and two electric push-pull rods 17 are arranged at the bottom of the water tank layer 10, the water tank is hinged to one end of each of the two electric push-pull rods 17, the other end of each of the electric push-pull rods 17 is hinged to the frame 11, a water inlet 22 and a water outlet 19 are respectively arranged on the water tank, an electromagnetic valve 20 is arranged on the water outlet 19, a water tank cover 14 is arranged above the water tank, the water tank cover 14 is connected with the water tank through a spring hinge 13, the spring hinge 13 is in a compressed state and the water tank cover 14 abuts against the top of the water tank layer 10 when the water tank cover 14 and the water tank are in a closed state, and when the water tank is pushed out by the electric push-pull rods 17, the water tank cover 14 is automatically opened under the action. In order to ensure that the water tank moves smoothly, a sliding rail 18 is arranged between the frame 11 and the water tank, and in order to prevent the top of the water tank cover 14 and the top of the water tank layer 10 from being seriously abraded, a guide wheel is arranged on the top of the water tank cover 14 or the top of the water tank layer 10, and when the water tank moves back and forth, the abrasion between the water tank cover 14 and the top of the water tank layer 10 cannot occur through the action of the guide wheel.
The automatic water replenishing vehicle is characterized in that the extending direction of an electric push-pull rod 17 of a water tank layer 10 is the front, a front door 16 is arranged in front of the water tank, the top of the front door 16 is hinged to the water tank, the electric push-pull rod 17 is arranged between the front door 16 and the water tank, a filter plate 15 is arranged in the water tank, the front side of the filter plate 15 is hinged to the front bottom of the water tank, a pull wire is fixed behind the filter plate 15, a steering engine 21 is arranged behind the water tank, the pull wire penetrates through the top of the water tank and is connected with the steering engine 21, a liquid level sensor 23 is further arranged in the water tank, the liquid level sensor 23 and an electromagnetic valve 20 are electrically connected with a controller 6, the automatic water replenishing. When aquatic products need to be discharged, the electromagnetic valve 20 can be opened for discharging water, then the front door 16 is opened, and the steering engine 21 is controlled to pull up the filter plate 15, so that the aquatic products are discharged from the front door 16, and the aquatic products do not need to be fished by stretching hands.
As shown in fig. 4, in order to maintain the smoothness of the frame 11, a shock-absorbing structure is provided between the frame 11 and the vehicle body 7, and therefore the frame 11 is connected to the vehicle body 7 by a plurality of shock-absorbing springs 24, and the shock-absorbing springs 24 are fixed to four corners of the vehicle body 7, respectively.
As shown in fig. 5, the frame 11 is a frame composed of a fixed plate 28 and a support rod 27 after the functional elements are removed, wherein the middle part of the fixed plate 28 at the uppermost layer is provided with a hollow part for placing a basket and the like, thereby reducing the height of the basket and reducing the size of the required umbrella stand. The middle of the middle fixing plate 28 is provided with a groove for placing the electric push-pull rod 17. For the mounting of the slide rail 18 on the water tank, a slide rail bracket 29 is provided on the frame 11.
Specifically, the steering engine 21 is an existing device on the market, and is a swing mechanism with a rocker arm. The charging mode of the fresh vehicle adopts the charging mode of the existing sweeping robot. When giving birth to bright car ordinary, electric pile or charging seat are filled in the installation in the city earlier, can obtain near the position of the department of charging through GPS when giving birth to bright car electric quantity not enough, then go to the automatic charging.
The following are the implementation principles and method flows of this embodiment:
as shown in fig. 8, an unmanned automatic driving method for a farmer market live fresh loading vehicle comprises the following steps:
s1, downloading an intelligent farmer market fresh unmanned automatic driving APP by a user, registering, scanning a two-dimensional code of an APP operation module, and starting an unmanned fresh loading vehicle;
s2, selecting following mode or automatic purchasing mode by the user, and when the following mode is selected, executing step S3; when the automatic purchase is selected, step S4 is performed;
s3, automatically identifying the position of the user terminal by the tracking identification module and purchasing dishes along with the user terminal;
s4, the fresh unmanned loading vehicle automatically goes to nearby or appointed vegetable market to buy vegetables;
and S5, the unmanned fresh loading vehicle finishes purchasing and returns to the specified parking area through the positioning module and the area management module.
The step S4 further includes the following sub-steps:
s401, a user issues a nearby purchase instruction or a place-appointed purchase instruction to an unmanned fresh loading vehicle, and sets a delivery place;
s402, starting a positioning module of the unmanned fresh loading vehicle to find a nearest purchase place or a designated purchase place;
s403, automatically planning a route by the unmanned fresh loading vehicle through the route planning module;
s404, the unmanned fresh loading vehicle drives to a purchasing place or a designated purchasing place through the automatic obstacle avoidance module;
s405, buying vegetables;
s406, the purchased good dishes are distributed to the delivery place.
The step S404 further includes the following sub-steps:
s4041, identifying traffic rules, driving at low speed, and only walking on sidewalks in authorized districts;
s4042, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
the step S5 further includes the following sub-steps:
s501, searching a nearest parking area for the unmanned fresh loading vehicle through a positioning module;
and S502, the unmanned fresh loading vehicle runs to the nearest parking area through the automatic obstacle avoidance module.
The step S502 further includes the following substeps:
s5021, identifying traffic rules, driving at low speed and only walking on sidewalks in authorized districts;
s5022, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
wherein, when the fresh load car of unmanned life needs to charge, still include step S6: look for nearest charging station through orientation module, unmanned life bright load wagon drives to nearest charging station through keeping away the barrier module voluntarily, charges.
The fresh cars are used in a code scanning mode, and the fresh cars in an unused state are parked at a designated position in a city, such as a current shared bicycle. When people need buy vegetables, only need sweep the sign indicating number in the fresh food car department of parking, pay for an order through the APP, the fresh food car can go to nearby or appointed vegetable market automatically and buy vegetables promptly, because fresh food car itself has GPS, can fix a position the vegetable market position in each place, consequently can control fresh food car through the cell-phone and go to appointed vegetable market and buy vegetables to go to appointed position after buying vegetables.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (15)
1. An unmanned automatic running system of a farmer market fresh-living loading vehicle is characterized by comprising an unmanned fresh-living loading vehicle, a user terminal and a background total system, wherein a background total system module is connected with the unmanned fresh-living loading vehicle by adopting a communication connection method; the unmanned fresh loading vehicle comprises a vehicle body (7), a controller (6), a positioning device, a tracking and identifying device, an automatic obstacle avoidance device and a driving mechanism; the background total system module comprises a data processing module, a data acquisition module, a route planning module, an APP operation module and an area management module; the data processing module receives and processes a request sent by a user terminal, collected data information sent by the data collection module, vehicle position information sent by the tracking identification device and the following information sent by the positioning device, and sends the information to the route planning module, the APP operation module and the area management module, the route planning module, the APP operation module and the area management module send the received, processed and calculated information to the data processing module through receiving, processing and calculating, the data processing module sends the processed information to the driving module through the controller (6), and the unmanned fresh-life loading vehicle is driven.
2. The unmanned automatic driving system of farmer market fresh load vehicle according to claim 1, wherein the APP operation module scans the two-dimensional code through the user terminal, sends the scanning information to the data processing module, the data processing module identifies the scanning information, sends the processed scanning information to the driving module through the controller (6), and drives the unmanned fresh load vehicle.
3. The unmanned aerial vehicle system of claim 1, wherein said data collection module is configured to collect vegetable market location information of vegetable markets in authorized jurisdictions and parking location information of specified parking areas, and send the location information to the data processing module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
4. The unmanned aerial vehicle driving system of claim 1, wherein the tracking identification module is configured to identify that the user terminal obtains the following information, and send the following information to the data processing module; the data processing module processes the following information, and sends the processed following information to the driving module through the controller (6) to drive the unmanned fresh-life loading vehicle to follow the user terminal.
5. The system of claim 1, wherein said location module is configured to collect vehicle location information of an unmanned farm produce carrier in an authorized jurisdiction and send the collected vehicle location information to the data processing module; the data processing module processes the vehicle position information and sends the vehicle position information to the route planning module; the authorized jurisdictions include, but are not limited to, commercial complexes, residential quarters, offices, scenic spots, airports, subways, and plaza areas.
6. The system of claim 4, wherein the route planning module comprises a calculation server for calculating the location information of the vegetable market and the unmanned vehicle by receiving the location information and the collected data information sent from the data processing module, obtaining the optimal route information, and sending the optimal route information to the data processing module; the data processing module sends the processed optimal route information to the driving module through the controller (6) to drive the unmanned fresh loading vehicle to run according to the optimal route.
7. The system of claim 1, wherein the automated obstacle avoidance module identifies road conditions, detects obstacles and automatically avoids obstacles by receiving the route information sent by the route planning module.
8. The system of claim 1, wherein said area management module comprises a computing server for receiving the location information and the collected data information sent by the data processing module, computing the location information of the specified parking area and the unmanned vehicle to obtain the return route information, and sending the return route information to the data processing module; the data processing module sends the processed return route information to the driving module through the controller (6), and the unmanned fresh loading vehicle is driven to return to the specified parking area according to the return route.
9. An unmanned automatic running method for a farmer market fresh loading vehicle is characterized by comprising the following steps:
s1, downloading an intelligent farmer market fresh unmanned automatic driving APP by a user, registering, scanning a two-dimensional code of an APP operation module, and starting an unmanned fresh loading vehicle;
s2, selecting following mode or automatic purchasing mode by the user, and when the following mode is selected, executing step S3; when the automatic purchase is selected, step S4 is performed;
s3, automatically identifying the position of the user terminal by the tracking identification module and purchasing dishes along with the user terminal;
s4, the fresh unmanned loading vehicle automatically goes to nearby or appointed vegetable market to buy vegetables;
and S5, the unmanned fresh loading vehicle finishes purchasing and returns to the specified parking area through the positioning module and the area management module.
10. The automated unmanned aerial vehicle transportation method of claim 9, wherein said step S4 further comprises the substeps of:
s401, a user issues a nearby purchase instruction or a place-appointed purchase instruction to an unmanned fresh loading vehicle, and sets a delivery place;
s402, starting a positioning module of the unmanned fresh loading vehicle to find a nearest purchase place or a designated purchase place;
s403, automatically planning a route by the unmanned fresh loading vehicle through the route planning module;
s404, the unmanned fresh loading vehicle drives to a purchasing place or a designated purchasing place through the automatic obstacle avoidance module;
s405, buying vegetables;
s406, the purchased good dishes are distributed to the delivery place.
11. The automated unmanned aerial vehicle transportation method of claim 10, wherein said step S404 further comprises the substeps of:
s4041, identifying traffic rules, driving at low speed, and only walking on sidewalks in authorized districts;
s4042, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
wherein the authorized jurisdictions include, but are not limited to, commercial complex, residential district, office district, scenic spot, airport, subway, and plaza area.
12. The automated unmanned aerial vehicle transportation method of claim 9, wherein said step S5 further comprises the substeps of:
s501, searching a nearest parking area for the unmanned fresh loading vehicle through a positioning module;
and S502, the unmanned fresh loading vehicle runs to the nearest parking area through the automatic obstacle avoidance module.
13. The automated unmanned aerial vehicle transportation method of claim 12, wherein said step S502 further comprises the substeps of:
s5021, identifying traffic rules, driving at low speed and only walking on sidewalks in authorized districts;
s5022, identifying walking to an appointed place by adopting a camera video algorithm mode in the process of walking on the sidewalk;
wherein the authorized jurisdictions include, but are not limited to, commercial complex, residential district, office district, scenic spot, airport, subway, and plaza area.
14. The automated unmanned aerial vehicle transportation method of claim 9, further comprising step S6: when the fresh load wagon of unmanned life needs to charge, look for nearest charging station through orientation module, the fresh load wagon of unmanned life passes through automatic obstacle avoidance module, travels to nearest charging station, charges.
15. The unmanned, automated farmer market live lift truck driving method of claim 14, wherein said charging station is located in an authorized jurisdiction, wherein said authorized jurisdiction includes but is not limited to a commercial complex, a residential district, an office district, a scenic spot, an airport, a subway, a square area.
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Address after: Room 102, No. 1, Xiaoshaoqing Village, Guangnan Community, Qidian Street, Zonghai Scenic Spot, Kunming, Yunnan 650000 Applicant after: Wisdom Ltd. Address before: No.777, section 4, Huafu Avenue, Southwest Airport Economic Development Zone, Shuangliu District, Chengdu, Sichuan Province 610000 Applicant before: Wisdom Ltd. |
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Application publication date: 20201023 |