CN113753142A - Passenger carrying system, method, equipment and storage medium for unmanned platform vehicle - Google Patents
Passenger carrying system, method, equipment and storage medium for unmanned platform vehicle Download PDFInfo
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- CN113753142A CN113753142A CN202110875689.2A CN202110875689A CN113753142A CN 113753142 A CN113753142 A CN 113753142A CN 202110875689 A CN202110875689 A CN 202110875689A CN 113753142 A CN113753142 A CN 113753142A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D47/00—Motor vehicles or trailers predominantly for carrying passengers
- B62D47/02—Motor vehicles or trailers predominantly for carrying passengers for large numbers of passengers, e.g. omnibus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D24/00—Connections between vehicle body and vehicle frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/30—Ground or aircraft-carrier-deck installations for embarking or disembarking passengers
- B64F1/31—Passenger vehicles specially adapted to co-operate, e.g. dock, with aircraft or terminal buildings
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Abstract
The invention provides a passenger carrying system, a method, equipment and a storage medium for an unmanned platform vehicle, wherein the system comprises: an unmanned platform vehicle; the passenger carrying carriage is provided with a vehicle door area and a vehicle axle at one side of the tail of the carriage; the auxiliary butt joint assemblies respectively support two sides of the passenger carrying carriages, each auxiliary butt joint assembly comprises a point cloud acquisition assembly and a carriage body supporting piece, and the carriage body supporting pieces lift the passenger carrying carriages to enable butt joint parts on one sides of the carriages at the bottoms of the passenger carrying carriages to be suspended with the ground to form butt joint spaces for the unmanned platform cars to enter; the point cloud acquisition component acquires point cloud data comprising the upper surface of the unmanned platform vehicle and the surface of the butt joint part, the auxiliary butt joint component moves the butt joint part to a preset position above the unmanned platform vehicle based on the point cloud data, releases the passenger carrying compartment and mechanically butt joints the passenger carrying compartment to the unmanned platform vehicle. The invention can realize the butt joint of the unmanned platform vehicle and the passenger carrying vehicle box, expands the use function of the unmanned platform vehicle and can realize the quick unmanned electricity change of the passenger carrying system.
Description
Technical Field
The invention relates to the field of unmanned transportation of passenger boxes, in particular to the whole vehicle arrangement of an electrically-driven flat vehicle.
Background
With the rapid development of container transportation industry in automated docks, airports and large parks, in order to improve the operation efficiency and enhance the capacity of container or personnel transportation, an advanced scientific production organization system and reliable and efficient automatic loading and unloading equipment are required, more goods and personnel need to be transported, and the efficiency and the quality of transportation are very important.
At present, unmanned vehicles based on port areas are generally specially developed, for example: the universal type is almost zero, once the vehicle is not electrified, the whole vehicle needs to be charged, and the turnover efficiency of the equipment is not high.
Accordingly, the present invention provides an unmanned platform vehicle passenger carrying system, method, apparatus and storage medium.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a passenger carrying system, a method, equipment and a storage medium for an unmanned platform vehicle, which overcome the difficulties in the prior art, can realize the butt joint of the unmanned platform vehicle and a passenger carrying carriage, expand the use function of the unmanned platform vehicle and realize the rapid unmanned electricity change of the passenger carrying system.
An embodiment of the present invention provides an unmanned platform vehicle passenger carrying system, including: at least one unmanned platform vehicle for carrying the container and at least one unmanned transfer device;
an unmanned platform vehicle;
the passenger carrying compartment is characterized in that a vehicle door area and a vehicle axle are arranged on one side of the tail of the passenger carrying compartment at the bottom; and
the auxiliary docking assemblies comprise point cloud acquisition assemblies and vehicle body supporting pieces, and the vehicle body supporting pieces lift the passenger compartment to enable a docking part on one side of the vehicle head at the bottom of the passenger compartment to be suspended with the ground to form a docking space for the unmanned platform vehicle to enter; the collection of point cloud collection component contains the point cloud data on the upper surface of unmanned platform car and butt joint portion surface, supplementary butt joint subassembly will based on point cloud data the butt joint portion removes the default position of unmanned platform car top, and release the passenger carriage will through the plug connector the passenger carriage is at least mechanically docked in unmanned platform car.
Preferably, the butt joint part is provided with a power connection joint, the upper surface of the unmanned platform vehicle is provided with a power transmission joint, and when the passenger carrying compartment is mechanically butted to the unmanned platform vehicle, the built-in battery of the unmanned platform vehicle supplies power to the passenger carrying compartment sequentially through the power transmission joint and the power connection joint.
Preferably, the vehicle body supporting part drives the passenger carrying box to move in the horizontal direction based on the fact that the auxiliary butt joint component has an adjusting stroke moving in the horizontal direction, and the vehicle body supporting part is matched with the preset position above the unmanned platform vehicle.
Preferably, the point cloud collection component comprises a laser radar, scans point cloud data in the docking space, and generates a first plane based on the upper surface of the unmanned platform vehicle in the point cloud data and generates a second plane based on the lower surface of the docking part;
the auxiliary docking assembly moves the passenger carrying carriages to enable the first plane in the same space coordinate system to be parallel to and cover the second plane.
Preferably, the laser radars are respectively arranged on one side of the auxiliary docking assembly facing the passenger compartment.
Preferably, a first plane parallel to a horizontal plane is fitted in the point cloud data based on the point clouds located in the upper half in the vertical direction, the sum of distances from all the point clouds in the upper half to the first plane is minimized, a second plane parallel to the horizontal plane is fitted based on the point cloud data located in the lower half in the vertical direction, and the sum of distances from all the point clouds in the lower half to the second plane is minimized.
Preferably, the length and the width of the butt joint part based on the horizontal plane are respectively matched with the length and the width of the unmanned platform vehicle based on the horizontal plane.
Preferably, a first rectangular area is formed on the basis of the projection of the point cloud of the upper half part on the first plane, a second rectangular area is formed on the basis of the projection of the point cloud of the lower half part on the second plane, the passenger carriage is translated, and the passenger carriage is released to be in butt joint with the unmanned platform vehicle after the projection of the first rectangular area on the basis of the second plane is overlapped with the second rectangular area.
Preferably, a set of said auxiliary docking assemblies comprises two independently movable auxiliary docking assemblies;
the system comprises a plurality of auxiliary docking assemblies, a point cloud acquisition assembly, a neural network model, a point cloud correction assembly and a three-dimensional coordinate system plane, wherein the point cloud acquisition assembly of each auxiliary docking assembly scans to obtain point cloud data, the point cloud data are identified from the point cloud data to obtain point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle, the lower surface of the docking portion and the opposite auxiliary docking assembly, the point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle and the lower surface of the docking portion are corrected according to the point cloud sets corresponding to the opposite auxiliary docking assemblies, and the two point cloud sets obtained by the auxiliary docking assemblies and corresponding to the upper surface of the unmanned platform vehicle and the lower surface of the docking portion are guided into the same three-dimensional coordinate system plane for alignment.
The embodiment of the invention also provides a passenger carrying method of the unmanned platform vehicle, which adopts the passenger carrying system of the unmanned platform vehicle and comprises the following steps:
s101, inserting the auxiliary docking assemblies into two sides of the passenger carriage to lift the passenger carriage to form a docking space;
s102, driving the unmanned platform vehicle into the docking space;
s103, collecting point cloud data comprising the upper surface and the surface of the butt joint part of the unmanned platform vehicle;
s104, the auxiliary docking component moves the docking part to a preset position above the unmanned platform vehicle based on the point cloud data;
s105, releasing the butt joint part, and mechanically butting the passenger carrying box at least to the unmanned platform car through the plug connector.
An embodiment of the present invention also provides a passenger-carrying device for an unmanned aerial vehicle, including:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the above-described unmanned platform vehicle passenger method via execution of the executable instructions.
Embodiments of the present invention also provide a computer-readable storage medium storing a program that, when executed, performs the steps of the above-described method for loading passengers in an unmanned aerial vehicle.
The invention aims to provide a passenger carrying system, a passenger carrying method, passenger carrying equipment and a storage medium for an unmanned platform vehicle, which can realize the butt joint of the unmanned platform vehicle and a passenger carrying carriage, expand the use function of the unmanned platform vehicle and realize the rapid unmanned electricity change of the passenger carrying system.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a perspective view of the unmanned platform vehicle passenger carrying system of the present invention.
Fig. 2 is an exploded view of the unmanned flatcar passenger system of the present invention.
Fig. 3 is a combined schematic view of the unmanned platform vehicle passenger carrying system of the invention.
Fig. 4 is a top view of the combined unmanned flatcar passenger system of the present invention.
Fig. 5 is a sectional view taken along the line a-a in fig. 4.
Fig. 6 is a schematic view of the docking space into which the unmanned aerial vehicle drives in the unmanned aerial vehicle passenger system of the present invention.
Fig. 7 is a schematic view of the docking of the unmanned flatcar with the passenger compartment in the unmanned flatcar passenger system of the present invention.
Fig. 8 is a sectional view taken along line B-B in fig. 7.
Fig. 9 is a schematic view of obtaining a first plane and a second plane by plane fitting in the unmanned flatcar passenger system of the present invention.
Fig. 10 is a schematic view of an evacuation assistance docking assembly in the unmanned flatbed vehicle passenger system of the present invention.
Fig. 11 is a flow diagram illustrating a method of carrying passengers in an unmanned platform vehicle embodying the present invention.
Fig. 12 is a schematic structural view of the unmanned flatcar passenger device of the present invention.
Fig. 13 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
Reference numerals
1 unmanned platform vehicle
11 power transmission joint
2 passenger carriage
21 electric connector
22 axle
23 butt joint part
3 supplementary butt joint subassembly
31 point cloud acquisition assembly
32 vehicle body support
4 plug connector
5 butt joint space
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware forwarding modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In addition, the flow shown in the drawings is only an exemplary illustration, and not necessarily includes all the steps. For example, some steps may be divided, some steps may be combined or partially combined, and the actual execution sequence may be changed according to the actual situation. The use of "first," "second," and similar terms in the detailed description is not intended to imply any order, quantity, or importance, but rather is used to distinguish one element from another. It should be noted that features of the embodiments of the invention and of the different embodiments may be combined with each other without conflict.
Fig. 1 is a perspective view of the unmanned platform vehicle passenger carrying system of the present invention. Fig. 2 is an exploded view of the unmanned flatcar passenger system of the present invention. Fig. 3 is a combined schematic view of the unmanned platform vehicle passenger carrying system of the invention. Fig. 4 is a top view of the combined unmanned flatcar passenger system of the present invention. Fig. 5 is a sectional view taken along the line a-a in fig. 4. As shown in fig. 1 to 5, the unmanned flat car passenger system 1 of the present invention includes: the automatic passenger-carrying vehicle comprises an unmanned platform vehicle 1, a passenger carrying vehicle box 2 and a group of auxiliary butt joint assemblies 3, wherein a vehicle door area and an axle 22 are arranged on one side of the tail of the vehicle at the bottom of the passenger carrying vehicle box 2. The auxiliary docking assembly 3 may be a pair of column docking assemblies fixed to the ground, and the unmanned platform vehicle 1 and the passenger compartment 2 are located between the columns for docking, but not limited thereto. The auxiliary butt joint component 3 supports two sides of the passenger carrying box 2 respectively, the auxiliary butt joint component comprises a point cloud collecting component 31 and a vehicle body supporting piece 32, and the vehicle body supporting piece 32 lifts the passenger carrying box 2 to enable a butt joint part 23 on one side of the vehicle head at the bottom of the passenger carrying box 2 to be suspended with the ground to form a butt joint space 5 for the unmanned platform vehicle 1 to enter. The height from the ground of the point cloud collection component 31 is lower than the height from the ground of the docking portion 23, so that the point cloud collection component 31 can scan the upper surface of the unmanned platform vehicle 1 and the surface of the docking portion 23 at the same time. The point cloud collection component 31 collects point cloud data including the upper surface of the unmanned platform vehicle 1 and the surface of the docking portion 23, the auxiliary docking component 3 moves the docking portion 23 to a preset position above the unmanned platform vehicle 1 based on the point cloud data, releases the passenger compartment 2, and mechanically docks the passenger compartment 2 to the unmanned platform vehicle 1 at least through the plug connector 4. The passenger carrying system of the unmanned platform vehicle can realize the butt joint of the unmanned platform vehicle and the passenger carrying carriage, expands the use function of the unmanned platform vehicle and can realize the quick unmanned electricity change of the passenger carrying system.
In a preferred embodiment, the docking portion 23 is provided with a power connector 21, the upper surface of the unmanned platform vehicle 1 is provided with a power connector 11, and when the passenger compartment 2 is mechanically docked with the unmanned platform vehicle 1, the built-in battery of the unmanned platform vehicle 1 supplies power to the passenger compartment 2 through the power connector 11 and the power connector 21 in sequence, but not limited thereto.
In a preferred embodiment, the car body supporting member 32 drives the passenger compartment 2 to move horizontally based on the adjustment stroke of the auxiliary docking assembly 3, which is configured to move horizontally, matching with the preset position above the unmanned platform car 1, but not limited thereto.
In a preferred embodiment, the point cloud collecting component 31 includes a laser radar, which is respectively disposed on the side of the auxiliary docking component 3 facing the passenger compartment 2, scans the point cloud data in the docking space 5, and generates a first plane based on the upper surface of the unmanned platform vehicle 1 in the point cloud data and a second plane based on the lower surface of the docking portion. The auxiliary docking assembly 3 moves the passenger compartment 2 such that the first plane in the same spatial coordinate system is parallel to and covers the second plane, but not limited thereto.
In a preferred embodiment, a first plane parallel to the horizontal plane is fitted based on point clouds located in the upper half of the vertical direction in the point cloud data, the sum of distances from all point clouds in the upper half to the first plane is minimized, a second plane parallel to the horizontal plane is fitted based on point cloud data located in the lower half of the vertical direction, and the sum of distances from all point clouds in the lower half to the second plane is minimized, but not limited thereto. The point cloud in the upper half and the point cloud in the lower half are formed by dividing the point cloud in the middle in the vertical direction, and because the upper surface of the unmanned platform vehicle 1 and the surface of the butt joint part 23 are both in a plane form, a plane obtained by fitting the point cloud in the upper half is a first plane representing the surface of the butt joint part 23, and a plane obtained by fitting the point cloud in the lower half and the upper half is a second plane representing the upper surface of the unmanned platform vehicle 1.
In a preferred embodiment, the length and width of the docking portion 23 based on the horizontal plane are matched with those of the unmanned flatcar 1 based on the horizontal plane respectively. Forming a first rectangular area based on the projection of the point cloud of the upper half part on a first plane, forming a second rectangular area based on the projection of the point cloud of the lower half part on a second plane, translating the passenger carrying compartment 2, enabling the projection of the first rectangular area based on the second plane to be superposed with the second rectangular area, and then releasing the passenger carrying compartment 2 to be butted with the unmanned platform vehicle 1. the invention obtains the first rectangular area representing the surface of the butting part 23 through projecting the point cloud of the upper half part on the dense area of the first plane, obtains the second rectangular area representing the upper surface of the unmanned platform vehicle 1 through projecting the point cloud of the lower half part on the dense area of the second plane, then detects the position relation between the first rectangular area and the second rectangular area in the process of moving the passenger carrying compartment 2 in real time, so that the first rectangular area and the second rectangular area are overlapped, and then the butting part 23 of the passenger carrying compartment 2 is positioned right above the upper surface of the unmanned platform vehicle 1, through vertically lowering the passenger carriage 2, the passenger carriage 2 is accurately butted with the unmanned platform vehicle 1, and the electric connection joint 21 of the butting part 23 and the electric transmission joint 11 on the upper surface of the unmanned platform vehicle 1 are synchronously and electrically connected while the passenger carriage 2 is butted with the unmanned platform vehicle 1.
In a preferred embodiment, the set of auxiliary docking assemblies 3 comprises two independently movable auxiliary docking assemblies 3. The point cloud acquisition component 31 of each auxiliary docking component 3 scans to obtain point cloud data, and identifies from the point cloud data based on a neural network model to obtain point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1, the lower surface of the docking portion and the opposite auxiliary docking components 3, corrects the point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion according to the point cloud sets corresponding to the opposite auxiliary docking components 3, and guides the point cloud sets of the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion obtained by the two auxiliary docking components 3 into the same stereo coordinate system plane for alignment.
In a preferred embodiment, the point cloud collecting component is a binocular camera device, collects images including the upper surface and the surface of the docking portion of the unmanned platform vehicle, calculates a parallax matrix according to the left image and the right image obtained at the same time, and forms point cloud data, but not limited thereto.
Fig. 6 is a schematic view of the docking space into which the unmanned aerial vehicle drives in the unmanned aerial vehicle passenger system of the present invention. As shown in fig. 6, the unmanned platform vehicle passenger system 1 of the present invention includes: the automatic passenger-carrying vehicle comprises an unmanned platform vehicle 1, a passenger carrying vehicle box 2 and a group of auxiliary butt joint assemblies 3, wherein a vehicle door area and an axle 22 are arranged on one side of the tail of the vehicle at the bottom of the passenger carrying vehicle box 2. The auxiliary butt joint component 3 supports two sides of the passenger carrying box 2 respectively, the auxiliary butt joint component comprises a point cloud collecting component 31 and a vehicle body supporting piece 32, the vehicle body supporting piece 32 lifts the passenger carrying box 2, and a butt joint part 23 is formed on the bottom surface of the vehicle head side of the bottom of the passenger carrying box 2. The car body supporting part 32 has an adjusting stroke moving in the horizontal direction based on the auxiliary docking assembly 3, and drives the passenger compartment 2 to move in the horizontal direction, and the adjusting stroke is matched with a preset position above the unmanned platform car 1. In this embodiment, the auxiliary docking assembly 3 may be a robot that can move independently and has an automatic navigation function, and can reach both sides of the passenger compartment 2 that is docked with the unmanned platform vehicle 1 by way of the master and slave based on a remote instruction, and then insert both sides of the bottom of the passenger compartment 2 by way of the vehicle body supporting member 32, lift up the passenger compartment 2, so that the docking portion 23 of the vehicle head side of the bottom of the passenger compartment 2 is suspended from the ground, and a docking space 5 is formed for the unmanned platform vehicle 1 to enter.
Fig. 7 is a schematic view of the docking of the unmanned flatcar with the passenger compartment in the unmanned flatcar passenger system of the present invention. Fig. 8 is a sectional view taken along line B-B in fig. 7. As shown in fig. 7 and 8, the point cloud collecting component 31 collects point cloud data including the upper surface of the unmanned aerial vehicle 1 and the surface of the docking portion 23, the auxiliary docking component 3 moves the docking portion 23 to a preset position above the unmanned aerial vehicle 1 based on the point cloud data, and the length and the width of the docking portion 23 based on the horizontal plane are respectively matched with the length and the width of the unmanned aerial vehicle 1 based on the horizontal plane. The point cloud collection component 31 of each auxiliary docking component 3 scans to obtain point cloud data, and identifies from the point cloud data based on a neural network model to obtain point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1, the lower surface of the docking portion and the opposite auxiliary docking components 3, corrects the point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion according to the point cloud sets corresponding to the opposite auxiliary docking components 3, and guides the point cloud sets of the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion obtained by the two auxiliary docking components 3 into the same stereo coordinate system plane. The point cloud collection component 31 includes a laser radar, which is respectively disposed on one side of the auxiliary docking component 3 facing the passenger compartment 2, scans the point cloud data in the docking space 5, and generates a first plane based on the upper surface of the unmanned platform car 1 in the point cloud data and a second plane based on the lower surface of the docking portion. The auxiliary docking assembly 3 moves the passenger carriage 2 to make the first plane in the same space coordinate system parallel and cover the second plane. A first plane parallel to the horizontal plane is fitted based on upper point clouds in the point cloud data, so that the sum of distances from all upper point clouds to the first plane is minimized, a second plane parallel to the horizontal plane is fitted based on lower point cloud data, and the sum of distances from all lower point clouds to the second plane is minimized.
Fig. 9 is a schematic view of obtaining a first plane and a second plane by plane fitting in the unmanned flatcar passenger system of the present invention. Fig. 10 is a schematic view of an evacuation assistance docking assembly in the unmanned flatbed vehicle passenger system of the present invention. Referring to fig. 7, 8, 9 and 10, in the present embodiment, the point cloud of the upper half area 35 is used as the upper point cloud, and the point cloud of the lower half area 36 is used as the lower point cloud, but the invention is not limited thereto. In the point cloud data, a first plane 37 parallel to the horizontal plane is fitted based on the point clouds in the upper half area 35 in the vertical direction, the sum of distances from all the point clouds in the upper half area 35 to the first plane 37 is minimized, a second plane 38 parallel to the horizontal plane is fitted based on the point cloud 36 data in the lower half area in the vertical direction, and the sum of distances from all the point clouds 36 in the lower half area to the second plane 38 is minimized, but not limited thereto. The point cloud in the upper half area 35 and the point cloud in the lower half area 36 are formed by dividing the point cloud in the middle of the vertical direction, and since the upper surface of the unmanned platform wagon 1 and the surface of the butt joint part 23 are both in a plane form, a plane obtained by fitting the point cloud in the upper half area 35 is a first plane 37 representing the surface of the butt joint part 23, and a plane obtained by fitting the point cloud in the lower upper half area 35 is a second plane 38 representing the upper surface of the unmanned platform wagon 1. The length and the width of the butt joint part 23 based on the horizontal plane in the embodiment are respectively matched with the length and the width of the unmanned platform vehicle 1 based on the horizontal plane. Forming a first rectangular area based on the projection of the point cloud in the upper half area 35 on the first plane 37, forming a second rectangular area based on the projection of the point cloud in the lower half area 36 on the second plane 38, translating the passenger compartment 2, making the projection of the first rectangular area based on the second plane 38 coincide with the second rectangular area, and releasing the passenger compartment 2 to be docked with the unmanned platform vehicle 1. the present invention obtains the first rectangular area (not shown in the figure) representing the surface of the docking portion 23 by projecting the point cloud in the upper half area 35 on the dense area of the first plane 37, obtains the second rectangular area (not shown in the figure) representing the upper surface of the unmanned platform vehicle 1 by projecting the point cloud in the lower half area 36 on the dense area of the second plane 38, and then detects the position relationship between the first rectangular area and the second rectangular area in real time during the process of moving the passenger compartment 2, make both superposes, then the butt joint portion 23 of passenger carriage 2 is located directly over unmanned platform truck 1 upper surface this moment, through putting passenger carriage 2 perpendicularly down for passenger carriage 2 and unmanned platform truck 1 accurate butt joint, when passenger carriage 2 docks with unmanned platform truck 1, also realize that the synchronous electricity of the power transmission joint 11 of the upper surface of butt joint portion 23 connects with the power transmission joint 21 of unmanned platform truck 1. The bottom surface of the vehicle head side of the bottom of the passenger carrying vehicle box 2 forms a butt joint part 23, the butt joint part 23 is provided with a power connection joint 21, the upper surface of the unmanned platform vehicle 1 is provided with a power transmission joint 11, when the passenger carrying vehicle box 2 is in butt joint with the unmanned platform vehicle 1, the passenger carrying vehicle box 2 is controlled to move horizontally through point cloud data of the point cloud acquisition component 31, the first plane is parallel to cover the second plane, and the power connection joint 21 is ensured to be positioned right above the power transmission joint 11, the passenger carrying vehicle box 2 is released, the passenger carrying vehicle box 2 falls down based on gravity, the butt joint part 23 is in press joint with the upper surface of the unmanned platform vehicle 1, meanwhile, the power connection joint 21 is in butt joint with the power connection joint 21, connection of the unmanned platform vehicle 1 and the electric appliance of the passenger carrying vehicle box 2 is achieved, and then the auxiliary butt joint component 3 leaves the passenger carrying vehicle box 2. And finally, mechanically butting the passenger carrying compartment 2 with the unmanned platform vehicle 1 through the plug connector 4 to complete mechanical connection. At this time, the built-in battery of the unmanned platform vehicle 1 can supply power to the passenger compartment 2 sequentially through the power supply circuit formed by the power transmission joint 11 and the power connection joint 21, and thus the electrical connection is completed. In this embodiment, the mechanical connection and the electrical connection are realized simultaneously in a stroke of vertically lowering the passenger compartment 2. Thereby realize under the passenger carrying state (unmanned platform vehicle 1 and the combination of a passenger carriage 2), when unmanned platform vehicle 1 electric energy exhausts, can let the unmanned platform vehicle 1 that does not have the electricity leave through lifting up passenger carriage 2, then replace another unmanned platform vehicle 1 that fully charges to realize passenger carriage 2's the biggest efficiency and use, avoided needing the whole defect of waiting for to carry out the charging of vehicle in the past. According to the invention, through function division, the unmanned platform vehicle 1 takes charge of power and energy storage, and the passenger carrying compartment 2 is used as a driven functional plug-in for carrying passengers. Of course, after the passenger carrying compartment 2 is replaced by a container, a crane, an excavator and other parts, the expansion of more use scenes can be realized.
Fig. 11 is a flow diagram illustrating a method of carrying passengers in an unmanned platform vehicle embodying the present invention. As shown in fig. 11, an embodiment of the present invention provides a method for loading passengers in an unmanned platform vehicle, which uses the above-mentioned passenger loading system for an unmanned platform vehicle (see fig. 1), and includes the following steps:
s101, inserting the auxiliary butt joint assemblies into two sides of the passenger carriage, and lifting the passenger carriage to form a butt joint space.
S102, driving the unmanned platform vehicle into the docking space.
S103, point cloud data including the upper surface and the surface of the butt joint part of the unmanned platform vehicle are collected.
And S104, the auxiliary docking component moves the docking part to a preset position above the unmanned platform vehicle based on the point cloud data.
And S105, releasing the butting part, and mechanically butting at least the passenger carriage to the unmanned platform vehicle through the plug connector.
In a preferred embodiment, the docking portion 23 is provided with a power connector 21, the upper surface of the unmanned platform vehicle 1 is provided with a power connector 11, and when the passenger compartment 2 is mechanically docked with the unmanned platform vehicle 1, the built-in battery of the unmanned platform vehicle 1 supplies power to the passenger compartment 2 through the power connector 11 and the power connector 21 in sequence, but not limited thereto.
In a preferred embodiment, the car body supporting member 32 drives the passenger compartment 2 to move horizontally based on the adjustment stroke of the auxiliary docking assembly 3, which is configured to move horizontally, matching with the preset position above the unmanned platform car 1, but not limited thereto.
In a preferred embodiment, the point cloud collecting component 31 includes a laser radar, which is respectively disposed on the side of the auxiliary docking component 3 facing the passenger compartment 2, scans the point cloud data in the docking space 5, and generates a first plane based on the upper surface of the unmanned platform vehicle 1 in the point cloud data and a second plane based on the lower surface of the docking portion. The auxiliary docking assembly 3 moves the passenger compartment 2 such that the first plane in the same spatial coordinate system is parallel to and covers the second plane, but not limited thereto.
In a preferred embodiment, a first plane parallel to the horizontal plane is fitted based on point clouds located in the upper half of the vertical direction in the point cloud data, the sum of distances from all point clouds in the upper half to the first plane is minimized, a second plane parallel to the horizontal plane is fitted based on point cloud data located in the lower half of the vertical direction, and the sum of distances from all point clouds in the lower half to the second plane is minimized, but not limited thereto. The point cloud in the upper half and the point cloud in the lower half are formed by dividing the point cloud in the middle in the vertical direction, and because the upper surface of the unmanned platform vehicle 1 and the surface of the butt joint part 23 are both in a plane form, a plane obtained by fitting the point cloud in the upper half is a first plane representing the surface of the butt joint part 23, and a plane obtained by fitting the point cloud in the lower half and the upper half is a second plane representing the upper surface of the unmanned platform vehicle 1.
In a preferred embodiment, the length and width of the docking portion 23 based on the horizontal plane are matched with those of the unmanned flatcar 1 based on the horizontal plane respectively. Forming a first rectangular area based on the projection of the point cloud of the upper half part on a first plane, forming a second rectangular area based on the projection of the point cloud of the lower half part on a second plane, translating the passenger carrying compartment 2, enabling the projection of the first rectangular area based on the second plane to be superposed with the second rectangular area, and then releasing the passenger carrying compartment 2 to be butted with the unmanned platform vehicle 1. the invention obtains the first rectangular area representing the surface of the butting part 23 through projecting the point cloud of the upper half part on the dense area of the first plane, obtains the second rectangular area representing the upper surface of the unmanned platform vehicle 1 through projecting the point cloud of the lower half part on the dense area of the second plane, then detects the position relation between the first rectangular area and the second rectangular area in the process of moving the passenger carrying compartment 2 in real time, so that the first rectangular area and the second rectangular area are overlapped, and then the butting part 23 of the passenger carrying compartment 2 is positioned right above the upper surface of the unmanned platform vehicle 1, through vertically lowering the passenger carriage 2, the passenger carriage 2 is accurately butted with the unmanned platform vehicle 1, and the electric connection joint 21 of the butting part 23 and the electric transmission joint 11 on the upper surface of the unmanned platform vehicle 1 are synchronously and electrically connected while the passenger carriage 2 is butted with the unmanned platform vehicle 1.
In a preferred embodiment, the set of auxiliary docking assemblies 3 comprises two independently movable auxiliary docking assemblies 3. The point cloud acquisition component 31 of each auxiliary docking component 3 scans to obtain point cloud data, and identifies from the point cloud data based on a neural network model to obtain point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1, the lower surface of the docking portion and the opposite auxiliary docking components 3, corrects the point cloud sets respectively corresponding to the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion according to the point cloud sets corresponding to the opposite auxiliary docking components 3, and guides the point cloud sets of the upper surface of the unmanned platform vehicle 1 and the lower surface of the docking portion obtained by the two auxiliary docking components 3 into the same stereo coordinate system plane for alignment.
In a preferred embodiment, the point cloud collecting component is a binocular camera device, collects images including the upper surface and the surface of the docking portion of the unmanned platform vehicle, calculates a parallax matrix according to the left image and the right image obtained at the same time, and forms point cloud data, but not limited thereto.
The passenger carrying method of the unmanned platform vehicle can realize the butt joint of the unmanned platform vehicle and the passenger carrying carriage, expands the use function of the unmanned platform vehicle and can realize the quick unmanned electricity change of the passenger carrying system.
The embodiment of the invention also provides passenger carrying equipment of the unmanned platform vehicle, which comprises a processor. A memory having stored therein executable instructions of the processor. Wherein the processor is configured to perform the steps of the unmanned platform vehicle passenger method via execution of executable instructions.
As described above, the passenger carrying system of the unmanned aerial vehicle according to the embodiment of the present invention can realize docking between the unmanned aerial vehicle and the passenger carrying box, expand the use function of the unmanned aerial vehicle, and realize fast unmanned battery replacement of the passenger carrying system.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" platform.
Fig. 12 is a schematic structural view of the unmanned flatcar passenger device of the present invention. An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 12. The electronic device 600 shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 12, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one memory unit 620, a bus 630 connecting the different platform components (including the memory unit 620 and the processing unit 610), a display unit 640, etc.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of the present specification. For example, processing unit 610 may perform the steps as shown in fig. 11.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms, to name a few.
The embodiment of the invention also provides a computer readable storage medium for storing a program, and the steps of the unmanned platform vehicle passenger carrying method are realized when the program is executed. In some possible embodiments, the aspects of the present invention may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned electronic prescription flow processing method section of this specification, when the program product is run on the terminal device.
As described above, the passenger carrying system of the unmanned aerial vehicle according to the embodiment of the present invention can realize docking between the unmanned aerial vehicle and the passenger carrying box, expand the use function of the unmanned aerial vehicle, and realize fast unmanned battery replacement of the passenger carrying system.
Fig. 13 is a schematic structural diagram of a computer-readable storage medium of the present invention. Referring to fig. 13, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In summary, the present invention provides a system, a method, a device and a storage medium for carrying passengers by an unmanned platform vehicle, which can realize the docking between the unmanned platform vehicle and the passenger carrying carriage, expand the use function of the unmanned platform vehicle and realize the rapid unmanned battery replacement of the passenger carrying system.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (12)
1. An unmanned platform vehicle passenger system, comprising:
an unmanned platform vehicle (1);
the passenger carrying compartment (2), one side of the rear of the vehicle at the bottom of the passenger carrying compartment (2) is provided with a vehicle door area and a vehicle axle (22); and
the auxiliary butt joint assemblies (3) respectively support two sides of the passenger carrying carriages (2), each auxiliary butt joint assembly comprises a point cloud acquisition assembly (31) and a vehicle body supporting piece (32), and the vehicle body supporting pieces (32) lift the passenger carrying carriages (2) to enable butt joint parts (23) on the vehicle head side of the bottoms of the passenger carrying carriages (2) to be suspended with the ground to form butt joint spaces (5) for the unmanned platform vehicles (1) to enter; the collection of point cloud collection component (31) contains the upper surface of unmanned platform car (1) and the point cloud data on butt joint portion (23) surface, supplementary butt joint subassembly (3) are based on point cloud data will butt joint portion (23) remove the preset position of unmanned platform car (1) top, and release passenger carriage (2), will through plug connector (4) passenger carriage (2) machinery butt joint in unmanned platform car (1) at least.
2. The unmanned flatcar passenger system according to claim 1, wherein the docking portion (23) is provided with a power connection joint (21), the upper surface of the unmanned flatcar (1) is provided with a power transmission joint (11), and when the passenger car body (2) is mechanically docked to the unmanned flatcar (1), the built-in battery of the unmanned flatcar (1) supplies power to the passenger car body (2) through the power transmission joint (11) and the power connection joint (21) in sequence.
3. The unmanned flatcar passenger system according to claim 1, characterized in that the car body support member (32) drives the passenger compartment (2) to perform a displacement in a horizontal direction based on an adjustment stroke that the auxiliary docking assembly (3) has to move in a horizontal direction, matching with a preset position above the unmanned flatcar (1).
4. The unmanned flatcar passenger system of claim 1, wherein the point cloud collection component (31) comprises a laser radar, scans point cloud data in the docking space (5), generates a first plane based on an upper surface of the unmanned flatcar (1) in the point cloud data and generates a second plane based on a lower surface of the docking portion;
the auxiliary butt joint component (3) moves the passenger carrying box (2) to enable the first plane in the same space coordinate system to be parallel to and cover the second plane.
5. The unmanned flatcar passenger system according to claim 4, wherein the lidar is respectively disposed at a side of the auxiliary docking assembly (3) facing the passenger compartment (2).
6. The unmanned flatbed vehicle passenger conveying system of claim 4, wherein in the point cloud data, a first plane parallel to a horizontal plane is fitted based on upper point clouds located in a vertical direction, a sum of distances to the first plane for all the upper point clouds is minimized, and a second plane parallel to the horizontal plane is fitted based on lower point clouds located in a vertical direction, and a sum of distances to the second plane for all the lower point clouds is minimized.
7. The unmanned flatcar passenger system of claim 6, wherein the docking portion (23) has a length and a width based on a horizontal plane that match a length and a width based on a horizontal plane of the unmanned flatcar (1), respectively.
8. The unmanned flatbed vehicle passenger system of claim 7, wherein a first rectangular area is formed based on the projection of the upper point cloud on the first plane, a second rectangular area is formed based on the projection of the lower point cloud on the second plane, the passenger compartment (2) is translated, and the passenger compartment (2) is released from docking with the unmanned flatbed vehicle (1) after the first rectangular area is overlapped with the second rectangular area based on the projection of the second plane.
9. The unmanned flatcar passenger system of claim 1, wherein a set of the auxiliary docking assemblies (3) comprises two independently movable auxiliary docking assemblies (3);
the method comprises the steps that point cloud acquisition components (31) of each auxiliary docking component (3) scan to obtain point cloud data, point cloud sets of the auxiliary docking components (3) corresponding to the upper surface of the unmanned platform vehicle (1), the lower surface of a docking portion and the opposite side are obtained by identifying the point cloud data based on a neural network model, the point cloud sets corresponding to the upper surface of the unmanned platform vehicle (1) and the lower surface of the docking portion respectively are corrected according to the point cloud sets corresponding to the auxiliary docking components (3) on the opposite side, the point cloud sets corresponding to the upper surface of the unmanned platform vehicle (1) and the lower surface of the docking portion obtained by the two auxiliary docking components (3) are guided into the same stereo coordinate system plane, and alignment is carried out.
10. A method of loading passengers in an unmanned flat car using the unmanned flat car passenger loading system according to claim 1, comprising:
s101, inserting the auxiliary docking assemblies into two sides of the passenger carriage to lift the passenger carriage to form a docking space;
s102, driving the unmanned platform vehicle into the docking space;
s103, collecting point cloud data comprising the upper surface and the surface of the butt joint part of the unmanned platform vehicle;
s104, the auxiliary docking component moves the docking part to a preset position above the unmanned platform vehicle based on the point cloud data;
s105, releasing the butt joint part, and mechanically butting the passenger carrying box at least to the unmanned platform car through the plug connector.
11. An unmanned platform vehicle passenger-carrying device, comprising:
a processor;
a memory having stored therein executable instructions of the processor;
wherein the processor is configured to perform the steps of the unmanned platform vehicle passenger method of claim 10 via execution of the executable instructions.
12. A computer readable storage medium storing a program which when executed by a processor performs the steps of the unmanned platform vehicle passenger loading method of claim 10.
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