CN209852236U - Environment sensing device for unmanned truck - Google Patents
Environment sensing device for unmanned truck Download PDFInfo
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- CN209852236U CN209852236U CN201920288541.7U CN201920288541U CN209852236U CN 209852236 U CN209852236 U CN 209852236U CN 201920288541 U CN201920288541 U CN 201920288541U CN 209852236 U CN209852236 U CN 209852236U
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Abstract
The utility model provides an unmanned truck environment perception device, include: the system comprises a 4-line laser radar, at least two 16-line laser radars, a long-range millimeter wave radar, at least two short-range millimeter wave radars, at least two vehicle exterior cameras and at least two GPS (global positioning system) antennas, wherein the 4-line laser radar and the long-range millimeter wave radar are both installed right in front of the truck head, the 16-line laser radars are respectively installed on the left side and the right side of the truck body, the short-range millimeter wave radars are respectively installed on the left side and the right side of the truck head, the vehicle exterior cameras are respectively installed below the left side and the right side rearview mirrors of the truck, and the GPS antennas are all installed on; the device combination utilizes various sensors to sense and position the position of the vehicle, accurately and effectively detects lane marking lines and ground obstacles in the advancing direction of the unmanned truck, and effectively improves the operation efficiency and the operation safety of the unmanned truck in various scenes.
Description
Technical Field
The utility model relates to an unmanned technical field, more specifically relates to an unmanned truck environment perception device.
Background
The unmanned truck can greatly improve the current situation of traffic safety, reduce the safety risk of truck drivers, greatly reduce the logistics transportation cost and promote the further development of the logistics industry. The unmanned truck as a land wheeled robot has great similarity with a common robot and is greatly different from the common robot. Unmanned trucks require the ability to perform road travel, precise parking, obstacle avoidance, and other actions without human intervention, which requires sensors to be mounted at different locations on the truck. In the prior art, a single sensor is usually adopted, and the detection precision and the detection effect have great defects.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned truck environment perception device, it is not enough to solve the above-mentioned that prior art exists, and the position of various sensor perception location vehicles is utilized in the combination, detects lane marking line and subaerial barrier on the unmanned truck direction of advance effectively to the accuracy, has effectively improved the operating efficiency and the operation safety of unmanned truck under the various scenes of using.
In order to achieve the above object, the utility model provides an unmanned truck environment sensing device, include: the system comprises a 4-line laser radar, at least two 16-line laser radars, a long-distance millimeter wave radar, at least two short-distance millimeter wave radars, at least two vehicle exterior cameras and at least two GPS antennas, wherein the 4-line laser radar and the long-distance millimeter wave radar are installed right in front of a truck head, the 16-line laser radars are installed on the left side and the right side of the truck body respectively, the short-distance millimeter wave radars are installed on the left side and the right side of the truck head respectively, the vehicle exterior cameras are installed below rear-view mirrors on the left side and the right side of the truck respectively, and the GPS antennas are installed on the roof of the truck.
Preferably, unmanned truck environment sensing device still includes detection box, communication conversion controller, switch, industrial computer, serial communication interface, execution unit and communication module, execution unit includes alarm and brake controller, 4 line lidar with the switch is connected, 16 line lidar, detection box and switch connect gradually, long-range millimeter wave radar, short-range millimeter wave radar all with communication conversion controller connects, communication conversion controller the outer camera of car all with the switch is connected, the GPS antenna respectively with communication conversion controller, serial communication interface and communication module connect, serial communication interface with the industrial computer is connected, the switch the industrial computer with execution unit connects gradually.
Preferably, the height of the 4-line laser radar from the ground is 30 cm to 50 cm, and the height of the 16-line laser radar from the ground is 1 m.
Preferably, the height of the long-distance millimeter wave radar from the ground is between 70 cm and 100 cm, and the height of the short-distance millimeter wave radar from the ground is 70 cm.
Preferably, the distance between the GPS antennas is greater than a preset distance.
Preferably, the GPS antenna is attracted to the roof of the vehicle by a magnetic base, and the predetermined distance is 1.5 m.
Compared with the prior art, the utility model, following advantage and outstanding effect have:
the utility model provides a pair of unmanned truck environment perception device utilizes multiple sensor through the combination, the comprehensive utilization the high density characteristic of laser radar data in the equidirectional not and the narrow characteristic of the big wave beam of bandwidth of millimeter wave radar, can accurately detect lane marking line and the ground barrier on the unmanned truck direction of advance effectively, the position of perception location vehicle, the all ring edge borders of intensive scanning unmanned truck, and then make unmanned truck can be under unmanned intervention's the condition, accomplish road better and go, accurate parking, dodge action such as barrier, the potential safety hazard has been eliminated to very big degree, unmanned truck's operating efficiency and operation safety under the various applied scenes have effectively been improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an environment sensing device for an unmanned truck according to an embodiment of the present invention;
fig. 2 is an application scene installation schematic diagram of the environment sensing device of the unmanned truck, which is disclosed by the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in FIG. 1, the embodiment of the utility model discloses unmanned truck environment sensing device, including 4 line lidar 101, two at least 16 line lidar 102, long range millimeter wave radar 103, two at least short range millimeter wave radars 104, two at least outer cameras 105, two at least GPS antennas 106, detection box 107, communication switching controller 108, switch 109, industrial computer 110, serial communication interface 111, execution unit 112 and communication module 113.
The execution unit 112 comprises an alarm and a brake controller, the 4-line laser radar 101 is connected with the switch 109, the 16-line laser radar 102, the detection box 107 and the switch 109 are sequentially connected, the long-range millimeter wave radar 103 and the short-range millimeter wave radar 104 are both connected with the communication conversion controller 108, the communication conversion controller 108 and the vehicle exterior camera 105 are both connected with the switch 109, the GPS antenna 106 is respectively connected with the communication conversion controller 108, the serial communication interface 111 and the communication module 113, the serial communication interface 111 is connected with the industrial personal computer 110, and the switch 109, the industrial personal computer 110 and the execution unit 112 are sequentially connected. In this embodiment, the communication module is a 3G wireless communication module or a 4G wireless communication module.
The 4-line laser radar 101 and the 16-line laser radar 102 are used for emitting laser beams outwards, the long-range millimeter wave radar 103 and the short-range millimeter wave radar 104 are used for emitting millimeter waves outwards, and then the 4-line laser radar 101, the 16-line laser radar 102, the long-range millimeter wave radar 103 and the short-range millimeter wave radar 104 acquire information of relative distance, relative speed, angle and moving direction between the truck and other objects by receiving target reflection signals. Meanwhile, the long-range millimeter wave radar 103 and the short-range millimeter wave radar 104 also need to convert an RS485 signal into an RS232 signal which can be received by the switch 109 through the communication conversion controller 108, the 16-line laser radar 102 sends the received signal to the switch 109 through the detection box 107, the detection box is used for protecting an internal circuit of the 16-line laser radar 102, the 4-line laser radar 101 directly sends the received signal to the switch 109, and then the switch 109 sends all the received signals to the industrial personal computer 110. In this embodiment, the communication switching controller 108 is of the type TRUNK-CDC.
The vehicle exterior camera 105 is used for acquiring data of the environment around the body of the truck, the acquired data are transmitted to the industrial personal computer 110 through the switch 109, the industrial personal computer 110 performs obstacle detection according to the data and outputs the size and position signals of obstacles, the GPS antenna 106 is used for acquiring real-time position signals of the truck, the real-time position signals are transmitted to the industrial personal computer 110 through the communication conversion controller 108 and the switch 109, and are directly transmitted to the industrial personal computer 110 through the serial communication interface 111 and transmitted to the monitoring device through the communication module 113. The industrial personal computer 110 receives data collected by the vehicle exterior camera 105, judges and identifies the data, if the object is identified as an obstacle, the object is driven away from the obstacle in a whistle mode, a position signal of the obstacle is compared with a real-time position signal of the truck, if the distance between the obstacle and the truck is smaller than a preset safety distance, the industrial personal computer 110 controls the execution unit 112 to brake the truck, and meanwhile an alarm in the execution unit 112 generates an alarm signal to drive away from the obstacle. And if the distance between the obstacle and the truck is greater than the preset safe distance, the truck normally runs. The model of the industrial personal computer 110 in this embodiment is special control MEC-H5562.
As shown in FIG. 2, the embodiment of the utility model discloses scene is applied in actual installation of unmanned truck environment sensing device, 4 line lidar 201 and long range millimeter wave radar 203 are all installed in the dead ahead of truck locomotive, 16 line lidar 202 is installed respectively on the left side and the right side of truck automobile body, short range millimeter wave radar 204 is installed respectively on the left side and the right side of truck locomotive, outer camera 205 is installed respectively in truck left side and right side rear-view mirror below, the roof at the truck is all installed to all GPS antenna 206. The offboard camera 205 is adjustable horizontally 90 ° backwards. The height of 4 line laser radar 201 apart from ground is between 30 centimetres to 50 centimetres, and 4 line laser radar 201 carries out the angle of pitch regulation through original-mounted support, and 16 line laser radar 202 is apart from the height of ground 1 meter, and every 16 line laser radar 202 looks around the scanning angle and is 270 respectively. The height of the long-distance millimeter wave radar 203 from the ground is 70 cm to 100 cm, the height of the short-distance millimeter wave radar 204 from the ground is 70 cm, and the included angles between the front surfaces of the long-distance millimeter wave radar 203 and the short-distance millimeter wave radar 204 and the front of the vehicle are both 60 degrees. The GPS antenna 206 is attracted to the vehicle roof by a magnetic mount. In other embodiments, the height of the 4-line lidar 201 from the ground, the height of the 16-line lidar 202 from the ground, the height of the long-range millimeter-wave radar 203 from the ground, and the height of the short-range millimeter-wave radar 204 from the ground may also be set to other distances as needed. It should be noted that the distance between the GPS antennas 206 is greater than a preset distance, and the preset distance in this embodiment is 1.5 meters. In other embodiments, the preset distance may also be set as needed.
The embodiment of the utility model discloses an unmanned truck environment sensing device utilizes multiple sensor through the combination, the high density characteristic of laser radar data in the equidirectional not and the narrow characteristic of the big beam of bandwidth of millimeter wave radar have been used multipurposely, can accurately detect lane marking line and ground obstacle on the unmanned truck direction of advance effectively, the position of perception location vehicle, the all ring edge borders of intensive scanning unmanned truck, and then make unmanned truck can be under unmanned intervention's the condition, accomplish road better and go, accurate parking, dodge actions such as barrier, the potential safety hazard has been eliminated to very big degree, unmanned truck's operating efficiency and operation safety under the various applied scenes have effectively been improved.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above only is the embodiments of the present invention, and it is not limited to the present invention, and any modifications, equivalent substitutions, improvements and the like made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An unmanned truck environment sensing device, comprising: the system comprises a 4-line laser radar, at least two 16-line laser radars, a long-distance millimeter wave radar, at least two short-distance millimeter wave radars, at least two vehicle exterior cameras and at least two GPS antennas, wherein the 4-line laser radar and the long-distance millimeter wave radar are installed right in front of a truck head, the 16-line laser radars are installed on the left side and the right side of the truck body respectively, the short-distance millimeter wave radars are installed on the left side and the right side of the truck head respectively, the vehicle exterior cameras are installed below rear-view mirrors on the left side and the right side of the truck respectively, and the GPS antennas are installed on the roof of the truck.
2. The unmanned truck environment sensing apparatus of claim 1, the environment sensing device of the unmanned truck also comprises a detection box, a communication conversion controller, a switch, an industrial personal computer, a serial communication interface, an execution unit and a communication module, the execution unit comprises an alarm and a brake controller, the 4-line laser radar is connected with the switch, the 16-line laser radar, the detection box and the switch are connected in sequence, the long-distance millimeter wave radar and the short-distance millimeter wave radar are both connected with the communication conversion controller, the communication conversion controller and the vehicle exterior camera are both connected with the switch, the GPS antenna is respectively connected with the communication conversion controller, the serial communication interface and the communication module, the serial communication interface is connected with the industrial personal computer, and the switch, the industrial personal computer and the execution unit are connected in sequence.
3. The unmanned truck environment sensing apparatus of claim 1, wherein the 4-line lidar is between 30 cm and 50 cm above ground and the 16-line lidar is 1 m above ground.
4. The unmanned truck environment sensing apparatus of claim 1, wherein the long millimeter wave radar is between 70 cm and 100 cm from the ground and the short millimeter wave radar is between 70 cm from the ground.
5. The unmanned truck environment sensing apparatus of claim 1, wherein a distance between the GPS antennas is greater than a predetermined distance.
6. The unmanned truck of claim 5, wherein the GPS antenna is attracted to the roof by a magnetic mount, and the predetermined distance is 1.5 meters.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920288541.7U CN209852236U (en) | 2019-03-07 | 2019-03-07 | Environment sensing device for unmanned truck |
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| CN201920288541.7U CN209852236U (en) | 2019-03-07 | 2019-03-07 | Environment sensing device for unmanned truck |
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| CN209852236U true CN209852236U (en) | 2019-12-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111427348A (en) * | 2020-03-24 | 2020-07-17 | 江苏徐工工程机械研究院有限公司 | Automatic drive mining dump truck environmental perception system and mining dump truck |
| CN112261036A (en) * | 2020-10-20 | 2021-01-22 | 苏州矽典微智能科技有限公司 | Data transmission method and device |
| CN114322799A (en) * | 2022-03-14 | 2022-04-12 | 北京主线科技有限公司 | Vehicle driving method and device, electronic equipment and storage medium |
-
2019
- 2019-03-07 CN CN201920288541.7U patent/CN209852236U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111035543A (en) * | 2019-12-31 | 2020-04-21 | 北京新能源汽车技术创新中心有限公司 | Intelligent blind guiding robot |
| CN111427348A (en) * | 2020-03-24 | 2020-07-17 | 江苏徐工工程机械研究院有限公司 | Automatic drive mining dump truck environmental perception system and mining dump truck |
| CN112261036A (en) * | 2020-10-20 | 2021-01-22 | 苏州矽典微智能科技有限公司 | Data transmission method and device |
| CN112261036B (en) * | 2020-10-20 | 2021-09-24 | 苏州矽典微智能科技有限公司 | Data transmission method and device |
| CN114322799A (en) * | 2022-03-14 | 2022-04-12 | 北京主线科技有限公司 | Vehicle driving method and device, electronic equipment and storage medium |
| CN114322799B (en) * | 2022-03-14 | 2022-05-24 | 北京主线科技有限公司 | Vehicle driving method and device, electronic equipment and storage medium |
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Effective date of registration: 20210526 Address after: Room 1201, 12th floor, building 7, artificial intelligence building, 17 Yesheng Road, economic and Technological Development Zone, Xiqing District, Tianjin Patentee after: Tianjin mainline Technology Co.,Ltd. Address before: Room 1205, Internet financial center, No.1 Danling street, Zhongguancun, Haidian District, Beijing Patentee before: BEIJING ZHUXIAN TECHNOLOGY Co.,Ltd. |