CN110597208B - A method, vehicle-mounted device and storage medium for intelligently driving a trailer for loading goods - Google Patents

Abstract

The embodiment of the disclosure relates to a method for loading goods by an intelligent driving trailer, vehicle-mounted equipment and a storage medium. The method comprises the following steps: receiving cargo loading request information; controlling the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information; adjusting the butt joint of the conveyor belt and the delivery position; the conveyor belt is started. It can be seen that, intelligence driving trailer is owing to not set up the driver's cabin, and the conveyer belt can be followed the goods and transported to the other end from one end unhindered ground along trailer longitudinal direction, also be convenient for with the conveyer belt of other trailers in coordination transport goods. In addition, the intelligent driving trailer is convenient for butt joint of the conveying belt and the delivery position by arranging the adjustable conveying belt, so that automatic and stable loading and unloading of goods are realized.

Description

A method, vehicle-mounted device and storage medium for intelligently driving a trailer for loading goods

technical field

The embodiments of the present disclosure relate to the technical field of intelligent transportation, and in particular, to a method for intelligently driving a trailer to load goods, a vehicle-mounted device, and a storage medium.

Background technique

Existing delivery vehicles (such as trucks, construction vehicles, etc.) are all designed for manned driving. Even self-driving trailers are usually designed with a cab, which occupies a large space of the delivery vehicle and affects the delivery vehicle. The space for actual loading of goods and the large air resistance lead to high energy consumption, such as consuming more fuel resources or electric energy resources.

In addition, the existing self-driving trailers usually pull several buckets to form a queue to transport goods, so there are at least the following problems: 1. It cannot cooperate with other trailers to transport goods; 2. It requires manual loading of goods, which is inefficient and cannot avoid throwing luggage. 3. The trailer itself has no driving power and must rely on the tow truck to drive, which is not flexible enough; 4. The trailer itself cannot be turned, and it is difficult to turn when the queue is long; 5. The trailer itself cannot be braked, and the queue braking efficiency Poor, there is a potential safety hazard; 6. When a trailer in the queue reaches the transportation destination, the entire queue needs to stop driving and then leave the queue; 7. When a fault occurs during the driving of the automatic driving trailer, the entire queue transportation operation is stopped, and there is currently no comparison. Good solution.

The above description of the discovery process of the problem is only used to assist the understanding of the technical solutions of the present disclosure, and does not represent an admission that the above content is the prior art.

SUMMARY OF THE INVENTION

In order to solve at least one problem existing in the prior art, at least one embodiment of the present disclosure provides a method for intelligently driving a trailer for loading cargo, a vehicle-mounted device and a storage medium.

In a first aspect, an embodiment of the present disclosure proposes a method for loading goods on a smart driving trailer. The smart driving trailer does not have a cab and is provided with an adjustable conveyor belt, and the conveyor belt can be transported in coordination with the conveyor belt of at least one smart driving trailer. Goods, the method includes:

Receive cargo loading request information;

Control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information;

Adjust the conveyor belt to dock with the shipping position;

Start the conveyor belt.

In a second aspect, an embodiment of the present disclosure further provides an in-vehicle device, including: a processor and a memory; the processor is configured to execute the steps of the method according to the first aspect by invoking a program or an instruction stored in the memory.

In a third aspect, embodiments of the present disclosure further provide a non-transitory computer-readable storage medium for storing programs or instructions, the programs or instructions causing a computer to execute the steps of the method according to the first aspect.

It can be seen that, in at least one of the embodiments of the present disclosure, since the intelligent driving trailer is not provided with a cab, the conveyor belt can transfer the goods from one end to the other end unobstructed along the longitudinal direction of the trailer (that is, the driving direction of the trailer), and it is also convenient to communicate with The conveyor belts of other trailers cooperate to deliver the goods. In addition, the intelligent driving trailer is equipped with an adjustable conveyor belt, which facilitates the docking of the conveyor belt with the shipping position, and realizes automatic and smooth loading and unloading of goods.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some of the present disclosure. Embodiments For those of ordinary skill in the art, other drawings can also be obtained according to these drawings.

1 is a schematic diagram of an application scenario of an intelligent driving trailer provided by an embodiment of the present disclosure;

2 is an overall architecture diagram of an intelligent driving trailer provided by an embodiment of the present disclosure;

3 is a block diagram of an intelligent driving system provided by an embodiment of the present disclosure;

4 is a block diagram of a loading control module provided by an embodiment of the present disclosure;

5 is a block diagram of a vehicle-mounted device provided by an embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for loading goods on an intelligently driven trailer provided by an embodiment of the present disclosure;

7 is a schematic diagram of a docking and shipping position of an intelligent driving trailer provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a trailer queue docked to a delivery position according to an embodiment of the present disclosure.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are some, but not all, of the embodiments of the present disclosure. The specific embodiments described herein are only used to explain the present disclosure, but not to limit the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art fall within the protection scope of the present disclosure.

It should be noted that, in this document, relational terms such as "first" and "second" etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these There is no such actual relationship or sequence between entities or operations.

In view of at least one problem existing in the prior art, the embodiments of the present disclosure provide a solution for loading goods on a smart driving trailer. Since the smart driving trailer does not have a cab, the driving air resistance and energy consumption can be reduced. In addition, since the smart driving trailer does not have a cab, the conveyor belt provided by the smart driving trailer can transfer the goods from one end to the other end unobstructed along the longitudinal direction of the trailer (ie, the direction of the trailer). In addition, because the intelligent driving trailer does not have a cab, it is also convenient for the conveyor belt of the vehicle to cooperate with the conveyor belts of other trailers to convey goods. In addition, the intelligent driving trailer is equipped with an adjustable conveyor belt, which facilitates the docking of the conveyor belt with the shipping position, realizes automatic and smooth loading and unloading of goods, and avoids the problem of randomly throwing goods when manually loading goods.

The solution for loading goods on an intelligently driven trailer provided by the embodiments of the present disclosure can be applied to various scenarios. FIG. 1 is a schematic diagram of an application scenario of an intelligent driving trailer provided by an embodiment of the present disclosure. As shown in FIG. 1 , the scene includes: at least one intelligent driving trailer 101 , a cloud server 102 and a shipping control system 103 . In some embodiments, the scene may only include at least one intelligent driving trailer 101 and the cloud server 102 . In other embodiments, the scene may only include at least one intelligent driving trailer 101 and the shipping control system 103 . In some embodiments, the scene may also include other equipment for transporting goods and other equipment related to transporting goods, such as shelves, warehouses, and the like.

In some embodiments, at least one intelligent driving trailer 101 is used to transport goods, and can exchange data with the cloud server 102 and also exchange data with the shipment control system 103 . In some embodiments, vehicle-to-vehicle communication and data can be exchanged between different intelligent driving trailers 101 . In some embodiments, the cloud server 102 may also exchange data with the shipment control system 103 .

In some embodiments, the intelligent driving trailer 101 is used for perception based on the surrounding environment, thereby planning a driving path and controlling the driving of the vehicle. In some embodiments, the intelligent driving trailer 101 is configured to receive cargo loading request information, and then control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information. In some embodiments, after the intelligent driving trailer 101 travels to the shipping position, the conveyor belt is adjusted to be docked with the shipping position, and then the conveyor belt is activated to realize automatic and smooth loading of goods.

In some embodiments, the cloud server 102 is configured to send cargo loading request information and other cargo transportation-related information to the intelligent driving trailer 101 . In some embodiments, the cloud server 102 is further configured to receive response information to the cargo loading request information sent by the intelligent driving trailer 101 and other information related to cargo transportation. In some embodiments, the cloud server 102 is further configured to receive the information related to the shipment of goods sent by the shipment control system 103 .

In some embodiments, the cloud server 102 and the intelligent driving trailer 101 perform wireless communication through a wireless communication network (for example, including but not limited to GPRS network, Zigbee network, Wifi network, 3G network, 4G network, 5G network and other wireless communication networks).

In some embodiments, the cloud server 102 is used for overall coordination and management of the intelligent driving trailer 101 . In some embodiments, the cloud server 102 may be used to interact with one or more intelligent driving trailers 102 , and coordinate and manage the scheduling of multiple intelligent driving trailers 102 , and the like.

In some embodiments, the cloud server 102 is a cloud server established by a vehicle service provider to provide cloud storage and cloud computing functions. In some embodiments, a vehicle-side file is created in the cloud server 102 . In some embodiments, various information uploaded by the intelligent driving trailer 101 is stored in the vehicle-end file. In some embodiments, the cloud server 102 can synchronize the driving data generated by the vehicle in real time.

In some embodiments, the cloud server 102 may be a server or a server group. Server farms can be centralized or distributed. Distributed server is conducive to the assignment and optimization of tasks in multiple distributed servers, and overcomes the defects of traditional centralized server resource shortage and response bottleneck. In some embodiments, cloud server 102 may be local or remote.

In some embodiments, the shipment control system 103 is used to broadcast cargo load request information and other information related to cargo transportation. In some embodiments, the shipment control system 103 is further configured to receive response information to the cargo loading request information sent by the intelligent driving trailer 101 and other information related to cargo transportation.

The solution for loading goods on an intelligent driving trailer provided by the embodiments of the present disclosure can be applied to an intelligent driving trailer. In some embodiments, an intelligent driving trailer includes a chassis, a support mechanism, a sensor group, an intelligent driving system, and other components that can be used to drive the vehicle and control the operation of the vehicle. FIG. 2 is an overall structural diagram of an intelligent driving trailer 200 according to an embodiment of the present disclosure. In some embodiments, smart driving trailer 200 may be implemented as smart driving trailer 101 in FIG. 1 or as part of smart driving trailer 101 .

As shown in FIG. 2 , the intelligent driving trailer 200 includes: a chassis 201 , a supporting mechanism 202 , an adjustable conveyor belt (not shown in FIG. 2 ), a sensor group (not shown in FIG. 2 ), an intelligent driving system (not shown in FIG. 2 ) not shown), lifting mechanism 203 (four lifting mechanisms are shown in FIG. 2 ), clamping device 204 (four clamping devices are shown in FIG. 2 ), pressure sensor 205 (four pressure sensors are shown in FIG. 2 ) ), fenders 206, and other components that may be used to drive the vehicle and control the operation of the vehicle.

Chassis 201 is used to complete the travel of the trailer. In some embodiments, the chassis 201 may include, but is not limited to, a powertrain, a travel system, a steering system, and a braking system. The powertrain is used to drive the trailer. In some embodiments, the powertrain may use in-wheel motors or in-wheel motors, as well as internal combustion engines, hybrids, centralized drive motors, and the like. The steering system is used to achieve trailer steering. In some embodiments, the steering system may implement trailer steering by two-side motor-by-wire differential, or may be a traditional mechanical steering structure, electric or hydraulic steering structure. The driving system and the braking system can be the driving system or the braking system of a conventional fuel vehicle or an electric vehicle.

In some embodiments, the intelligent driving trailer 200 may further include a vehicle CAN bus not shown in FIG. 2 , and the vehicle CAN bus is connected to the chassis 201 . Information is exchanged between the intelligent driving system and various systems of the chassis 201 through the vehicle CAN bus.

The support mechanism 202 is used to carry cargo. In some embodiments, the support mechanism 202 is a carrying board, and the upper surface of the carrying board is a carrying surface capable of carrying goods.

An adjustable conveyor belt may be provided to the support mechanism 202 . In some embodiments, the support mechanism 202 may also be a conveyor belt mechanism.

The sensor group is arranged in the sensor carrier 207 . In some embodiments, the sensor carrier 207 is a telescopic mechanism, and the intelligent driving system can control the sensor carrier 207 to shrink to reduce air resistance when the sensor group is not used.

The sensor group is used to collect the data of the external environment of the vehicle and detect the position data of the vehicle. For example, the sensor group includes, but is not limited to, at least one of a camera, a lidar, a millimeter-wave radar, a GPS (Global Positioning System, global positioning system), and an IMU (Inertial Measurement Unit, inertial measurement unit).

In some embodiments, the sensor group is also used to collect dynamic data of the vehicle, for example, the sensor group also includes but is not limited to at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, and a front wheel angle sensor.

The intelligent driving system is used for driving control of the intelligent driving trailer 200 . In some embodiments, the intelligent driving system is used to acquire data of a sensor group, and all sensors in the sensor group transmit data at a higher frequency during operation. The intelligent driving system is also used for environmental perception and vehicle positioning based on the data of the sensor group, and path planning and decision-making based on the environmental perception information and vehicle positioning information, as well as generating vehicle control instructions based on the planned path, so as to control the vehicle to drive according to the planned path. .

In some embodiments, the intelligent driving system is further configured to receive cargo loading request information, and then control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information. In some embodiments, after the intelligent driving trailer 101 travels to the delivery position, the intelligent driving system adjusts the conveyor belt to dock with the delivery position, and then activates the conveyor belt to realize automatic and smooth loading of goods. In some embodiments, the intelligent driving system realizes the connection between the conveyor belt and the delivery position by adjusting the lifting mechanism 203 .

In some embodiments, the intelligent driving system may be a software system, a hardware system, or a system combining software and hardware. For example, an intelligent driving system is a software system running on an operating system, and an in-vehicle hardware system is a hardware system that supports the operation of the operating system.

The lift mechanism 203 is used to drive the support mechanism 202 to ascend and descend. In some embodiments, the lifting mechanism 203 is a hydraulic cylinder, and may also be a combination mechanism of a hydraulic cylinder and a mechanical structure. In some embodiments, four lifting mechanisms 203 may be respectively disposed on four corners of the chassis 201 . In some embodiments, when the lifting heights of the four lifting mechanisms 203 are the same, the supporting mechanism 202 can be parallel to the upper surface of the chassis. When the lifting heights of the four lifting mechanisms 203 are different, the supporting mechanism 202 may be in an inclined state. The lifting heights of the four lifting mechanisms 203 can be set by the intelligent driving system. In some embodiments, the intelligent driving trailer 200 may also not be provided with the lifting mechanism 203 . In some embodiments, the lift mechanism 203 can only change the height of the support mechanism 202 relative to the chassis 201 , and cannot change the angle of the support mechanism 202 relative to the chassis 201 .

The clamping device 204 is used to clamp the goods carried by the supporting mechanism 202 after the conveyor belt transfers the goods to the supporting mechanism 202 , and apply lateral force and/or downward pressure to the goods to keep the goods stable relative to the supporting mechanism 202 . In some embodiments, four clamping devices 204 are provided at four corners of the support mechanism 202 . In some embodiments, the clamping device 204 may be a pneumatic, hydraulic or electromechanical structure. In some embodiments, the gripping device 204 can be retracted below the bearing surface of the support mechanism 202 , or positioned on both sides of the support mechanism 202 so as not to interfere with the movement of goods on the support mechanism 202 . In some embodiments, the clamping device 204 can also be clamped by screw clamping, wedge clamping, lever clamping and other clamping methods.

The pressure sensor 205 is used to detect the pressure of the cargo on the bearing surface. In some embodiments, the pressure sensor 205 is embedded within the bearing surface of the support mechanism 202 . In some embodiments, the pressure data obtained by the plurality of pressure sensors 205 can be used by the intelligent driving system to analyze the pressure distribution on the bearing surface, and use it as a basis for judging whether the center of gravity of the cargo load is reasonable.

Baffles 206 are used to prevent cargo from slipping. In some embodiments, the baffles 206 are provided at the edge of the support mechanism 202 . In some embodiments, the baffle 206 is hingedly connected to the edge of the support mechanism 202, and can be actively or passively flipped, and can be converted between erected and flat states. In some embodiments, the surface of the baffle 206 is flush with the surface of the support mechanism 202 or lower than the bearing surface of the support mechanism 202 when the baffle 206 is in the flat state, and will not interfere with the loading and unloading of goods.

FIG. 3 is a block diagram of an intelligent driving system 300 according to an embodiment of the present disclosure. In some embodiments, the intelligent driving system 300 may be implemented as the intelligent driving system or a part of the intelligent driving system mentioned in the related embodiment of FIG. 2 for controlling the driving of the vehicle.

As shown in FIG. 3 , the intelligent driving system 300 may be divided into multiple modules, for example, may include: a perception module 301 , a planning module 302 , a control module 303 , a loading control module 304 and some other modules that can be used for intelligent driving.

The perception module 301 is used for environmental perception and positioning. In some embodiments, the sensing module 301 is used for acquired sensor data, V2X (Vehicle to X, vehicle wireless communication) data, high-precision maps and other data. In some embodiments, the perception module 301 is configured to perform environmental perception and positioning based on at least one of acquired sensor data, V2X (Vehicle to X, vehicle wireless communication) data, and high-precision map data.

In some embodiments, the perception module 301 is configured to generate perception positioning information, so as to realize obstacle perception, drivable area recognition of camera images, and vehicle positioning.

Environmental perception can be understood as the ability to understand the scene of the environment, such as the location of obstacles, the detection of road signs/marks, the detection of pedestrians/vehicles and other data semantic classification. In some embodiments, the environment perception may use data from multiple sensors, such as fusion cameras, lidars, and millimeter-wave radars, to perform environment perception.

Localization is part of perception and is the ability to determine the position of an intelligent driving trailer relative to the environment. Positioning can be used: GPS positioning, the positioning accuracy of GPS is at the level of tens of meters to centimeters, and the positioning accuracy is high; positioning can also use the positioning method integrating GPS and Inertial Navigation System (Inertial Navigation System). The positioning can also use SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map construction). The goal of SLAM is to use the map for positioning while building a map. SLAM determines the current vehicle position and current observation characteristics by using the observed environmental characteristics. s position.

V2X is the key technology of intelligent transportation system, which enables communication between vehicles, vehicles and base stations, and base stations and base stations, so as to obtain a series of traffic information such as real-time road conditions, road information, pedestrian information, etc., to improve intelligent driving safety, reduce Congestion, improve traffic efficiency, provide in-vehicle entertainment information, etc.

High-precision maps are geographic maps used in the field of intelligent driving. Compared with traditional maps, the differences are: 1) High-precision maps include a large amount of driving assistance information, such as accurate three-dimensional representations relying on the road network: including intersection bureau and Location of road signs, etc.; 2) High-precision maps also include a lot of semantic information, such as reporting the meaning of different colors on traffic lights, and for example, indicating road speed limits, and where left-turn lanes start; 3) High-precision maps can reach centimeters High-level precision to ensure the safe driving of intelligent driving trailers.

The planning module 302 is configured to perform path planning and decision-making based on the sensing and positioning information generated by the sensing and positioning module.

In some embodiments, the planning module 302 is configured to perform path planning and decision-making based on the perceptual positioning information generated by the perceptual positioning module and in combination with at least one of V2X data, high-precision maps and other data.

In some embodiments, the planning module 302 is used to plan a path, make decisions: behavior (eg, including but not limited to following, overtaking, parking, detouring, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, etc., to generate planning decisions information.

The control module 303 is configured to perform path tracking and trajectory tracking based on the planning decision information generated by the planning module 302 .

In some embodiments, the control module 303 is configured to generate control commands for each system of the chassis, and issue the control commands, so that each system of the chassis controls the vehicle to travel along a desired path.

In some embodiments, the control module 303 is further configured to calculate the front wheel turning angle based on a path following algorithm.

In some embodiments, the desired path curve in the path tracking process has nothing to do with time parameters. During tracking control, it can be assumed that the intelligent driving trailer moves at a constant speed at the current speed, and the travel path is made to approach the desired path at a certain cost; while the trajectory When tracking, the expected path curve is related to both time and space, and the intelligent driving trailer is required to reach a preset reference path point within a specified time.

Different from trajectory tracking, path tracking is not subject to time constraints, and only needs to track the desired path within a certain error range.

The loading control module 304 is configured to receive the cargo loading request information, and then control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information. In some embodiments, after the intelligent driving trailer travels to the delivery position, the loading control module 304 adjusts the conveyor belt to dock with the delivery position, and then activates the conveyor belt to realize automatic and smooth loading of goods. In some embodiments, the loading control module 304 realizes the docking of the conveyor belt with the shipping position by adjusting the lifting mechanism.

In some embodiments, the function of the loading control module 304 may be integrated into the perception module 301, the planning module 302 or the control module 303, or may be configured as a module independent of the intelligent driving system 300, and the loading control module 304 may be a software module , hardware modules or modules that combine software and hardware. For example, the loading control module 304 is a software module running on the operating system, and the vehicle-mounted hardware system is a hardware system supporting the running of the operating system.

FIG. 4 is a block diagram of a loading control module 400 according to an embodiment of the present disclosure. In some embodiments, the loading control module 400 may be implemented as or a portion of the loading control module 304 in FIG. 3 .

As shown in FIG. 4 , the transportation control module 400 may include, but is not limited to, the following units: a receiving unit 401 , a control unit 402 , a matching unit 403 and an adding unit 404 .

The receiving unit 401 is used for receiving cargo loading request information. In some embodiments, various information can be carried in the cargo loading request information, so that the trailer can clarify cargo information and loading and unloading information, and provide a basis for subsequent response to the cargo loading request and loading and unloading of cargo. In some embodiments, the cargo loading request information includes, but is not limited to, at least one of the following: shipping location, unloading location, cargo weight, cargo size.

In some embodiments, the receiving unit 401 may receive the cargo loading request information in various ways, so as to improve the timeliness and effectiveness of cargo loading. For example, the receiving unit 401 can receive the cargo loading request information sent by the cloud server; can also receive the cargo loading request information broadcast by the shipment control system; and can also receive the cargo loading request information sent by other intelligent driving trailers. In some embodiments, the intelligent driving trailer itself will not directly send the cargo loading request information, unless the own vehicle fails, the cargo loading request information can be forwarded to request other intelligent driving trailers to complete the loading of the goods instead of the own vehicle.

The control unit 402 is used to control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information. In some embodiments, in response to the cargo loading request information, the control unit 402 can, on the one hand, notify the requesting party that the vehicle can be loaded with cargo, and on the other hand, can plan a route based on the loading and unloading information carried in the cargo loading request information, and control the trailer to go to the delivery position Load cargo. In some embodiments, the control unit 402 will feed back response information after responding to the cargo loading request information, so as to inform the sender of the request that the vehicle will carry out cargo loading. In some embodiments, after the receiving unit 401 receives the cargo loading request information, the control unit 402 does not directly respond to the cargo loading request information, but first determines whether to respond to the cargo loading request information, and if so, controls the intelligent Drive the trailer; otherwise, do not respond to cargo load request messages. In some embodiments, when the control unit 402 determines whether to respond to the cargo loading request information, it may determine whether to respond based on the state of the vehicle and the cargo information. For example, the control unit 402 judges whether the vehicle is faulty, whether the vehicle can carry the weight, size, etc. of the cargo, and then responds to the request after judging that the cargo can be loaded and there is no fault, thereby improving the reliability of cargo loading and transportation.

In some embodiments, if the intelligent driving trailer is in a trailer queue, the receiving unit 401 receives the cargo loading request information, and the control unit 402 responds to the cargo loading request information, the control unit 402 controls the intelligent driving trailer to leave the queue and drive to Shipping location. In some embodiments, when the control unit 402 controls the intelligent driving trailer to leave the queue, by sending an acceleration command to the front vehicle and a deceleration command to the rear vehicle, the separation can be completed during the driving process, and no parking is required to leave the trailer queue, which improves transportation. efficiency. In some embodiments, after the control unit 402 controls the own vehicle to leave the trailer queue, the following vehicle reapplies to join the trailer queue.

In some embodiments, when the control unit 402 controls the intelligent driving trailer to travel in response to the cargo loading request information, it first determines the shipping location, then plans the travel route based on the shipping location, and finally controls the smart driving trailer to drive to the shipping location based on the travel path. .

In some embodiments, the shipping location can be understood as a location where the vehicle needs to go to load goods. In order to make it easier for the trailer to know the shipping location, the shipping location can be carried in the cargo loading request; the shipping location can also be preset as a fixed location, and as long as the trailer receives the cargo loading request information, it will load the cargo at the fixed location. In some embodiments, the shipping location can be understood as the location of the shipping platform. In some embodiments, the fixed location may be a location in a high-precision map.

In some embodiments, after the control unit 402 determines that the vehicle is the first vehicle in the trailer queue and travels to the delivery position, the control unit 402 sends an arranging instruction to each intelligent driving trailer in the trailer queue, so that the trailer queue is lined up. In this embodiment, a plurality of trailers can form a trailer queue, and the first vehicle of the trailer queue can control the trailer queue to be arranged in a row, which is convenient for the straight and smooth delivery of goods. In some embodiments, after the control unit 402 determines that the vehicle is the first vehicle in the trailer queue, the control unit 402 determines the number of intelligent driving trailers in the trailer queue based on the quantity of goods. The cargo loading request information may include the cargo quantity, and the control unit 402 may determine the cargo quantity from the cargo loading request information. In some embodiments, the preset loading amount of the intelligent driving trailer for different types of cargo may be predetermined, that is, there is a corresponding relationship between the cargo type and the preset loading amount. Further, after the control unit 402 determines the quantity of goods and the type of the goods, it can determine the number of intelligent driving trailers required by the trailer queue based on the corresponding relationship between the type of goods and the preset loading amount.

In some embodiments, the control unit 402 determines that the vehicle is the first vehicle in the trailer queue, and after controlling the trailer queue to line up in a row, it can determine the attitudes of the conveyor belts of other trailers in the trailer queue based on the height of the shipping position, such as the position of the conveyor belt. height and angle; and then the control unit 402 can send adjustment instructions to each intelligent driving trailer in the trailer queue respectively, so as to realize the connection between the trailer queue and the delivery position. Wherein, the adjustment command includes height and angle, and the height and angle of the adjustment command of each intelligent driving trailer may be different.

In some embodiments, the control unit 402 determines that the vehicle is not the first vehicle in the trailer queue, that is, after determining that the vehicle is the non-first vehicle in the trailer queue, receives an arrangement instruction sent by the first vehicle and adjusts the position to line up with the preceding vehicle. a row. It can be seen that for the non-first vehicle in the trailer queue, the position of the own vehicle is adjusted by receiving the arrangement instruction of the first vehicle, so that the trailer queue is arranged in a row.

In some embodiments, the control unit 402 determines that the vehicle is not the first vehicle in the trailer queue, that is, after determining that the vehicle is the non-first vehicle in the trailer queue, and receives an adjustment instruction sent by the first vehicle, where the adjustment instruction includes height and angle. It can be seen that, for the non-first vehicle in the trailer queue, the adjustment instruction of the first vehicle can also be received, so that the adjustment unit 403 adjusts the height and angle of the conveyor belt based on the height and angle in the adjustment instruction, so as to adjust the attitude of the conveyor belt, so that the trailer queue and the outgoing vehicle can be adjusted. The docking of the cargo location.

In some embodiments, after the adjustment unit 403 adjusts the posture of the conveyor belt, the control unit 402 sends, broadcasts, or simultaneously sends and broadcasts the first schedule if the maximum docking height of the conveyor belt is less than the height of the shipping position in order to load the goods smoothly ask. The first dispatch request is used to request other idle trailers to dock to the shipping location. In some embodiments, after receiving the first scheduling request, the cloud server schedules idle trailers. In some embodiments, idle trailers around the host vehicle may respond to the first dispatch request. In some embodiments, the control unit 402 may not send the first dispatch request, and the cloud server directly dispatches idle trailers after determining that the maximum docking height of the conveyor belt of the vehicle is smaller than the height of the delivery position.

In some embodiments, the control unit 402 determines that the host vehicle is faulty and sends, broadcasts, or simultaneously sends and broadcasts a second dispatch request in order to reliably transport the goods. The second dispatch request is used to request other idle trailers to dock the own vehicle. In some embodiments, after receiving the second scheduling request, the cloud server schedules idle trailers. In some embodiments, after receiving the second scheduling request, the cloud server locates the location of the faulty vehicle, searches for idle trailers around the faulty vehicle, and dispatches the idle trailers. In some embodiments, idle trailers around the own vehicle may respond to the second dispatch request, go to the location of the faulty vehicle, and receive the cargo after docking with the faulty vehicle. In some embodiments, the second dispatch request may carry a variety of information, for example, including but not limited to at least one of the following: the location of the vehicle, fault information, load capacity, and destination.

In some embodiments, after the adjusting unit 403 adjusts the conveyor belt to dock with the shipping position, the control unit 402 controls the baffle to expand to prevent the cargo from slipping off the side of the trailer.

The adjusting unit 403 is used to adjust the connection between the conveyor belt and the delivery position. In some embodiments, considering that the shipping position may have a certain height, the adjusting unit 403 adjusts the height, the angle or both of the conveyor belt based on the height of the shipping position, so that one end of the conveyor belt can be adjusted to the shipping position. Docking for smooth loading of cargo.

In some embodiments, the height of the shipping location can be determined in various ways, for example, the intelligent driving trailer can determine the height through environmental perception; the height of the shipping location can also be a preset height. In some embodiments, the preset height may be the height in the high-precision map. In some embodiments, the shipping locations may be pre-numbered, and the numbers of different shipping locations may be the same or different. For example, for different shipping locations of the same kind of goods, the numbers may be the same, and for the shipping locations of different types of goods, the numbers Are not the same. For different numbers (ie, shipping location numbers), the preset heights are different, that is, the preset heights corresponding to different shipping location numbers are different.

The starting unit 404 is used to start the conveyor belt to realize automatic and smooth loading of goods. In some embodiments, the activation unit 404 is configured to activate the conveyor belt after the adjustment unit 403 adjusts the conveyor belt to dock with the shipping position.

FIG. 7 is a schematic diagram of a docking and shipping position of an intelligent driving trailer according to an embodiment of the present disclosure. In Figure 7, 201 is the chassis, 203 is the lifting mechanism, 207 is the sensor carrier, and 700 is the conveyor belt. As shown in Figure 7, after the intelligent driving trailer reaches the delivery position, the lifting mechanism 203 lifts the conveyor belt 700 to the delivery position. When the height is high, the goods 701 are sent out from the delivery platform. After the conveyor belt 700 is started, the goods 701 can be smoothly conveyed by the conveyor belt 700 .

8 is a schematic diagram of a trailer queue docking delivery position according to an embodiment of the present disclosure. It can be seen that after the goods 701 are sent out from the delivery platform, they can be smoothly transported on a transmission path formed by the conveyor belt of the trailer queue. For the sake of brevity of the drawings, reference numerals are omitted.

In some embodiments, the division of each unit in the loading control module 400 is only one logical function division, and there may be other division methods in actual implementation, for example, the receiving unit 401, the control unit 402, the adjusting unit 403 and the starting unit 404 may be Implemented as one unit; the receiving unit 401 , the control unit 402 , the adjusting unit 403 or the starting unit 404 can also be divided into multiple subunits. It can be understood that each unit or sub-unit can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application.

FIG. 5 is a schematic structural diagram of an in-vehicle device provided by an embodiment of the present disclosure. The in-vehicle equipment can support the operation of the intelligent driving system.

As shown in FIG. 5 , the in-vehicle device includes: at least one processor 501 , at least one memory 502 and at least one communication interface 503 . The various components in the in-vehicle device are coupled together by a bus system 504 . The communication interface 503 is used for information transmission with external devices. It will be appreciated that the bus system 504 is used to implement the connection communication between these components. In addition to the data bus, the bus system 504 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the various buses are labeled as bus system 504 in FIG. 5 .

It is understood that the memory 502 in this embodiment may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.

In some embodiments, memory 502 stores the following elements, executable units or data structures, or subsets thereof, or extended sets of them: operating systems and applications.

Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. application, which contains various applications. A program for implementing the method for loading goods on an intelligently driven trailer provided by the embodiments of the present disclosure may be included in an application program.

In the embodiment of the present disclosure, the processor 501 calls the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application program, and the processor 501 is configured to execute the intelligent driving trailer loading provided by the embodiment of the present disclosure The steps of various embodiments of the method of cargo.

The method for intelligently driving a trailer for loading goods provided by the embodiments of the present disclosure may be applied to the processor 501 or implemented by the processor 501 . The processor 501 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the above-mentioned method can be completed by an integrated logic circuit of hardware in the processor 501 or an instruction in the form of software. The aforementioned processor 501 may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA), or other available Programming logic devices, discrete gate or transistor logic devices, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of the method for intelligently driving a trailer for loading goods provided by the embodiments of the present disclosure can be directly embodied as executed by a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software unit may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502, and completes the steps of the method in combination with its hardware.

FIG. 6 is a flowchart of a method for intelligently driving a trailer to load goods according to an embodiment of the present disclosure. The intelligent driving trailer does not have a cab, and the execution body of the method is the vehicle-mounted device of the intelligent driving trailer. In some embodiments, the execution body of the method is the intelligent driving system supported by the vehicle-mounted device.

As shown in FIG. 6 , the method for intelligently driving a trailer to load goods may include the following steps 601 to 604:

601. Receive cargo loading request information. In some embodiments, various information can be carried in the cargo loading request information, so that the trailer can clarify cargo information and loading and unloading information, and provide a basis for subsequent response to the cargo loading request and loading and unloading of cargo. In some embodiments, the cargo loading request information includes, but is not limited to, at least one of the following: shipping location, unloading location, cargo weight, cargo size.

In some embodiments, the cargo loading request information can be received in various ways to improve the timeliness and effectiveness of cargo loading. For example: it can receive the cargo loading request information sent by the cloud server; it can also receive the cargo loading request information broadcast by the shipment control system; it can also receive the cargo loading request information sent by other intelligent driving trailers. In some embodiments, the intelligent driving trailer itself will not directly send the cargo loading request information, unless the own vehicle fails, the cargo loading request information can be forwarded to request other intelligent driving trailers to complete the loading of the goods instead of the own vehicle.

602. Control the intelligent driving trailer to drive to the delivery position in response to the cargo loading request information. In some embodiments, in response to the cargo loading request information, on the one hand, the requesting sender can be notified that the vehicle can load cargo, and on the other hand, a route can be planned based on the loading and unloading information carried in the cargo loading request information, and the trailer can be controlled to load the cargo at the delivery position. In some embodiments, after responding to the cargo loading request information, response information is fed back to inform the sender of the request that the vehicle will carry out cargo loading. In some embodiments, after receiving the cargo loading request information, instead of directly responding to the cargo loading request information, first determine whether to respond to the cargo loading request information, and if so, control the intelligent driving trailer to drive in response to the cargo loading request information; otherwise, Does not respond to cargo load request information. In some embodiments, when judging whether to respond to the cargo loading request information, whether to respond may be judged based on the state of the vehicle and the cargo information. For example, judging whether the vehicle is faulty, whether the vehicle can carry the weight and size of the goods, etc., after judging that the goods can be loaded and there is no fault, and then responding to the request, thereby improving the reliability of cargo loading and transportation.

In some embodiments, if the intelligent driving trailer is in a trailer queue, the cargo loading request information is received, and in response to the cargo loading request information, the intelligent driving trailer is controlled to leave the queue and drive to the delivery position. In some embodiments, when the intelligent driving trailer is controlled to leave the queue, by sending an acceleration command to the preceding vehicle and a deceleration command to the rear vehicle, the separation can be completed during the driving process, and there is no need to stop when leaving the trailer queue, thereby improving transportation efficiency. In some embodiments, after controlling the own vehicle to leave the trailer queue, the following vehicle re-applies to join the trailer queue.

In some embodiments, when the intelligent driving trailer is controlled to travel in response to the cargo loading request information, the shipping location is first determined, then the travel path is planned based on the shipping location, and finally the smart driving trailer is controlled to drive to the shipping location based on the traveling path.

In some embodiments, the shipping location can be understood as a location where the vehicle needs to go to load goods. In order to make it easier for the trailer to know the shipping location, the shipping location can be carried in the cargo loading request; the shipping location can also be preset as a fixed location, and as long as the trailer receives the cargo loading request information, it will load the cargo at the fixed location. In some embodiments, the shipping location can be understood as the location of the shipping platform. In some embodiments, the fixed location may be a location in a high-precision map.

In some embodiments, after it is determined that the vehicle is the first vehicle in the trailer queue and travels to the delivery position, an arranging instruction is sent to each intelligent driving trailer in the trailer queue, so that the trailer queue is lined up. In this embodiment, a plurality of trailers can form a trailer queue, and the first vehicle of the trailer queue can control the trailer queue to be arranged in a row, which is convenient for the straight and smooth delivery of goods. In some embodiments, after determining that the vehicle is the first vehicle in the trailer queue, the number of intelligently driven trailers in the trailer queue is determined based on the quantity of goods. The cargo quantity may be included in the cargo loading request information, so the cargo quantity may be determined from the cargo loading request information. In some embodiments, the preset loading amount of the intelligent driving trailer for different types of cargo may be predetermined, that is, there is a corresponding relationship between the cargo type and the preset loading amount. After the quantity of goods and the type of goods are further determined, the number of intelligent driving trailers required by the trailer queue can be determined based on the corresponding relationship between the type of goods and the preset loading amount.

In some embodiments, after it is determined that the own vehicle is the first vehicle of the trailer queue, and the trailer queue is controlled to line up in a row, the attitude of the conveyor belts of other trailers in the trailer queue can be determined based on the height of the shipping position, such as the height and angle of the conveyor belt ; Further, adjustment instructions can be sent to each intelligent driving trailer in the trailer queue to realize the docking between the trailer queue and the shipping position. Wherein, the adjustment command includes height and angle, and the height and angle of the adjustment command of each intelligent driving trailer may be different.

In some embodiments, after determining the first vehicle in the non-trailer queue of the own vehicle, the position is adjusted after receiving an arrangement instruction sent by the first vehicle so as to line up with the preceding vehicle. It can be seen that for the non-first vehicle in the trailer queue, the position of the own vehicle is adjusted by receiving the arrangement instruction of the first vehicle, so that the trailer queue is arranged in a row.

In some embodiments, after determining the first vehicle in the non-trailer queue of the own vehicle, an adjustment instruction sent by the first vehicle is received, and the adjustment instruction includes a height and an angle. It can be seen that for the non-first vehicle in the trailer queue, the adjustment command of the first vehicle can also be received, so that the height and angle of the conveyor belt can be adjusted based on the height and angle in the adjustment instruction, so as to adjust the attitude of the conveyor belt, so that the trailer queue and the shipping position can be adjusted. docking.

In some embodiments, after adjusting the posture of the conveyor belt, in order to load the goods smoothly, if the maximum docking height of the conveyor belt is less than the height of the shipping position, the first scheduling request is sent, broadcasted, or simultaneously sent and broadcasted. The first dispatch request is used to request other idle trailers to dock to the shipping location. In some embodiments, after receiving the first scheduling request, the cloud server schedules idle trailers. In some embodiments, idle trailers around the host vehicle may respond to the first dispatch request. In some embodiments, the first scheduling request may not be sent, and after the cloud server determines that the maximum docking height of the conveyor belt of the vehicle is smaller than the height of the delivery position, the idle trailer is directly scheduled.

In some embodiments, it is determined that the own vehicle is faulty, and in order to reliably transport the goods, a second dispatch request is sent, broadcasted, or simultaneously sent and broadcasted. The second dispatch request is used to request other idle trailers to dock the own vehicle. In some embodiments, after receiving the second scheduling request, the cloud server schedules idle trailers. In some embodiments, after receiving the second scheduling request, the cloud server locates the location of the faulty vehicle, searches for idle trailers around the faulty vehicle, and dispatches the idle trailers. In some embodiments, idle trailers around the own vehicle may respond to the second dispatch request, go to the location of the faulty vehicle, and receive the cargo after docking with the faulty vehicle. In some embodiments, the second dispatch request may carry a variety of information, for example, including but not limited to at least one of the following: the location of the vehicle, fault information, load capacity, and destination.

In some embodiments, after adjusting the conveyor belt to interface with the shipping position, the control flap is deployed to prevent the cargo from sliding off the side of the trailer.

603. Adjust the conveyor belt to dock with the delivery position. In some embodiments, considering that the shipping position may have a certain height, the height, angle or both of the conveyor belt are adjusted based on the height of the shipping position, so that one end of the conveyor belt can be docked with the shipping position, smoothly Load cargo.

In some embodiments, the height of the shipping location can be determined in various ways, for example, the intelligent driving trailer can determine the height through environmental perception; the height of the shipping location can also be a preset height. In some embodiments, the preset height may be the height in the high-precision map. In some embodiments, the shipping locations may be pre-numbered, and the numbers of different shipping locations may be the same or different. For example, for different shipping locations of the same kind of goods, the numbers may be the same, and for the shipping locations of different types of goods, the numbers Are not the same. For different numbers (ie, shipping location numbers), the preset heights are different, that is, the preset heights corresponding to different shipping location numbers are different.

604. Start the conveyor belt to realize automatic and smooth loading of goods. In some embodiments, the conveyor is activated after the adjustment conveyor is docked with the shipping position.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art can understand that the embodiments of the present disclosure are not limited by the described action sequences. limitation, because according to the embodiment of the present disclosure, some steps may be performed in other sequences or simultaneously (for example, “send an acceleration command to the preceding vehicle” and “send a deceleration command to the rear vehicle” may be performed at the same time, or “send an acceleration command to the preceding vehicle first” Accelerate command”, and then “send a deceleration command to the following vehicle”). In addition, those skilled in the art can understand that the embodiments described in the specification are all optional embodiments.

Embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores programs or instructions, and the programs or instructions cause a computer to execute various implementations of the method for loading goods with an intelligently driven trailer The steps of the example, in order to avoid repeated description, will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

It will be understood by those skilled in the art that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the present disclosure And form different embodiments.

Those skilled in the art can understand that the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope of the appended claims within the limits of the requirements.

Claims (14)

1. A method of loading cargo on an intelligent-drive trailer, wherein the intelligent-drive trailer is not provided with a cab and is provided with an adjustable conveyor belt that can cooperate with the conveyor belt of at least one intelligent-drive trailer to convey cargo, the method comprising:

receiving cargo loading request information;

controlling the intelligent driving trailer to drive to a delivery position in response to the cargo loading request information;

adjusting the conveyor belt to be in butt joint with the delivery position;

starting the conveyor belt;

after the intelligent driving trailer is determined to be a non-first vehicle of the trailer queue, the position is adjusted after an arrangement instruction sent by the first vehicle is received, so that the intelligent driving trailer and a front vehicle are arranged in a line;

receiving an adjusting instruction sent by a first vehicle, wherein the adjusting instruction comprises a height and an angle;

and adjusting the height and the angle of the conveyor belt based on the height and the angle in the adjusting instruction.

2. The method of claim 1, wherein the cargo loading request information comprises at least one of: shipment location, discharge location, cargo weight, cargo size.

3. The method of claim 1, wherein receiving the cargo loading request information comprises:

receiving cargo loading request information sent by a cloud server, or receiving cargo loading request information broadcasted by a shipment control system, or receiving cargo loading request information sent by an intelligent driving trailer.

4. The method of any of claims 1 to 3, wherein controlling the smart-driven trailer to travel to a shipment location in response to the cargo-loading request message comprises:

determining a shipment position;

planning a driving path based on the shipment position;

and controlling the intelligent driving trailer to drive to the shipment position based on the driving path.

5. The method of claim 4, wherein the determining the shipment location comprises:

and extracting the shipment position carried in the cargo loading request, or determining that the cargo position is a preset fixed position.

6. The method of claim 1, wherein adjusting the conveyor belt to interface with the shipment location comprises:

adjusting a height and/or angle of the conveyor belt based on the height of the shipment location.

7. The method of claim 6, wherein the height of the shipping location is a height obtained based on environmental perception, or a preset height and the preset heights corresponding to different shipping location numbers are different.

8. The method of claim 1, wherein upon determining that the intelligent-drive trailer is the first vehicle of a trailer train and traveling to a shipping location, sending a queuing command to each intelligent-drive trailer in the trailer train to queue the trailer train; and the first vehicle determines the number of intelligently driven trailers in the trailer queue based on the quantity of the goods.

9. The method of claim 8, further comprising:

after the trailer queue is arranged in a row, determining the height and the angle of a conveyor belt of each intelligent driving trailer in the trailer queue based on the height of the shipment position;

adjusting the conveyor belt to dock with the shipment location, including:

and sending an adjusting instruction to each intelligent driving trailer in the trailer queue, wherein the adjusting instruction comprises height and angle.

10. The method of claim 1, wherein after adjusting the conveyor belt to interface with the shipping location, the method further comprises:

and after determining that the maximum butt joint height of the conveyor belt is less than the height of the delivery position, sending and/or broadcasting a first scheduling request.

11. The method of claim 1, further comprising:

and after the intelligent driving trailer is determined to be in fault, sending and/or broadcasting a second scheduling request.

12. The method of claim 1, wherein foldable flaps are further provided on both sides of the smart-drive trailer; after the conveyor belt is adjusted to be in butt joint with the delivery position, the method further comprises the following steps:

and controlling the baffle to be unfolded.

13. An in-vehicle apparatus, characterized by comprising: a processor and a memory;

the processor is adapted to perform the steps of the method of any one of claims 1 to 12 by calling a program or instructions stored in the memory.

14. A non-transitory computer-readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 12.

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