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A platform for research: civil engineering, architecture and urbanism
Unmanned bulldozer escape system and method
The invention provides an unmanned bulldozer escape system and method, and belongs to the technical field of bulldozer unmanned driving, and the system comprises a real-time position measurement module which detects the real-time position of an unmanned bulldozer; the camera module is used for collecting environment information in a peripheral set range of the unmanned bulldozer and identifying obstacles; the IMU detects the whole vehicle movement trend of the unmanned bulldozer and performs vehicle trapped confirmation state recognition in combination with the environment information collected by the camera when the vehicle is in a possible trapped state; and the automatic driving vehicle-mounted calculation unit ACU confirms a target escape direction based on information acquired by the camera module, the inertial measurement terminal IMU and the real-time position measurement module, and controls the unmanned bulldozer to run towards the target escape direction. The unmanned bulldozer is automatically released, the risk and the cost of personnel intervention are reduced, the operation efficiency, the operation success rate and the adaptability of the unmanned bulldozer are improved, and the unmanned bulldozer can better cope with complex working scenes and topographic conditions.
本发明提供一种无人推土机脱困系统及方法，属于推土机无人驾驶技术领域，所述系统包括：实时位置测量模块对无人推土机的实时位置进行检测；摄像头模块对无人推土机外围设定范围内环境信息进行采集，识别障碍物；惯性测量终端IMU对无人推土机的整车运动趋势进行检测，并在车辆被困可能状态下结合摄像头采集的环境信息进行车辆被困确认状态识别；自动驾驶车载计算单元ACU基于摄像头模块、惯性测量终端IMU及实时位置测量模块采集的信息确认目标脱困方向，控制无人推土机向目标脱困方向运行。本发明实现无人推土机的自动脱困，减少了人员介入的风险和成本，提升了无人推土机的作业效率、操作成功率及适应性，更好地应对复杂的工作场景和地形条件。
Unmanned bulldozer escape system and method
The invention provides an unmanned bulldozer escape system and method, and belongs to the technical field of bulldozer unmanned driving, and the system comprises a real-time position measurement module which detects the real-time position of an unmanned bulldozer; the camera module is used for collecting environment information in a peripheral set range of the unmanned bulldozer and identifying obstacles; the IMU detects the whole vehicle movement trend of the unmanned bulldozer and performs vehicle trapped confirmation state recognition in combination with the environment information collected by the camera when the vehicle is in a possible trapped state; and the automatic driving vehicle-mounted calculation unit ACU confirms a target escape direction based on information acquired by the camera module, the inertial measurement terminal IMU and the real-time position measurement module, and controls the unmanned bulldozer to run towards the target escape direction. The unmanned bulldozer is automatically released, the risk and the cost of personnel intervention are reduced, the operation efficiency, the operation success rate and the adaptability of the unmanned bulldozer are improved, and the unmanned bulldozer can better cope with complex working scenes and topographic conditions.
本发明提供一种无人推土机脱困系统及方法，属于推土机无人驾驶技术领域，所述系统包括：实时位置测量模块对无人推土机的实时位置进行检测；摄像头模块对无人推土机外围设定范围内环境信息进行采集，识别障碍物；惯性测量终端IMU对无人推土机的整车运动趋势进行检测，并在车辆被困可能状态下结合摄像头采集的环境信息进行车辆被困确认状态识别；自动驾驶车载计算单元ACU基于摄像头模块、惯性测量终端IMU及实时位置测量模块采集的信息确认目标脱困方向，控制无人推土机向目标脱困方向运行。本发明实现无人推土机的自动脱困，减少了人员介入的风险和成本，提升了无人推土机的作业效率、操作成功率及适应性，更好地应对复杂的工作场景和地形条件。
Unmanned bulldozer escape system and method
一种无人推土机脱困系统及方法
WU ZHANGANG (author) / JIANG YUTIAN (author) / LI KAI (author) / ZHANG CHAO (author) / XU DAOSHENG (author) / ZHU XUKANG (author) / XU GUANGPENG (author) / ZHAO JINGUANG (author) / LIU JUN (author) / WANG NA (author)
2024-10-01
Patent
Electronic Resource
Chinese
Automatic operation monitoring method and system for unmanned bulldozer
| European Patent Office | 2024