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Autonomous mobile selling truck and obstacle avoidance method thereof

A technology for autonomous moving and sales vehicles, applied in the directions of automatic starting device, radio wave reflection/reradiation, sound wave reradiation, etc., which can solve problems such as high cost, major accidents, and complex design of the main sensor module at the software level. Achieve the effect of avoiding collision and increasing safety

Active Publication Date: 2019-01-04
深圳普思英察科技有限公司
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Problems solved by technology

[0002] The unmanned driving system is mainly used in the control of passenger cars. The multi-sensor fusion solution based on laser radar, vision and millimeter wave radar is applied to high-speed passenger cars. The cost of the solution is high, and the design of the main sensor module at the software level is complicated. , once a problem occurs, it may cause a major accident

Method used

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  • Autonomous mobile selling truck and obstacle avoidance method thereof
  • Autonomous mobile selling truck and obstacle avoidance method thereof
  • Autonomous mobile selling truck and obstacle avoidance method thereof

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Embodiment Construction

[0032] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Wherein, similar elements in different implementations adopt associated similar element numbers. In the following implementation manners, many details are described for better understanding of the present application. However, those skilled in the art can readily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the application are not shown or described in the description, this is to avoid the core part of the application being overwhelmed by too many descriptions, and for those skilled in the art, it is necessary to describe these operations in detail Relevant operations are not necessary, and they can fully understand the relevant operations according to the description in the specification and genera...

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Abstract

The invention relates to an autonomous mobile selling truck and an obstacle avoidance method thereof. The method comprises the following steps: obtaining visual data of a visual sensor, millimeter wave radar data and ultrasonic radar data; converting the position of obstacles in visual data to the coordinate system of millimeter wave radar, and the data is fused with the millimeter wave radar datato obtain the first fused data. The millimeter wave radar data and the ultrasonic radar data are fused to obtain the second fused data; according to the first fused data and the second fused data, adeceleration stop signal or an immediate stop signal is output. As that application utilize the characteristics of different sensor to collect obstacle information in different distances respectively,a deceleration region and a dangerous region are designed by multi-sensor data fusion, and different data are used for decision-making in different regions, so that obstacle avoidance is more effective. At the same time, since the mode of immediate stopping is adopted in the dangerous area, the safety of the autonomous mobile sales trucks is greatly improved, and the collision can be avoided in the emergency.

Description

technical field [0001] The invention relates to the technical field of vending vehicles, in particular to an autonomous mobile vending vehicle and an obstacle avoidance method thereof. Background technique [0002] The unmanned driving system is mainly used in the control of passenger cars. The multi-sensor fusion solution based on laser radar, vision and millimeter wave radar is applied to high-speed passenger cars. The cost of the solution is high, and the design of the main sensor module at the software level is complicated. , Once a problem occurs, it may cause a major accident. Contents of the invention [0003] The present invention aims to apply a multi-sensor fusion scheme of millimeter-wave radar, vision, and ultrasonic radar to an autonomously moving vending vehicle to detect obstacles in time so that the vending vehicle stops and realizes effective obstacle avoidance. [0004] According to the first aspect, an embodiment provides an autonomous mobile vending ve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60T7/22G01S13/93G01S15/93
CPCB60T7/22G01S13/931G01S15/931
Inventor 袁理刘文博刘少山
Owner 深圳普思英察科技有限公司
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