Auxiliary automatic driving system and method for modern rail cleaning vehicle

A technology for autonomous driving and cleaning vehicles, applied in cleaning methods, track cleaning, construction, etc., can solve problems such as insufficient precision and the inability of assisted driving systems to be mounted on track cleaning vehicles, achieving high precision, rapid calculation, and good cleaning effect. Effect

Active Publication Date: 2021-07-09
JINAN UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to overcome the defects and deficiencies in the prior art, the first object of the present invention is to provide a modern track cleaning vehicle assisted automatic driving system, which combines a depth camera and a laser radar and is mounted on a track cleaning vehicle, so as to avoid the The occurrence of safety accidents caused by fatigue, and at the same time make up for the lack of accuracy of the current GPS navigation system and the inability of the current auxiliary driving system to be mounted on the track cleaning vehicle

Method used

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  • Auxiliary automatic driving system and method for modern rail cleaning vehicle
  • Auxiliary automatic driving system and method for modern rail cleaning vehicle
  • Auxiliary automatic driving system and method for modern rail cleaning vehicle

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Embodiment 1

[0071] Such as figure 1 As shown, the present embodiment provides a modern track cleaning vehicle assisted automatic driving system, which is developed based on ROS. Camera 1, laser radar 2 for collecting information on the boundary points of the orbit and its surrounding environment, inertial measurement unit 3 (IMU) for collecting the three-axis attitude angle, angular rate and acceleration of the object, and GPS for obtaining the orbit position and direction Module 4, a main control board for performing steering control processing based on the collected data obtained by the depth camera 1, laser radar 2, inertial measurement unit 3, and GPS module 4, and detecting obstacles based on the distance and orientation of obstacles. The transmission control mechanism that receives the steering control command sent by the main control board for transmission. The surrounding environment indication information includes the state and color of objects such as lane lines and traffic lig...

Embodiment 2

[0091] Such as Figure 7 As shown, the present embodiment provides a method for assisting automatic driving of a modern rail cleaning vehicle, the method comprising the following steps:

[0092] Initial adjustment steps: initialize the position of the cleaning vehicle, calibrate the initial data and position of the depth camera 1 and the laser radar 2, and calibrate the GPS module 4;

[0093] Data collection steps: Obtain the direction of the track through the GPS module 4, collect three-axis data through the inertial measurement unit 3, collect the RGB image, depth image and surrounding environment indication information of the track through the depth camera 1, and collect the track and its surroundings through the laser radar 2 Environmental boundary point information. In practical applications, the three-axis data includes the forward direction of the carrier based on the inertial measurement unit, the acceleration data and angular velocity data of the three axes perpendic...

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Abstract

The invention discloses an auxiliary automatic driving system and method for a modern rail cleaning vehicle. The system comprises a depth camera which is used for collecting image data and surrounding environment indication information, a laser radar which is used for collecting the information of a rail and surrounding environment boundary point of the rail, an inertial measurement unit which is used for collecting three-axis attitude angles, angular rates and acceleration of an object, a GPS module which is used for obtaining the position and the direction of a rail, a main control board which is used for conducting steering control processing according to collected data and detecting an obstacle based on the distance and the direction of the obstacle, a transmission control mechanism which is used for transmission, and a vehicle-mounted processing device which is connected with the depth camera, the laser radar, the inertial measurement unit, the GPS module and the main control board. According to the system and method, the depth camera is matched with the automatic driving technology, tramcar rail cleaning is more accurate and rapid; and during night operation, the laser radar and the depth camera are combined, and too much influence is not generated by a low-light environment.

Description

technical field [0001] The invention relates to the technical field of driving assistance, in particular to a driving assistance system and method for a modern streetcar track cleaning vehicle. Background technique [0002] At present, due to the short research time for the cleaning and maintenance of grooved rails of modern tramway cleaning vehicles in my country, compared with developed countries, the relevant technology in my country is still in its infancy and is not very mature. Basically, the grooves are manually adjusted. Only a very small number of enterprises have independently developed and produced modern tramway grooved rail cleaning equipment, but it consumes a lot of labor and has low work efficiency, and it cannot meet the requirements of modern tramway development for grooved rails. cleaning requirements. [0003] Among them, Beijing Degaojie Company has developed a track cleaning vehicle, which is mainly composed of road driving and track running systems, hyd...

Claims

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Application Information

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IPC IPC(8): B60W60/00E01H8/00
CPCB60W60/0011E01H8/00
Inventor 谢勇君马烯哲梁恺周胡建硕方锺滨吴倩童严冬松武建华
Owner JINAN UNIVERSITY
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