阅读说明：本技术 一种港口多传感器融合高精度定位系统 (Port multi-sensor fusion high-precision positioning system ) 是由 何鹏飞 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种港口多传感器融合高精度定位系统,包括车载处理器,车载处理器对接有信号处理模块,信号处理模块对接有地图模块,地图模块输出端对接有最优路线规划处理模块,最优路线规划处理模块输出端与信号处理模块的输入端相对接,信号处理模块输入端还对接有路标识别模块,信号处理模块输入端还对接有激光雷达识别道路边界模块,信号处理模块输入端还对接有红外传感识别动态目标模块。本发明提供的一种港口多传感器融合高精度定位系统工作时的安全防护性能更高,能够规划出最流畅的行车路线,能够有效识别道路边界,能够有效识别路面上的动态目标,可通过图像识别模块对港口处的路标进行识别,提升车辆的定位精度以及行车安全性。(The invention discloses a port multi-sensor fusion high-precision positioning system which comprises an on-board processor, wherein the on-board processor is butted with a signal processing module, the signal processing module is butted with a map module, the output end of the map module is butted with an optimal route planning processing module, the output end of the optimal route planning processing module is butted with the input end of the signal processing module, the input end of the signal processing module is also butted with a road sign identification module, the input end of the signal processing module is also butted with a laser radar identification road boundary module, and the input end of the signal processing module is also butted with an infrared sensing identification dynamic target module. The port multi-sensor fusion high-precision positioning system provided by the invention has higher safety protection performance when working, can plan the most smooth driving route, can effectively identify the road boundary, can effectively identify the dynamic target on the road surface, can identify the road sign at the port through the image identification module, and improves the positioning precision and driving safety of vehicles.)

1. The utility model provides a harbour multisensor fuses high accuracy positioning system, includes on-vehicle treater, its characterized in that, on-vehicle treater is docked there is signal processing module, signal processing module is docked there is the map module, map module output is docked there is optimal route planning processing module, optimal route planning processing module output with signal processing module's input is docked mutually, signal processing module input still is docked there is road sign identification module, signal processing module input still is docked there is laser radar discernment road boundary module, the signal processing module input still is docked there is infrared sensing discernment dynamic target module.

2. The multi-sensor port high-precision positioning system as claimed in claim 1, wherein the map module internally comprises a port map, a GPS locator and a signal transmitter, wherein the signal transmitter is interfaced with the signal processing module.

3. The multi-sensor fusion high-precision positioning system for the harbor as claimed in claim 1, wherein the signal processing module internally comprises a signal receiver and a signal transmitter.

4. The harbor multi-sensor fusion high-precision positioning system as claimed in claim 1, wherein the output end of said onboard processor is connected with a motor.

5. The harbor multi-sensor fusion high-precision positioning system as claimed in claim 4, wherein the input end of the motor is connected with an emergency braking module and a steering module.

6. The harbor multi-sensor fusion high-precision positioning system as claimed in claim 5, wherein a brake sensor is arranged inside the emergency brake module, and the emergency brake module is connected with a vehicle internal brake system.

7. The harbor multi-sensor fusion high-precision positioning system as claimed in claim 5, wherein a rotation angle sensor is arranged inside the rotation angle module, and the rotation angle sensor is butted with a steering system inside a vehicle.

8. The port multi-sensor fusion high-precision positioning system as claimed in claim 1, wherein the lidar identification road boundary module is arranged inside a vehicle-mounted radar.

9. The port multi-sensor fusion high-precision positioning system as claimed in claim 1, wherein the infrared sensing identification dynamic target module is arranged inside a vehicle-mounted infrared sensor.

10. The port multi-sensor fusion high-precision positioning system as claimed in claim 1, wherein an image recognition module is connected to an input end of the landmark recognition module, and the image recognition module is arranged inside a vehicle-mounted camera.

Technical Field

The invention relates to the field of ports, in particular to a multi-sensor fusion high-precision positioning system for a port.

Background

The port is a transport hub located along the coast of sea, river, lake or reservoir, with land and water intermodal facilities and conditions for safe ingress and egress and berthing of ships. The port is an assembly point and a hub of land and water traffic, is a distribution place for industrial and agricultural products and foreign trade import and export materials, and is also a place for berthing ships, loading and unloading goods, getting on and off passengers and supplementing nutrition. In China, the construction of coastal ports is mainly carried out around transportation systems such as coal, containers, imported iron ores, grains, land island roll-on and roll-off, deep-water sea-going channels and the like, and particularly, the construction of container transportation systems is strengthened. The government concentrates the strength and builds a batch of deepwater container wharfs in a plurality of ports such as Dalian, Tianjin, Qingdao, Shanghai, Ningbo, Tangshan and Shenzhen, and lays a foundation for the formation of China container hub ports; the construction of the coal transportation system is further strengthened, and a batch of coal loading and unloading ship wharfs are newly built. Meanwhile, a batch of imported crude oil and iron ore wharfs are reconstructed and expanded. By the end of 2004, more than 2500 intermediate-level berths, wherein more than 650 ten-thousand-ton berths are shared by coastal ports; the container throughput is completed in 6150 ten thousand standard containers all the year round, and the world leaps first. Some major ports, such as shanghai port, shenzhen port, Qingdao port, Tianjin port, Guangzhou port, Tangshan port, Ningbo port, etc., have a total throughput of over hundred million tons in year, and port logistics is a new term that has frequently appeared in academic seminars and various media in recent years. Port logistics refers to that a central port city utilizes port advantages of the central port city, and takes advanced software and hardware environments as a support to strengthen the radiation capability of the central port city on the logistics activities around a port, highlight the specialties of port collection, inventory and distribution, take the port facing industry as a basis, take information technology as a support, aim at optimizing port resource integration, and develop a port comprehensive service system with the characteristics of covering all links of a logistics industry chain. Port logistics is a comprehensive logistics system in a special form, is an irreplaceable important node in a logistics process, and completes basic logistics services and derived value-added services in a whole supply chain logistics system.

Traditional harbour positioning system function singleness is faced the complicated traffic condition in harbour and the road change of the transient change, hardly accomplishes accurate location.

Based on the technical scheme, the invention designs a multi-sensor fusion high-precision positioning system for the port to solve the problems.

Disclosure of Invention

The invention aims to provide a multi-sensor fusion high-precision positioning system for a port, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a harbour multisensor fuses high accuracy positioning system, includes on-vehicle treater, its characterized in that, on-vehicle treater is docked there is signal processing module, signal processing module is docked there is the map module, map module output is docked there is optimal route planning processing module, optimal route planning processing module output with signal processing module's input is docked mutually, signal processing module input still is docked there is road sign identification module, signal processing module input still is docked there is laser radar discernment road boundary module, the signal processing module input still is docked there is infrared sensing discernment dynamic target module.

As a further scheme of the invention, the map module internally comprises a port map, a GPS locator and a signal transmitter, wherein the signal transmitter is butted with the signal processing module.

As a further scheme of the invention, the signal processing module internally comprises a signal receiver and a signal transmitter.

As a further scheme of the invention, the output end of the vehicle-mounted processor is connected with a motor in a butt joint mode.

As a further aspect of the present invention, the input end of the motor is connected to an emergency braking module and a steering module.

As a further aspect of the present invention, a brake sensor is disposed inside the emergency brake module, and the emergency brake module is connected to a brake system inside the vehicle.

As a further aspect of the present invention, a steering angle sensor is disposed inside the steering angle module, and the steering angle sensor is interfaced with a steering system inside the vehicle.

As a further scheme of the invention, the laser radar road boundary identification module is arranged inside the vehicle-mounted radar.

As a further scheme of the invention, the infrared sensing identification dynamic target module is arranged in the vehicle-mounted infrared sensor.

As a further scheme of the invention, the input end of the landmark identification module is connected with an image identification module, and the image identification module is arranged in the vehicle-mounted camera.

As a further aspect of the invention.

Compared with the prior art, the invention has the beneficial effects that:

(1) when the invention works, the vehicle-mounted processor can receive the signal sent by the signal transmitter in the signal processing module, and then sends an instruction to the motor, the emergency braking module can provide certain safety protection for the vehicle in the period and cooperate with the steering module, the most smooth driving route can be planned through the optimal route planning processing module in the driving period, the driving experience is greatly optimized, meanwhile, the internal laser radar identification road boundary module can effectively identify the road boundary to avoid scraping between the vehicle and the roadside container, and the infrared sensing identification dynamic target module can effectively identify the dynamic target on the road surface, and then can cooperate emergency braking module to realize the function of safe driving, the road sign of accessible image recognition module to the port department at last discerns, further promotes the positioning accuracy and the driving safety of vehicle.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a port multi-sensor fusion high-precision positioning system according to the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "top", "bottom", "one side", "the other side", "front", "back", "middle part", "inside", "top", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, the invention provides a port multi-sensor fusion high-precision positioning system, which comprises an on-board processor, and is characterized in that the on-board processor is butted with a signal processing module, the signal processing module is butted with a map module, the output end of the map module is butted with an optimal route planning processing module, the output end of the optimal route planning processing module is butted with the input end of the signal processing module, the input end of the signal processing module is also butted with a road sign identification module, the input end of the signal processing module is also butted with a laser radar identification road boundary module, and the input end of the signal processing module is also butted with an infrared sensing identification dynamic target module.

Through the scheme of the invention, the map module internally comprises the port map, the GPS locator and the signal transmitter, wherein the signal transmitter is butted with the signal processing module.

Through the scheme of the invention, the signal processing module internally comprises the signal receiver and the signal transmitter.

Through the scheme of the invention, the output end of the vehicle-mounted processor is in butt joint with the motor.

According to the scheme of the invention, the input end of the motor is in butt joint with the emergency braking module and the steering module.

According to the scheme, the brake sensor is arranged in the emergency brake module, and the emergency brake module is butted with a brake system in a vehicle.

According to the scheme of the invention, the corner module is internally provided with the corner sensor, and the corner sensor is butted with a steering system in a vehicle.

According to the scheme, the laser radar road boundary identification module is arranged in the vehicle-mounted radar.

Through the scheme of the invention, the infrared sensing identification dynamic target module is arranged in the vehicle-mounted infrared sensor.

According to the scheme of the invention, the input end of the landmark identification module is connected with the image identification module, and the image identification module is arranged in the vehicle-mounted camera.

In practical application, the vehicle-mounted processor can receive signals sent by the signal transmitter inside the signal processing module during working, and then sends an instruction to the motor, the emergency braking module can provide certain safety protection for the vehicle in the period and cooperate with the steering module, the most smooth driving route can be planned through the optimal route planning processing module in the driving period, the driving experience is greatly optimized, meanwhile, the internal laser radar identification road boundary module can effectively identify the road boundary to avoid scraping between the vehicle and the roadside container, and the infrared sensing identification dynamic target module can effectively identify the dynamic target on the road surface, and then can cooperate emergency braking module to realize the function of safe driving, the road sign of accessible image recognition module to the port department at last discerns, further promotes the positioning accuracy and the driving safety of vehicle.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.