CN116476846A - Gradient detection method, vehicle using gradient detection method and terminal - Google Patents
Gradient detection method, vehicle using gradient detection method and terminal Download PDFInfo
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- CN116476846A CN116476846A CN202310455163.8A CN202310455163A CN116476846A CN 116476846 A CN116476846 A CN 116476846A CN 202310455163 A CN202310455163 A CN 202310455163A CN 116476846 A CN116476846 A CN 116476846A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a gradient detection method, and a vehicle and a terminal using the gradient detection method. The gradient detection method comprises the following steps: acquiring a first laser distance and a second laser distance, wherein the first laser distance and the second laser distance are acquired by single-point laser obliquely downwards arranged in front of the robot, and the two acquisition points are spaced for a preset time; obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance, and judging the height change speed of the front slope according to the preset time of the interval between the two acquisition points and the height difference; and when the height change speed does not exceed a threshold value, calculating the gradient of the slope according to the height difference, the preset time and the running speed of the robot, and controlling the robot to brake when the gradient is larger than the maximum available gradient, otherwise, controlling the robot to enter the slope when the slope is determined to be an ascending slope or a descending slope.
Description
The application is a divisional application proposed according to the 42 th rule of the patent law, the main application is 22 days of application with application date 2021 and 09 month, the application number 202111105728.7, the name of the invention is a gradient detection method and a terminal, and the application is a China application of Shang En intelligent science and technology (familiar) Co. The entire contents of the parent application are incorporated by reference into this application in its entirety.
Technical Field
The application relates to the technical field of robots, in particular to a gradient detection method, a vehicle using the gradient detection method and a terminal using the gradient detection method.
Background
With the development of robot technology in recent years, various robot products such as cleaning robots, security robots, inspection robots, distribution robots and the like are increasingly popularized. In order to ensure that the robot can work safely and reliably in an application scene. The robot needs to have the ability to sense the surrounding environment and thus determine the ground trafficability.
Currently, various sensors such as a laser radar sensor, a depth camera, an infrared sensor, an ultrasonic sensor and the like can be used for robot ramp detection. The conventional ramp detection generally utilizes three-dimensional data of a field to calculate a ramp angle through a smooth interpolation method, or marks road conditions through pictures acquired by a binocular camera, or carries out gradient estimation according to gray data comparison of real-time images.
However, due to limitations of the characteristics of the sensor and the influence of environmental factors, the sensors such as the depth camera, the infrared sensor and the ultrasonic sensor have a large misjudgment rate when performing ramp detection, and a large amount of data calculation is required. The actual gradient of the ramp cannot be accurately judged in time in some specific scenes, and a great hidden trouble is brought to the normal operation of the machine.
Disclosure of Invention
In view of the above drawbacks of the related art, an object of the present application is to provide a slope detection method and a terminal for overcoming the technical problem of inaccurate slope detection in the related art.
To achieve the above and other related objects, a first aspect of the present disclosure provides a gradient detection method, including the steps of: acquiring a first laser distance and a second laser distance, wherein the first laser distance and the second laser distance are acquired by single-point laser obliquely downwards arranged in front of the robot, and the two acquisition points are spaced for a preset time; obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance, and judging the height change speed of the front slope according to the preset time of the interval between the two acquisition points and the height difference; and when the height change speed does not exceed a threshold value, calculating the gradient of the slope according to the height difference, the preset time and the running speed of the robot, and controlling the robot to brake when the gradient is larger than the maximum available gradient, otherwise, controlling the robot to enter the slope when the slope is determined to be an ascending slope or a descending slope.
In certain embodiments of the first aspect of the disclosure, the calculating the gradient of the slope according to the altitude difference, the preset time, and the travel speed of the robot includes: and determining whether the gradient is an ascending slope or a descending slope according to whether the vertical distance between the continuous multiple acquisition points and the single-point laser is gradually increased or not so as to calculate the gradient of the ascending slope or the gradient of the descending slope.
In certain embodiments of the first aspect of the disclosure, the calculating the gradient of the slope according to the altitude difference, the preset time, and the travel speed of the robot further includes: when the vertical distance between the continuous ground collection points and the single-point laser is gradually increased, determining that the slope is a downward slope, wherein the gradient calculation mode of the downward slope is as follows: θ1=arctan (d/((d/tan α) +v×t)); otherwise, determining the slope as an ascending slope, wherein the ascending slope is calculated by the following steps: determining that the slope is an ascending slope, wherein the gradient calculation mode of the ascending slope is as follows: θ2=arctan (d/(v×t- (d/tan α))); wherein θ1 represents a downward slope gradient, θ2 represents an upward slope gradient, d represents a height difference between two collection points, α represents an inclination angle of the single-point laser, v represents a robot travel speed, and t represents the preset time.
In certain embodiments disclosed in the first aspect of the present application, the calculating the gradient of the slope according to the altitude difference, the preset time, and the running speed of the robot, and controlling the robot to brake when the gradient is greater than the maximum available gradient, otherwise controlling the robot to enter the slope when the slope is determined to be an up-slope or a down-slope further includes: when the slope is determined to be a ridge or a ditch according to whether the vertical distance between a plurality of continuous ground collection points and the single-point laser is in a trend of ascending, descending or ascending, judging whether to execute ridge or ditch passing operation according to the height of the ridge or ditch.
In certain embodiments disclosed in the first aspect of the present application, the obtaining the height difference of the two collection points according to the first laser distance and the second laser distance includes: calculating the vertical distance between the single-point laser and a first acquisition point according to the first laser distance and the inclination angle of the single-point laser, and calculating a first height difference from the wheel supporting surface to the first acquisition point according to the vertical distance between the single-point laser and the wheel supporting surface; calculating the vertical distance between the single-point laser and a second acquisition point according to the second laser distance and the inclination angle of the single-point laser, and calculating a second height difference from the wheel supporting surface to the second acquisition point according to the vertical distance between the single-point laser and the wheel supporting surface; and obtaining the height difference of the two acquisition points according to the difference value of the first height difference and the second height difference.
In certain embodiments disclosed in the first aspect of the present application, the change in the altitude speed is obtained by dividing the altitude difference between the two collection points by a preset time between the two collection points.
In certain embodiments of the first aspect of the present disclosure, the method further comprises the step of controlling the robotic brake when the altitude change speed is greater than a threshold.
In some embodiments disclosed in the first aspect of the present application, the method further includes the step of determining whether the height difference between the bottom surface of the slope and the wheel supporting surface is greater than the maximum height difference when the height change speed is greater than a threshold value, if yes, controlling the robot to brake, otherwise, controlling the robot to continue running.
In certain embodiments disclosed in the first aspect of the present application, the robot is any one of a cleaning robot, a security robot, a patrol robot, and a dispensing robot.
A second aspect of the present disclosure provides a gradient detection terminal, including: a memory storing a computer program; and the processor is connected with the memory and is used for realizing the gradient detection method in any embodiment of the first aspect of the application when the computer program is executed.
A third aspect of the present application provides a vehicle that sets a single-point laser light obliquely downward in front of the vehicle, the vehicle performing the gradient detection method as in any of the embodiments of the first aspect of the present application during traveling.
In certain embodiments disclosed in the third aspect of the present application, the vehicle is a robot including any one of a cleaning robot, a security robot, a patrol robot, and a distribution robot.
The invention has the beneficial effects that: acquiring a first laser distance according to single-point laser obliquely downwards arranged in front of the vehicle, and acquiring a second laser distance according to the single-point laser after the vehicle runs for a preset time, so as to calculate the height difference of the two acquisition points; judging the height change speed of a front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake, otherwise, calculating the gradient of the slope, and judging whether the vehicle can smoothly pass through the slope according to the maximum passable gradient; therefore, the slope gradient can be calculated when the height change speed is smaller than or equal to the threshold value, the calculation time is reduced, and the accuracy of gradient detection is improved while gradient judgment is quickly performed before the vehicle enters the slope.
Other aspects and advantages of the present application will become readily apparent to those skilled in the art from the following detailed description. Only exemplary embodiments of the present application are shown and described in the following detailed description. As those skilled in the art will recognize, the present disclosure enables one skilled in the art to make modifications to the disclosed embodiments without departing from the spirit and scope of the invention as described herein. Accordingly, the drawings and descriptions herein are to be regarded as illustrative in nature and not as restrictive.
Drawings
The specific features of the invention related to this application are set forth in the appended claims. The features and advantages of the invention that are related to the present application will be better understood by reference to the exemplary embodiments and the drawings that are described in detail below. The drawings are briefly described as follows:
fig. 1 is a flowchart of a gradient detection method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a gradient detection terminal according to an embodiment of the present invention.
Fig. 3 is a schematic diagram illustrating calculation of a single-point laser acquisition point height drop of a downhill slope of a slope detection method according to an embodiment of the present invention.
Fig. 4 is a schematic diagram showing a height drop between two collection points of a single point laser of a downhill slope of a slope detection method according to an embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating calculation of a single-point laser acquisition point height drop of an ascending slope of a slope detection method according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a height drop between two collection points of a single point laser of an up slope in a slope detection method according to an embodiment of the present invention.
Fig. 7 is a single point laser data change line graph of a slope detection method in the event of a cliff being encountered in accordance with an embodiment of the present invention.
FIG. 8 is a single point laser data change line graph for a grade detection method in an embodiment of the present invention in the event of encountering a downhill slope.
FIG. 9 is a single point laser data change line graph for an up slope condition encountered for a slope detection method of an embodiment of the present invention.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a gradient detection method, including the steps of:
collecting a first laser distance according to single-point laser obliquely downwards arranged in front of a vehicle, and collecting a second laser distance according to the single-point laser after the vehicle runs for a preset time;
obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance, judging the height change speed of a front slope according to the preset time of the interval between the two acquisition points and the height difference of the two acquisition points, and if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake;
otherwise, calculating the gradient of the slope according to the height difference of the two collection points, the preset time of the interval between the two collection points and the running speed of the vehicle, and controlling the vehicle to brake if the gradient is larger than the maximum passable gradient, otherwise, controlling the vehicle to enter the slope.
The vehicle may be, for example, a robot as described in the background art, such as a cleaning robot, a security robot, a patrol robot, or a distribution robot.
From the above description, the beneficial effects of the invention are as follows: acquiring a first laser distance according to single-point laser obliquely downwards arranged in front of the vehicle, and acquiring a second laser distance according to the single-point laser after the vehicle runs for a preset time, so as to calculate the height difference of the two acquisition points; judging the height change speed of a front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake, otherwise, calculating the gradient of the slope, and judging whether the vehicle can smoothly pass through the slope according to the maximum passable gradient; therefore, the slope gradient can be calculated when the height change speed is smaller than or equal to the threshold value, the calculation time is reduced, and the accuracy of gradient detection is improved while gradient judgment is quickly performed before the vehicle enters the slope.
Further, obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance includes:
calculating the height difference between the single-point laser and a first acquisition point according to the first laser distance and the inclination angle of the single-point laser, and calculating the first height difference between the lower edge of the wheel and the first acquisition point according to the height difference between the single-point laser and the lower edge of the wheel;
calculating the height difference between the single-point laser and a second acquisition point according to the second laser distance and the inclination angle of the single-point laser, and calculating the second height difference between the lower edge of the wheel and the second acquisition point according to the height difference between the single-point laser and the lower edge of the wheel;
and obtaining the height difference of the two acquisition points according to the difference value of the first height difference and the second height difference.
From the above description, the height difference between the single-point laser and the two acquisition points can be calculated according to the laser distance obtained by two measurements and the inclination angle of the single-point laser, so that the height difference between the two acquisition points can be calculated, and the subsequent judgment on the height change degree of the slope and the calculation on the slope gradient can be facilitated.
Further, judging the height change speed of the front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake comprises:
dividing the height difference of the two collection points by the preset time of the interval between the two collection points to obtain the height change speed of the front slope;
if the height change speed is greater than a threshold value, the front slope is a cliff, whether the height drop between the bottom surface of the cliff and the current plane is greater than the maximum drop height is judged, if so, the vehicle is controlled to brake, and if not, the vehicle is controlled to continue running.
As can be seen from the above description, when the height change speed of the slope is greater than the threshold value, the slope in front is the cliff, so that if the height difference between the bottom surface of the cliff and the current plane is less than or equal to the maximum height difference, the vehicle can continue to run, and the running flexibility of the vehicle is ensured.
Further, calculating the gradient of the slope according to the height difference of the two-time acquisition points, the preset time of the interval between the two-time acquisition points and the running speed of the vehicle comprises:
judging whether the height difference values of a plurality of continuously detected acquisition points and single-point lasers are gradually increased, if so, calculating the gradient of a downward slope:
θ1＝arctan(d/((d/tanα)+v*t))；
otherwise, calculating the gradient of the ascending slope:
θ2＝arctan(d/(v*t-(d/tanα)))；
wherein θ1 represents a downward slope gradient, θ2 represents an upward slope gradient, d represents a height difference between two acquisition points, α represents an inclination angle of the single-point laser, v represents a vehicle running speed, and t represents a preset time interval between the two acquisition points.
From the above description, it can be seen that according to whether the continuously detected height difference values between the plurality of sampling points and the single-point laser gradually increase, the slope is judged to be an ascending slope or a descending slope, and the slope of the slope is correspondingly calculated according to the type of the slope, so that the slope judgment can be rapidly made in the rapid movement process of the equipment, and the response sensitivity of the equipment can be improved.
Further, if the grade is greater than a maximum allowable grade, controlling the vehicle to brake, otherwise, controlling the vehicle to enter the grade includes:
and if the gradient is larger than the maximum available gradient, controlling the vehicle to brake, otherwise, if the continuously detected height difference between a plurality of acquisition points and the single-point laser is in a tendency of ascending, descending or ascending, the slope is a ridge or a ditch, and judging whether to execute ridge or ditch passing operation according to the height of the ridge or the ditch.
As can be seen from the above description, when the slope gradient is less than or equal to the maximum available gradient, it is further required to determine whether the continuously detected height difference between the plurality of collection points and the single-point laser is a trend of ascending after descending or ascending after descending, if so, the slope is a ridge or a ditch, and further determine whether to perform the ridge or the ditch passing operation according to the depth of the ridge or the ditch, so that the corresponding determination can be performed according to different road conditions in front, and the response sensitivity of the device is improved.
Referring to fig. 2, another embodiment of the present invention provides a gradient detection terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
collecting a first laser distance according to single-point laser obliquely downwards arranged in front of a vehicle, and collecting a second laser distance according to the single-point laser after the vehicle runs for a preset time;
obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance, judging the height change speed of a front slope according to the preset time of the interval between the two acquisition points and the height difference of the two acquisition points, and if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake;
otherwise, calculating the gradient of the slope according to the height difference of the two collection points, the preset time of the interval between the two collection points and the running speed of the vehicle, and controlling the vehicle to brake if the gradient is larger than the maximum passable gradient, otherwise, controlling the vehicle to enter the slope.
As can be seen from the above description, the first laser distance is collected according to the single-point laser arranged obliquely downward in front of the vehicle, and the second laser distance is collected according to the single-point laser after the vehicle travels for a preset time, so as to calculate the height difference of the two collection points; judging the height change speed of a front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake, otherwise, calculating the gradient of the slope, and judging whether the vehicle can smoothly pass through the slope according to the maximum passable gradient; therefore, the slope gradient can be calculated when the height change speed is smaller than or equal to the threshold value, the calculation time is reduced, and the accuracy of gradient detection is improved while gradient judgment is quickly performed before the vehicle enters the slope.
Further, obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance includes:
calculating the height difference between the single-point laser and a first acquisition point according to the first laser distance and the inclination angle of the single-point laser, and calculating the first height difference between the lower edge of the wheel and the first acquisition point according to the height difference between the single-point laser and the lower edge of the wheel;
calculating the height difference between the single-point laser and a second acquisition point according to the second laser distance and the inclination angle of the single-point laser, and calculating the second height difference between the lower edge of the wheel and the second acquisition point according to the height difference between the single-point laser and the lower edge of the wheel;
and obtaining the height difference of the two acquisition points according to the difference value of the first height difference and the second height difference.
From the above description, the height difference between the single-point laser and the two acquisition points can be calculated according to the laser distance obtained by two measurements and the inclination angle of the single-point laser, so that the height difference between the two acquisition points can be calculated, and the subsequent judgment on the height change degree of the slope and the calculation on the slope gradient can be facilitated.
Further, judging the height change speed of the front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake comprises:
dividing the height difference of the two collection points by the preset time of the interval between the two collection points to obtain the height change speed of the front slope;
if the height change speed is greater than a threshold value, the front slope is a cliff, whether the height drop between the bottom surface of the cliff and the current plane is greater than the maximum drop height is judged, if so, the vehicle is controlled to brake, and if not, the vehicle is controlled to continue running.
As can be seen from the above description, when the height change speed of the slope is greater than the threshold value, the slope in front is the cliff, so that if the height difference between the bottom surface of the cliff and the current plane is less than or equal to the maximum height difference, the vehicle can continue to run, and the running flexibility of the vehicle is ensured.
Further, calculating the gradient of the slope according to the height difference of the two-time acquisition points, the preset time of the interval between the two-time acquisition points and the running speed of the vehicle comprises:
judging whether the height difference values of a plurality of continuously detected acquisition points and single-point lasers are gradually increased, if so, calculating the gradient of a downward slope:
θ1＝arctan(d/((d/tanα)+v*t))；
otherwise, calculating the gradient of the ascending slope:
θ2＝arctan(d/(v*t-(d/tanα)))；
wherein θ1 represents a downward slope gradient, θ2 represents an upward slope gradient, d represents a height difference between two acquisition points, α represents an inclination angle of the single-point laser, v represents a vehicle running speed, and t represents a preset time interval between the two acquisition points.
From the above description, it can be seen that according to whether the continuously detected height difference values between the plurality of sampling points and the single-point laser gradually increase, the slope is judged to be an ascending slope or a descending slope, and the slope of the slope is correspondingly calculated according to the type of the slope, so that the slope judgment can be rapidly made in the rapid movement process of the equipment, and the response sensitivity of the equipment can be improved.
Further, if the grade is greater than a maximum allowable grade, controlling the vehicle to brake, otherwise, controlling the vehicle to enter the grade includes:
and if the gradient is larger than the maximum available gradient, controlling the vehicle to brake, otherwise, if the continuously detected height difference between a plurality of acquisition points and the single-point laser is in a tendency of ascending, descending or ascending, the slope is a ridge or a ditch, and judging whether to execute ridge or ditch passing operation according to the height of the ridge or the ditch.
As can be seen from the above description, when the slope gradient is less than or equal to the maximum available gradient, it is further required to determine whether the continuously detected height difference between the plurality of collection points and the single-point laser is a trend of ascending after descending or ascending after descending, if so, the slope is a ridge or a ditch, and further determine whether to perform the ridge or the ditch passing operation according to the depth of the ridge or the ditch, so that the corresponding determination can be performed according to different road conditions in front, and the response sensitivity of the device is improved.
The gradient detection method and the terminal are suitable for gradient detection in the vehicle running process. The road gradient road condition on the vehicle driving route can be detected rapidly and accurately, and accurate environment data can be provided for the vehicle to judge the trafficability of the road, wherein the vehicle can be a robot such as a cleaning robot, a security robot, a patrol robot or a distribution robot. The following description is made by way of specific embodiments:
example 1
Referring to fig. 1, 3 to 9, a gradient detection method includes the steps of:
s1, acquiring a first laser distance according to single-point laser obliquely downwards arranged in front of a vehicle, and acquiring a second laser distance according to the single-point laser after the vehicle runs for a preset time.
In other words, in step S1, the first laser distance and the second laser distance need to be acquired. Specifically, in order to calculate the gradient of the slope, the height drop change condition and the horizontal displacement distance between the two collected single-point laser collection points need to be obtained, so that the laser distance collected by the two single-point lasers needs to be obtained according to the preset time.
S2, obtaining the height difference of the two collection points according to the first laser distance and the second laser distance, judging the height change speed of the front slope according to the preset time of the interval between the two collection points and the height difference of the two collection points, and if the height change speed is greater than a threshold value, the front slope is a cliff and controlling the vehicle to brake. The collection point refers to a reflection point of a single point laser, and in this application, the collection point is also referred to as a ground collection point or a ground laser collection point.
The step of obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance comprises the following steps:
s21, calculating the height difference between the single-point laser and the first acquisition point according to the first laser distance and the inclination angle of the single-point laser, and calculating the first height difference between the lower edge of the wheel and the first acquisition point according to the height difference between the single-point laser and the lower edge of the wheel. In this case, the lower wheel edge is also referred to as the wheel support surface in this application, considering that the lower wheel edge will contact the support surface of the vehicle during running. In addition, since the height difference between the single-point laser and the collection point refers to the distance between the single-point laser and the collection point in the direction perpendicular to the wheel supporting surface, the height difference between the single-point laser and the collection point in the present application is also referred to as the perpendicular distance between the single-point laser and the collection point, which is not described in the following embodiments.
S22, calculating the height difference between the single-point laser and the second acquisition point according to the second laser distance and the inclination angle of the single-point laser, and calculating the second height difference between the lower edge of the wheel and the second acquisition point according to the height difference between the single-point laser and the lower edge of the wheel.
S23, obtaining the height difference of the two collection points according to the difference value of the first height difference and the second height difference.
Specifically, please refer to fig. 3,l, which illustrates a laser distance of single-point laser acquisition; d represents the height difference between the ground acquisition point and the lower edge of the wheel; h1 represents the height difference between the single-point laser and the lower edge of the wheel; h2 represents the height difference between the single-point laser and the ground acquisition point; alpha represents a single-point laser installation angle;
the calculation flow of the height difference between the ground acquisition point and the lower edge of the wheel is as follows:
height difference between single-point laser and laser acquisition point on ground: h2 =l×sin α;
height difference between ground collection point and lower edge of wheel: d=h2-h1=l×sin α -h1;
referring to fig. 4, d2 represents the second height difference, and d3 represents the first height difference, so that the height difference d1=d2-d 3 between the two collection points.
Similarly, please refer to fig. 5,l for a laser distance for single-point laser acquisition; d represents the height difference between the ground acquisition point and the lower edge of the wheel; h1 represents the height difference between the single-point laser and the ground acquisition point; h2 represents the height difference between the single-point laser and the lower edge of the wheel; alpha represents a single-point laser installation angle;
the calculation flow of the height difference between the ground acquisition point and the lower edge of the wheel is as follows:
height difference between single-point laser and laser acquisition point on ground: h1 =l×sin α;
height difference between ground collection point and lower edge of wheel: d=h2-h1=h2-l sin α;
referring to fig. 6, d2 represents the second height difference, and d3 represents the first height difference, so that the height difference d1=d2-d 3 between the two collection points.
And S24, dividing the height difference of the two collection points by the preset time of the interval between the two collection points to obtain the height change speed of the front slope.
And S25, if the height change speed is greater than a threshold value, the front slope is a cliff, whether the height drop between the bottom surface of the cliff and the current plane is greater than the maximum drop height is judged, if so, the vehicle is controlled to brake, and if not, the vehicle is controlled to continue running.
Specifically, in the present embodiment, the threshold value of the height change speed is 5000mm/s;
referring to fig. 7 to 9, the height change speed in fig. 7 is 40000mm/s, so that when the data is suddenly increased, it is determined as a cliff, and whether to brake is determined according to whether the drop value between the bottom surface of the cliff and the current plane is greater than the maximum drop height;
the height change rate in FIG. 8 was 750mm/s, and a downward slope was determined when the data was gradually increased;
the height change rate in FIG. 9 was 500mm/s, and the data was determined to be an upward slope when a slow drop occurred.
And S3, if not, calculating the gradient of the slope according to the height difference of the two collection points, the preset time of the interval between the two collection points and the running speed of the vehicle, and if the gradient is larger than the maximum available gradient, controlling the vehicle to brake, otherwise, controlling the vehicle to enter the slope.
The step S3 specifically includes the following steps:
s31, otherwise, judging whether the height difference values of the continuously detected multiple acquisition points and the single-point laser are gradually increased, if so, calculating the gradient of the downward slope:
θ1＝arctan(d/((d/tanα)+v*t))；
otherwise, calculating the gradient of the ascending slope:
θ2＝arctan(d/(v*t-(d/tanα)))；
wherein θ1 represents a downward slope gradient, θ2 represents an upward slope gradient, d represents a height difference between two acquisition points, α represents an inclination angle of the single-point laser, v represents a vehicle running speed, and t represents a preset time interval between the two acquisition points.
Specifically, if the height difference value between the continuously detected multiple sampling points and the single-point laser gradually increases, calculating the gradient of the downhill slope:
referring to fig. 4, the auxiliary line corresponds to a distance s1=d1/tan α;
the vehicle horizontal displacement distance is s2=v×t;
the horizontal distance between two single-point laser acquisition points is s=s1+s2;
the ramp inclination angle is θ=arctan (d 1/s).
If the height difference value between the continuously detected multiple collecting points and the single-point laser gradually decreases, calculating the gradient of the ascending slope:
referring to fig. 6, the auxiliary line corresponds to a distance s1=d1/tan α;
the vehicle horizontal displacement distance is s2=v×t;
the horizontal distance between two single-point laser acquisition points is s=s2-s 1;
the ramp inclination angle is θ=arctan (d 1/s).
And S32, if the gradient is larger than the maximum available gradient, controlling the vehicle to brake, otherwise, if a plurality of continuously detected data differences are in a trend of ascending, descending or ascending, the gradient is a ridge or a ditch, and judging whether to execute ridge or ditch passing operation according to the height of the ridge or the ditch.
Specifically, whether the slope is a ridge or a ditch is judged according to the calculated slope gradient and the height of the slope, if yes, whether the ridge or the ditch is carried out or not is judged according to the height of the ridge or the ditch, and if not, the vehicle is directly controlled to enter the slope.
According to steps S31 and S32, the robot is controlled to brake when it is determined that the gradient of the slope is greater than the maximum allowable gradient, and the vehicle is directly controlled to enter the slope only when the gradient is not greater than the maximum allowable gradient and the slope is not a ridge or a trench (i.e., an up-slope or a down-slope), but it is further determined whether the vehicle has the ridge or trench passing capability when the slope is a ridge or a trench.
According to the embodiment, whether an ascending slope or a descending slope or a cliff exists in the advancing direction of the vehicle is judged according to the data change condition measured by the single-point laser obliquely installed right in front of the vehicle in the advancing process. The slope and cliff are distinguished mainly according to whether the data acquired by the single-point laser is suddenly increased, namely, whether the change rate exceeds a threshold value. If the data increases suddenly, cliffs are determined, and if the data decreases slowly or increases slowly, up-slopes or down-slopes are determined. Under the condition of a slope, the system can calculate the gradient of the slope according to the change condition of single-point laser data and judge the trafficability of the road surface according to the gradient of the slope, so that the road gradient road condition on the running route of the vehicle can be rapidly and accurately detected.
Example two
Referring to fig. 2, a gradient detecting terminal includes a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the steps of a gradient detecting method according to the first embodiment when executing the computer program.
In summary, according to the slope detection method and the terminal provided by the invention, the first laser distance is collected according to the single-point laser arranged obliquely downwards in front of the vehicle, and the second laser distance is collected according to the single-point laser after the vehicle runs for a preset time, so that the height difference of the two collection points is calculated; and judging the height change speed of the front slope according to the preset time of the interval between the two collection points and the height difference between the two collection points, if the height change speed is greater than a threshold value, the front slope is cliff and controlling the vehicle to brake, otherwise, judging as a downward slope when the data is slowly increased, entering a downward slope angle calculation flow, and judging the road surface trafficability according to the downward slope angle. And when the data slowly drops, judging that the data is an ascending slope, entering an ascending slope angle calculation flow, and judging the pavement trafficability according to the ascending slope angle. The data is firstly descended and secondly descended, and then is respectively judged to be a ditch passing and a bank passing; during running of the vehicle, if an upper/lower slope exceeding the maximum passing slope of the equipment exists in the running direction, responding and processing; therefore, the slope gradient can be calculated when the height change speed is smaller than or equal to the threshold value, the calculation time is reduced, and the accuracy of gradient detection is improved while gradient judgment is quickly performed before the vehicle enters the slope.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (12)
1. The gradient detection method is characterized by comprising the following steps of:
acquiring a first laser distance and a second laser distance, wherein the first laser distance and the second laser distance are acquired by single-point laser obliquely downwards arranged in front of the robot, and the two acquisition points are spaced for a preset time;
obtaining the height difference of the two acquisition points according to the first laser distance and the second laser distance, and judging the height change speed of the front slope according to the preset time of the interval between the two acquisition points and the height difference;
and when the height change speed does not exceed a threshold value, calculating the gradient of the slope according to the height difference, the preset time and the running speed of the robot, and controlling the robot to brake when the gradient is larger than the maximum available gradient, otherwise, controlling the robot to enter the slope when the slope is determined to be an ascending slope or a descending slope.
2. The gradient detection method according to claim 1, wherein the calculating the gradient of the slope from the height difference, the preset time, and the travel speed of the robot includes: and determining whether the gradient is an ascending slope or a descending slope according to whether the vertical distance between the continuous multiple acquisition points and the single-point laser is gradually increased or not so as to calculate the gradient of the ascending slope or the gradient of the descending slope.
3. The gradient detection method according to claim 2, wherein the calculating the gradient of the slope from the height difference, the preset time, and the travel speed of the robot further includes:
when the vertical distance between the continuous ground collection points and the single-point laser is gradually increased, determining that the slope is a downward slope, wherein the gradient calculation mode of the downward slope is as follows: θ1=arctan (d/((d/tan α) +v×t));
otherwise, determining the slope as an ascending slope, wherein the ascending slope is calculated by the following steps: determining that the slope is an ascending slope, wherein the gradient calculation mode of the ascending slope is as follows: θ2=arctan (d/(v×t- (d/tan α)));
wherein θ1 represents a downward slope gradient, θ2 represents an upward slope gradient, d represents a height difference between two collection points, α represents an inclination angle of the single-point laser, v represents a robot travel speed, and t represents the preset time.
4. The grade detection method of claim 1, wherein the calculating the grade of the grade from the height difference, the preset time, and the travel speed of the robot, and controlling the robot to brake when the grade is greater than a maximum available grade, otherwise controlling the robot to enter the grade when the grade is determined to be an up-grade or a down-grade further comprises: when the slope is determined to be a ridge or a ditch according to whether the vertical distance between a plurality of continuous ground collection points and the single-point laser is in a trend of ascending, descending or ascending, judging whether to execute ridge or ditch passing operation according to the height of the ridge or ditch.
5. The gradient detection method according to claim 1, wherein the obtaining the difference in height of the two collection points according to the first laser distance and the second laser distance includes:
calculating the vertical distance between the single-point laser and a first acquisition point according to the first laser distance and the inclination angle of the single-point laser, and calculating a first height difference from the wheel supporting surface to the first acquisition point according to the vertical distance between the single-point laser and the wheel supporting surface;
calculating the vertical distance between the single-point laser and a second acquisition point according to the second laser distance and the inclination angle of the single-point laser, and calculating a second height difference from the wheel supporting surface to the second acquisition point according to the vertical distance between the single-point laser and the wheel supporting surface;
and obtaining the height difference of the two acquisition points according to the difference value of the first height difference and the second height difference.
6. The gradient detection method according to claim 1, wherein the change in the altitude speed is obtained by dividing an altitude difference of the two collection points by a preset time of the interval between the two collection points.
7. The gradient detection method according to claim 1, further comprising the step of controlling the robot brake when the height change speed is greater than a threshold value.
8. The gradient detection method according to claim 1, further comprising the step of judging whether the height difference between the bottom surface of the slope and the wheel supporting surface is greater than a maximum drop height when the height change speed is greater than a threshold value, if so, controlling the robot to brake, otherwise, controlling the robot to continue running.
9. The gradient detection method according to claim 1, wherein the robot is any one of a cleaning robot, a security robot, a patrol robot, and a distribution robot.
10. A gradient detection terminal, characterized by comprising:
a memory storing a computer program;
a processor, connected to the memory, for implementing the gradient detection method according to any one of claims 1-9 when executing the computer program.
11. A vehicle, characterized in that a single-point laser is provided obliquely downward in front of the vehicle, and the vehicle performs the gradient detection method according to any one of claims 1 to 9 during traveling.
12. The vehicle of claim 11, wherein the vehicle is a robot comprising any one of a cleaning robot, a security robot, a patrol robot, and a distribution robot.
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| JPH0735862A (en) * | 1993-07-20 | 1995-02-07 | Komatsu Ltd | Obstacle detector for vehicle |
| JP4089541B2 (en) * | 2003-07-23 | 2008-05-28 | 株式会社デンソー | Vehicle travel support device |
| JP5235114B2 (en) * | 2008-08-07 | 2013-07-10 | 矢崎エナジーシステム株式会社 | Slope detection method and slope detection device |
| US20150336546A1 (en) * | 2014-05-19 | 2015-11-26 | Umm Al-Qura University | Method and system for vehicle to sense roadblock |
| CN108016440A (en) * | 2016-11-02 | 2018-05-11 | 法乐第(北京)网络科技有限公司 | Control method for vehicle, device and electronic equipment |
| JP6888323B2 (en) * | 2017-02-23 | 2021-06-16 | 三菱自動車工業株式会社 | Vehicle downhill speed control device |
| CN112918444B (en) * | 2021-03-22 | 2022-07-19 | 苏州大学 | Parking control method and device for self-moving equipment |
| CN113212399B (en) * | 2021-05-31 | 2022-05-10 | 东风柳州汽车有限公司 | Steep slope slow descending control system based on electronic calipers |
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