CN118189882B - A method and device for detecting the angle of cargo box of an unmanned vehicle - Google Patents

Abstract

The present disclosure provides a method and device for detecting the angle of a cargo box of an unmanned vehicle, which obtains the cargo box status of the unmanned vehicle to determine the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box status, wherein when the cargo box status is a cargo box lifting state, the cargo box angular velocity information is at least related to the rotational speed of a power unit of the unmanned vehicle; obtains the cargo box angle information at the previous moment before the current moment; determines the current angle information of the cargo box based on the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment, thereby eliminating dependence on a cargo box inclinometer, and determining the cargo box angle at the current moment based on the cargo box angle at the previous moment improves the reliability of detection and the smoothness of the full-process operation of autonomous driving.

Description

A method and device for detecting the angle of cargo box of an unmanned vehicle

Technical Field

The disclosed embodiments relate to the field of autonomous driving, and more particularly to a method and device for detecting the angle of a cargo box of an unmanned vehicle.

Background Art

Wide-body dump trucks for mining play an important role in the field of autonomous driving in mining scenarios, and cargo box lifting is an indispensable part of the entire process of "mining, transportation, and drainage" in mining operations. During the soil discharge process, autonomous driving needs to identify the position of the cargo box, that is, the angle of the cargo box, just like manual driving.

In the related technology, an inclinometer is installed on the cargo box to identify the cargo box angle. However, due to the harsh operating environment of the mine, the failure rate of the cargo box inclinometer is high; when the inclinometer fails, the automatic driving will identify the abnormal position of the cargo box. For example, when the cargo box inclinometer fails, the feedback angle does not change or the feedback angle is not the actual value, etc., which eventually leads to abnormal soil discharge in the automatic driving, affecting work efficiency.

Therefore, how to replace the inclinometer to obtain the cargo box angle, thereby avoiding inclinometer failure, is a technical problem that needs to be solved urgently in this field.

Summary of the invention

The disclosed embodiments provide a method and device for detecting the angle of a cargo box of an unmanned vehicle, eliminating the reliance on a cargo box inclinometer, improving the reliability and smoothness of the entire process of autonomous driving, and reducing the cost of a wire-controlled wide-body mining dump truck.

In a first aspect, an embodiment of the present disclosure provides a method for detecting an angle of a cargo box of an unmanned vehicle, the method comprising:

Acquire a cargo box status of the unmanned vehicle, wherein the cargo box status includes a cargo box lifting status or a cargo box lowering status;

Determine the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state, wherein, when the cargo box state is the cargo box lifting state, the cargo box angular velocity information is at least related to the rotation speed of the power unit of the unmanned vehicle;

Obtaining cargo box angle information at the moment before the current moment;

The current angle information of the cargo box is determined according to the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment.

In combination with the first aspect, in any possible implementation, when the cargo box state is the cargo box lifting state, determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state includes: obtaining a preset corresponding relationship, wherein the preset corresponding relationship is used to characterize the correspondence between the rotational speed of the power unit of the unmanned vehicle and the cargo box angular velocity information; determining the cargo box angular velocity information at the current moment according to the current rotational speed of the power unit of the unmanned vehicle and the preset corresponding relationship.

In combination with the first aspect, in any possible implementation, the preset correspondence is used to characterize the correspondence between the rotational speed of the power unit of the unmanned vehicle, the lifting position of the cargo box and the angular velocity information of the cargo box; determining the angular velocity information of the cargo box at the current moment according to the current rotational speed of the power unit of the unmanned vehicle and the preset correspondence includes: determining the angular velocity information of the cargo box at the current moment according to the current rotational speed of the power unit of the unmanned vehicle, the current position of the cargo box lifting and the preset correspondence.

In combination with the first aspect, in any possible implementation, when the cargo box state is the cargo box descending state, determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state includes: obtaining preset cargo box angular velocity information under the cargo box descending state; and determining the cargo box angular velocity information at the current moment based on the preset cargo box angular velocity information.

In combination with the first aspect, in any possible implementation manner, determining the current angle information of the cargo box according to the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment includes: calculating the current angle information according to the following formula:

in, Indicates the current angle information of the cargo box, Indicates the cargo box angle information at the last moment, Indicates the current time of the cargo box The angular velocity information of the cargo box, Represents an integer greater than or equal to 1.

In combination with the first aspect, in any possible embodiment, the rotational speed includes multiple different rotational speeds, and the method further includes: for any rotational speed, obtaining the cargo box lifting time corresponding to each cargo box lifting cylinder at the rotational speed, and determining the corresponding cargo box angular velocity information according to the cargo box lifting time, wherein starting different cargo box lifting cylinders corresponds to reaching different cargo box lifting positions; constructing the preset corresponding relationship according to the different rotational speeds, the started cargo box lifting cylinders and the corresponding cargo box angular velocity information; determining the cargo box angular velocity information at the current moment according to the current rotational speed of the power unit of the unmanned vehicle, the current position of the cargo box lifting and the preset corresponding relationship, including: determining the section identifier of the currently started cargo box lifting cylinder; determining the cargo box angular velocity information at the current moment according to the current rotational speed of the power unit of the unmanned vehicle, the section identifier of the currently started cargo box lifting cylinder and the preset corresponding relationship.

In combination with the first aspect, in any possible implementation, for the same rotation speed, when different cargo box lifting positions correspond to the same activated cargo box lifting cylinder, the corresponding cargo box angular velocity information is the same.

In combination with the first aspect, in any possible implementation, obtaining preset cargo box angular velocity information when the cargo box is in a descending state includes: obtaining a specified corresponding relationship, wherein the specified corresponding relationship is used to characterize the correspondence between the terrain in which the unmanned vehicle is located and the cargo box angular velocity information in the cargo box in a descending state; determining the preset cargo box angular velocity information based on the specified corresponding relationship and the terrain in which the unmanned vehicle is currently located.

In combination with the first aspect, in any possible implementation, the designated correspondence is used to characterize the correspondence between the terrain in which the unmanned vehicle is located, the load condition of the cargo box, and the angular velocity information of the cargo box when the cargo box is in a lowered state; determining the preset cargo box angular velocity information based on the designated correspondence and the terrain in which the unmanned vehicle is currently located, includes: determining the preset cargo box angular velocity information based on the designated correspondence, the terrain in which the unmanned vehicle is currently located, and the current load condition of the cargo box.

In combination with the first aspect, in any possible implementation, determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state includes: collecting the time from when the power unit stops working to when the cargo box stops moving; determining filtering parameters based on the time; and filtering the cargo box angular velocity information at the current moment based on the filtering parameters to obtain the target cargo box angular velocity information at the current moment.

In combination with the first aspect, in any possible implementation, the method further includes: performing an upper dead point check on the current angle information of the cargo box, the upper dead point corresponding to the angle when the cargo box is in the top position; when the angle corresponding to the current angle information of the cargo box is greater than the angle corresponding to the upper dead point, correcting the current angle information of the cargo box to the angle when the cargo box is in the top position; and/or, performing a lower dead point check on the current angle information of the cargo box, the lower dead point corresponding to the angle when the cargo box is in the bottom position; when the angle corresponding to the current angle information of the cargo box is less than the angle corresponding to the lower dead point, correcting the current angle information of the cargo box to the angle when the cargo box is in the bottom position.

In a second aspect, an embodiment of the present disclosure provides a cargo box angle detection device for an unmanned vehicle, comprising:

A status acquisition module, used to acquire the status of the cargo box of the unmanned vehicle, wherein the cargo box status includes a cargo box lifting status or a cargo box lowering status;

an angular velocity determination module, used to determine the angular velocity information of the cargo box of the unmanned vehicle at the current moment corresponding to the cargo box state, wherein, when the cargo box state is the cargo box lifting state, the cargo box angular velocity information is at least related to the rotation speed of the power unit of the unmanned vehicle;

An angle acquisition module, used to acquire the cargo box angle information at the previous moment before the current moment;

The angle determination module is used to determine the current angle information of the cargo box according to the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment.

The disclosed embodiment provides a method and device for detecting the angle of a cargo box of an unmanned vehicle, which obtains the cargo box state of the unmanned vehicle, thereby determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state, wherein, when the cargo box state is a cargo box lifting state, the cargo box angular velocity information is at least related to the rotation speed of the power unit of the unmanned vehicle; obtains the cargo box angle information at the previous moment before the current moment; determines the current angle information of the cargo box based on the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment, thereby determining the position of the cargo box. It can be seen that in the process of detecting the cargo box angle, there is no need to use an inclinometer, eliminating the dependence on the cargo box inclinometer, and determining the cargo box angle at the current moment based on the cargo box angle at the previous moment improves the reliability of detection and the smoothness of the full process of automatic driving operation, and reduces the cost of wire-controlled wide-body dump trucks for mining.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of an application scenario of a cargo box lifting control of an unmanned vehicle provided by an embodiment of the present disclosure;

FIG2 is a flow chart of a method for detecting the angle of a cargo box of an unmanned vehicle provided by an embodiment of the present disclosure;

FIG3 is a comparison diagram of a cargo box detection angle and an actual cargo box angle of an unmanned vehicle provided by an embodiment of the present disclosure;

FIG4 is a schematic structural diagram of a cargo box angle detection device for an unmanned vehicle provided by an embodiment of the present disclosure;

FIG5 is a schematic diagram of an unmanned cargo box control system provided in an embodiment of the present disclosure.

DETAILED DESCRIPTION

Here, exemplary embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure.

The terms used in the disclosed embodiments are only for the purpose of describing specific embodiments and are not intended to limit the disclosed embodiments. The singular forms of "a", "said" and "the" used in the disclosed embodiments and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and/or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

It should be understood that although the terms first, second, third, etc. may be used to describe various information in the disclosed embodiments, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the disclosed embodiments, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

A method and device for detecting the angle of a cargo box of an unmanned vehicle according to an embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

FIG1 is a schematic diagram of an application scenario of a cargo box lifting control of an unmanned vehicle according to an embodiment of the present disclosure. As shown in FIG1 , it includes an autonomous driving domain controller 110 (Autonomous Driving Control Unit), a vehicle controller 120 (Vehicle Control Unit), a power unit 130, a lifting system 140, and a cargo box 150. Among them, the autonomous driving domain controller 110 sends lifting-related instructions to the vehicle controller 120, and receives the cargo box status and cargo box angle feedback from the vehicle controller 120; the vehicle controller 120 sends an accelerator pedal instruction according to the lifting instruction sent by the autonomous driving domain controller 110, and the power unit 130 drives the lifting system 140 to lift according to the accelerator pedal instruction sent by the vehicle controller 120, thereby lifting the cargo box 150.

Furthermore, the lifting system 140 also includes a lifting solenoid valve/lowering solenoid valve (not shown in the figure), a hydraulic cylinder (here the lifting cylinder takes the hydraulic cylinder as an example, which is not shown in the figure), a hydraulic pump (not shown in the figure), a force exchanger (not shown in the figure) and a lower dead point limit switch 141 and an upper dead point limit switch 142; wherein the force exchanger is connected to the power unit 130 and the hydraulic pump to convert the mechanical energy of the power unit 130 into hydraulic energy of the hydraulic pump, the hydraulic pump is connected to the hydraulic cylinder, and the hydraulic pump and the hydraulic cylinder connecting pipeline are controlled by the lifting solenoid valve/lowering solenoid valve to transmit the hydraulic energy to the hydraulic cylinder, the hydraulic cylinder is connected to the cargo box 150 to control the lifting and lowering of the cargo box 150.

When lifting the cargo box, the autonomous driving domain controller 110 sends lifting-related instructions to the vehicle controller 120. The vehicle controller 120 sends an accelerator pedal instruction to the power unit 130 according to the lifting instruction sent by the autonomous driving domain controller 110. At the same time, the vehicle controller 120 controls the lifting system 140 to drive the lifting solenoid valve; the power unit 130 drives the force exchanger, which transfers mechanical energy to the hydraulic pump. The hydraulic pump presses the hydraulic oil into the lifting pipeline of the hydraulic cylinder whose lifting solenoid valve is opened to lift the cargo box 150.

When the cargo box is lowered, the autonomous driving domain controller 110 sends a descending-related instruction to the vehicle controller 120. The vehicle controller 120 sends a stop pedal instruction to the power unit 130 according to the descending instruction sent by the autonomous driving domain controller 110. At the same time, the vehicle controller 120 controls the lifting system 140 to drive the descending solenoid valve; the power unit 130 disconnects the force exchanger, and the hydraulic oil of the hydraulic cylinder flows back to the hydraulic cylinder through the descending pipeline of the hydraulic cylinder opened by the descending solenoid valve, and the hydraulic oil of the hydraulic pump flows back to the hydraulic pump, and the cargo box 150 descends by its own weight.

In practical applications, if the unmanned vehicle can be a fuel vehicle or a new energy vehicle, the power unit 130 can be an engine of a fuel vehicle or a motor of a new energy vehicle, and the embodiments of the present disclosure do not impose specific restrictions on this.

Referring to FIG2 , a method for detecting the angle of a cargo box of an unmanned vehicle provided in an embodiment of the present disclosure includes:

S201, obtaining a cargo box status of the unmanned vehicle, wherein the cargo box status includes a cargo box lifting status or a cargo box lowering status;

S202, determining the current cargo box angular velocity information of the unmanned vehicle corresponding to the cargo box state obtained in S201, wherein when the cargo box state is a cargo box lifting state, the cargo box angular velocity information is at least related to the rotation speed of the power unit of the unmanned vehicle;

S203, obtaining the cargo box angle information at the previous moment before the current moment;

S204: Determine the current angle information of the cargo box according to the angle information of the cargo box at the previous moment and the angular velocity information of the cargo box at the current moment.

The unmanned vehicle is equipped with a cargo box. Taking the mining scenario as an example, the unmanned vehicle can fill the cargo box with materials in the loading area and dump the materials in the unloading area.

In an optional embodiment, the cargo box can be lifted and/or lowered by driving the oil cylinder by the power unit. Preferably, the cargo box is lifted by driving the oil cylinder by the power unit, and no driving force of the power unit is provided during the lowering process. Optionally, during the lowering process of the cargo box, the lowering of the cargo box is driven only by the action of gravity.

In the above embodiment, there is no need to set up an angular velocity meter to measure the angular velocity in the lifting state, but the angular velocity information of the cargo box is at least associated with the rotation speed of the power unit of the unmanned vehicle, and the corresponding angular velocity information of the cargo box can be determined by the rotation speed of the power unit of the unmanned vehicle. This method avoids the need to install an additional sensor unit for measuring the angular velocity, and can ensure that relatively accurate angular velocity information of the cargo box is obtained.

In the disclosed embodiment, the angular velocity information at the current moment corresponding to different cargo box states is determined, and the current angle information of the cargo box is determined based on the cargo box angle information at the previous moment and the angular velocity information. In the process of detecting the cargo box angle, there is no need to use an inclinometer, eliminating the dependence on the cargo box inclinometer. In the process of lifting or lowering the cargo box, the cargo box angle information is determined based on the angular velocity information of the cargo box, making the obtained angle information more reliable, the full process of automatic driving operation smoother, and reducing the cost of wire-controlled wide-body mining dump trucks.

In another embodiment provided by the present disclosure, when the cargo box state is the cargo box lifting state, the above step S202 "determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state" can be implemented as follows:

Step 1: obtaining a preset corresponding relationship, wherein the preset corresponding relationship is used to characterize the corresponding relationship between the rotation speed of the power unit of the unmanned vehicle and the angular velocity information of the cargo box;

Step 2: Determine the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle and the preset corresponding relationship.

In the disclosed embodiment, the correspondence between the rotational speed of the power unit and the angular velocity information of the cargo box can be preset. When detecting the angle of the cargo box, the current angular velocity information of the cargo box can be determined according to the current rotational speed of the power unit through the preset correspondence.

Optionally, the angular velocity of the cargo box during cargo box lifting may be tested in advance under different power levels (i.e., different speeds, such as the lowest speed, the highest speed, and the intermediate speed) and different loads (or only for a scenario in which the cargo box is fully loaded with ore) provided by the power unit, and the correspondence between different speeds and the angular velocity of the cargo box may be recorded in advance, so that the recorded correspondence may be searched based on the current speed of the power unit to determine the angular velocity information of the cargo box at the current moment.

In another embodiment provided by the present disclosure, in order to obtain the angular velocity information of the cargo box more accurately, it is further determined in combination with the lifting position of the cargo box, that is, the above-mentioned preset correspondence is used to characterize the correspondence between the rotation speed of the power unit of the unmanned vehicle, the lifting position of the cargo box and the angular velocity information of the cargo box. Optionally, the angular velocity of the cargo box during the lifting process of the cargo box corresponding to different power conditions (i.e., different rotation speeds, such as: the lowest rotation speed, the highest rotation speed and the intermediate rotation speed) and the lifting position of the cargo box (measured manually or by sensors) can be pre-tested to obtain the correspondence between the three, so as to search for the recorded correspondence based on the current rotation speed and lifting position of the power unit to determine the angular velocity information of the cargo box at the current moment.

Optionally, the lifting position can be determined by the node identification of the currently activated lifting cylinder; or, the lifting position can be estimated by the rotation speed and the lifting time. The lifting position can be a position range interval or a position point. Preferably, it is a position range interval. For example, the first lifting cylinder node is activated, which corresponds to a lifting range interval, and within the range interval, the influence of the lifting cylinder node on the angular velocity information of the cargo box remains unchanged.

Optionally, the above step 2 of "determining the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle and the preset corresponding relationship" can be implemented as follows:

According to the current rotation speed of the power unit of the unmanned vehicle, the current position of the cargo box lift and the preset corresponding relationship, the angular velocity information of the cargo box at the current moment is determined.

In a possible implementation, considering that as the lifting height of the cargo box increases during the lifting process, the materials in the cargo box are continuously dumped, and the center of gravity of the materials in the cargo box is continuously moved downward, the required power may also change, or the angular velocity of the cargo box may change when the same power is provided during the entire dumping process, and the corresponding relationship between the pressure value in the cargo box, the power provided by the power unit, and the angular velocity of the cargo box can be determined. During implementation, a pressure sensor can be installed in the cargo box, and the pressure value generated by the remaining materials in the cargo box when the cargo box is lifted to different positions can be determined according to the pressure sensor during the material dumping process, and the power required to change if the cargo box continues to be lifted at the original angular velocity under the pressure value, or the angular velocity of the cargo box is generated if the cargo box is lifted according to the original power under the pressure value. Further, the corresponding relationship between the rotation speed of the power unit, the angular velocity of the cargo box, and the lifting position of the cargo box can be established in advance, so as to determine the angular velocity of the cargo box at the current moment according to the current rotation speed of the power unit, the current position of the cargo box lift, and the preset corresponding relationship.

In another possible implementation, a correspondence between the rotation speed of the power unit, the angular velocity of the cargo box, and the enabled lifting cylinder can be pre-established to determine the angular velocity of the cargo box at the current moment. The lifting cylinder includes multiple sections, and different sections of the lifting cylinder correspond to different lifting positions. Optionally, the angular velocity of the cargo box during the lifting process of the corresponding cargo box under different power conditions (i.e., different rotation speeds, such as the lowest rotation speed, the highest rotation speed, and the intermediate rotation speed) and enabled lifting cylinders (measured manually or by sensors) can be pre-tested to obtain the correspondence between the three, so as to search for the recorded correspondence based on the current rotation speed of the power unit and the enabled lifting cylinders, and determine the angular velocity information of the cargo box at the current moment.

Optionally, the identification of the currently enabled lift cylinder can be obtained through the vehicle controller.

Furthermore, the lifting angular velocity of the cargo box during lifting The following corresponding relationship can be satisfied:

in, Characterize different speeds of the power unit, Represents the cargo box angle detected at the last moment, for the cargo box lifting state is a positive value;

In another embodiment provided by the present disclosure, when the cargo box state is a cargo box descending state, step S202 of "determining the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box state" can be implemented as follows:

Step 1, obtaining the preset cargo box angular velocity information when the cargo box is in a descending state;

Step 2: Determine the current angular velocity information of the cargo box according to the preset angular velocity information of the cargo box.

In the disclosed embodiment, when the cargo box is in a descending state, the cargo box can descend by its own weight. Therefore, preset cargo box angular velocity information for the descending state can be pre-set.

Furthermore, when descending, the angular velocity of the cargo box is The following corresponding relationship is satisfied:

in, Represents the cargo box angle detected at the last moment, for the cargo box lowering state Is a negative value.

In another embodiment provided by the present disclosure, the angle information of the cargo box can be obtained according to a specified period, and the period can be any period specified according to user needs. Preferably, the period is related to the power but not the rotational speed. Optionally, the period is inversely proportional to the rotational speed. Optionally, the optimal period corresponding to different rotational speeds can be pre-tested, and a corresponding relationship table can be established. The optimal period corresponding to the current rotational speed is obtained by looking up the table as the final period used. Among them, preferably, under an optimal period and a corresponding rotational speed, the lifting angle of the preset cargo box does not exceed the specified angle value. Among them, the step of "determining the current angle information of the cargo box based on the angle information of the cargo box at the previous moment and the angular velocity information of the cargo box at the current moment" can be implemented as the following steps:

The current angle information is calculated according to the following formula:

in, Indicates the current angle information of the cargo box. Indicates the cargo box angle information at the last moment, Indicates the current time of the container The angular velocity information of the cargo box, Represents an integer greater than or equal to 1.

Optionally, the current angle information may also be obtained in the following manner:

Furthermore, according to the driving state of the lifting/lowering solenoid valve, when the current cargo box action is identified as lifting, Select the lifting angular velocity of the cargo box and identify that the current cargo box action is descending. Select the angular velocity of the cargo box descent to identify when the cargo box is not moving. The value is 0. When the lower limit switch is triggered, the output Equal to 0, when the top stop switch is triggered, the output Equal to the maximum cargo box angle of the mechanical design.

In another embodiment provided by the present disclosure, the rotation speed includes a plurality of different rotation speeds, and the method further includes the following steps:

For any rotation speed, obtain the container lifting time corresponding to each container lifting cylinder at the rotation speed, and determine the corresponding container angular velocity information according to the container lifting time, wherein starting different container lifting cylinders corresponds to reaching different container lifting positions;

The above preset corresponding relationship is constructed according to different rotation speeds, activated cargo box lifting cylinders and corresponding cargo box angular velocity information;

Then the above step of "determining the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle, the current position of the cargo box lift and the preset corresponding relationship" can be implemented as follows:

Step 1: Determine the node identification of the currently activated cargo box lifting cylinder;

Step 2: Determine the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle, the node identification of the currently activated cargo box lifting cylinder and the above preset corresponding relationship.

In this embodiment, the power unit can provide a plurality of different rotational speeds, and different lifting cylinders correspond to different lifting speeds. Since the corresponding length of each lifting cylinder piston when it is fully extended is certain, for any rotational speed provided by the power unit, the corresponding cargo box angular velocity information can be determined according to the cargo box lifting time corresponding to each cylinder at the rotational speed. It should be noted here that when the cargo box lifting angle is relatively small, only one lifting cylinder is started. As the angle increases, the number of lifting cylinders started increases. Therefore, different lifting cylinders correspond to different lifting angles, which correspond to different lifting positions. Here, the lifting position information can be represented by the lifting cylinder mark. Therefore, the above preset corresponding relationship can be constructed according to different rotational speeds, the started cargo box lifting cylinder mark and the corresponding cargo box angular velocity information.

Furthermore, the cargo box lifting time corresponding to each cylinder at different speeds includes the lowest speed that can move the cargo box, the highest speed, and the corresponding lifting time at the intermediate speeds.

In another embodiment provided by the present disclosure, for the same rotation speed, when different cargo box lifting positions correspond to the same activated cargo box lifting cylinder, the corresponding cargo box angular velocity information is the same.

In the embodiments of the present disclosure, under the same rotation speed provided by the power unit, during the process of the cargo box being lifted by the same cargo box lifting cylinder, the angular velocities of the different positions passed by the cargo box are all the same.

In another embodiment provided by the present disclosure, the above step 1 "obtaining preset cargo box angular velocity information when the cargo box is in a descending state" can be implemented as follows:

Step a, obtaining a specified corresponding relationship, wherein the specified corresponding relationship is used to characterize the corresponding relationship between the terrain where the unmanned vehicle is located and the angular velocity information of the cargo box when the cargo box is in a descending state;

Step b: Determine the preset cargo box angular velocity information according to the above-specified corresponding relationship and the terrain where the unmanned vehicle is currently located.

In the disclosed embodiment, the angular velocity of the cargo box when it is lowered is related to the terrain on which the vehicle is located. Therefore, a specified correspondence can be determined based on the correspondence between the terrain on which the unmanned vehicle is located and the angular velocity information of the cargo box when the cargo box is in a lowered state, thereby determining the preset cargo box angular velocity information.

In another embodiment provided by the present disclosure, the above-mentioned specified correspondence relationship is used to characterize the correspondence between the terrain where the unmanned vehicle is located, the load condition of the cargo box, and the angular velocity information of the cargo box when the cargo box is in a descending state;

Then the above step b "determining the preset cargo box angular velocity information according to the above specified corresponding relationship and the terrain where the unmanned vehicle is currently located" can be implemented as follows:

The preset cargo box angular velocity information is determined according to the specified corresponding relationship, the terrain where the unmanned vehicle is currently located, and the current load condition of the cargo box.

In the disclosed embodiment, the angular velocity of the cargo box's descent is related to both the cargo box's load condition and the vehicle's slope. Therefore, a specified correspondence can be determined based on the correspondence between the terrain in which the unmanned vehicle is located, the cargo box's load condition, and the cargo box's angular velocity information when the cargo box is in a descending state, thereby determining the preset cargo box angular velocity information.

Furthermore, the angular velocity of the vehicle's own weight decreases is positively correlated with the load of the cargo box and the vehicle slope. For a fixed vehicle model and a fixed scene, the load of the cargo box and the slope change of the dumping point can be ignored.

It should be noted that the load conditions here may include the vehicle's own weight and/or the material weight. Generally, when the vehicle is lowered in an empty state, no material weight detection is required. However, when the material may not be dumped completely or is dumped in multiple times, a material weight detection may be required.

In another embodiment provided by the present disclosure, the above step S202 "determining the current cargo box angular velocity information of the unmanned vehicle corresponding to the cargo box state" can be implemented as follows:

Step 1: Collect the time from when the power unit stops working to when the cargo box stops moving;

Step 2: Determine the filtering parameters according to the determined time;

Step 3: Filter the cargo box angular velocity information at the current moment according to the filtering parameters to obtain the target cargo box angular velocity information at the current moment.

In the disclosed embodiment, in order to make the feedback cargo box angular velocity smoother, the gradient filtering value of the angular velocity can be determined, that is, the angular velocity information of the cargo box at the current moment is subjected to gradient filtering and first-order filtering to simulate the inertial characteristics under the corresponding scene. The filtering parameters can be determined by the above time.

In another embodiment provided by the present disclosure, the above method may further include the following steps:

Step 1: perform an upper dead point check on the current angle information of the cargo box, where the upper dead point corresponds to the angle when the cargo box is at the top position; when the angle corresponding to the current angle information of the cargo box is greater than the angle corresponding to the upper dead point, correct the current angle information of the cargo box to the angle when the cargo box is at the top position; and/or,

Step 2: Check the lower dead point of the current angle information of the cargo box, which corresponds to the angle when the cargo box is at the bottom position; when the angle corresponding to the current angle information of the cargo box is smaller than the angle corresponding to the lower dead point, correct the current angle information of the cargo box to the angle when the cargo box is at the bottom position.

In the disclosed embodiment, the angle range of the cargo box lifting or lowering can also be limited to avoid feedback of abnormal cargo box inclination angles, that is, to set the upper and lower dead points. When the current angle of the cargo box is greater than the upper dead point, the current angle of the cargo box is corrected to the angle of the cargo box at the top position. Similarly, when the current angle of the cargo box is less than the lower dead point, the current angle of the cargo box is corrected to the angle of the cargo box at the bottom position.

Refer to Figure 3, which is a comparison diagram of the cargo box detection angle and the actual cargo box angle of an unmanned vehicle in an embodiment of the present disclosure. The top is the inclinometer angle curve, and the middle is the estimated angle curve. The difference between the estimated angle and the actual cargo box angle measured by the inclinometer is less than or equal to 2°.

Based on the same disclosed concept, the embodiments of the present disclosure also provide a device for detecting the cargo box angle of an unmanned vehicle. Since the principles of the problems solved by these devices are similar to those of the aforementioned method for detecting the cargo box angle of an unmanned vehicle, the implementation of the device can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated.

The embodiment of the present disclosure provides a device for detecting the angle of a cargo box of an unmanned vehicle, as shown in FIG4 , including the following modules:

The state acquisition module 401 is used to acquire the state of the cargo box of the unmanned vehicle, wherein the cargo box state includes the cargo box lifting state or the cargo box lowering state;

An angular velocity determination module 402 is used to determine the angular velocity information of the cargo box of the unmanned vehicle at the current moment corresponding to the cargo box state, wherein, when the cargo box state is the cargo box lifting state, the cargo box angular velocity information is at least related to the rotation speed of the power unit of the unmanned vehicle;

Angle acquisition module 403, used to acquire the cargo box angle information at the previous moment before the current moment;

The angle determination module 404 is used to determine the current angle information of the cargo box according to the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment.

In another embodiment provided by the present disclosure, when the cargo box state is the cargo box lifting state, the angular velocity determination module 402 is used to obtain a preset corresponding relationship, wherein the preset corresponding relationship is used to characterize the correspondence between the rotational speed of the power unit of the unmanned vehicle and the angular velocity information of the cargo box; according to the current rotational speed of the power unit of the unmanned vehicle and the preset corresponding relationship, the angular velocity information of the cargo box at the current moment is determined.

In another embodiment provided by the present disclosure, the preset corresponding relationship is used to characterize the corresponding relationship between the rotation speed of the power unit of the unmanned vehicle, the lifting position of the cargo box and the angular velocity information of the cargo box;

The angular velocity determination module 402 is used to determine the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle, the current position of the cargo box lift and the preset corresponding relationship.

In another embodiment provided by the present disclosure, when the cargo box state is the cargo box descending state, the angular velocity determination module 402 is used to obtain preset cargo box angular velocity information in the cargo box descending state; and determine the cargo box angular velocity information at the current moment according to the preset cargo box angular velocity information.

In another embodiment provided by the present disclosure, the angle determination module 404 is used to calculate the current angle information according to the following formula:

in, Indicates the current angle information of the cargo box, Indicates the cargo box angle information at the last moment, Indicates the current time of the cargo box The angular velocity information of the cargo box, Represents an integer greater than or equal to 1.

In another embodiment provided by the present disclosure, the rotation speed includes a plurality of different rotation speeds, and the angular velocity determination module 402 is further used to obtain, for any rotation speed, the container lifting time corresponding to each container lifting cylinder at the rotation speed, and determine the corresponding container angular velocity information according to the container lifting time, wherein starting different container lifting cylinders corresponds to reaching different container lifting positions; and constructing the preset corresponding relationship according to the different rotation speeds, the started container lifting cylinders and the corresponding container angular velocity information;

The angular velocity determination module 402 is used to determine the node identification of the currently activated cargo box lifting cylinder; according to the current rotation speed of the power unit of the unmanned vehicle, the node identification of the currently activated cargo box lifting cylinder and the preset corresponding relationship, the angular velocity information of the cargo box at the current moment is determined.

In another embodiment provided by the present disclosure, for the same rotation speed, when different cargo box lifting positions correspond to the same activated cargo box lifting cylinder, the corresponding cargo box angular velocity information is the same.

In another embodiment provided by the present disclosure, the angular velocity determination module 402 is used to obtain a specified corresponding relationship, wherein the specified corresponding relationship is used to characterize the corresponding relationship between the terrain in which the unmanned vehicle is located and the angular velocity information of the cargo box when the cargo box is in a lowered state; and the preset cargo box angular velocity information is determined based on the specified corresponding relationship and the terrain in which the unmanned vehicle is currently located.

In another embodiment provided by the present disclosure, the specified corresponding relationship is used to characterize the corresponding relationship between the terrain where the unmanned vehicle is located, the load condition of the cargo box, and the angular velocity information of the cargo box when the cargo box is in a descending state;

The angular velocity determination module 402 is used to determine the preset cargo box angular velocity information according to the specified corresponding relationship, the terrain where the unmanned vehicle is currently located, and the current load condition of the cargo box.

In another embodiment provided by the present disclosure, the angular velocity determination module 402 is used to collect the time from when the power unit stops working to when the cargo box stops moving; determine the filtering parameters based on the time; and filter the angular velocity information of the cargo box at the current moment based on the filtering parameters to obtain the target angular velocity information of the cargo box at the current moment.

In another embodiment provided by the present disclosure, the angle determination module 404 is further used to perform an upper dead point check on the current angle information of the cargo box, the upper dead point corresponding to the angle when the cargo box is in the top position; when the angle corresponding to the current angle information of the cargo box is greater than the angle corresponding to the upper dead point, the current angle information of the cargo box is corrected to the angle when the cargo box is in the top position; and/or, perform a lower dead point check on the current angle information of the cargo box, the lower dead point corresponding to the angle when the cargo box is in the bottom position; when the angle corresponding to the current angle information of the cargo box is less than the angle corresponding to the lower dead point, the current angle information of the cargo box is corrected to the angle when the cargo box is in the bottom position.

The embodiment of the present disclosure also provides an unmanned cargo box control system 100, including an automatic driving domain controller 110, a vehicle controller 120, a power unit 130, a lifting system 140 and a cargo box 150. The automatic driving domain controller 110 sends a lifting or lowering instruction to the vehicle controller 120, and receives the cargo box state and cargo box angle fed back by the vehicle controller 120 after executing the cargo box angle detection method for an unmanned vehicle provided in any embodiment of the present disclosure; the vehicle controller 120 sends a corresponding instruction according to the lifting or lowering instruction sent by the automatic driving domain controller 110, and the power unit 130 drives the lifting system 140 to lift according to the corresponding instruction sent by the vehicle controller 120, thereby lifting the cargo box 150.

The disclosed embodiments provide a method and device for detecting the angle of a cargo box of an unmanned vehicle, which obtains the cargo box status of the unmanned vehicle to determine the cargo box angular velocity information of the unmanned vehicle at the current moment corresponding to the cargo box status, wherein when the cargo box status is a cargo box lifting state, the cargo box angular velocity information is at least related to the rotational speed of a power unit of the unmanned vehicle; obtains the cargo box angle information at the previous moment before the current moment; and determines the current angle information of the cargo box based on the cargo box angle information at the previous moment and the cargo box angular velocity information at the current moment. It can be seen that in the process of detecting the cargo box angle, there is no need to use an inclinometer, thereby eliminating the dependence on the cargo box inclinometer. Determining the cargo box angle at the current moment based on the cargo box angle at the previous moment improves the reliability of detection and the smoothness of the full-process operation of the automatic driving, and reduces the cost of the wire-controlled wide-body mining dump truck.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present disclosure. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

In the embodiments provided in the present disclosure, it should be understood that the disclosed devices/electronic devices and methods can be implemented in other ways. For example, the device/electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims (9)

1. A method of cargo angle detection for an unmanned vehicle, the method comprising:

Acquiring a container state of the unmanned vehicle, wherein the container state comprises a container lifting state;

Acquiring a preset corresponding relation; the preset corresponding relation is used for representing the corresponding relation among the rotating speed of the power unit of the unmanned vehicle, the lifting position of the cargo box and the angular speed information of the cargo box;

determining the angular speed information of the cargo box at the current moment according to the current rotating speed of the power unit of the unmanned vehicle, the current lifting position of the cargo box and the preset corresponding relation;

Acquiring container angle information at the moment previous to the current moment;

and determining the current angle information of the container according to the container angle information at the last moment and the container angular speed information at the current moment.

2. The method of claim 1, wherein the cargo box state further comprises a cargo box lowering state;

When the cargo box state is the cargo box descending state, determining cargo box angular velocity information of the unmanned vehicle at the current time corresponding to the cargo box state, including:

acquiring a specified corresponding relation, wherein the specified corresponding relation is used for representing the corresponding relation between the terrain where the unmanned vehicle is located and container angular speed information in a container descending state;

determining preset container angular speed information according to the appointed corresponding relation and the terrain of the unmanned vehicle at the current moment;

and determining the angular velocity information of the container at the current moment according to the preset angular velocity information of the container.

3. The method of claim 1 or 2, wherein said determining the current angle information of the cargo box based on the cargo box angle information at the previous time and the cargo box angular velocity information at the current time comprises:

calculating the current angle information according to the following formula:

wherein, Current angle information representative of the cargo box,The container angle information indicating the last moment,Representing the current moment of the containerIs provided with the information of the angular velocity of the cargo box,Represents an integer greater than or equal to 1.

4. The method of claim 1, wherein the rotational speed comprises a plurality of different rotational speeds, the method further comprising:

For any rotating speed, acquiring the container lifting time corresponding to each container lifting oil cylinder at the rotating speed, and determining corresponding container angular speed information according to the container lifting time, wherein different container lifting oil cylinders are started to correspondingly reach different container lifting positions;

constructing the preset corresponding relation according to different rotating speeds, the started container lifting oil cylinders and corresponding container angular speed information;

the determining the angular velocity information of the cargo box at the current moment according to the current rotation speed of the power unit of the unmanned vehicle, the current lifting position of the cargo box and the preset corresponding relation comprises the following steps:

Determining a section identifier of a container lifting cylinder started currently;

And determining the angular speed information of the cargo box at the current moment according to the current rotating speed of the power unit of the unmanned vehicle, the node identification of the cargo box lifting oil cylinder started at the current time and the preset corresponding relation.

5. Method according to claim 1 or 4, characterized in that for the same rotational speed, the corresponding container angular velocity information is the same for the case where different container lifting positions correspond to the same container lifting cylinder that is activated.

6. The method of claim 2, wherein the specified correspondence is used to characterize correspondence between terrain in which the unmanned vehicle is located, cargo loading conditions of a cargo box, and cargo box angular velocity information in a lowered cargo box state;

the determining the preset container angular speed information according to the appointed corresponding relation and the terrain of the unmanned vehicle at the current moment comprises the following steps:

and determining the preset container angular speed information according to the appointed corresponding relation, the terrain of the unmanned vehicle at the current moment and the current loading condition of the container.

7. The method as recited in claim 1, further comprising:

collecting the time from the stop of the power unit to the stop of the cargo box;

determining a filtering parameter according to the time;

and filtering the container angular velocity information at the current moment according to the filtering parameters to obtain target container angular velocity information at the current moment.

8. The method according to claim 1, wherein the method further comprises:

checking the current angle information of the container at a top dead center, wherein the top dead center corresponds to the angle of the container at the top position; when the angle corresponding to the current angle information of the container is larger than the angle corresponding to the top dead center, correcting the current angle information of the container to be the angle when the container is at the top position; and/or the number of the groups of groups,

Performing bottom dead center verification on the current angle information of the container, wherein the bottom dead center corresponds to the angle of the container when the container is at the bottom position; when the angle corresponding to the current angle information of the container is smaller than the angle corresponding to the bottom dead center, correcting the current angle information of the container to be the angle when the container is at the bottom position.

9. A cargo box angle detection device of an unmanned vehicle, comprising:

the system comprises a state acquisition module, a control module and a control module, wherein the state acquisition module is used for acquiring a container state of the unmanned vehicle, and the container state comprises a container lifting state;

The angular velocity determining module is used for acquiring a preset corresponding relation; the preset corresponding relation is used for representing the corresponding relation among the rotating speed of the power unit of the unmanned vehicle, the lifting position of the cargo box and the angular speed information of the cargo box; determining the angular speed information of the cargo box at the current moment according to the current rotating speed of the power unit of the unmanned vehicle, the current lifting position of the cargo box and the preset corresponding relation;

The angle acquisition module is used for acquiring the container angle information at the moment previous to the current moment;

and the angle determining module is used for determining the current angle information of the container according to the container angle information at the last moment and the container angular speed information at the current moment.