CN112900199A - Obstacle detection system and method for unmanned road roller - Google Patents
Obstacle detection system and method for unmanned road roller Download PDFInfo
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- CN112900199A CN112900199A CN202110055174.8A CN202110055174A CN112900199A CN 112900199 A CN112900199 A CN 112900199A CN 202110055174 A CN202110055174 A CN 202110055174A CN 112900199 A CN112900199 A CN 112900199A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
- E01C19/262—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles pedestrian-controlled, e.g. with safety arrangements for operator
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
- E01C19/283—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
The invention relates to an obstacle detection system and a detection method for an unmanned road roller. The detection method comprises the following steps: acquiring a message sent by a vehicle-mounted controller, and acquiring obstacle distance information according to message data; dividing the detection areas of the three sensors in the front sensor unit or the rear sensor unit into six parts according to the number and the sequence of detected obstacles, namely six detection areas; the distance between the road roller and the obstacle detected by the sensor is a sector drawn by taking the radius as the radius, and the position of the obstacle detection point is determined together with the boundaries of the six detection areas. Compared with the prior art, the method has the advantages of ensuring the safety of constructors and construction vehicles, improving the construction efficiency and the like.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a barrier detection system and a barrier detection method for an unmanned road roller.
Background
Engineering construction often has a shock property, and in order to complete the construction progress of the engineering on time, a construction unit can require an operator to overtime or prolong the working time. The working time of an operator of the unmanned road roller is basically 8-10 hours every day, and sometimes the operator works for 12 hours or even more than 14 hours every day. The body and spirit fatigue can be brought to the long-time work of lasting every day, and the body and mind fatigue can reduce construction operation precision, influences the operating efficiency. In severe cases, physical and mental stresses caused by continuous working fatigue can affect the health of the operators and even cause safety accidents.
The vibratory roller is used as a compaction road building unmanned roller, and the complete compaction of a rolled road surface needs to be ensured in uninterrupted operation, so that the condition of pressure leakage or pressure shortage on the road surface is avoided. The intelligent unmanned vibration road roller has very important significance for improving the operation efficiency on the premise of ensuring the operation quality, improving the automation and intelligence level of the road roller and realizing the intelligent unmanned driving of the vibration road roller.
The local path planning means sensing surrounding local environment information through a sensor and finding a path from a current point to a target point without collision with an obstacle. In the course of the operation of a vibration roller, constructors and construction vehicles usually enter the working area, and in addition, when the vibration roller changes lanes and turns outside the working area, the constructors and the vehicles also enter the driving path of the roller. In order to ensure the safety of constructors and avoid collision between the vibratory roller and other engineering vehicles, the detection of obstacles needs to be considered in the local path planning algorithm of the vibratory roller.
In order to solve the above problems, chinese patent CN111679267A discloses a millimeter wave-based obstacle detection system, in which millimeter wave antennas are arranged around a vehicle, and the distance between an obstacle and the vehicle is determined by the time difference between the transmission of millimeter waves and the reception of millimeter waves, but the millimeter wave radar has high manufacturing cost, and is not suitable for large-scale popularization. Another chinese patent CN110109458A discloses an obstacle detection system based on a rotary laser scanner, but although this obstacle detection method can accurately detect obstacles around a vehicle, the adoption of this detection method requires an industrial personal computer with high calculation capability, and the manufacturing cost is still high. And the system can not provide barrier information for the obstacle avoidance system in time, and can not ensure that the unmanned road roller can avoid the obstacle accurately in time.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide an obstacle detection system and an obstacle detection method for an unmanned road roller, which ensure the safety of constructors and construction vehicles and improve the construction efficiency.
The purpose of the invention can be realized by the following technical scheme:
an obstacle detection system for an unmanned road roller is arranged on the existing unmanned road roller and comprises a front sensor unit, a rear sensor, a vehicle-mounted controller and an industrial personal computer, wherein the front sensor unit, the rear sensor, the vehicle-mounted controller and the industrial personal computer are respectively arranged on the unmanned road roller; the vehicle-mounted controller is respectively communicated with the front sensor unit, the rear sensor unit and the industrial personal computer;
a front sensor unit for detecting an obstacle right in front of the unmanned road roller;
a rear sensor unit for detecting an obstacle right behind the unmanned road roller;
the vehicle-mounted controller is used for receiving the obstacle distance measurement results of the front sensor unit and the rear sensor unit, forming messages and then sending the messages to the industrial personal computer;
and the industrial personal computer is used for receiving the message information sent by the vehicle-mounted controller and judging the position relation between the obstacle and the unmanned road roller according to the obstacle detection method of the unmanned road roller.
Preferably, the front sensor unit comprises three ultrasonic sensors which are arranged at the front end of the unmanned road roller at equal intervals; the rear sensor unit comprises three ultrasonic sensors which are arranged at the rear end of the unmanned road roller at equal intervals.
An obstacle detection method for the detection system is embedded in an industrial personal computer and comprises the following steps:
step 1: acquiring a message sent by a vehicle-mounted controller, and acquiring obstacle distance information according to message data;
step 2: dividing the detection areas of the three sensors in the front sensor unit or the rear sensor unit into six parts according to the number and the sequence of detected obstacles, namely six detection areas;
and step 3: the distance between the road roller and the obstacle detected by the sensor is a radius, a sector is drawn, and then the position of the obstacle detection point is determined according to the drawn sector and the boundaries of the six detection areas.
Preferably, the method for dividing the six detection regions specifically comprises:
firstly, taking the running direction of an unmanned road roller as a reference, dividing three ultrasonic sensors positioned at the front end or the rear end of the road roller into a left sensor, a middle sensor and a right sensor, determining the left sensor as a first ultrasonic sensor, determining the right sensor as a third ultrasonic sensor and determining the middle sensor as a second ultrasonic sensor;
the six detection areas include:
a first area in which the obstacle is detected by the first ultrasonic sensor;
a fifth area in which the third ultrasonic sensor alone detects a detection area of the obstacle;
a sixth area in which the second ultrasonic sensor alone detects the detection area of the obstacle;
the second area is an area in which the first ultrasonic sensor and the second ultrasonic sensor detect the obstacle together;
a fourth area, in which the second ultrasonic sensor and the third ultrasonic sensor detect the obstacle together;
and the third area is an area in which the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor jointly detect the obstacle.
More preferably, in step 3, when only one sensor detects an obstacle, the method for acquiring the detection point includes:
the method comprises the steps that an obstacle is located in a first area, a fifth area or a sixth area, a boundary linear equation of a fan-shaped detection area of a sensor is established, a circular arc where an obstacle detection point is located is determined by combining detection distances of the sensor, and the detection point is taken as the middle point of a chord corresponding to the circular arc.
More preferably, when there are two sensors detecting an obstacle and there is an intersection point of the arcs taking the detection distance of the two sensors as the radius in step 3, the method for acquiring the detection point includes:
the intersection point between two arcs with the detection distance as the radius is used as the detection point of the obstacle, and the calculation method comprises the following steps:
wherein d is1And d2The detection distances of the two sensors are respectively; (p)x,py) Coordinates of the obstacle detection points; (x)s1,ys1) And (x)s2,ys2) Respectively the coordinates of the two ultrasonic sensors.
More preferably, when there are two sensors detecting an obstacle and there is no intersection point of the arcs taking the detection distance of the two sensors as the radius in step 3, the method for acquiring the detection point includes:
the detection points comprise a detection point close to the unmanned road roller side and a detection point far away from the unmanned road roller side;
if the detection distance of the second ultrasonic sensor is smaller than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is located in the sixth area, and the intersection point between the arcs taking the two detection distances as the radius is taken as the detection point close to the unmanned road roller side; the distance from the detection point of the unmanned road roller is determined by the intersection point of the second area boundary and the arc determined by the radius of the first ultrasonic sensor detection distance or the intersection point of the fourth area boundary and the arc determined by the radius of the third ultrasonic sensor detection distance;
if the detection distance of the second ultrasonic sensor is greater than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is determined by the intersection point of the first area boundary and the arc determined by the radius of the detection distance of the first ultrasonic sensor or the intersection point of the fifth area boundary and the arc determined by the radius of the detection distance of the third ultrasonic sensor; the distance from a detection point of the unmanned road roller is determined by the intersection point of the second area boundary or the fourth area boundary and the arc determined by the radius of the detection distance of the second ultrasonic sensor.
More preferably, when all three ultrasonic sensors detect an obstacle and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the third ultrasonic sensor are located in the third area in step 3, the method for determining the detection point includes:
wherein d is1、d2And d3The detection distances of the three sensors are respectively; (p)x1,py1) And (p)x2,py2) Coordinates of two detection points are respectively; (x)s1,ys1)、(xs2,ys2) And (x)s3,ys3) The coordinates of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are respectively.
More preferably, when there are three ultrasonic sensors all detecting an obstacle and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor or the third ultrasonic sensor is located in the first area or the fourth area in step 3, the method for determining the detection point includes:
the side detection point close to the unmanned road roller is the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor or the third ultrasonic sensor; the lateral detection point of the principle unmanned road roller is the intersection point of an arc and a third area determined by the radius of the detection distance of the first ultrasonic sensor or the detection distance of the third ultrasonic sensor.
More preferably, when all three ultrasonic sensors detect an obstacle and the intersection points of the arcs determined by the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are not in the second area, the third area and the fourth area in step 3, the method for determining the detection points comprises the following steps:
three detection circles are respectively determined by taking the detection distances of the three ultrasonic sensors as radii, and the intersection point of the detection circle corresponding to each ultrasonic sensor and the detection boundary of the sensor is determined as a detection point.
Compared with the prior art, the invention has the following beneficial effects:
firstly, guarantee constructor and construction vehicle's safety: the obstacle detection system of the unmanned road roller is characterized in that ultrasonic sensors are arranged at proper positions in front of and behind the unmanned road roller, the distances between the sensors and obstacles on a working path, a lane change outside the working area and a steering path of the unmanned road roller are detected, the position relation between the obstacles and the unmanned road roller is calculated according to a corresponding obstacle detection method, and a local route can be planned according to the position relation, so that the safety of constructors and vehicles is protected.
Secondly, the construction efficiency is improved: the obstacle detection method and the obstacle detection system of the unmanned road roller can improve the informatization function of the unmanned press, so that the road roller can be continuously constructed for 24 hours, the construction efficiency is greatly improved, and the construction time is shortened.
Drawings
FIG. 1 is a schematic view of the barrier detection system of the unmanned road roller of the present invention;
FIG. 2 is a schematic view of the detection range of the ultrasonic sensor of the obstacle detecting system according to the present invention;
FIG. 3 is a diagram showing the positions of obstacle detection points when only one sensor detects data according to the present invention;
FIG. 4 is a schematic diagram of the present invention with two sensors detecting data and obstacle detection points located in a shadow region;
FIG. 5 is a schematic illustration of the invention with two sensors detecting data and with the obstacle detection points not located in the shadow area;
FIG. 6 is a schematic diagram of the present invention with three sensors detecting data and obstacle detection points located within zone three;
fig. 7 is a schematic diagram of the case where three sensors detect data and the obstacle detection point is not located in the third area in the present invention.
The reference numbers in the figures indicate:
1. the device comprises a front sensor unit, a rear sensor unit, a vehicle-mounted controller, a rear sensor unit, a front sensor unit, a rear sensor unit, a vehicle-mounted controller, a.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Example 1
An obstacle detection system for an unmanned road roller is structurally shown in fig. 1, and is installed on an existing unmanned road roller and comprises a front sensor unit 1, a rear sensor unit 2, a vehicle-mounted controller 3 and an industrial personal computer 4, wherein the front sensor unit 1, the rear sensor unit 2, the vehicle-mounted controller 3 and the industrial personal computer 4 are respectively installed on the unmanned road roller, and the vehicle-mounted controller 3 is respectively communicated with the front sensor unit 1, the rear sensor unit 2 and the industrial personal computer 4.
A front sensor unit 1 for detecting an obstacle right in front of the unmanned road roller;
a rear sensor unit 2 for detecting an obstacle right behind the unmanned road roller;
the vehicle-mounted controller 3 is used for receiving the obstacle distance measurement results of the front sensor unit 1 and the rear sensor unit 2, forming a message and then sending the message to the industrial personal computer 4;
and the industrial personal computer 4 is used for receiving message information sent by the vehicle-mounted controller 3 through the CAN2 bus and judging the position relation between the obstacle and the unmanned road roller according to the obstacle detection method of the unmanned road roller.
The front sensor unit 1 comprises three ultrasonic sensors which are arranged at the front end of the unmanned road roller at equal intervals; the rear sensors 2 comprise three ultrasonic sensors which are arranged at the rear end of the unmanned road roller at equal intervals.
The embodiment also relates to a method for detecting the obstacle of the detection system, which is embedded in the industrial personal computer 4 and comprises the following steps:
step 1: acquiring a message sent by the vehicle-mounted controller 3, and acquiring obstacle distance information according to message data;
step 2: dividing the detection areas of the three sensors in the front sensor unit 1 or the rear sensor unit 2 into six parts, namely six detection areas, according to the number and the sequence of detected obstacles;
and step 3: the distance between the road roller and the obstacle detected by the sensor is a radius, a sector is drawn, and then the position of the obstacle detection point is determined according to the drawn sector and the boundaries of the six detection areas.
The method for dividing the six detection areas in the embodiment specifically comprises the following steps:
firstly, taking the running direction of an unmanned road roller as a reference, dividing three ultrasonic sensors positioned at the front end or the rear end of the road roller into a left sensor, a middle sensor and a right sensor, determining the left sensor as a first ultrasonic sensor, determining the right sensor as a third ultrasonic sensor and determining the middle sensor as a second ultrasonic sensor;
the six detection regions are shown in fig. 2 and include:
a first area in which the obstacle is detected by the first ultrasonic sensor;
a fifth area in which the third ultrasonic sensor alone detects a detection area of the obstacle;
a sixth area in which the second ultrasonic sensor alone detects the detection area of the obstacle;
the second area is an area in which the first ultrasonic sensor and the second ultrasonic sensor detect the obstacle together;
a fourth area, in which the second ultrasonic sensor and the third ultrasonic sensor detect the obstacle together;
and the third area is an area in which the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor jointly detect the obstacle.
The step 3 specifically comprises the following steps:
(1) when only one sensor detects the obstacle, the detection point acquisition method comprises the following steps:
the method comprises the steps that an obstacle is located in a first area, a fifth area or a sixth area, a boundary linear equation of a fan-shaped detection area of a sensor is established, a circular arc where an obstacle detection point is located is determined by combining detection distances of the sensor, and the detection point is taken as the middle point of a chord corresponding to the circular arc.
(2) When two sensors detect an obstacle and an intersection point exists in an arc with the detection distance of the two sensors as the radius, the detection point acquisition method comprises the following steps:
the intersection point between two arcs with the detection distance as the radius is used as the detection point of the obstacle, and the calculation method comprises the following steps:
wherein d is1And d2The detection distances of the two sensors are respectively; (p)x,py) Coordinates of the obstacle detection points; (x)s1,ys1) And (x)s2,ys2) Respectively the coordinates of the two ultrasonic sensors.
When two sensors detect an obstacle and an arc with the detection distance of the two sensors as the radius has no intersection point, the method for acquiring the detection point comprises the following steps:
the detection points comprise a detection point close to the unmanned road roller side and a detection point far away from the unmanned road roller side;
if the detection distance of the second ultrasonic sensor is smaller than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is located in the sixth area, and the intersection point between the arcs taking the two detection distances as the radius is taken as the detection point close to the unmanned road roller side; the distance from the detection point of the unmanned road roller is determined by the intersection point of the second area boundary and the arc determined by the radius of the first ultrasonic sensor detection distance or the intersection point of the fourth area boundary and the arc determined by the radius of the third ultrasonic sensor detection distance;
if the detection distance of the second ultrasonic sensor is greater than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is determined by the intersection point of the first area boundary and the arc determined by the radius of the detection distance of the first ultrasonic sensor or the intersection point of the fifth area boundary and the arc determined by the radius of the detection distance of the third ultrasonic sensor; the distance from a detection point of the unmanned road roller is determined by the intersection point of the second area boundary or the fourth area boundary and the arc determined by the radius of the detection distance of the second ultrasonic sensor.
(3) When three ultrasonic sensors detect an obstacle, and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the third ultrasonic sensor are both located in the third area, the method for determining the detection points comprises the following steps:
wherein d is1、d2And d3The detection distances of the three sensors are respectively; (p)x1,py1) And (p)x2,py2) Coordinates of two detection points are respectively; (x)s1,ys1)、(xs2,ys2) And (x)s3,ys3) The coordinates of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are respectively.
When three ultrasonic sensors detect an obstacle and the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor or the third ultrasonic sensor is located in the first area or the fourth area, the determination method of the detection point comprises the following steps:
the side detection point close to the unmanned road roller is the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor or the third ultrasonic sensor; the lateral detection point of the principle unmanned road roller is the intersection point of an arc and a third area determined by the radius of the detection distance of the first ultrasonic sensor or the detection distance of the third ultrasonic sensor.
When three ultrasonic sensors detect an obstacle and the intersection points of the circular arcs determined by the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are not in the second area, the third area and the fourth area, the determination method of the detection points comprises the following steps:
three detection circles are respectively determined by taking the detection distances of the three ultrasonic sensors as radii, and the intersection point of the detection circle corresponding to each ultrasonic sensor and the detection boundary of the sensor is determined as a detection point.
Example 2
If only one ultrasonic sensor detects the obstacle information, as shown in fig. 3, the area (first, fifth, or sixth) where the obstacle is located can be determined according to the sensor number where the obstacle is detected. Since only one sensor detects distance data, the accurate position of the detection point on the obstacle cannot be obtained. However, because the position of each sensor in the navigation coordinate system is known, a boundary straight line equation of a sensor fan-shaped detection area can be established, and the arc where the detection point on the edge of the obstacle is located can be determined by combining the detection distance of the sensor, wherein the detection point on the obstacle is taken as the middle point of the chord corresponding to the arc.
Example 3
If two ultrasonic sensors simultaneously detect obstacle information, there are two combinations:
(1) the right sensor and the middle sensor detect data simultaneously;
(2) the left sensor and the middle sensor detect data simultaneously.
Since the above two combinations are centrosymmetric, the obstacle detection analysis is performed only in the first combination.
When the intersection point of the two sensor detection circles is located in the shaded area shown in fig. 4, it can be judged that the detection point of the obstacle is located in the region four. The position of the obstacle detection point in the navigation coordinate system can be determined by using the ranging results of the two ultrasonic sensors. Since the coordinates of the sensors are known, the different distances d measured for the two sensors1And d2The position of the obstacle detection point in the navigation coordinate system can be obtained as shown in the following formula:
wherein (p)x,py) Coordinates of the obstacle detection points; (x)s1,ys1) And (x)s2,ys2) Respectively the coordinates of the two ultrasonic sensors.
The above equation has two solutions, but only one point is located within the shaded area shown in fig. 4, so the coordinates of the obstacle detection point can be determined by the above equation and the boundary line equation of the shaded area.
When the two sensors detect that no intersection of the circles is located within the shaded area shown in fig. 4, there are two obstacle distributions as shown in fig. 5. When the detection distance of the middle sensor is smaller than that of the right sensor, the distribution of the left obstacles in fig. 5 is shown. The point of intersection of the obstacle on the side close to the roller is in the region six, the position of which is determined by the method shown in fig. 3, depending on the detection distance of the intermediate sensor. Another detection point on the obstacle is determined according to the left boundary equation of the right sensor and the detection distance. When the detection distance of the middle sensor is larger than that of the right sensor, the distribution of the right obstacles in fig. 5 is shown. A detection point on one side of the barrier close to the road roller is determined by a right boundary equation of the right sensor and a detection distance, and another detection point of the barrier is determined by a right boundary equation of the middle sensor and the detection distance. The situation that the left sensor and the middle sensor detect data at the same time can be analyzed by the same method.
Example 3
If the three ultrasonic sensors detect the obstacle information at the same time, when two intersection points of the detection circles of the middle sensor and the left and right sensors are located in the third area, the positions of the obstacle detection points in the navigation coordinate system can be determined by using the detection distances of the three ultrasonic sensors, as shown in fig. 6. According to different distances d measured by three sensors1、d2And d3The position of the intersection of the right, middle and left, middle sensor detection circles in the region can be found as shown in the following equation:
wherein d is1、d2And d3The detection distances of the three sensors are respectively; (p)x1,py1) And (p)x2,py2) Coordinates of two detection points are respectively; (x)s1,ys1)、(xs2,ys2) And (x)s3,ys3) The coordinates of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are respectively.
When two intersection points of the detection circles of the middle sensor and the left and right sensors are not located in the third region, there are two kinds of obstacle distributions as shown in fig. 7.
When an intersection point of the middle sensor and the detection circles of the two side sensors is located in the second or fourth area, the position of the obstacle close to the angular point on one side of the road roller can be determined through the above formula, as shown by the obstacle on the left side in fig. 7. If the corner point of the obstacle close to one side of the road roller is in the fourth area, the detection point of the other side of the obstacle is on the left side of the driving direction of the road roller and can be determined according to the right boundary equation of the left sensor and the detection distance of the left sensor. Similarly, if the corner point of the obstacle close to one side of the road roller is in the fourth area, the detection point of the other side of the obstacle is on the right side of the driving direction of the road roller, and the detection point can be determined according to the left boundary equation of the right sensor and the detection distance of the right sensor.
When the intersection point of the middle sensor and the detection circle of the two side sensors is not in the second, third or fourth area, the positions of the three detection points of the obstacle can be judged according to the detection distances of the three sensors, as shown in the right obstacle in fig. 7. When the detection distance of the left sensor is the minimum, the detection point on the obstacle, which is close to one side of the road roller, is on the left side of the driving direction, and the position of the detection point on the obstacle can be determined according to the detection distances of the three sensors and a left boundary equation. When the detection distance of the right sensor is the minimum, the detection point on the obstacle, which is close to one side of the road roller, is on the right side of the driving direction, and the position of the detection point on the obstacle can be determined according to the detection distances of the three sensors and a right boundary equation.
Because the front and rear body ultrasonic sensors are symmetrically mounted, the obstacle detection condition when the road roller retreats can be analyzed by adopting the same method as that when the road roller advances. When the vehicle-mounted controller detects that an obstacle enters the detection range of the ultrasonic sensor and the industrial personal computer does not give a parking waiting or obstacle avoidance operation instruction, the vehicle-mounted controller can preferentially execute parking action. According to the information of the detection points on the identified obstacles, the road roller can complete local path planning to realize active obstacle avoidance of the road roller or stop for continuing to operate after the obstacles pass.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An obstacle detection system for an unmanned road roller is arranged on the existing unmanned road roller and is characterized by comprising a front sensor unit (1), a rear sensor (2), a vehicle-mounted controller (3) and an industrial personal computer (4), wherein the front sensor unit, the rear sensor unit, the vehicle-mounted controller and the industrial personal computer are respectively arranged on the unmanned road roller; the vehicle-mounted controller (3) is respectively communicated with the front sensor unit (1), the rear sensor unit (2) and the industrial personal computer (4);
a front sensor unit (1) for detecting an obstacle directly in front of the unmanned road roller;
a rear sensor unit (2) for detecting an obstacle directly behind the unmanned road roller;
the vehicle-mounted controller (3) is used for receiving the obstacle distance measurement results of the front sensor unit (1) and the rear sensor unit (2), forming a message and then sending the message to the industrial personal computer (4);
and the industrial personal computer (4) is used for receiving the message information sent by the vehicle-mounted controller (3) and judging the position relation between the obstacle and the unmanned road roller according to the obstacle detection method of the unmanned road roller.
2. An obstacle detection system for an unmanned vehicle as claimed in claim 1, wherein the front sensor unit (1) comprises three ultrasonic sensors equally spaced at the front end of the unmanned vehicle; the rear sensor unit (2) comprises three ultrasonic sensors which are arranged at the rear end of the unmanned road roller at equal intervals.
3. An obstacle detection method for a detection system according to claim 1, embedded in an industrial control computer (4), characterized in that it comprises:
step 1: acquiring a message sent by the vehicle-mounted controller (3), and acquiring obstacle distance information according to message data;
step 2: dividing the detection area of three sensors in the front sensor unit (1) or the rear sensor unit (2) into six parts according to the number and sequence of detected obstacles, namely six detection areas;
and step 3: the distance between the road roller and the obstacle detected by the sensor is a radius, a sector is drawn, and then the position of the obstacle detection point is determined according to the drawn sector and the boundaries of the six detection areas.
4. The obstacle detection method for the unmanned road roller according to claim 3, wherein the six detection areas are divided by a method specifically comprising the following steps:
firstly, taking the running direction of an unmanned road roller as a reference, dividing three ultrasonic sensors positioned at the front end or the rear end of the road roller into a left sensor, a middle sensor and a right sensor, determining the left sensor as a first ultrasonic sensor, determining the right sensor as a third ultrasonic sensor and determining the middle sensor as a second ultrasonic sensor;
the six detection areas include:
a first area in which the obstacle is detected by the first ultrasonic sensor;
a fifth area in which the third ultrasonic sensor alone detects a detection area of the obstacle;
a sixth area in which the second ultrasonic sensor alone detects the detection area of the obstacle;
the second area is an area in which the first ultrasonic sensor and the second ultrasonic sensor detect the obstacle together;
a fourth area, in which the second ultrasonic sensor and the third ultrasonic sensor detect the obstacle together;
and the third area is an area in which the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor jointly detect the obstacle.
5. The method for detecting the obstacle of the unmanned road roller as claimed in claim 4, wherein the method for obtaining the detection point when only one sensor detects the obstacle in the step 3 comprises:
the method comprises the steps that an obstacle is located in a first area, a fifth area or a sixth area, a boundary linear equation of a fan-shaped detection area of a sensor is established, a circular arc where an obstacle detection point is located is determined by combining detection distances of the sensor, and the detection point is taken as the middle point of a chord corresponding to the circular arc.
6. The method for detecting the obstacle of the unmanned road roller according to claim 4, wherein when two sensors detect the obstacle and the arc with the detection distance of the two sensors as the radius has the intersection point in the step 3, the method for acquiring the detection point comprises the following steps:
the intersection point between two arcs with the detection distance as the radius is used as the detection point of the obstacle, and the calculation method comprises the following steps:
wherein d is1And d2The detection distances of the two sensors are respectively; (p)x,py) Coordinates of the obstacle detection points; (x)s1,ys1) And (x)s2,ys2) Respectively the coordinates of the two ultrasonic sensors.
7. The method for detecting the obstacle of the unmanned road roller as claimed in claim 4, wherein, when there are two sensors detecting the obstacle and there is no intersection point of the arcs taking the detection distance of the two sensors as the radius in the step 3, the method for acquiring the detection point comprises:
the detection points comprise a detection point close to the unmanned road roller side and a detection point far away from the unmanned road roller side;
if the detection distance of the second ultrasonic sensor is smaller than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is located in the sixth area, and the intersection point between the arcs taking the two detection distances as the radius is taken as the detection point close to the unmanned road roller side; the distance from the detection point of the unmanned road roller is determined by the intersection point of the second area boundary and the arc determined by the radius of the first ultrasonic sensor detection distance or the intersection point of the fourth area boundary and the arc determined by the radius of the third ultrasonic sensor detection distance;
if the detection distance of the second ultrasonic sensor is greater than that of the first ultrasonic sensor or the third ultrasonic sensor, the detection point close to the unmanned road roller side is determined by the intersection point of the first area boundary and the arc determined by the radius of the detection distance of the first ultrasonic sensor or the intersection point of the fifth area boundary and the arc determined by the radius of the detection distance of the third ultrasonic sensor; the distance from a detection point of the unmanned road roller is determined by the intersection point of the second area boundary or the fourth area boundary and the arc determined by the radius of the detection distance of the second ultrasonic sensor.
8. The method of claim 4, wherein when in step 3, all three ultrasonic sensors detect the obstacle and the intersection point of the arc determined by the distance detected by the second ultrasonic sensor and the arc determined by the distance detected by the first ultrasonic sensor and the intersection point of the arc determined by the distance detected by the second ultrasonic sensor and the arc determined by the distance detected by the third ultrasonic sensor are located in the third area, the method of determining the detection point comprises:
wherein d is1、d2And d3The detection distances of the three sensors are respectively; (p)x1,py1) And (p)x2,py2) Coordinates of two detection points are respectively; (x)s1,ys1)、(xs2,ys2) And (x)s3,ys3) The coordinates of the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are respectively.
9. The method of claim 4, wherein when three ultrasonic sensors detect the obstacle and the intersection of the arc determined by the distance detected by the second ultrasonic sensor and the arc determined by the distance detected by the first ultrasonic sensor or the third ultrasonic sensor is located in the first zone or the fourth zone in step 3, the method of determining the detection point is:
the side detection point close to the unmanned road roller is the intersection point of the arc determined by the detection distance of the second ultrasonic sensor and the arc determined by the detection distance of the first ultrasonic sensor or the third ultrasonic sensor; the lateral detection point of the principle unmanned road roller is the intersection point of an arc and a third area determined by the radius of the detection distance of the first ultrasonic sensor or the detection distance of the third ultrasonic sensor.
10. The method of claim 4, wherein when all three ultrasonic sensors detect the obstacle and the intersection points of the arcs determined by the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor are not in the second area, the third area and the fourth area in step 3, the method of determining the detection points comprises:
three detection circles are respectively determined by taking the detection distances of the three ultrasonic sensors as radii, and the intersection point of the detection circle corresponding to each ultrasonic sensor and the detection boundary of the sensor is determined as a detection point.
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