CN113240943A - Vehicle safety operation control method, device and system and electronic equipment - Google Patents
Vehicle safety operation control method, device and system and electronic equipment Download PDFInfo
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- CN113240943A CN113240943A CN202110781666.5A CN202110781666A CN113240943A CN 113240943 A CN113240943 A CN 113240943A CN 202110781666 A CN202110781666 A CN 202110781666A CN 113240943 A CN113240943 A CN 113240943A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Abstract
The invention provides a vehicle safety operation control method, a vehicle safety operation control device, a vehicle safety operation control system and electronic equipment, and relates to the technical field of engineering machinery control.
Description
Technical Field
The invention relates to the technical field of engineering machinery control, in particular to a vehicle safety operation control method, a vehicle safety operation control device, a vehicle safety operation control system and electronic equipment.
Background
The insulating bucket arm vehicle is a special vehicle for performing equipotential operation in the places with convenient traffic and complicated wiring. In the process of live working of the insulating bucket arm vehicle, the arm support and the working bucket which are arranged on the insulating bucket arm vehicle (namely the part above the chassis) need to keep a safe working distance with a high-voltage line so as to ensure the safety of the working. The safe working distances of lines of different voltage classes are not consistent. The objects in the working environment are various in types, different in shapes and different in materials, some objects are uncharged, some objects are charged, and the uncharged objects do not need safe working distance.
In order to realize unmanned/automated operation, the intelligent mobile insulated arm vehicle must judge whether the operation process is within a dangerous distance through autonomous calculation. However, no relevant solution has been proposed in the industry at present for the technical problem of how to ensure the safe distance between the insulating arm car and the charged body during the charging operation.
Disclosure of Invention
The invention aims to provide a vehicle safety operation control method, a vehicle safety operation control device, a vehicle safety operation control system and electronic equipment, so that the safety distance between the vehicle and a charged body in the live working process of the vehicle is ensured, and the intelligence of the vehicle is improved.
In a first aspect, an embodiment of the present invention provides a vehicle safety operation control method, including:
carrying out object recognition on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object comprises at least one charged object;
for each target object in the at least one target object, when the target object is determined to be charged according to the category of the target object, performing expansion processing on the target object by a corresponding safe distance according to the category and the position information of the target object to obtain expanded position information of the target object;
generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object;
and planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path so as to enable the vehicle to perform safe operation based on the obstacle avoidance path.
Further, the step of performing object recognition on the working environment of the vehicle to obtain the category and position information of at least one target object includes:
carrying out three-dimensional modeling on the operation environment of the vehicle to obtain three-dimensional point cloud of the operation environment;
according to the attribute information of the three-dimensional point cloud, carrying out segmentation processing on the three-dimensional point cloud to obtain at least one target object formed by the point cloud and position information of each target object; the attribute information comprises color information and reflection intensity information, and the position information comprises positioning coordinates and a geometric equation;
and determining the category of each target object according to the attribute information and the geometric equation of the point cloud corresponding to the target object.
Further, the step of performing segmentation processing on the three-dimensional point cloud according to the attribute information of the three-dimensional point cloud to obtain at least one target object composed of the point cloud and position information of each target object includes:
performing clustering segmentation processing on the three-dimensional point cloud according to the attribute information of the three-dimensional point cloud to obtain at least one initial object consisting of the point cloud;
and carrying out segmentation processing on each initial object based on a random sampling consistency algorithm to obtain at least one target object and position information of each target object.
Further, according to the category and the position information of the target object, performing expansion processing on the target object by a corresponding safe distance to obtain expanded position information of the target object, including:
inquiring to obtain the voltage of the target object according to the category of the target object;
determining a target safety distance corresponding to the voltage of the target object;
and according to the position information of the target object, performing expansion processing on the target object according to the target safe distance to obtain expanded position information of the target object.
Further, the step of performing the expansion processing of the target safe distance on the target object according to the position information of the target object to obtain the expanded position information of the target object includes:
for each point in the point cloud corresponding to the target object, determining the normal direction of the point cloud corresponding to the target object at the point, and calculating the position coordinate of the point after moving the point in the normal direction by the target safety distance to obtain the corresponding expansion coordinate of the point;
and determining the expanded position information of the target object according to the expansion coordinates corresponding to each point in the point cloud corresponding to the target object.
Further, the step of determining the normal direction of the point cloud corresponding to the target object at the point includes:
acquiring a covariance matrix corresponding to the target object according to the position information of the target object;
acquiring the minimum value of the eigenvalue of the covariance matrix;
and determining the characteristic vector corresponding to the minimum value as the normal direction of the point cloud corresponding to the target object at the point.
Further, the method further comprises:
in the process that the vehicle carries out safe operation based on the obstacle avoidance path, carrying out obstacle collision detection on an arm support of the vehicle according to the position information of the obstacle;
and when the arm support of the vehicle is detected to be in the area corresponding to the position information of the obstacle, controlling the vehicle to stop working.
In a second aspect, an embodiment of the present invention further provides a vehicle safe operation control apparatus, including:
the identification module is used for carrying out object identification on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object comprises at least one charged object;
the processing module is used for performing expansion processing on the corresponding safe distance on each target object according to the category and the position information of the target object when the target object is determined to be electrified according to the category of the target object, so as to obtain expanded position information of the target object;
the generating module is used for generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object;
and the planning module is used for planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path so as to enable the vehicle to perform safe operation based on the obstacle avoidance path.
In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the vehicle safety operation control method according to the first aspect when executing the computer program.
In a fourth aspect, an embodiment of the present invention further provides a vehicle safety operation control system, including an insulated arm car and the electronic device of the third aspect; the electronic equipment is used for providing an obstacle avoidance path for the insulating bucket arm vehicle.
In the method, the device and the system for controlling the safe operation of the vehicle and the electronic equipment provided by the embodiment of the invention, the method comprises the following steps: carrying out object recognition on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object comprises at least one charged object; for each target object in the at least one target object, when the target object is determined to be charged according to the category of the target object, performing expansion processing on the target object by a corresponding safe distance according to the category and the position information of the target object to obtain expanded position information of the target object; generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object; and planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path so that the vehicle can perform safe operation based on the obstacle avoidance path. Through carrying out the inflation processing of corresponding safe distance to electrified each target object like this for the influence of the electrified required safe distance of target object has been considered when path planning, consequently guaranteed the vehicle live working in-process and the safe distance between the electrified body, thereby has promoted the intelligent degree of vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a vehicle safety operation control method according to an embodiment of the present invention;
FIG. 2 is a three-dimensional cloud representation of a work environment according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a surface normal estimation provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the expansion effect of a row line according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating another method for controlling safe operation of a vehicle according to an embodiment of the present invention;
fig. 6 is a block diagram illustrating a configuration of a vehicle safe operation control apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 8 is a block diagram illustrating a vehicle safety operation control system according to an embodiment of the present invention;
fig. 9 is an external view of an insulation boom truck according to an embodiment of the present invention;
fig. 10 is an external view of an environment sensing module according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
To how to guarantee the technical problem of the safe distance between the electrified operation in-process of insulating arm car and the electrified body, there are two kinds of solutions thinking, and one thinking is that at each joint installation distance sensor of insulating arm car, if get into in the dangerous distance, then report an emergency and ask for help or increased vigilance and carry out dangerous processing. Problems with this approach include: the space covered by the distance sensor is limited, and all the conditions cannot be detected; the problem of the safety distance is not considered during path planning, and the problem that the planned path is within the dangerous distance can occur.
The other idea is to perform expansion of each joint of the insulation arm vehicle, and the method is limited in that self-collision is easy to occur during collision detection, and the collision distance is indiscriminately processed for all objects in a scene (working environment), is not consistent with actual working requirements, and affects the working space of the insulation arm vehicle.
Based on this, according to the vehicle safe operation control method, device and system and the electronic device provided by the embodiments of the present invention, the problem of the safe distance is considered during path planning, and different objects in the operation environment correspond to different safe distances, so that the safe distance between the vehicle and the charged object in the live-line operation process can be ensured without adding additional hardware equipment and cost, and the probability completeness is high (i.e. collision detection can be ensured), thereby improving the intelligence of the vehicle.
For the convenience of understanding the present embodiment, a method for controlling safe operation of a vehicle disclosed in the present embodiment will be described in detail.
The embodiment of the invention provides a vehicle safety operation control method, which can be executed by an electronic device with data processing capacity, wherein the electronic device can be a notebook computer, a tablet computer, a vehicle-mounted computer or a smart phone. The method is not limited to application to an insulated arm car, and in other embodiments, the method may be applied to other special work vehicles other than the insulated arm car.
Referring to fig. 1, a flow chart of a vehicle safety operation control method mainly includes the following steps S102 to S108:
step S102, carrying out object recognition on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object includes at least one charged object.
The vehicle can be an insulating arm vehicle or other special work vehicles. In some possible embodiments, the step S102 can be implemented by the following substeps 1 to substep 3:
and a substep 1, performing three-dimensional modeling on the operation environment of the vehicle to obtain a three-dimensional point cloud of the operation environment.
Optionally, modeling data under a coordinate system of the vehicle, which is acquired by an environment sensing module arranged on the vehicle, may be acquired, three-dimensional modeling is performed based on the modeling data, and preprocessing of direct filtering, down sampling and outlier processing is performed on the point cloud acquired by modeling, so as to obtain a three-dimensional point cloud of the working environment; wherein, the environment perception module can be composed of a laser radar and a depth camera.
Substep 2, dividing the three-dimensional point cloud according to the attribute information of the three-dimensional point cloud to obtain at least one target object formed by the point cloud and the position information of each target object; wherein the attribute information includes color information and reflection intensity information, and the position information includes positioning coordinates and a geometric equation.
Optionally, according to the attribute information of the three-dimensional point cloud, performing clustering segmentation processing on the three-dimensional point cloud to obtain at least one initial object composed of the point cloud; and (3) segmenting each initial object based on a Random Sample Consensus (Random Sample Consensus) algorithm to obtain at least one target object and position information of each target object.
Taking a vehicle as an insulating bucket arm vehicle as an example, target objects in a working environment are of various types, and one or more of a row line, a cross arm, a pole switch, a porcelain insulator, a lightning arrester, a telegraph pole, a lead wire and the like can be possible. For the position information of the target object, the row line can represent the position information of the target object through a starting point coordinate, a straight line equation and an end point coordinate; the porcelain insulator is a cylinder, and the porcelain insulator can represent position information of the porcelain insulator through coordinates of a center point of the bottom surface, the radius of the bottom surface, the height and the axis direction.
And substep 3, determining the category of each target object according to the attribute information and the geometric equation of the point cloud corresponding to the target object.
The category of the target object includes one or more of a row line, a cross arm, a pole switch, a porcelain insulator, a lightning arrester, a telegraph pole, a lead wire and the like. Identifying different objects according to the color information, the reflection intensity information and the geometric equation of the point cloud after segmentation, wherein the row lines are black and have low reflection intensity; the porcelain bottle is white, and the reflection intensity is high; the Z-direction component in the direction vector of the linear equation for the row line in the double loop is close to 0.
For ease of understanding, reference is made to a three-dimensional cloud of points of a work environment as shown in fig. 2, where the target objects present in the cloud include rowlines 201 (10 KV), lightning arrester 202, cross-arm 203, lead 204, and utility pole 205.
Step S104, for each target object in the at least one target object, when the target object is determined to be charged according to the type of the target object, performing expansion processing on the target object according to the type and the position information of the target object, and obtaining expanded position information of the target object.
Target objects can be divided into two broad categories, one being charged and one being uncharged. For example, the row lines, the cross arms, the pole-mounted switches, the lightning arresters and the lead wires are all electrified bodies (namely electrified objects), and a certain safe distance needs to be kept between the electrified bodies and the electrified bodies in the vehicle operation process, so that the objects need to be subjected to point cloud expansion treatment; porcelain insulator and wire pole all do not have electrified, do not need to keep safe distance with uncharged object in the vehicle operation process, therefore these objects need not carry out the expansion of point cloud and handle.
In a dual-loop scenario, there are generally two voltages, which are different and require different safety distances, e.g. an object of 10KV requires a safety distance of 0.4m, the higher the voltage, the further the safety distance is required. Based on this, the above step S104 can be realized by the following process: inquiring to obtain the voltage of the target object according to the category of the target object; determining a target safety distance corresponding to the voltage of the target object; and performing expansion processing on the target object according to the position information of the target object, so as to obtain expanded position information of the target object.
When the target object is subjected to the expansion processing of the target safe distance, the point cloud expansion of the target safe distance can be directly carried out by obtaining a geometric equation of the target object. However, considering that the objects in the working scene are mostly irregular shapes, even though the objects are line lines which are relatively simple to look like, the objects are not simple cylinders, and the scanning center lines of the objects are high-order curves, so in order to make the surface shape of the point cloud of the target object after expansion more fit with the surface shape of the target object, the surface normal of the point cloud can be estimated first, and then the point cloud can be moved by a corresponding safe distance in the normal direction, so that the expansion of the point cloud is realized, that is, the target object is subjected to the expansion processing of the target safe distance through the following processes: for each point in the point cloud corresponding to the target object, determining the normal direction of the point cloud corresponding to the target object at the point, and calculating the position coordinate of the point after moving the point in the normal direction by a target safety distance to obtain the corresponding expansion coordinate of the point; and determining the expanded position information of the target object according to the expansion coordinates corresponding to each point in the point cloud corresponding to the target object. The expanded position information of the target object may be formed by expansion coordinates corresponding to each point in the point cloud corresponding to the target object.
In order to improve the calculation efficiency, the normal direction of the point cloud corresponding to the target object at the point can be determined by the following process: acquiring a covariance matrix corresponding to the target object according to the position information of the target object; acquiring the minimum value of the eigenvalue of the covariance matrix; and determining the feature vector corresponding to the minimum value as the normal direction of the point cloud corresponding to the target object at the point.
Referring to a schematic diagram of surface normal estimation shown in fig. 3, a point cloud is formed to determine that a normal direction 302 of a point P on a surface 301 is also a normal direction 302 of the surface 301 on a tangent plane 303 of the point P, so that the surface point normal problem is similar to a problem of estimating a tangent plane normal of the surface, and thus becomes an estimation problem of least squares plane fitting, and a feature vector and a feature value of a covariance matrix can be analyzed by PCA (Principal Component Analysis) to obtain the normal direction.
Specifically, any point in the point cloud corresponding to the target objectP i Its corresponding covariance matrixCThe following were used:
wherein the content of the first and second substances,Kis a pointP i The number of adjacent points is,
indicating pointsP i The three-dimensional center of mass of the proximate point,λ j is the first of the covariance matrixjThe value of the characteristic is used as the characteristic value,
is the firstjA feature vector. The point may be determined in one of two waysP i The approach point of (2): 1. will be counted withP i As a center, all points within a sphere of a predetermined radius are determined as pointsP i The proximity point of (a); 2. by pointP i Search for nearby as centerKPoints as dotsP i The approach point of (a).
For pointP i Finding out the minimum value of the eigenvalue of the covariance matrix through PCA, wherein the eigenvector corresponding to the minimum value is the normal direction of the phase tangent plane, thereby obtaining the unit normal vector of the minimum value as
If the expansion distance iskThen the position after expansion
Comprises the following steps:
the expanded effect of the row line at the cross-section is shown in fig. 4, where the inner circular solid line is the actual contour, the outer circular dashed line is the expanded contour, and the distance corresponding to the arrow is equal to the safety distance corresponding to the row line.
And step S106, generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object.
The point cloud after the expansion processing corresponding to each charged target object and the point cloud corresponding to each uncharged target object are combined to form a point cloud with a safe distance, and the point cloud with the safe distance generates an obstacle.
And S108, planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path, so that the vehicle can perform safety operation based on the obstacle avoidance path.
The specific path planning method may refer to the related prior art, and is not described herein again.
In addition, the electronic device executing the vehicle safe operation control method may be provided on a vehicle, and on this basis, in order to further ensure safe operation of the vehicle, the method further includes: in the process of carrying out safety operation on the vehicle based on the obstacle avoidance path, carrying out obstacle collision detection on an arm support of the vehicle according to the position information of the obstacle; and when detecting that the arm support of the vehicle is in the area corresponding to the position information of the obstacle, controlling the vehicle to stop working.
According to the vehicle safety operation control method provided by the embodiment of the invention, the influence of the safety distance required by the electrified target object is considered in the path planning process by performing the expansion processing on the corresponding safety distance of each electrified target object, so that the safety distance between the electrified target object and the electrified object in the vehicle live working process can be ensured, the safety barrier of unmanned operation of the vehicle can be favorably cleared, and the intelligence of the vehicle is improved.
For easy understanding, the steps of the flow shown in fig. 1 are detailed in the embodiment of the present invention, and refer to a flow diagram of another vehicle safety operation control method shown in fig. 5, where the method mainly includes the following steps:
step S502, three-dimensional modeling is carried out on the operation environment.
And step S504, preprocessing the point cloud obtained by modeling.
Step S506, point cloud segmentation is carried out.
Step S508, point cloud identification is performed.
Step S510, calculating a safe distance for inflation.
Step S512, point cloud expansion is carried out.
In step S514, an obstacle is generated.
In step S516, a path is planned.
In step S518, collision detection is performed during operation of the vehicle.
The specific processes of the steps shown in fig. 5 can refer to the corresponding contents described above, and are not described herein again.
In summary, the vehicle safety operation control method provided by the embodiment of the invention has the following beneficial effects:
1) the influence of the safety distance is considered during path planning, so that the safety distance of the vehicle for autonomous operation is ensured;
2) extra hardware equipment and cost do not need to be added, and the probability completeness is high;
3) the calculation efficiency is high, and excessive early preparation work is not needed;
4) different objects generate different safe distances, the surface shape of the expanded object is strictly fit with the actual surface shape of the object, and the generated safe distances are very accurate.
In correspondence to the vehicle safe operation control method described above, an embodiment of the present invention further provides a vehicle safe operation control apparatus, referring to a block diagram of a structure of a vehicle safe operation control apparatus shown in fig. 6, the apparatus including:
an identification module 62, configured to perform object identification on a working environment of the vehicle, so as to obtain category and location information of at least one target object; the at least one target object comprises at least one charged object;
a processing module 64, configured to, for each of the at least one target object, perform expansion processing of a corresponding safe distance on the target object according to the category and the position information of the target object when it is determined that the target object is charged according to the category of the target object, so as to obtain expanded position information of the target object;
a generating module 66, configured to generate position information of an obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object;
and the planning module 68 is configured to plan a path of the vehicle according to the position information of the obstacle, so as to obtain an obstacle avoidance path, and enable the vehicle to perform safety operation based on the obstacle avoidance path.
According to the vehicle safety operation control device provided by the embodiment of the invention, the influence of the safety distance required by the electrified target object is considered in path planning by performing the expansion processing on the corresponding safety distance of each electrified target object, so that the safety distance between the electrified target object and the electrified object in the vehicle live working process can be ensured, the safety barrier of unmanned operation of the vehicle can be favorably cleared, and the intelligence of the vehicle is improved.
Further, the identification module 62 is specifically configured to: carrying out three-dimensional modeling on the operation environment of the vehicle to obtain three-dimensional point cloud of the operation environment; according to the attribute information of the three-dimensional point cloud, carrying out segmentation processing on the three-dimensional point cloud to obtain at least one target object formed by the point cloud and position information of each target object; the attribute information comprises color information and reflection intensity information, and the position information comprises a positioning coordinate and a geometric equation; and determining the category of each target object according to the attribute information and the geometric equation of the point cloud corresponding to the target object.
Further, the identification module 62 is further configured to: performing clustering segmentation processing on the three-dimensional point cloud according to the attribute information of the three-dimensional point cloud to obtain at least one initial object consisting of the point cloud; and carrying out segmentation processing on each initial object based on a random sampling consistency algorithm to obtain at least one target object and position information of each target object.
Further, the processing module 64 is specifically configured to: inquiring to obtain the voltage of the target object according to the category of the target object; determining a target safety distance corresponding to the voltage of the target object; and performing expansion processing on the target object according to the position information of the target object, so as to obtain expanded position information of the target object.
Further, the processing module 64 is further configured to: for each point in the point cloud corresponding to the target object, determining the normal direction of the point cloud corresponding to the target object at the point, and calculating the position coordinate of the point after moving the point in the normal direction by a target safety distance to obtain the corresponding expansion coordinate of the point; and determining the expanded position information of the target object according to the expansion coordinates corresponding to each point in the point cloud corresponding to the target object.
Further, the processing module 64 is further configured to: acquiring a covariance matrix corresponding to the target object according to the position information of the target object; acquiring the minimum value of the eigenvalue of the covariance matrix; and determining the feature vector corresponding to the minimum value as the normal direction of the point cloud corresponding to the target object at the point.
Further, the above apparatus further comprises:
the detection module is used for carrying out obstacle collision detection on an arm support of the vehicle according to the position information of the obstacle in the process of carrying out safety operation on the vehicle based on the obstacle avoidance path;
and the control module is used for controlling the vehicle to stop working when detecting that the arm support of the vehicle is located in the area corresponding to the position information of the obstacle.
The device provided by the embodiment has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
An embodiment of the present invention further provides an electronic device, referring to a schematic structural diagram of an electronic device shown in fig. 7, where the electronic device 82 includes: a processor 70, a memory 71, a bus 72 and a communication interface 73, wherein the processor 70, the communication interface 73 and the memory 71 are connected through the bus 72; the processor 70 is arranged to execute executable modules, such as computer programs, stored in the memory 71.
The Memory 71 may include a Random Access Memory (RAM) or a non-volatile Memory (NVM), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 73 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, and the like can be used.
The bus 72 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.
The memory 71 is configured to store a program, and the processor 70 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 70, or implemented by the processor 70.
The processor 70 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 70. The Processor 70 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 71, and the processor 70 reads the information in the memory 71 and completes the steps of the method in combination with the hardware thereof.
The embodiment of the present invention further provides a vehicle safe operation control system, referring to the structural block diagram of a vehicle safe operation control system shown in fig. 8, the vehicle safe operation control system includes an insulating arm vehicle 84 and the above-mentioned electronic device 82; the electronics 82 are used to provide an obstacle avoidance path for the insulated arm car 84.
The electronic device 82 may be provided on the arm truck 84, and as a master control system of the arm truck 84, the arm truck 84 may have an external appearance as shown in fig. 9. An environment sensing module as shown in fig. 10 may be disposed on the arm support of the insulated arm trolley 84, and the environment sensing module is connected to the electronic device 82, and may be composed of a laser radar and a depth camera. Before the insulating arm vehicle 84 works, firstly, an environment sensing module is used for collecting modeling data of a working environment, and the modeling data is sent to the electronic equipment 82; the electronic device 82 finally obtains an obstacle avoidance path based on the modeling data, controls the operation process of the insulated arm vehicle 84 based on the obstacle avoidance path, performs collision detection through the environment sensing module in the operation process of the insulated arm vehicle 84, and controls the insulated arm vehicle 84 to immediately stop suddenly if collision is detected.
The system provided by the embodiment has the same implementation principle and technical effect as the foregoing method embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the part of the system embodiment that is not mentioned.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, executes the vehicle safe operation control method described in the foregoing method embodiment. The computer-readable storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vehicle safe operation control method characterized by comprising:
carrying out object recognition on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object comprises at least one charged object;
for each target object in the at least one target object, when the target object is determined to be charged according to the category of the target object, performing expansion processing on the target object by a corresponding safe distance according to the category and the position information of the target object to obtain expanded position information of the target object;
generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object;
and planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path so as to enable the vehicle to perform safe operation based on the obstacle avoidance path.
2. The vehicle safe-work control method according to claim 1, wherein the step of performing object recognition on the work environment of the vehicle to obtain the category and position information of the at least one target object includes:
carrying out three-dimensional modeling on the operation environment of the vehicle to obtain three-dimensional point cloud of the operation environment;
according to the attribute information of the three-dimensional point cloud, carrying out segmentation processing on the three-dimensional point cloud to obtain at least one target object formed by the point cloud and position information of each target object; the attribute information comprises color information and reflection intensity information, and the position information comprises positioning coordinates and a geometric equation;
and determining the category of each target object according to the attribute information and the geometric equation of the point cloud corresponding to the target object.
3. The vehicle safe-work control method according to claim 2, wherein the step of obtaining at least one target object composed of a point cloud and position information of each target object by performing segmentation processing on the three-dimensional point cloud based on attribute information of the three-dimensional point cloud comprises:
performing clustering segmentation processing on the three-dimensional point cloud according to the attribute information of the three-dimensional point cloud to obtain at least one initial object consisting of the point cloud;
and carrying out segmentation processing on each initial object based on a random sampling consistency algorithm to obtain at least one target object and position information of each target object.
4. The vehicle safe-work control method according to claim 1, wherein the step of performing inflation processing on the target object by a corresponding safe distance based on the type and position information of the target object to obtain inflated position information of the target object includes:
inquiring to obtain the voltage of the target object according to the category of the target object;
determining a target safety distance corresponding to the voltage of the target object;
and according to the position information of the target object, performing expansion processing on the target object according to the target safe distance to obtain expanded position information of the target object.
5. The vehicle safe-work control method according to claim 4, wherein the step of performing the inflation processing of the target safe distance on the target object based on the position information of the target object to obtain inflated position information of the target object includes:
for each point in the point cloud corresponding to the target object, determining the normal direction of the point cloud corresponding to the target object at the point, and calculating the position coordinate of the point after moving the point in the normal direction by the target safety distance to obtain the corresponding expansion coordinate of the point;
and determining the expanded position information of the target object according to the expansion coordinates corresponding to each point in the point cloud corresponding to the target object.
6. The vehicle safe-operation control method according to claim 5, wherein the step of determining a normal direction of the point cloud corresponding to the target object at the point comprises:
acquiring a covariance matrix corresponding to the target object according to the position information of the target object;
acquiring the minimum value of the eigenvalue of the covariance matrix;
and determining the characteristic vector corresponding to the minimum value as the normal direction of the point cloud corresponding to the target object at the point.
7. The vehicle safe-work control method according to claim 1, characterized by further comprising:
in the process that the vehicle carries out safe operation based on the obstacle avoidance path, carrying out obstacle collision detection on an arm support of the vehicle according to the position information of the obstacle;
and when the arm support of the vehicle is detected to be in the area corresponding to the position information of the obstacle, controlling the vehicle to stop working.
8. A vehicle safe operation control device characterized by comprising:
the identification module is used for carrying out object identification on the working environment of the vehicle to obtain the category and position information of at least one target object; the at least one target object comprises at least one charged object;
the processing module is used for performing expansion processing on the corresponding safe distance on each target object according to the category and the position information of the target object when the target object is determined to be electrified according to the category of the target object, so as to obtain expanded position information of the target object;
the generating module is used for generating position information of the obstacle according to the expanded position information of each charged target object and the position information of each uncharged target object in the at least one target object;
and the planning module is used for planning the path of the vehicle according to the position information of the obstacle to obtain an obstacle avoidance path so as to enable the vehicle to perform safe operation based on the obstacle avoidance path.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1-7 when executing the computer program.
10. A vehicle safe-work control system comprising an insulated arm car and the electronic apparatus of claim 9; the electronic equipment is used for providing an obstacle avoidance path for the insulating bucket arm vehicle.
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