CN114185353A - Autonomous operation loader reversing obstacle avoidance and path planning method - Google Patents
Autonomous operation loader reversing obstacle avoidance and path planning method Download PDFInfo
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Abstract
The invention discloses a method for reversing, obstacle avoidance and path planning of an autonomous operation loader, and relates to the technical field of loaders, wherein the method comprises the following steps: detecting the distance between the rear part of the loader body and the object on the side rear part at high speed in real time, and converting the world coordinate position according to the signal of the ultrasonic ranging device and the installation positioning parameter so as to judge the real-time position relation of the object relative to the loader; accurately judging the motion state of the object according to the world coordinate information of the object at the rear part and the side rear part of the vehicle; performing path planning according to the existing information before autonomous operation, and correcting the path planning information in real time according to the detection information in autonomous operation; and (3) aiming at the condition that the path planning at an extreme certain time is not solved, assuming the condition of the local feasible path, retrying to plan, and searching the nearest feasible path implementation method. The method for reversing obstacle avoidance and path planning is simple and reliable, has high transportability, and is suitable for various autonomous operation loaders and other similar autonomous operation devices.
Description
Technical Field
The invention relates to the technical field of loaders, in particular to a method for reversing, avoiding obstacles and planning a path of an autonomous operation loader.
Background
The loader is used as a main engineering machine and widely applied to industries such as mines, steel plants, coal washing plants, thermal power plants, capital constructions and the like. However, the conventional loader has a complex driving road and a severe working environment, and during the operation, the physical and mental health of a driver is seriously challenged and faces the safety threat brought by vehicle instability at any time. In recent years, as the intention of a loader driver is lowered, a phenomenon that a worker is difficult to get is generated, and a problem that personnel management is difficult due to a special working mode is also generated. Along with the wide-range practicality of the loader and the situation that the number of workers for the loader is continuously reduced, the research and development of the novel loader capable of realizing autonomous operation become a new direction of industry development. The development of the unmanned technology research of the loader has very important significance in the directions of reducing the occurrence of operation accidents, reducing the working strength of workers, improving the working efficiency and the like.
In real life, the loader is widely applied to shoveling operation, and mainly comprises forward shoveling, reverse transportation, forward transportation and unloading in the working process. The reversing process is a crucial link which is also the most dangerous link, so how to realize the autonomous control of the reversing process of the loader is one of the core technologies for realizing the autonomous operation of the loader.
At present, in the existing autonomous operation technology of the loader, the research on the reversing process mainly depends on a laser radar installed on a vehicle body to recognize obstacles and avoid obstacles. The method has the problems of complex algorithm, single function, large error and the like.
Disclosure of Invention
The invention aims to provide a method for reversing obstacle avoidance and path planning of an autonomous operation loader, and aims to solve the problems that field obstacles cannot be considered in real time in path planning, a map is not updated timely and the like.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for reversing, obstacle avoidance and path planning of an autonomous operation loader comprises the following steps:
detecting the distance between the rear part of the loader body and the object on the side rear part at high speed in real time, and converting the world coordinate position according to the signal of the ultrasonic ranging device and the installation positioning parameter so as to judge the real-time position relation of the object relative to the loader;
accurately judging the motion state of the object according to the world coordinate information of the object at the rear part and the side rear part of the vehicle, and judging and marking the object as a static object or a moving non-fixed object;
according to the label of the attribute of the object behind the vehicle body, map information stored by the loader is modified, added or deleted;
according to the hinge characteristic of the loader, respectively predicting the collision of the front and rear vehicle bodies according to the turning radius;
performing path planning according to the existing information before autonomous operation, and correcting the path planning information in real time according to the detection information in autonomous operation;
and (3) aiming at the condition that the path planning at an extreme certain time is not solved, assuming the condition of the local feasible path, retrying to plan, and searching the nearest feasible path implementation method.
The method comprises the following specific steps:
step S1: acquiring the position of a positioning device by mutually matching an RTK positioning device and a UWB device, then carrying out simple coordinate transformation, and converting the position of a certain point on a vehicle into the global world coordinate of a loader;
step S2: accurately identifying the distances of the obstacles at the rear part of the loader body and the side surfaces of the rear body and the types of the obstacles by adopting a plurality of ultrasonic ranging devices which are properly arranged and designed;
step S3: converting the position information of the obstacle into a vehicle body coordinate system by adopting a central controller, and converting the position information of the obstacle into a global world coordinate according to the global world coordinate of the loader obtained by an RTK positioning device and a UWB positioning device;
step S4: dividing a total map stored by a loader into four layers of maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer, and dividing obstacles into the corresponding four layers of maps according to the type of the obstacles detected by an ultrasonic ranging device and the change of the distance between the obstacles and a vehicle body in the advancing process of the vehicle body;
step S5: performing path planning and planning a path track in real time by adopting a path planning algorithm according to the real-time position of the loader and the system setting termination point;
step S6: the vehicle travels according to the planned path track, in the traveling process of the loader, the loader performs real-time tracking control on the whole vehicle state according to the real-time vehicle position information, compares the real-time vehicle position with the target position, and adjusts the path track according to the comparison result and the vehicle tracking information until the vehicle moves to the position close to the target position.
On the basis of the technical scheme, the invention also provides the following optional technical scheme:
in one alternative: the RTK positioning device and the UWB device are installed at the top of a vehicle cab and used for acquiring the exact position of the current loader under a world coordinate system; the RTK positioning device is used for positioning in an outdoor open area, and the UWB positioning device is used for local accurate positioning of the loader when the RTK positioning device cannot receive GPS signals or the signal strength is poor.
In one alternative: a plurality of ultrasonic distance measuring devices are arranged at the tail part and part of the side part of the loader vehicle, and a central controller 4 is arranged in the cab.
In one alternative: the step of accurately judging the positions of the obstacles around the vehicle body of the ultrasonic ranging devices is as follows: according to the fact that the plurality of adjacent ultrasonic distance sensors detect the distance information of the obstacles, the central controller judges whether the distance information of the obstacles is the same or not according to the read distance information of the obstacles; if the obstacles are the same, determining the position of the obstacle according to the installation position of the sensor and the ranging information, and if the obstacles are not the same, further judging the number of the obstacles and respectively judging the exact positions of the judged obstacles.
In one alternative: the buffer layer is used for storing the world coordinates of the current vehicle boundary, reading the coordinate information of the obstacle in real time and buffering the coordinate information of the obstacle within a certain time range; the dynamic layer is used for storing the obstacle world coordinate information which is judged to be a dynamic obstacle; the floating layer is used for storing the coordinate information of the obstacles which are judged to be fixed obstacles by the system; the boundary layer is used for storing coordinate information of a working area of the autonomous working loader and an absolutely infeasible area in the working area.
In one alternative: the four-layer map works in a longitudinal superposition mode, wherein a boundary layer is a bottom layer, and a floating layer, a dynamic layer and a buffer layer are sequentially arranged upwards.
In one alternative: the barrier property is divided into dynamic barrier and fixed barrier according to the motion state, and the judgment process of the ultrasonic ranging device on the barrier property is as follows: the ultrasonic ranging device monitors the obstacles in the ranging range and acquires the distance between the obstacles and the vehicle body in real time; the central controller stores the obstacle coordinates into a buffer layer in an algorithm map; in the next time, the central controller continuously reads the obstacle information transmitted by the ultrasonic ranging device and continuously superimposes the obstacle information onto the buffer layer, the central controller judges according to the multi-frame data information, when the multi-frame coordinates are in a certain continuous range, the system judges that the obstacle is a fixed obstacle, and transmits the boundary coordinate information of the obstacle into the map floating layer for storage; if irregular jumping exists in multi-frame coordinate information of the obstacle or the coordinate jumping in two adjacent frames of data exceeds a set threshold value of the system, the system judges that the obstacle is a dynamic obstacle, and the boundary and the coordinate information of the obstacle are stored in a dynamic layer for storage.
In one alternative: the loader updates the four-layer map in the traveling process, and the updating process comprises the following steps: the buffer layer, the dynamic map and the floating layer are called, and the positions of the obstacles are added to the corresponding map layers through judging the attributes of the obstacles; for dynamic obstacle information in an original dynamic layer, if the coordinate movement of the dynamic obstacle exceeds a boundary layer, deleting the dynamic obstacle information in a map, and if the dynamic obstacle exceeds a monitoring range of an autonomous operation loader for a certain set time, deleting the obstacle information from the dynamic map by a system; for the information of the fixed obstacles in the original floating layer, the loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the advancing process: for the monitored information of the fixed obstacles, if the obstacles exist in a certain range at the original position, the information of the boundary positions of the obstacles is supplemented; if no obstacle exists in the original position within a certain range, the obstacle position information of the original position is supplemented; and if the obstacle information is not monitored, deleting the information of the obstacle at the position in the floating layer.
In one alternative: in the process of real-time tracking control over the whole vehicle state of the loader, the loader also fuses and compares the position information of the newly-appeared obstacles and the dynamic obstacles according to the buffer layer and the dynamic layer with the planned path, and performs collision prediction by expanding the front and rear vehicle bodies of the loader and the obstacle models in the map so as to warn before the loader collides with the newly-added obstacles and the dynamic obstacles intruding into the path.
Compared with the prior art, the invention has the following beneficial effects:
the invention can effectively reduce the probability of operation accidents in the process of backing a car, and can collect the obstacle information in the environment to the maximum extent through various vehicle-mounted sensors to provide real-time data for the autonomous operation process.
The realization of the invention can greatly reduce the dependence on the laser radar in the operation process of the autonomous operation loader, save the calculation performance of the autonomous operation loader controller and improve the operation speed; the cost of the autonomous operation loader provided with a plurality of blind-repairing laser radars is greatly reduced.
The method for reversing obstacle avoidance and path planning is simple and reliable, has high transportability, and is suitable for various autonomous operation loaders and other similar autonomous operation devices.
Drawings
Fig. 1 is a schematic view of the overall structure of a loader vehicle in one embodiment of the invention.
Fig. 2 is a schematic diagram of information fusion between the RTK positioning device 1 and the UWB positioning device 2.
Fig. 3 is a schematic view of the installation position of the ultrasonic ranging device 3 on the loader.
Fig. 4 is a flowchart of the ultrasonic ranging device 3 for accurately determining the position of an obstacle around the body of the loader.
Fig. 5 is an introduction diagram of a reverse obstacle avoidance and path planning method map of the autonomous operation loader.
Fig. 6 is a flowchart of the process of determining the attribute of the obstacle by the ultrasonic ranging device 3 and updating the map of the autonomous working loader.
FIG. 7 is a flow chart of an implementation of autonomous work loader path planning and collision prediction.
Notations for reference numerals: RTK positioner 1, UWB positioner 2, ultrasonic ranging device 3, central controller 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments; in the drawings or the description, the same reference numerals are used for similar or identical parts, and the shape, thickness or height of each part may be enlarged or reduced in practical use. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
The embodiment of the invention discloses a method for reversing, obstacle avoidance and path planning of an autonomous operation loader, which comprises the following steps:
step S1: the RTK positioning device 1 and the UWB device 2 are matched with each other to obtain the position of the positioning equipment, the position of the positioning equipment is subjected to simple coordinate transformation, and the position of a certain point on the vehicle is converted into the global world coordinate of the loader;
step S2: accurately identifying the distances of the obstacles at the rear part of the loader body and the side surfaces of the rear body and the types of the obstacles by adopting a plurality of ultrasonic ranging devices 3 which are properly arranged and designed;
step S3: the central controller 4 is adopted to convert the position information of the obstacle into a vehicle body coordinate system, and then the position information of the obstacle is converted into a global world coordinate according to the global world coordinate of the loader obtained by the RTK positioning device 1 and the UWB positioning device 2;
step S4: dividing a total map stored by the loader into four layers of maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer, and dividing the obstacles into the corresponding four layers of maps according to the type of the obstacles detected by the ultrasonic ranging device 3 and the distance change between the obstacles and the vehicle body in the advancing process of the vehicle body;
step S5: performing path planning and planning a path track in real time by adopting a path planning algorithm according to the real-time position of the loader and the system setting termination point;
step S6: the vehicle travels according to the planned path track, in the traveling process of the loader, the loader performs real-time tracking control on the whole vehicle state according to the real-time vehicle position information, compares the real-time vehicle position with the target position, and adjusts the path track according to the comparison result and the vehicle tracking information until the vehicle moves to the position close to the target position.
The following detailed description is made in conjunction with the accompanying drawings
Fig. 1 is a schematic diagram of the hardware components relied on by the method, mainly including: the device comprises an RTK positioning device 1, a UWB positioning device 2, an ultrasonic ranging device 3 and a central controller 4;
the RTK positioning device 1 and the UWB device 2 are mounted on top of the cab for obtaining the exact position of the current loader in the world coordinate system. The RTK positioning device 1 is used for positioning in an open area outdoors, the UWB positioning device 2 is used for the loader to perform local accurate positioning when the RTK positioning device 1 cannot receive GPS signals or the signal strength is poor, and a key method of coordinate conversion is involved in the process (according to the installation position information of the sensors on the vehicle body, the original points of various sensors in a vehicle body coordinate system are set to be the same point, so that the position of the vehicle in a world map can be conveniently determined). The central controller 4 is arranged in the cab and used for calculating and processing data of various sensors and realizing functions of obstacle avoidance, path planning and the like.
Fig. 2 is a schematic diagram of information fusion between the RTK positioning device 1 and the UWB positioning device 2. Because the RTK positioner 1 is located the effect extremely poorly under indoor or weather condition abominable circumstances, and UWB positioner 2 location distance is limited, consequently gathers two kinds of positioner information, according to the automatic reasonable position information source of choosing of different circumstances loader. When the loader is outdoors or under the condition that the RTK signal is good, the loader determines the self-position information by using the RTK positioning device 1 data. When the loader enters the room or the positioning condition of the RTK positioning device 1 is poor, the loader central controller 4 automatically switches the source of the positioning information to the UWB positioning device 2. In the method of the present invention, it is required to calibrate the base station of the UWB positioning device 2 before using the positioning device, process the UWB positioning device 2 data and convert it to the same world coordinates as the RTK positioning device 1 output data. Based on the data source method, the autonomous operation loader can adapt to various complex conditions, and accurate positioning accuracy is guaranteed. In the process, UWB data is sent in a pseudo-GPS form so as to be ensured to be fused and matched with GPS information for use. The position of the positioning equipment obtained in the mode can be converted into global world coordinates through simple coordinate transformation, and the position of a certain point on the vehicle (the point can be set as the gravity center of the vehicle) can be converted into global world coordinates.
Fig. 3 is a schematic view of the installation position of the ultrasonic ranging device 3 on the loader. Most of ultrasonic ranging sensors circulating in the market have 20-30 cm identification blind areas, so that the defects cannot be compensated through an algorithm. Meanwhile, as the loader body is not plane, the installation distance of the adjacent ultrasonic sensors needs to be properly arranged and designed according to the actual use condition in order to achieve the best distance measurement effect. Fig. 3 shows an example of the installation manner of the ultrasonic sensor when the total ranging blind area is set to 30cm, and the thin solid line shown in the figure represents the ultrasonic testing range. The distance of the rear part of the loader body and the obstacle on the side surface of the rear body can be accurately identified by installing the ultrasonic sensor 3 according to the mode shown in the figure 3. Meanwhile, the loader central controller 4 performs coordinate conversion on the measured obstacle information according to the mounting position of the ultrasonic ranging device 3 on the loader. Firstly, the obstacle is converted into a vehicle body coordinate system, and then the position information of the obstacle is converted into global world coordinates according to the global world coordinates of the loader obtained by the RTK positioning device 1 and the UWB positioning device 2.
Fig. 4 is a flowchart of the ultrasonic ranging device 3 for accurately determining the position of an obstacle around the body of the loader. Because the detection ranges of the adjacent ultrasonic ranging devices 3 have an overlapping range, the central controller 4 of the loader can judge according to the read distance information of the obstacles: when only one ultrasonic ranging device 3 recognizes the obstacle distance information (case 1), the obstacle is located within the range of the ultrasonic ranging sensor that reads the obstacle information. When two or more adjacent ultrasonic distance sensors detect the obstacle information (cases 2 and 3), the central controller 4 judges according to the ultrasonic distance sensors, firstly judges whether the described obstacles are the same obstacles according to the distance information, and determines the position of the obstacle according to the installation position of the sensor and the distance measuring information if the described obstacles are the same obstacles. As shown in the figure, based on the sensor coordinates (x0, y0) (x1, y1) of the detected obstacle information and the measured distances R1, R2 as radii, the intersection points (x3, y3) of the two arcs are coordinates of the obstacle with respect to the vehicle body point. If the obstacles are not the same, the number of the obstacles is further judged, and the determined accurate positions of the obstacles are respectively judged. After determining the position of the obstacle relative to the vehicle body, the central controller 4 calculates the exact position of the obstacle in the world map based on the relationship between the obstacle and the rear part of the vehicle body (coordinates in the vehicle body coordinate system), in combination with the positioning information obtained by the RTK positioning device 1 and the UWB positioning device 2 and the coordinate relationship between the RTK positioning device 1 and the UWB positioning device 2 relative to the vehicle body coordinate system, and waits for other parts to use or process the obstacle.
Fig. 5 is an introduction diagram of a reverse obstacle avoidance and path planning method map of the autonomous operation loader. The map shows that the autonomous operation loader reversing obstacle avoidance and path planning method comprises the following map steps: buffer layer, dynamic layer, floating layer, boundary layer four major layers. The buffer layer is used for storing the world coordinates of the current vehicle boundary, reading the coordinate information of the obstacle in real time and buffering the coordinate information of the obstacle within a certain time range; the dynamic layer is used for storing the obstacle world coordinate information which is judged to be a dynamic obstacle; the floating layer is used for storing the coordinate information of the obstacles which are judged to be fixed obstacles by the system; the boundary layer is used for storing coordinate information of a working area of the autonomous working loader and an absolutely infeasible area in the working area. The four-layer map works in a longitudinal superposition mode, wherein a boundary layer is a bottom layer, and a floating layer, a dynamic layer and a buffer layer are sequentially arranged upwards. The multi-layer maps jointly constitute an overall usage map.
Fig. 6 is a flowchart of the process of determining the attribute of the obstacle by the ultrasonic ranging device 3 and updating the map of the autonomous working loader. In general, the attribute of an obstacle can be classified into a dynamic obstacle and a fixed obstacle according to the movement state of the obstacle. In the operation process of the autonomous operation loader, the ultrasonic ranging device 3 at the tail of the loader monitors the obstacles in the ranging range and acquires the distance between the obstacles and the vehicle body in real time. When the autonomous working loader central controller 4 receives the obstacle distance information, the information is combined with the positioning device information to obtain an instantaneous global coordinate (world coordinate), and the central controller 4 stores the obstacle coordinate in the buffer layer in the algorithm map. In the next time, the central controller 4 continuously reads the obstacle information transmitted by the ultrasonic ranging device 3 and continuously superimposes the obstacle information onto the buffer layer map, the central controller 4 judges according to the multi-frame data information, when the multi-frame coordinates are in a certain continuous range, the system judges that the obstacle information is a fixed obstacle, and transmits the boundary coordinate information of the fixed obstacle information into the map floating layer for storage. If irregular jumping exists in multi-frame coordinate information of the obstacle or the coordinate jumping in two adjacent frames of data exceeds a set threshold value of the system, the system judges that the obstacle is a dynamic obstacle, and the boundary and the coordinate information of the obstacle are stored in a dynamic layer map for storage. In the process of advancing and updating the map, the autonomous operation loader calls a buffer layer map, a dynamic floating layer map and adds the position of the obstacle to a corresponding map layer by judging the attribute of the obstacle. And for dynamic obstacle information in the original dynamic layer, if the coordinate movement of the dynamic obstacle exceeds a boundary layer, deleting the dynamic obstacle information in the map, and if the dynamic obstacle exceeds the monitoring range of the autonomous operation loader for a certain set time, deleting the obstacle information from the dynamic map by the system. For the information of the fixed obstacles in the original floating layer, the autonomous operation loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the advancing process: for the monitored information of the fixed obstacles, if the obstacles exist in a certain range at the original position, the information of the boundary positions of the obstacles is supplemented; if no obstacle exists in the original position within a certain range, the obstacle position information of the original position is supplemented; and if the obstacle information is not monitored, deleting the map information of the obstacle floating layer at the position. So as to ensure the real-time performance and reliability of the autonomous operation loader map.
FIG. 7 is a flow chart of an implementation of autonomous work loader path planning and collision prediction. When the loader path is planned, a boundary layer map, a floating layer map, a dynamic layer map and a buffer layer map are called, and path planning is carried out by adopting a path planning algorithm according to the real-time position of the loader and a system setting termination point. In the process, if the situation of no solution exists, the loader only considers the boundary layer, the floating layer and the buffer layer map, does not consider the position information of the dynamic barrier temporarily, and then adopts a path planning algorithm to plan the path. The path planning result of the autonomous operation loader can be obtained through the method. And in the advancing process of the loader, the loader tracks the whole vehicle state in real time according to the real-time vehicle position information and compares the real-time vehicle position with the target position. If the running position of the vehicle does not reach the range set near the destination, the vehicle continuously tracks and controls the whole vehicle control VCU to enable the vehicle to move until the vehicle moves to the range set near the destination, and the system sends a parking operation instruction to the whole vehicle control VCU. When tracking control is carried out, the loader fuses and compares position information of newly-appeared obstacles and dynamic obstacles according to a buffer layer and a dynamic layer with a planned path, collision prediction is carried out on expansion of a front vehicle body and a rear vehicle body of the loader in a map and an obstacle model, so that warning is carried out before the loader collides with the newly-added obstacles and the dynamic obstacles intruding into the path, and the autonomous operation loader system also improves the sampling frequency of a vehicle body sensor aiming at the possible emergencies to prevent the emergencies. After the autonomous operation loader receives collision early warning, the loader carries out local area feasible motion result prediction according to the existing multilayer map, carries out secondary planning rapidly according to the situation of the loader, and seeks a new feasible path so as to enable the loader to get rid of difficulties in time.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (9)
1. A method for reversing, obstacle avoidance and path planning of an autonomous operation loader is characterized by comprising the following steps:
step S1: acquiring the position of a positioning device by mutually matching an RTK positioning device and a UWB device, then carrying out simple coordinate transformation, and converting the position of a certain point on a vehicle into the global world coordinate of a loader;
step S2: accurately identifying the distances of the obstacles at the rear part of the loader body and the side surfaces of the rear body and the types of the obstacles by adopting a plurality of ultrasonic ranging devices which are properly arranged and designed;
step S3: converting the position information of the obstacle into a vehicle body coordinate system by adopting a central controller, and converting the position information of the obstacle into a global world coordinate according to the global world coordinate of the loader obtained by an RTK positioning device and a UWB positioning device;
step S4: dividing a total map stored by a loader into four layers of maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer, and dividing obstacles into the corresponding four layers of maps according to the type of the obstacles detected by an ultrasonic ranging device and the change of the distance between the obstacles and a vehicle body in the advancing process of the vehicle body;
step S5: performing path planning and planning a path track in real time by adopting a path planning algorithm according to the real-time position of the loader and the system setting termination point;
step S6: the vehicle travels according to the planned path track, in the traveling process of the loader, the loader performs real-time tracking control on the whole vehicle state according to the real-time vehicle position information, compares the real-time vehicle position with the target position, and adjusts the path track according to the comparison result and the vehicle tracking information until the vehicle moves to the position close to the target position.
2. The autonomous working loader reverse obstacle avoidance and path planning method of claim 1, wherein the RTK positioning device and UWB device are installed on top of a vehicle cab for obtaining the exact position of the current loader in a world coordinate system;
the RTK positioning device is used for positioning in an outdoor open area, and the UWB positioning device is used for local accurate positioning of the loader when the RTK positioning device cannot receive GPS signals or the signal strength is poor.
3. The method of claim 2, wherein the plurality of ultrasonic ranging devices are mounted at the rear and part of the side of the loader vehicle, and the central controller is mounted inside the cab.
4. The method for reversing obstacle avoidance and path planning of the autonomous operation loader according to claim 3, wherein the step of accurately judging the positions of obstacles around the body of the plurality of ultrasonic ranging devices comprises: according to the fact that the plurality of adjacent ultrasonic distance sensors detect the distance information of the obstacles, the central controller judges whether the distance information of the obstacles is the same or not according to the read distance information of the obstacles;
if the obstacle is the same obstacle, determining the position of the obstacle according to the installation position of the sensor and the ranging information;
if the obstacles are not the same, the number of the obstacles is further judged, and the determined accurate positions of the obstacles are respectively judged.
5. The method for reversing obstacle avoidance and path planning of the autonomous operation loader according to claim 1, wherein the buffer layer is used for storing world coordinates of a current vehicle boundary, reading coordinate information of an obstacle in real time and buffering the coordinate information of the obstacle within a certain time range;
the dynamic layer is used for storing the obstacle world coordinate information which is judged to be a dynamic obstacle;
the floating layer is used for storing the coordinate information of the obstacles which are judged to be fixed obstacles by the system;
the boundary layer is used for storing coordinate information of a working area of the autonomous working loader and an absolutely infeasible area in the working area.
6. The method for reversing obstacle avoidance and path planning for the autonomous operation loader according to claim 5, wherein the four-layer map works in a longitudinal superposition mode, wherein a boundary layer is a bottom layer, and a floating layer, a dynamic layer and a buffer layer are sequentially arranged upwards.
7. The method for reversing obstacle avoidance and path planning for the autonomous operation loader according to claim 6, wherein the obstacle attribute is divided into a dynamic obstacle and a fixed obstacle according to a motion state of the obstacle;
the process of judging the attribute of the obstacle by the ultrasonic ranging device is as follows:
the ultrasonic ranging device monitors the obstacles in the ranging range and acquires the distance between the obstacles and the vehicle body in real time;
the central controller stores the obstacle coordinates into a buffer layer in an algorithm map;
in the next time, the central controller continuously reads the barrier information transmitted by the ultrasonic ranging device and continuously superposes the barrier information on the buffer layer, and the central controller judges according to the multi-frame data information;
when the multi-frame coordinates are in a certain continuous range, the system judges that the multi-frame coordinates are fixed obstacles, and transmits the boundary coordinate information of the multi-frame coordinates into a map floating layer for storage;
if irregular jumping exists in multi-frame coordinate information of the obstacle or the coordinate jumping in two adjacent frames of data exceeds a set threshold value of the system, the system judges that the obstacle is a dynamic obstacle, and the boundary and the coordinate information of the obstacle are stored in a dynamic layer for storage.
8. The method for reversing obstacle avoidance and path planning for the autonomous operation loader of claim 7, wherein the loader updates the four-layer map during the traveling process, and the updating process comprises:
the buffer layer, the dynamic map and the floating layer are called, and the positions of the obstacles are added to the corresponding map layers through judging the attributes of the obstacles;
for dynamic obstacle information in an original dynamic layer, if the coordinate movement of the dynamic obstacle exceeds a boundary layer, deleting the dynamic obstacle information in a map, and if the dynamic obstacle exceeds a monitoring range of an autonomous operation loader for a certain set time, deleting the obstacle information from the dynamic map by a system;
for the information of the fixed obstacles in the original floating layer, the loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the advancing process:
for the monitored information of the fixed obstacles, if the obstacles exist in a certain range at the original position, the information of the boundary positions of the obstacles is supplemented;
if no obstacle exists in the original position within a certain range, the obstacle position information of the original position is supplemented; and if the obstacle information is not monitored, deleting the information of the obstacle at the position in the floating layer.
9. The method for reversing obstacle avoidance and path planning of the autonomous operation loader according to claim 8, wherein during real-time tracking control of the state of the entire loader, the loader further performs fusion and comparison with a planned path according to position information of newly-appeared obstacles and dynamic obstacles of the buffer layer and the dynamic layer, and performs collision prediction by performing expansion of vehicle bodies and obstacle models before and after the loader in a map, so as to warn before the loader collides with newly-added obstacles and dynamic obstacles intruding into the path.
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