CN114185353B - Backing obstacle avoidance and path planning method for autonomous operation loader - Google Patents
Backing obstacle avoidance and path planning method for autonomous operation loader Download PDFInfo
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Abstract
The invention discloses a reversing obstacle avoidance and path planning method of an autonomous operation loader, which relates to the technical field of loaders, and comprises the following steps: the distance between the rear part of the loader body and the object at the rear part of the side is detected at a high speed in real time, and the world coordinate position conversion is carried out according to the signal of the ultrasonic ranging device and the installation positioning parameters so as to judge the real-time position relation of the object relative to the loader; according to the world coordinate information of the rear and side rear objects of the vehicle, accurately judging the motion state of the objects; before autonomous operation, path planning is carried out according to the existing information, and the path planning information is corrected in real time according to the detection information in autonomous operation; and aiming at the condition that the path planning at the extreme moment has no solution, carrying out local feasible path condition assumption and retrying planning, and searching for the latest feasible path implementation method. The reversing obstacle avoidance and path planning method provided by the invention is simple and reliable, has high portability, 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 reversing obstacle avoidance and path planning method for an autonomous operation loader.
Background
The loader is used as a main engineering machine and is widely applied to industries such as mines, steel plants, coal washery, thermal power plants, capital construction and the like. However, the conventional loader has complex driving road surface and severe working environment, and during the operation, the physical and psychological health of the driver is severely challenged and the driver is at any time faced with the safety threat caused by the instability of the vehicle. In recent years, as the driver of the loader keeps going low at will, the phenomenon of difficulty in work is presented, and meanwhile, the problem of difficulty in personnel management is also presented due to the special working mode. With the wide range of practicability of loaders and the continuous reduction of the number of drivers and practitioners of loaders, the development of a novel loader capable of realizing autonomous operation has become a new direction of industry development. Development of unmanned technical research of the loader is very important 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 shovel loading operation, and the working process of the loader mainly comprises forward shovel loading, reverse conveying, forward conveying and unloading. The reversing process is a critical and 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, the research on the reversing process in the existing autonomous operation technology of the loader mainly depends on a laser radar installed on a vehicle body to recognize 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 reversing obstacle avoidance and path planning method for an autonomous operation loader, which aims to solve the problems that the path planning cannot consider site obstacles in real time, the map updating is not timely and the like.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a reversing obstacle avoidance and path planning method of an autonomous operation loader comprises the following steps:
the distance between the rear part of the loader body and the object at the rear part of the side is detected at a high speed in real time, and the world coordinate position conversion is carried out according to the signal of the ultrasonic ranging device and the installation positioning parameters so as to judge the real-time position relation of the object relative to the loader;
according to the world coordinate information of the rear and side rear objects of the vehicle, accurately judging the motion state of the object, and judging and marking the object as a stationary object or a movable non-stationary object;
modifying, adding or deleting map information stored by the loader according to the labels of the object attributes behind the vehicle body;
according to the hinging characteristics of the loader, respectively carrying out collision prediction on the front and rear vehicle bodies according to the turning radius;
before autonomous operation, path planning is carried out according to the existing information, and the path planning information is corrected in real time according to the detection information in autonomous operation;
and aiming at the condition that the path planning at the extreme moment has no solution, carrying out local feasible path condition assumption and retrying planning, and searching for the latest feasible path implementation method.
The method comprises the following specific steps:
step S1: the RTK positioning device and the UWB device are matched with each other to obtain the position of the positioning equipment, and then the position of a certain point on the vehicle is converted into global world coordinates of the loader through simple coordinate transformation;
step S2: the distance between the rear part of the loader body and the side obstacle of the rear part of the loader body and the type of the obstacle are accurately identified by adopting a plurality of ultrasonic ranging devices which are properly arranged and designed;
step S3: the method comprises the steps that a central controller is adopted to convert barrier position information into a vehicle body coordinate system, and then the barrier position information is converted into global world coordinates according to global world coordinates of a loader obtained by an RTK positioning device and a UWB positioning device;
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 corresponding four layers of maps according to the types of the obstacles detected by the ultrasonic ranging device and the distance change between the obstacles and the vehicle body in the travelling process of the vehicle body;
step S5: carrying out path planning by adopting a path planning algorithm according to the real-time position of the loader and a system setting termination point, and planning a path track in real time;
step S6: the vehicle moves according to the planned path track, in the moving process of the loader, the loader carries out 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 vicinity of the target position.
Based on the technical scheme, the invention also provides the following optional technical schemes:
in one alternative: the RTK positioning device and the UWB device are arranged 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 carrying out local accurate positioning when the loader cannot receive GPS signals or the signal intensity is not good.
In one alternative: a plurality of ultrasonic ranging devices are installed at the rear and part of the side of the loader vehicle, and a central controller 4 is installed inside the cab.
In one alternative: the accurate judging step of the positions of the obstacles around the vehicle body of the ultrasonic distance measuring devices is as follows: according to the obstacle distance information detected by the plurality of adjacent ultrasonic distance sensors, the central controller judges whether the obstacle is the same obstacle or not according to the read obstacle distance information; if the obstacle is the same obstacle, the position of the obstacle is determined according to the mounting position of the sensor and the ranging information, and if the obstacle is not the same obstacle, the number of the obstacles is further judged, and the determined exact positions of the obstacles are respectively determined.
In one alternative: the buffer layer is used for storing world coordinates of the current vehicle boundary, reading obstacle coordinate information in real time and buffering the obstacle coordinate information within a certain time range; the dynamic layer is used for storing obstacle world coordinate information which is judged to be a dynamic obstacle; the floating layer is used for storing obstacle coordinate information which is judged as a fixed obstacle by the system; the boundary layer is used for storing coordinate information of an autonomous working loader working area and an absolute 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 obstacle attribute is divided into a dynamic obstacle and a fixed obstacle according to the motion state of the obstacle attribute, and the ultrasonic ranging device judges the obstacle attribute as follows: the ultrasonic ranging device monitors obstacles in a 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 the 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 into the buffer layer, the central controller judges according to the multi-frame data information, and when the multi-frame coordinates of the central controller are in a certain continuous range, the system judges that the central controller is a fixed obstacle and transmits the boundary coordinate information of the central controller into the map floating layer for storage; if the multi-frame coordinate information of the obstacle has irregular jump or the coordinate jump in two adjacent frames of data exceeds the set threshold value of the system, the system judges that the obstacle is a dynamic obstacle, and the boundary and the coordinate information are stored in a dynamic layer for storage.
In one alternative: the loader updates the four-layer map in the travelling process, and the updating process is as follows: the buffer layer, the dynamic map and the floating layer are called, and the barrier position is added to the corresponding layer by judging the barrier attribute; for dynamic obstacle information in an original dynamic layer, if the dynamic obstacle coordinate motion exceeds a boundary layer, deleting the dynamic obstacle coordinate motion in a 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 a system; for the fixed obstacle information in the original floating layer, the loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the running process: for the monitored fixed obstacle information, if an obstacle exists in a certain range in the original position, supplementing the obstacle boundary position information; if no obstacle exists in a certain range of the original position, supplementing the obstacle position information; if no obstacle information is detected, the information of the obstacle in the floating layer is deleted.
In one alternative: in the process of real-time tracking control of the whole vehicle state, the loader is used for fusing and comparing the position information of the newly-appearing obstacle and the dynamic obstacle according to the buffer layer and the dynamic layer with the planned path, and collision prediction is carried out by expanding the front and rear vehicle bodies of the loader and the obstacle model in the map so as to warn before the loader collides with the newly-added obstacle and the dynamic obstacle of the intruded path.
Compared with the prior art, the invention has the following beneficial effects:
the invention effectively reduces the occurrence probability of operation accidents in the reversing process, and can collect the obstacle information in the environment to the greatest extent through various vehicle-mounted sensors so as to provide real-time data for the autonomous operation process.
The implementation of the invention greatly reduces the dependence on the laser radar in the operation process of the autonomous operation loader, saves the calculation performance of the autonomous operation loader controller and improves the operation speed; the cost of the autonomous operation loader provided with a plurality of blind supplementing laser radars is greatly reduced.
The reversing obstacle avoidance and path planning method provided by the invention is simple and reliable, has high portability, and is suitable for various autonomous operation loaders and other similar autonomous operation devices.
Drawings
Fig. 1 is a schematic view showing the overall structure of a loader vehicle according to an embodiment of the present 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 accurate determination of the position of the obstacle around the loader body by the ultrasonic ranging device 3.
Fig. 5 is an explanatory diagram of a map of a reverse obstacle avoidance and path planning method for an autonomous operating loader.
Fig. 6 is a flowchart of the obstacle attribute determination process and autonomous work loader map update performed by the ultrasonic ranging apparatus 3.
FIG. 7 is a flow chart of an autonomous work loader path planning and collision prediction implementation.
Reference numerals annotate: an RTK positioning device 1, a UWB positioning device 2, an ultrasonic ranging device 3 and a central controller 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples; in the drawings or description, similar or identical parts are provided with the same reference numerals, and in practical applications, the shape, thickness or height of each part may be enlarged or reduced. The examples set forth herein are intended to be illustrative of the invention and are not intended to limit the scope of the invention. Any obvious modifications or alterations to the invention, as would be apparent, are made without departing from the spirit and scope of the present invention.
The embodiment of the invention discloses a reversing obstacle avoidance and path planning method 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 positioning equipment, and then the position of a certain point on a vehicle is converted into global world coordinates of a loader through simple coordinate transformation;
step S2: the distance between the rear part of the loader body and the side obstacle of the rear part of the loader body and the type of the obstacle are accurately identified 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-layer maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer, and dividing the obstacle into corresponding four-layer maps according to the type of the obstacle detected by the ultrasonic ranging device 3 and the distance change between the obstacle and the vehicle body in the travelling process of the vehicle body;
step S5: carrying out path planning by adopting a path planning algorithm according to the real-time position of the loader and a system setting termination point, and planning a path track in real time;
step S6: the vehicle moves according to the planned path track, in the moving process of the loader, the loader carries out 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 vicinity of the target position.
The following detailed description is to be taken in conjunction with the accompanying drawings
FIG. 1 is a schematic diagram of the hardware components relied on by the method, mainly comprising: 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 UWB device 2 are mounted on top of the cab for obtaining the exact position of the current loader in world coordinates. The RTK positioning device 1 is used for positioning in an outdoor open area, the UWB positioning device 2 is used for carrying out local accurate positioning when the RTK positioning device 1 cannot receive GPS signals or the signal strength is not good, and a key method of coordinate conversion is involved in the process (according to the information of the mounting position of the sensor on the vehicle body, the origin of various sensors is set to be the same point under the coordinate system of the vehicle body, so that the position of the vehicle in the world map is conveniently determined). The ultrasonic distance measuring devices 3 are arranged at the tail part and part of the side part of the loader vehicle and used for monitoring the distance information of various obstacles around the vehicle body, and the central controller 4 is arranged inside the cab and used for calculating and processing various sensor data and realizing the 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 positioning device 1 has extremely poor positioning effect in the indoor or severe weather conditions, and the UWB positioning device 2 has limited positioning distance, the information of the two positioning devices is summarized, and the loader automatically selects a reasonable position information source according to different conditions. When the loader is outdoors or under the condition that the RTK signal is good, the loader uses the RTK positioning device 1 data to determine its own position information. When the loader enters the room or the positioning condition of the RTK positioning device 1 is bad, the central controller 4 of the loader automatically switches the positioning information source to the UWB positioning device 2. In the method of the invention, the base station of the UWB positioning device 2 is required to be calibrated before the positioning device is used, and the data of the UWB positioning device 2 is processed and converted into the world coordinates the same as the output data of the RTK positioning device 1. Based on the data source method, the autonomous operation loader can adapt to various complex conditions, and the accurate positioning precision is ensured. In the process, UWB data is transmitted in a pseudo GPS mode, so that the UWB data can be fused and matched with GPS information for use. The position of the positioning device obtained in this way can be converted into global world coordinates by simple coordinate transformation.
Fig. 3 is a schematic view of the installation position of the ultrasonic ranging device 3 on the loader. As most of ultrasonic ranging sensors circulated in the market have 20-30 cm recognition dead zones, the defects cannot be overcome through an algorithm. Meanwhile, since the loader body is not planar, 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 ranging effect. Fig. 3 is an example of the installation mode of the ultrasonic sensor when the total ranging blind area is set to 30cm, and the thin solid line is shown in the figure as an ultrasonic test range. According to the ultrasonic sensor 3 installed in the mode of fig. 3, the distance accurate recognition of the obstacle at the rear part of the loader body and the side surface of the rear part of the loader body can be realized. Meanwhile, the central controller 4 of the loader performs coordinate conversion on the measured obstacle information according to the installation 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 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.
Fig. 4 is a flowchart of the accurate determination of the position of the obstacle around the loader body by the ultrasonic ranging device 3. Since the detection ranges of the adjacent ultrasonic ranging devices 3 have overlapping ranges, the central controller 4 of the loader can judge according to the read obstacle distance information: when only one ultrasonic ranging device 3 recognizes 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 determines according to the ultrasonic distance sensors, first determines whether the described obstacle is the same obstacle according to the distance information, and if so, determines the position of the obstacle according to the sensor mounting position and the distance measurement information. As shown in the figure, the arc is drawn by taking the measured distances R1 and R2 as the radius based on the sensor coordinates (x 0, y 0) (x 1, y 1) of the detected obstacle information respectively, and the intersection points (x 3, y 3) of the two arcs are the coordinates of the obstacle relative to the vehicle body point. If the number of the obstacles is not the same obstacle, the number of the obstacles is further judged, and the determined exact positions of the obstacles are respectively judged. After determining the position of the obstacle relative to the vehicle body, the central controller 4 will calculate the exact position of the obstacle in the world map according to the relation between the obstacle and the rear part of the vehicle body (the coordinate under the vehicle body coordinate system) and the coordinate relation between the RTK positioning device 1 and the UWB positioning device 2 relative to the vehicle body coordinate system, and wait for other parts to use or process.
Fig. 5 is an explanatory diagram of a map of a reverse obstacle avoidance and path planning method for an autonomous operating loader. The map of the method for planning the reverse obstacle avoidance and the path of the autonomous operation loader is divided into: buffer layer, dynamic layer, floating layer, boundary layer four layers. The buffer layer is used for storing world coordinates of the current vehicle boundary and reading obstacle coordinate information in real time and buffering the obstacle coordinate information within a certain time range; the dynamic layer is used for storing obstacle world coordinate information which is judged to be a dynamic obstacle; the floating layer is used for storing obstacle coordinate information which is judged as a fixed obstacle by the system; the boundary layer is used for storing coordinate information such as an autonomous working loader working area and an absolute 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 multiple layers of maps together form a total usage map.
Fig. 6 is a flowchart of the obstacle attribute determination process and autonomous work loader map update performed by the ultrasonic ranging apparatus 3. Generally, the obstacle attribute may be classified into a dynamic obstacle and a fixed obstacle according to the movement state thereof. In the operation process of the autonomous operation loader, the ultrasonic ranging device 3 at the tail part of the loader monitors 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, it will combine this information with the positioning device information to obtain an instantaneous global coordinate (world coordinate), which the central controller 4 will store 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 on the map of the buffer layer, the central controller 4 judges according to the multi-frame data information, and when the multi-frame coordinates of the central controller are in a certain continuous range, the system judges that the central controller is a fixed obstacle and transmits the boundary coordinate information of the central controller to the floating layer of the map for storage. If the multi-frame coordinate information of the obstacle has irregular jump or the coordinate jump in two adjacent frames of data exceeds the 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 updating the map in advance, the autonomous operation loader will call up the map of the buffer layer, the dynamic map of the floating layer and will add the position of the obstacle to the corresponding map layer by judging the attribute of the obstacle. For the dynamic obstacle information in the original dynamic layer, if the dynamic obstacle coordinate movement exceeds the boundary layer, deleting the dynamic obstacle coordinate movement 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 fixed obstacle information in the original floating layer, the autonomous operation loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the running process: for the monitored fixed obstacle information, if an obstacle exists in a certain range in the original position, supplementing the obstacle boundary position information; if no obstacle exists in a certain range of the original position, supplementing the obstacle position information; if no obstacle information is detected, the map information of the floating layer of the obstacle at the position is deleted. To ensure the real-time and reliability of the autonomous operation loader map.
FIG. 7 is a flow chart of an autonomous work loader path planning and collision prediction implementation. When the loader is in path planning, four layers of maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer are firstly called, and the path planning algorithm is adopted to carry out path planning according to the real-time position of the loader and the set termination point of the system. In the process, if no solution exists, the loader only considers the boundary layer, the floating layer and the buffer layer map, does not consider the dynamic obstacle position information temporarily, and then adopts a path planning algorithm to carry out path planning. The route planning result of the autonomous operation loader can be obtained through the method. During the traveling 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 vehicle operating position does not reach the set range near the destination, the vehicle will continue to track and control the vehicle control VCU to maneuver the vehicle until the vehicle travels within the set distance range of the destination, and the system will send a park job command to the vehicle control VCU. And when the tracking control is performed, the loader fuses and compares the position information of the newly-appearing obstacle and the dynamic obstacle of the buffer layer and the dynamic layer with the planned path, and collision prediction is performed by expanding the front and rear vehicle bodies of the loader in the map and the obstacle model so as to realize warning before the loader collides with the newly-added obstacle and the dynamic obstacle of the intruded path, and the autonomous operation loader system also improves the sampling frequency of the vehicle body sensor for possible emergency so as to prevent the occurrence of sudden accidents. When the autonomous operation loader receives collision early warning, the loader predicts a local area feasible movement result according to the existing multi-layer map, and performs secondary planning rapidly according to the condition of the loader, so as to seek a new feasible path, and therefore the loader gets rid of the trouble in time.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (1)
1. The reversing obstacle avoidance and path planning method for the autonomous operation loader is characterized by comprising the following steps of:
step S1: the RTK positioning device and the UWB device are matched with each other to obtain the position of the positioning equipment, and then the position of a certain point on the vehicle is converted into global world coordinates of the loader through simple coordinate transformation, wherein:
the RTK positioning device and the UWB device are arranged 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 carrying out local accurate positioning when the loader cannot receive GPS signals or the signal strength is not good;
step S2: adopt a plurality of ultrasonic ranging devices of suitable design of arranging to carry out accurate discernment to the distance of the rear portion of the loader body and rear portion automobile body side barrier and the type that the barrier belonged to, wherein:
the ultrasonic ranging devices are arranged at the tail part and part of the side part of the loader vehicle, and the central controller is arranged in the cab;
the accurate judging step of the positions of the obstacles around the vehicle body of the ultrasonic distance measuring devices is as follows: according to the obstacle distance information detected by the plurality of adjacent ultrasonic distance sensors, the central controller judges whether the obstacle is the same obstacle or not according to the read obstacle distance information;
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 number of the obstacles is not the same obstacle, further judging the number of the obstacles, and judging the exact positions of the obstacles respectively;
the types of the obstacle are classified into dynamic obstacle and fixed obstacle according to the motion state;
the ultrasonic ranging device judges the attribute of the obstacle as follows:
the ultrasonic ranging device monitors obstacles in a 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 the 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 into 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 system is a fixed obstacle and transmits the boundary coordinate information into a map floating layer for storage;
if the multi-frame coordinate information of the obstacle has irregular jump or the coordinate jump in two adjacent frames of data exceeds a system set threshold, 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;
step S3: the method comprises the steps that a central controller is adopted to convert barrier position information into a vehicle body coordinate system, and then the barrier position information is converted into global world coordinates according to global world coordinates of a loader obtained by an RTK positioning device and a UWB positioning device;
step S4: dividing a total map stored by a loader into four-layer maps of a boundary layer, a floating layer, a dynamic layer and a buffer layer, dividing the obstacle into the corresponding four-layer maps according to the type of the obstacle detected by an ultrasonic ranging device and the distance change between the obstacle and the vehicle body in the advancing process of the vehicle body, and working in a longitudinal superposition mode by adopting the four-layer maps, wherein the boundary layer is a bottom layer and is a floating layer, a dynamic layer and a buffer layer in sequence;
the buffer layer is used for storing world coordinates of the current vehicle boundary, reading obstacle coordinate information in real time and buffering the obstacle coordinate information within a certain time range;
the dynamic layer is used for storing obstacle world coordinate information which is judged to be a dynamic obstacle;
the floating layer is used for storing obstacle coordinate information which is judged as a fixed obstacle by the system;
the boundary layer is used for storing coordinate information of an autonomous operation loader working area and an absolute infeasible area in the working area;
the loader updates the four-layer map in the travelling process, and the updating process is as follows:
the buffer layer, the dynamic map and the floating layer are called, and the barrier position is added to the corresponding layer by judging the barrier attribute;
for dynamic obstacle information in an original dynamic layer, if the dynamic obstacle coordinate motion exceeds a boundary layer, deleting the dynamic obstacle coordinate motion in a 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 a system;
for the fixed obstacle information in the original floating layer, the loader moves to the monitoring range of the obstacle ultrasonic ranging sensor in the running process:
for the monitored fixed obstacle information, if an obstacle exists in a certain range in the original position, supplementing the obstacle boundary position information;
if no obstacle exists in a certain range of the original position, supplementing the obstacle position information;
if the obstacle information is not monitored, deleting the information of the obstacle at the position in the floating layer land;
in the process of carrying out real-time tracking control on the whole vehicle state by the loader, the position information of the newly-appearing obstacle and the dynamic obstacle according to the buffer layer and the dynamic layer is fused and compared with the planned path, and collision prediction is carried out by expanding the front and rear vehicle bodies of the loader and the obstacle model in the map so as to realize warning before the loader collides with the newly-added obstacle and the dynamic obstacle of the intrusion path;
step S5: carrying out path planning by adopting a path planning algorithm according to the real-time position of the loader and a system setting termination point, and planning a path track in real time;
step S6: the vehicle moves according to the planned path track, in the moving process of the loader, the loader carries out 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 vicinity of the target position.
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