CN114475537A - Control method and device for preventing unmanned logistics vehicle from sliding down slope and readable storage medium - Google Patents
Control method and device for preventing unmanned logistics vehicle from sliding down slope and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
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Abstract
The invention discloses a control method, a device and a readable storage medium for preventing an unmanned logistics vehicle from sliding down a slope, wherein the method comprises the following steps: when the unmanned logistics vehicle runs on a slope, judging whether the unmanned logistics vehicle is in a starting state or not after a braking device and an electronic hand brake are started based on a vehicle controller; if the unmanned logistics vehicle is in a starting state, judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on high-precision positioning of a vehicle controller; and if the slope slipping distance of the unmanned logistics vehicle exceeds a preset slope slipping threshold value, the braking force of the braking device is adjusted to the maximum value based on the vehicle controller, and the opening state of the electronic hand brake is kept. The vehicle controller is combined with the control judgment logic of the slope slipping prevention of the unmanned logistics vehicle, so that the increase of the development cost of the vehicle is avoided, the problem that the unmanned logistics vehicle slips away from the slope is effectively solved, the implementation mode is simple, and the problem of economic loss of the unmanned logistics vehicle to users is avoided to a certain extent.
Description
Technical Field
The invention relates to the field of unmanned logistics, in particular to a control method and device for preventing an unmanned logistics vehicle from sliding down a slope and a computer readable storage medium.
Background
With the development of unmanned logistics technology, the popularity of unmanned logistics vehicles is gradually increasing, and the unmanned logistics vehicles are different from vehicles driven by users, and when the unmanned logistics vehicles are started on a slope, if reasonable control is not performed, the unmanned logistics vehicles are likely to slip off the slope, and further start failure and even rollover and other adverse conditions occur.
However, due to the unreasonable design of the starting logic of the braking device in the existing scheme, the vehicle is very likely to be in a state that the vehicle cannot be separated from a slope slipping state due to insufficient braking force, or the vehicle still has a slope slipping phenomenon after starting, so that the safety risk that the vehicle still slips on the slope is caused, the problem that the vehicle slips on the slope cannot be solved, and the development cost of the vehicle is increased.
Disclosure of Invention
The invention mainly aims to provide a control method and a control device for preventing an unmanned logistics vehicle from sliding down a slope and a computer readable storage medium, and aims to solve the technical problem of the unmanned logistics vehicle sliding down the slope on the premise of not increasing the development cost of the vehicle.
In order to achieve the above object, the present invention provides a method for controlling an unmanned logistics vehicle to prevent a vehicle from sliding down a slope, the method comprising the steps of:
when the unmanned logistics vehicle runs on a slope, judging whether the unmanned logistics vehicle is in a starting state or not after a braking device and an electronic hand brake are started based on a vehicle controller;
if the unmanned logistics vehicle is in a starting state, judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on a high-precision positioning module of the vehicle controller;
if the slope slipping distance of the unmanned logistics vehicle exceeds the preset slope slipping threshold value, the braking force of the braking device is adjusted to the maximum value based on the vehicle controller, and the electronic hand brake is kept in the opening state.
Optionally, the control method for preventing the unmanned logistics vehicle from sliding down the slope further comprises the following steps:
detecting whether the speed of the unmanned logistics vehicle and the motor are abnormal or not based on the vehicle controller;
and if the speed of the unmanned logistics vehicle and the motor are abnormal, judging that the unmanned logistics vehicle has a slope slipping condition.
Optionally, after the step of turning on the braking device and the electronic hand brake based on the vehicle controller, the method further includes:
detecting whether the unmanned logistics vehicle is in a static state based on the vehicle controller;
if the unmanned logistics vehicle is in a static state, acquiring a starting speed through the vehicle controller;
and if the unmanned logistics vehicle is not in a static state, increasing the braking force of the braking device until the unmanned logistics vehicle is in the static state.
Optionally, after the step of determining whether the unmanned logistics vehicle is in a starting state, the method further includes:
and if the unmanned logistics vehicle is not in a starting state, uploading fault signals and coordinate information to the unmanned logistics platform based on the vehicle controller.
Optionally, after the step of determining whether the hill-drop distance of the unmanned logistics vehicle exceeds a preset hill-drop threshold value based on the high-precision positioning of the vehicle controller, the method further includes:
requesting the maximum starting speed through the vehicle controller if the slope slipping distance of the unmanned logistics vehicle does not exceed the preset slope slipping threshold value;
and judging whether a motor of the unmanned logistics vehicle is in a positive rotation state or not, and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold or not.
Optionally, after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold, the method further includes:
and if the motor of the unmanned logistics vehicle is in a positive rotation state and the speed of the unmanned logistics vehicle reaches a preset starting threshold value, closing the braking device and the electronic hand brake based on the vehicle controller.
Optionally, after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold, the method further includes:
and if the motor of the unmanned logistics vehicle is not in a forward rotation state and/or the speed of the unmanned logistics vehicle does not reach a preset starting threshold value, closing the starting speed based on the vehicle controller, and returning to execute the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller.
Optionally, after the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller and maintaining the on state of the electronic handbrake, the method further comprises:
the vehicle controller uploads a help signal to the unmanned logistics interaction platform, and whether the unmanned logistics vehicle is in a running road section or not is judged based on the road condition obtained by the associated camera;
and if the unmanned logistics vehicle is in a driving road section, controlling the unmanned logistics vehicle to drive to a non-driving road section of the road, and uploading the coordinate information to the unmanned logistics interaction platform.
In order to achieve the above object, the present invention also provides a control device for an unmanned logistics vehicle anti-slope-sliding, comprising a memory, a processor, and a control processing program for an unmanned logistics vehicle anti-slope-sliding, stored in the memory and operable on the processor, wherein the control processing program for an unmanned logistics vehicle anti-slope-sliding realizes the steps of the control method for an unmanned logistics vehicle anti-slope-sliding when executed by the processor.
In order to achieve the above object, the present invention further provides a computer-readable storage medium having a control program for preventing an unmanned logistics vehicle from sliding down a slope, wherein the control program for preventing an unmanned logistics vehicle from sliding down a slope is executed by a processor to implement the steps of the control method for preventing an unmanned logistics vehicle from sliding down a slope.
The invention realizes the effective effect of preventing the unmanned logistics vehicle from sliding down the slope by establishing the control judgment logic of preventing the unmanned logistics vehicle from sliding down the slope on the vehicle machine without adding additional components, directly starts the braking device and the electronic hand brake when the unmanned logistics vehicle is identified to be in the slope sliding state by the vehicle controller on the unmanned logistics vehicle, not only avoids the insufficient braking force of the vehicle caused by the overlarge slope, but also ensures that the unmanned logistics vehicle is still in the slope sliding state, thereby causing the potential safety hazard of slope sliding, and also realizes the beneficial effect on preventing the unmanned logistics vehicle from sliding down the slope on the premise of not increasing the development cost of the vehicle, and prevents the risk of slope sliding down caused by the phenomenon of slope sliding down of the unmanned logistics vehicle when the unmanned logistics vehicle is in the starting process by keeping the braking device and the electronic hand brake still when the unmanned logistics vehicle is in the slope sliding state, the implementation mode is simpler, has also avoided the problem of the economic loss that unmanned logistics vehicle brought for the user to a certain extent.
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Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of a control method for preventing an unmanned logistics vehicle from sliding down a slope according to the invention;
FIG. 3 is a detailed flowchart of step S10 in FIG. 2;
fig. 4 is a detailed flowchart of step S20 in fig. 2.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: the control judgment logic of the unmanned logistics vehicle for preventing the vehicle from sliding down the slope is directly combined based on the vehicle controller, so that the problem of the unmanned logistics vehicle sliding down the slope is effectively solved on the premise of not increasing any vehicle development cost.
Due to the prior art, the design scheme about the slope slipping prevention of the unmanned logistics vehicle not only increases the development cost of the vehicle, but also effectively solves the problem of slope slipping of the unmanned logistics vehicle due to the irrationality of the starting logic design of the braking device.
The invention provides a solution, and only by combining a vehicle controller and formulating optimized control judgment logic for preventing the unmanned logistics vehicle from sliding down the slope in the unmanned logistics vehicle, the increase of vehicle development cost and the complexity of manufacturing procedures can be avoided, the problem of the slope sliding of the unmanned logistics vehicle can be effectively solved, the safety guarantee of the unmanned logistics vehicle is improved, and the condition of economic loss brought to users by the slope sliding of the unmanned logistics vehicle is avoided.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention.
The control device for preventing the unmanned logistics vehicle from sliding down the slope can be a PC, and can also be a mobile terminal device such as a smart phone, a tablet personal computer and a portable computer.
As shown in fig. 1, the control device for preventing the unmanned logistics vehicle from sliding down the slope may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the control device may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the control device configuration shown in FIG. 1 does not constitute a limitation of the control device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program for the unattended physical distribution vehicle landslide prevention.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the control program for the anti-landslide of the unmanned logistics vehicle stored in the memory 1005, and perform the following operations:
when the unmanned logistics vehicle runs on a slope, judging whether the unmanned logistics vehicle is in a starting state or not after a braking device and an electronic hand brake are started based on a vehicle controller;
if the unmanned logistics vehicle is in a starting state, judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on a high-precision positioning module of the vehicle controller;
if the slope slipping distance of the unmanned logistics vehicle exceeds the preset slope slipping threshold value, the braking force of the braking device is adjusted to the maximum value based on the vehicle controller, and the electronic hand brake is kept in the opening state.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
the control method for preventing the unmanned logistics vehicle from sliding down the slope further comprises the following steps: detecting whether the speed of the unmanned logistics vehicle and the motor are abnormal or not based on the vehicle controller;
and if the speed of the unmanned logistics vehicle and the motor are abnormal, judging that the unmanned logistics vehicle has a slope slipping condition.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of starting the braking device and the electronic hand brake based on the vehicle controller, detecting whether the unmanned logistics vehicle is in a static state based on the vehicle controller;
if the unmanned logistics vehicle is in a static state, acquiring a starting speed through the vehicle controller;
and if the unmanned logistics vehicle is not in a static state, increasing the braking force of the braking device until the unmanned logistics vehicle is in the static state.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of judging whether the unmanned logistics vehicle is in a starting state, the method further comprises the following steps: and if the unmanned logistics vehicle is not in a starting state, uploading fault signals and coordinate information to the unmanned logistics platform based on the vehicle controller.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on the high-precision positioning of the vehicle controller, if the slope sliding distance of the unmanned logistics vehicle does not exceed the preset slope sliding threshold value, requesting the maximum starting speed through the vehicle controller;
and judging whether a motor of the unmanned logistics vehicle is in a positive rotation state or not, and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold or not.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of judging whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold value, if the motor of the unmanned logistics vehicle is in the forward rotation state and the speed of the unmanned logistics vehicle reaches the preset starting threshold value, the braking device and the electronic hand brake are turned off based on the vehicle controller.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of judging whether the motor of the unmanned logistics vehicle is in a positive rotation state or not and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold or not, if the motor of the unmanned logistics vehicle is not in the positive rotation state and/or the speed of the unmanned logistics vehicle does not reach the preset starting threshold, the starting speed is closed based on the vehicle controller, and the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller is executed in a returning mode.
Further, the processor 1001 may call the control program for the unmanned logistics vehicle landslide prevention stored in the memory 1005, and also perform the following operations:
after the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller and maintaining the on state of the electronic hand brake, uploading a help signal to the unmanned logistics interaction platform based on the vehicle controller, and judging whether the unmanned logistics vehicle is in a driving road section based on the road condition obtained by the associated camera;
and if the unmanned logistics vehicle is in a driving road section, controlling the unmanned logistics vehicle to drive to a non-driving road section of the road, and uploading the coordinate information to the unmanned logistics interaction platform.
Referring to fig. 2, an embodiment of the present invention provides a method for controlling an unmanned logistics vehicle to slide away from a slope, where the method for controlling an unmanned logistics vehicle to slide away from a slope includes:
step S10, when the unmanned logistics vehicle has a slope slipping condition, judging whether the unmanned logistics vehicle is in a starting state or not after a braking device and an electronic hand brake are started based on a vehicle controller;
the unmanned logistics vehicle is different from a vehicle which is controlled and driven based on a user, the control accuracy of the unmanned logistics vehicle is low, and emergency measures for dealing with emergency situations are few, so that when a vehicle controller detects that the unmanned logistics vehicle has a slope slipping situation, a braking device and an electronic hand brake of the unmanned logistics vehicle can be started at the same time, and the situation that the unmanned logistics vehicle still has the slope slipping due to insufficient braking force of the unmanned logistics vehicle caused by the starting of a single braking device or the electronic hand brake is avoided.
The situation of sliding down a slope refers to the phenomenon that the unmanned logistics vehicle backs up backwards due to reasons of too fast braking and insufficient clutch when the unmanned logistics vehicle is in an inclined slope and needs to start.
In the embodiment, the braking device and the electronic hand brake are used for stopping the unmanned logistics vehicle from running, so that the safety risk caused by continuous slope slipping is avoided.
Optionally, the method for controlling the unmanned logistics vehicle to prevent the vehicle from sliding down the slope in step S10 further includes:
step A1, detecting the speed of the unmanned logistics vehicle and whether the motor is abnormal or not based on the vehicle controller;
and A2, if the speed of the unmanned logistics vehicle and the motor are abnormal, determining that the unmanned logistics vehicle has a slope slipping situation.
The vehicle controller is also called a vehicle body computer, refers to an electronic control unit of a vehicle electrical system, is a main component of the unmanned logistics vehicle, and can be used for controlling the unmanned logistics vehicle to open and close a braking device and an electronic hand brake.
The unmanned logistics vehicle is different from the conventional technology in that the unmanned logistics vehicle is directly identified whether to slide down the slope or not based on the vehicle controller in the unmanned logistics vehicle, whether the speed of the unmanned logistics vehicle is suddenly reduced or not is detected through the vehicle controller, and whether the motor of the unmanned logistics vehicle is in a reverse rotation state or not is judged to determine whether the unmanned logistics vehicle slides down the slope or not.
If the vehicle controller detects that the speed of the unmanned logistics vehicle is suddenly reduced and the motor of the unmanned logistics vehicle is in a reverse rotation state, it is determined that the unmanned logistics vehicle slides on the slope, the vehicle controller needs to immediately stop the unmanned logistics vehicle, namely, a braking device and an electronic hand brake of the unmanned logistics vehicle are immediately started, and double braking guarantees the slope sliding safety of the unmanned logistics vehicle.
Optionally, after the step of determining whether the unmanned logistics vehicle is in a starting state in step S10, the method further includes: :
and B, if the unmanned logistics vehicle is not in a starting state, uploading a fault signal and coordinate information to the unmanned logistics platform based on the vehicle controller.
After the unmanned logistics vehicle starts the braking device and the electronic hand brake, the vehicle controller gives the starting speed to the unmanned logistics vehicle after detecting that the unmanned logistics vehicle is in a static state, so that the unmanned logistics vehicle can perform starting operation under the guarantee of double braking, but if the unmanned logistics vehicle cannot perform the starting operation normally at the moment, the situation that the unmanned logistics vehicle cannot be driven normally due to the fact that internal elements of the unmanned logistics vehicle break down is shown, and therefore fault signals and coordinate information need to be uploaded to the unmanned logistics platform to inform personnel of the unmanned logistics platform to reach the site to maintain the unmanned logistics vehicle, the situation that the logistics stops due to the fact that the unmanned logistics vehicle is in a fault state for a long time is avoided, and the situation that the complaint rate is increased due to the fact that the user cannot receive logistics objects timely is avoided.
Step S20, if the unmanned logistics vehicle is in a starting state, judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on a high-precision positioning module of the vehicle controller;
if the unmanned logistics vehicle can normally perform starting operation at the moment, the vehicle controller judges whether the slope sliding distance of the unmanned logistics vehicle in the starting process is within a preset slope sliding threshold value.
The slope sliding distance is the distance that the unmanned logistics vehicle backs backwards, the preset slope sliding threshold is set at the rear end of the unmanned logistics platform personnel and used for judging whether the maximum starting traction force of the unmanned logistics vehicle can exceed the slope sliding traction force of the unmanned logistics vehicle or not, if the maximum starting traction force of the unmanned logistics vehicle exceeds the slope sliding traction force of the unmanned logistics vehicle, the slope sliding traction force of the unmanned logistics vehicle is in a controllable range, and when the starting speed is increased to the maximum, the unmanned logistics vehicle can be started successfully to a great extent.
It should be noted that at this time, the unmanned logistics vehicle is still in a double-braking state, that is, the braking device and the electronic hand brake are both opened, so that the safety risk caused by the situation that the unmanned logistics vehicle slips down on a slope again in the starting process is avoided.
And step S30, if the slope slipping distance of the unmanned logistics vehicle exceeds the preset slope slipping threshold value, the braking force of the braking device is adjusted to the maximum value based on the vehicle controller, and the electronic hand brake is kept in the on state.
If the vehicle controller judges that the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value, the slope sliding traction force caused by the slope gradient of the slope where the unmanned logistics vehicle is located to the unmanned logistics vehicle at the moment exceeds the maximum starting traction force of the unmanned logistics vehicle, the vehicle controller needs to immediately close the starting speed, adjust the maximum value of the braking force of the braking device, keep the starting state of the electronic hand brake and avoid the situation that the unmanned logistics vehicle continuously slides on the slope due to the fact that the slope sliding traction force is too large.
Optionally, after the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller and maintaining the on state of the electronic handbrake in step S30, the method further comprises:
step C1, based on the vehicle controller uploading a help signal to the unmanned logistics interaction platform, and based on the road condition obtained by the associated camera, judging whether the unmanned logistics vehicle is in a driving road section;
and step C2, if the unmanned logistics vehicle is in a driving section, controlling the unmanned logistics vehicle to drive to a non-driving section of the road, and uploading the coordinate information to the unmanned logistics interaction platform.
The vehicle controller uploads a help signal to the unmanned logistics platform to inform the unmanned logistics platform of the failure of climbing of the unmanned logistics vehicle, the operations of replacing a line, increasing the traction force of a motor and the like are needed, and whether the unmanned logistics vehicle is in a running road section is judged according to the road condition shot by the camera, the running road section can block other unmanned logistics vehicles or the running positions of the vehicles, and the conditions of vehicle collision or road blockage and the like caused by the fact that the running road is blocked are avoided.
If the unmanned logistics vehicle is judged to be in the driving road section through the road condition shot by the camera, the vehicle controller needs to control the unmanned logistics vehicle to drive to the non-driving road section and then upload the coordinate information to the unmanned logistics platform.
The non-driving road section can refer to positions on two sides of a road and the like which do not cause inconvenience in driving for other unmanned logistics vehicles or vehicles.
In the embodiment, the slope slipping condition of the unmanned logistics vehicle is directly detected based on the vehicle controller, the increase of additional components is avoided, the development cost of the unmanned logistics vehicle is reduced, when the slope slipping condition of the unmanned logistics vehicle exists, the situation that the unmanned logistics vehicle still slips on the slope due to the fact that the braking device and the electronic hand brake are started simultaneously is avoided, the situation that the braking force of the unmanned logistics vehicle is insufficient and the unmanned logistics vehicle still slips on the slope due to the fact that the braking device or the electronic hand brake is started is avoided, the safety risk caused by the fact that the slope slipping condition of the unmanned logistics vehicle exists again in the starting process is avoided by the fact that the braking device and the electronic hand brake are still kept started when the unmanned logistics vehicle is in the starting state, the braking force of the braking device is adjusted to the maximum value when the slope slipping distance of the unmanned logistics vehicle exceeds the preset slope slipping threshold value is detected, and the electronic hand brake is kept in an open state, so that the situation that the unmanned logistics vehicle continuously slips on the slope due to overlarge pulling force of the slipping on the slope is avoided.
Further, referring to fig. 3, an embodiment of the present invention provides a method for controlling an unmanned logistics vehicle to prevent a vehicle from sliding down a slope, which, based on the embodiment shown in step S10, further includes, after the step of turning on the braking device and the electronic hand brake based on the vehicle controller:
step S11, detecting whether the unmanned logistics vehicle is in a stationary state based on the vehicle controller;
after the unmanned logistics vehicle starts the braking device and the electronic hand brake, whether the unmanned logistics vehicle is in a static state or not needs to be detected, and the situation that the unmanned logistics vehicle accelerates and slips down the slope due to the fact that a vehicle controller requests starting speed when the unmanned logistics vehicle still slips down the slope is avoided.
Step S12, if the unmanned logistics vehicle is in a static state, acquiring a starting speed through the vehicle controller;
if the unmanned logistics vehicle is detected to be in a static state after the braking device and the electronic hand brake are started, the situation that the unmanned logistics vehicle accelerates to slide down the slope when the vehicle controller requests the starting speed is shown to be in the safety range of the request starting speed.
And step S13, if the unmanned logistics vehicle is not in a static state, increasing the braking force of the braking device until the unmanned logistics vehicle is in the static state.
If the unmanned logistics vehicle is detected not to be in a static state after the brake device and the electronic hand brake are started, the slope slipping tractive force existing at the moment is larger than the tractive force of the brake device and the electronic hand brake, so that the braking force of the brake device needs to be increased to increase the tractive force of the brake device and the electronic hand brake, and the unmanned logistics vehicle can be in the static state.
In this embodiment, by judging whether the unmanned logistics vehicle after the braking device and the electronic hand brake are turned on is in a static state, the situation of safety risks such as acceleration of the unmanned logistics vehicle and roll-over of the unmanned logistics vehicle caused by the fact that the vehicle controller requests speed to cause the unmanned logistics vehicle to slip on a slope when the unmanned logistics vehicle still has a situation of sliding on the slope is avoided.
Further, referring to fig. 4, an embodiment of the present invention provides a method for controlling an unmanned logistics vehicle to prevent a vehicle from sliding down a slope, wherein based on the embodiment shown in step S20, after the step of determining whether a distance of the unmanned logistics vehicle sliding down the slope exceeds a preset slope threshold value based on high-precision positioning of the vehicle controller, the method further includes:
step S21, if the slope distance of the unmanned logistics vehicle does not exceed the preset slope threshold value, the maximum starting speed is requested through the vehicle controller;
if the vehicle controller judges that the slope sliding distance of the unmanned logistics vehicle does not exceed the preset slope sliding threshold value, the maximum starting traction force of the unmanned logistics vehicle is larger than the slope sliding traction force at the moment, the slope sliding traction force at the moment is in a controllable range, and when the starting speed is increased to the maximum value, the unmanned logistics vehicle can be started successfully to a great extent.
And step S22, judging whether the motor of the unmanned logistics vehicle is in a positive rotation state or not and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold or not.
After the vehicle controller requests the maximum starting speed, whether a motor of the unmanned logistics vehicle is in a positive rotation state or not and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold value or not are judged, wherein the preset starting threshold value means that the starting traction force of the unmanned logistics vehicle is continuously larger than the slope traction force, the unmanned logistics vehicle can normally run on a slope, and no slope sliding condition or slope sliding trend exists.
Optionally, after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches the preset starting threshold in step S22, the method further includes:
and D, if the motor of the unmanned logistics vehicle is in a positive rotation state and the speed of the unmanned logistics vehicle reaches a preset starting threshold value, closing the braking device and the electronic hand brake based on the vehicle controller.
When the vehicle controller detects that the motor is in a positive rotation state and the initial speed reaches a preset starting threshold value, the fact that the unmanned logistics vehicle can normally run on a slope is indicated, and no slope slipping condition or slope slipping trend exists, and after the situation is detected, the vehicle controller controls the braking device and the electronic hand brake to be slowly closed, so that the unmanned logistics vehicle can enter the normal running speed.
Optionally, after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches the preset starting threshold in step S22, the method further includes:
and D1, if the motor of the unmanned logistics vehicle is not in a forward rotation state and/or the speed of the unmanned logistics vehicle does not reach a preset starting threshold value, closing the starting speed based on the vehicle controller, and returning to execute the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller.
If the motor of the unmanned logistics vehicle is still not in the forward rotation state and/or the vehicle speed of the unmanned logistics vehicle does not reach the preset starting threshold value after the vehicle controller requests the maximum starting speed, it indicates that the maximum starting speed at this time has no beneficial effect on preventing the unmanned logistics vehicle from sliding down a slope, and in order to prevent the unmanned logistics vehicle from continuously existing in the slope sliding state and the slope sliding traction force is continuously greater than the loss of the starting traction force on the motor of the unmanned logistics vehicle, the vehicle controller needs to immediately stop the addition of the starting speed, and returns to execute the step S30.
In the embodiment, after the vehicle controller requests the maximum starting speed, whether the motor of the unmanned logistics vehicle is in a forward rotation state or not is judged, and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold or not is judged, so that the situations of motor loss and continuous slope sliding caused by the fact that the unmanned logistics vehicle cannot enter a normal running speed for a long time are avoided.
In addition, the embodiment of the invention also provides a control device for preventing the unmanned logistics vehicle from sliding down the slope, the control device for preventing the unmanned logistics vehicle from sliding down the slope comprises a memory, a processor and a control processing program which is stored on the memory and can be operated on the processor, and the processor realizes the steps of the control method for preventing the unmanned logistics vehicle from sliding down the slope when executing the control processing program for preventing the unmanned logistics vehicle from sliding down the slope.
In addition, the invention also provides a computer readable storage medium, wherein a control program for preventing the unmanned logistics vehicle from sliding down the slope is stored on the computer readable storage medium, and the steps of the control method for preventing the unmanned logistics vehicle from sliding down the slope are realized when the control program for preventing the unmanned logistics vehicle from sliding down the slope is executed by a processor.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method for preventing an unmanned logistics vehicle from sliding down a slope is characterized by comprising the following steps:
when the unmanned logistics vehicle runs on a slope, judging whether the unmanned logistics vehicle is in a starting state or not after a braking device and an electronic hand brake are started based on a vehicle controller;
if the unmanned logistics vehicle is in a starting state, judging whether the slope sliding distance of the unmanned logistics vehicle exceeds a preset slope sliding threshold value or not based on a high-precision positioning module of the vehicle controller;
if the slope slipping distance of the unmanned logistics vehicle exceeds the preset slope slipping threshold value, the braking force of the braking device is adjusted to the maximum value based on the vehicle controller, and the electronic hand brake is kept in the opening state.
2. The method for controlling the unmanned logistics vehicle to prevent the unmanned logistics vehicle from sliding down the slope as claimed in claim 1, wherein the method for controlling the unmanned logistics vehicle to prevent the unmanned logistics vehicle from sliding down the slope further comprises:
detecting whether the speed of the unmanned logistics vehicle and the motor are abnormal or not based on the vehicle controller;
and if the speed of the unmanned logistics vehicle and the motor are abnormal, judging that the unmanned logistics vehicle has a slope slipping condition.
3. The method for controlling the unmanned logistics vehicle to prevent the vehicle from sliding down the slope as claimed in claim 1, wherein after the step of starting the braking device and the electronic hand brake based on the vehicle controller, the method further comprises the following steps:
detecting whether the unmanned logistics vehicle is in a static state based on the vehicle controller;
if the unmanned logistics vehicle is in a static state, acquiring a starting speed through the vehicle controller;
and if the unmanned logistics vehicle is not in a static state, increasing the braking force of the braking device until the unmanned logistics vehicle is in the static state.
4. The method for controlling the unmanned logistics vehicle to prevent the unmanned logistics vehicle from sliding down the slope as claimed in claim 1, wherein after the step of determining whether the unmanned logistics vehicle is in a starting state, the method further comprises:
and if the unmanned logistics vehicle is not in a starting state, uploading fault signals and coordinate information to the unmanned logistics platform based on the vehicle controller.
5. The method for controlling an unmanned logistics vehicle to prevent landslide, according to any one of claims 1-3, wherein after the step of determining whether the distance of landslide of the unmanned logistics vehicle exceeds a preset landslide threshold based on high precision positioning of the vehicle controller, further comprising:
requesting the maximum starting speed through the vehicle controller if the slope slipping distance of the unmanned logistics vehicle does not exceed the preset slope slipping threshold value;
and judging whether a motor of the unmanned logistics vehicle is in a positive rotation state or not, and whether the speed of the unmanned logistics vehicle reaches a preset starting threshold or not.
6. The method for controlling the unmanned logistics vehicle to prevent the unmanned logistics vehicle from sliding down the slope as claimed in claim 5, wherein after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold value, the method further comprises:
and if the motor of the unmanned logistics vehicle is in a positive rotation state and the speed of the unmanned logistics vehicle reaches a preset starting threshold value, closing the braking device and the electronic hand brake based on the vehicle controller.
7. The method for controlling the unmanned logistics vehicle to prevent the unmanned logistics vehicle from sliding down the slope as claimed in claim 5, wherein after the step of determining whether the motor of the unmanned logistics vehicle is in a forward rotation state and whether the vehicle speed of the unmanned logistics vehicle reaches a preset starting threshold value, the method further comprises:
and if the motor of the unmanned logistics vehicle is not in a forward rotation state and/or the speed of the unmanned logistics vehicle does not reach a preset starting threshold value, closing the starting speed based on the vehicle controller, and returning to execute the step of adjusting the braking force of the braking device to the maximum value based on the vehicle controller.
8. The method for controlling an unmanned logistics vehicle to prevent a slope from slipping down as claimed in any one of claims 1 to 7, wherein after the step of adjusting the braking force of the braking device to a maximum value based on the vehicle controller and maintaining the on state of the electronic hand brake, the method further comprises:
the vehicle controller uploads a help signal to the unmanned logistics interaction platform, and whether the unmanned logistics vehicle is in a running road section or not is judged based on the road condition obtained by the associated camera;
and if the unmanned logistics vehicle is in a driving road section, controlling the unmanned logistics vehicle to drive to a non-driving road section of the road, and uploading the coordinate information to the unmanned logistics interaction platform.
9. A control device for preventing an unmanned logistics vehicle from sliding down a slope, which is characterized by comprising a memory, a processor and a control processing program for preventing an unmanned logistics vehicle from sliding down a slope, wherein the control processing program is stored in the memory and can run on the processor, and the processor executes the control processing program for preventing an unmanned logistics vehicle from sliding down a slope to realize the steps of the control method for preventing an unmanned logistics vehicle from sliding down a slope in any one of claims 1-8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program for an unmanned logistics vehicle landslide prevention, based on which the steps of the method for controlling an unmanned logistics vehicle landslide prevention of any one of claims 1-8 are implemented when the control program is executed by a processor.
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