CN114942427A - Terrain recognition method, system and mechanical equipment for unmanned construction of engineering machinery - Google Patents

Terrain recognition method, system and mechanical equipment for unmanned construction of engineering machinery Download PDF

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CN114942427A
CN114942427A CN202210526432.0A CN202210526432A CN114942427A CN 114942427 A CN114942427 A CN 114942427A CN 202210526432 A CN202210526432 A CN 202210526432A CN 114942427 A CN114942427 A CN 114942427A
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radar
terrain
reference value
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construction
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CN114942427B (en
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李猛
王俊杰
王中华
王冬雪
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University of Jinan
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing

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Abstract

The invention provides a terrain identification method, a terrain identification system and mechanical equipment for unmanned construction of engineering machinery, wherein the method comprises the steps of determining a reference value of radar ranging according to a terrain where a radar is installed; comparing data actually measured by the radar with a reference value, and performing terrain identification according to a comparison result; after the terrain is identified, distance measurement is carried out through the changed line number, and the uphill gradient and the downhill gradient are calculated according to different terrains. The invention not only solves the limitation of the camera to the terrain recognition, but also performs corresponding operation on the engineering machinery after the terrain recognition, thereby well avoiding the mechanical damage problem caused by the clamping of the machinery due to the terrain problem and the like, realizing the aim of smoothness and fluency of the engineering machinery construction, and simultaneously greatly improving the working efficiency of the engineering machinery.

Description

Terrain recognition method and system for unmanned construction of engineering machinery and mechanical equipment
Technical Field
The invention belongs to the technical field of unmanned engineering machinery, and particularly relates to a terrain identification method, a terrain identification system and mechanical equipment for unmanned construction of engineering machinery.
Background
The engineering machinery is mostly applied to a construction site, and the rugged road surface is the main characteristic of the construction site, and the machinery can not work normally due to the unevenness of the road surface, and even the machinery is damaged. The driver is required to find out that the road surface is uneven by eyes, and the complicated operation is carried out on the machine to overcome the unevenness of the road surface, and in the unmanned days, many construction machines cannot work normally because of the absence of the eyes, for example, the machine is stuck by a soil pile or is sunk into a pit, and the like. Therefore, terrain recognition is very important.
The conventional terrain recognition method is a road surface recognition method under the background of a non-intelligent automobile, and the recognition means is single. In conventional motor vehicles, acceleration sensors are used primarily to identify the terrain. For the intelligent automobile, a method of using a perception sensor is mainly used, and the method refers to terrain recognition by using a camera. The camera can realize discerning the topography, but because the reason of its discernment principle, it has application scope's restriction, easily receives the influence of stronger light, darker light or receives the influence of weather and can't normally work.
Disclosure of Invention
In order to solve the technical problems, the invention provides a terrain identification method, a terrain identification system and mechanical equipment for unmanned construction of engineering machinery, which are combined with an area array radar to better eliminate system errors, so that the terrain identification is more accurate and the terrain identification is wider.
In order to achieve the purpose, the invention adopts the following technical scheme:
a terrain identification method for unmanned construction of engineering machinery comprises the following steps:
determining a reference value of radar ranging according to the terrain where the radar is installed;
comparing data actually measured by the radar with a reference value, and performing terrain identification according to a comparison result;
after the topography is identified, distance measurement is carried out by means of the number of lines which change, and the calculation of the uphill gradient and the calculation of the downhill gradient are carried out according to different topographies.
Further, the method for determining the reference value of the radar ranging according to the terrain where the radar is installed comprises the following steps:
if the engineering mechanical vehicle is on the horizontal ground, taking data read by the radar for the first time as a reference value;
if the engineering mechanical vehicle is on the non-horizontal ground, selecting the distance measurement of the middle row of the radar as a middle reference value; i.e. the intermediate reference value J in i h/COS θ; wherein h is the vertical distance from the middle of the radar to the ground; theta is the included angle between the middle of the radar and the ground.
Further, the method also comprises the step of calculating a reference value of the radar in any row according to the intermediate reference value;
firstly, determining the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar;
wherein
Figure BDA0003642381820000021
Where ω is half the longitudinal field of view of the radar;
according to the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar; calculating a reference value J of the radar ranging of the ith row i ；
Figure BDA0003642381820000022
Figure BDA0003642381820000023
Wherein, the total measuring line number of the H radar; i is the number of rows, i 1,2,3.
Further, the method for comparing the data actually measured by the radar with the reference value comprises the following steps:
and judging by taking a preset range with the reference value fluctuating up and down as a reference value interval, and if the changed data in the data measured by the radar at each time reaches a threshold value and at least two continuous lines change, judging that the front road surface changes.
Further, the method for judging the change of the front road surface comprises the following steps:
when the data of at least two continuous lines are smaller than the minimum value in the reference value interval, the situation that a slope exists in front is indicated; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, the situation that a downhill road surface exists ahead is indicated;
and when five to fifty continuous data in at least two continuous rows of data change and are larger than the maximum value in the reference value interval, indicating that the road surface is low, otherwise, indicating that the road surface is small soil heap.
Further, the distance estimation process through the changed number of rows after the terrain is identified comprises the following steps:
the distance measuring and calculating method corresponding to the first half of the line numbers comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure BDA0003642381820000031
The method for measuring and calculating the distance corresponding to the second half row number comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure BDA0003642381820000032
Further, the process of calculating the uphill gradient includes:
the calculation formula of the vertical distance AB from the first row to the radar irradiation surface of the ith row corresponding to the first half row number is as follows:
Figure BDA0003642381820000033
the calculation formula of the vertical distance AB from the first line corresponding to the second half line number to the radar irradiation surface of the ith line is as follows:
Figure BDA0003642381820000034
when theta is 2 When the angle is smaller than the radar mounting angle theta,
BC＝AB/cos(|θ-θ 2 |)＝(J in i -S1)*cos(θ)/sin(θ 2 )；
If theta is greater than theta 2 Greater than theta and less than or equal to 90 degrees;
BC＝(J in i -S1)*cos(θ)/sin(θ)；
If theta is greater than theta 2 If the angle is greater than 90 degrees, calculating errors; wherein BC is that AB is used as a right-angle side when ascending, and the included angle is theta-theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle; s1 is the actual measurement value of the current radar.
Further, the process of calculating the downhill gradient includes:
AD＝AB/cos(|θ+θ 2 |)＝(S1-J in i )*cos(θ)/sin(θ 2 )；
Wherein AD is that AB is used as a right-angle side when going downhill, and the included angle is theta + theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle.
The invention also provides a terrain identification system for unmanned construction of the engineering machinery, which comprises a reference value determination module, a terrain identification module and a calculation module;
the reference value determining module is used for determining a reference value of radar ranging according to a terrain where the radar is installed;
the terrain identification module is used for comparing data actually measured by the radar with a reference value and carrying out terrain identification according to a comparison result;
the calculation module is used for measuring and calculating the distance through the changed line number after the terrain is identified, and calculating the uphill gradient and the downhill gradient according to different terrains.
The invention also provides mechanical equipment, and the terrain recognition is carried out by adopting a terrain recognition method of unmanned construction of the engineering machinery.
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
the invention provides a terrain identification method, a terrain identification system and mechanical equipment for unmanned construction of engineering machinery, wherein the method comprises the steps of determining a reference value of radar ranging according to a terrain where a radar is installed; comparing data actually measured by the radar with a reference value, and performing terrain identification according to a comparison result; after the terrain is identified, distance measurement is carried out through the changed line number, and the uphill gradient and the downhill gradient are calculated according to different terrains. The terrain recognition algorithm provided by the invention is combined with the area array radar to better eliminate the system error, so that the terrain recognition is more accurate and the terrain recognition is wider.
The area array radar adopting the ToF ranging mode has the advantages of good radar stability, low cost, larger field angle, higher resolution, stronger light source, smaller volume and convenient installation.
The invention not only solves the limitation of the camera to the terrain recognition, but also performs corresponding operation on the engineering machinery after the terrain recognition, thereby well avoiding the mechanical damage problem caused by the clamping of the machinery due to the terrain problem and the like, realizing the aim of smoothness and fluency of the engineering machinery construction, and simultaneously greatly improving the working efficiency of the engineering machinery.
Drawings
Fig. 1 is a flowchart of a terrain recognition method for unmanned construction of engineering machinery according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a radar ranging range in embodiment 1 of the present invention;
fig. 3 is a plan view of a terrain recognition slope road surface in embodiment 1 of the present invention;
fig. 4 is a schematic diagram of distance measurement corresponding to the first half of rows in embodiment 1 of the present invention;
fig. 5 is a diagram illustrating distance measurement corresponding to the second half of rows in embodiment 1 of the present invention;
fig. 6 is a schematic diagram of calculation of an uphill road surface in embodiment 1 of the present invention;
fig. 7 is a schematic diagram illustrating downhill road surface calculation in embodiment 1 of the present invention;
fig. 8 is a schematic view of a terrain recognition system for unmanned construction of engineering machinery according to embodiment 2 of the present invention.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
Example 1
The embodiment 1 of the invention provides a terrain identification method for unmanned construction of engineering machinery, which mainly comprises four parts of determination of a reference value, a terrain identification method, a distance measurement method and calculation of a gradient, and fig. 1 is a flow chart of the terrain identification method for unmanned construction of engineering machinery in the embodiment 1 of the invention.
In step S100, a suitable radar is selected first.
The radar is divided into FMCW ranging, AMCW ranging and ToF ranging according to the ranging mode, and the FMCW ranging has high requirements on a laser diode and is rarely used. Compared to ToF lidar, AMCW lidar has a higher range accuracy because it applies a difference frequency technique to measure the phase. However, in practical applications, the inherent defect of the AMCM principle results in that the measured distance cannot be uniquely determined, and the laser beams with two different modulation frequencies cannot be distinguished, and the AMCW lidar can only measure the distance of an object within an ambiguous interval, so that it can be seen that the maximum ranging range of the AMCW lidar is limited by the modulation wavelength; meanwhile, the AMCW laser radar works in a difference frequency phase measurement mode, so that the measurement speed is slower than that of the ToF laser radar. Moreover, the continuous wave ranging laser radar is very sensitive to the temperature of the environment and the reflectivity of an object; in addition, the AMCW laser radar has small power and short measuring range, generally cannot measure the distance of a non-cooperative target, and has great difficulty in multi-target measurement. In a word, compared with the existing three-dimensional measurement method, the ToF has a plurality of technical advantages of long detection distance, easy miniaturization of equipment, good dynamic performance and the like.
Under the condition that the application environment of the proposal is mechanical unmanned operation, the ToF ranging mode is selected according to the cost, the radar volume and the like, and the area array laser radar has the advantages of good radar stability, low cost, larger field angle, higher resolution, stronger light source and the like.
In step S110, a reference value for radar ranging is determined according to a terrain on which the radar is installed.
The determination of the reference value in embodiment 1 of the present invention includes two cases:
in the first situation, if the engineering mechanical vehicle is on the horizontal ground, the data read by the radar for the first time is used as the reference value of the identification;
in the second situation, if the engineering mechanical vehicle is on the non-level ground, the distance measurement of the middle row of the radar is selected as a middle reference value; namely, the intermediate reference value is:
J in i ＝h/COSθ； (1)
Wherein h is the vertical distance from the middle of the radar to the ground; theta is the included angle between the middle of the radar and the ground.
The method further comprises the steps of calculating a reference value of the radar on any line according to the intermediate reference value;
fig. 2 is a schematic diagram of a radar ranging range in embodiment 1 of the present invention;
firstly, determining the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar; wherein:
Figure BDA0003642381820000061
Figure BDA0003642381820000062
where ω is half the longitudinal field of view of the radar;
according to the test length long2 corresponding to the front half line number and the test length long1 corresponding to the rear half line number of the radar; calculating a reference value J of the radar ranging of the ith row i ；
Figure BDA0003642381820000063
Figure BDA0003642381820000064
Wherein, the total measuring line number of the H radar; i is the number of rows, i 1,2,3.
Since reference values for different numbers of lines used in the following terrain recognition algorithm are obtained, there are two ways of establishing the reference values due to the difference in the driving scene of the construction machine.
The range of the area array radar used in embodiment 1 of the present invention is 60 lines. Therefore, a reference value J for the distance measurement of the 29 th line and the 30 th line of the radar is selected and calculated in i ＝h/COSθ。
The test length long2 corresponding to the first half row number of the radar is the test length of the first 30 rows of the radar;
the test length long1 corresponding to the second half of the rows of the radar is the test length of the last 30 rows of the radar.
Figure BDA0003642381820000071
Figure BDA0003642381820000072
In inventive example 1, ω is 16 °.
Figure BDA0003642381820000073
Figure BDA0003642381820000074
In step S120, comparing data actually measured by the radar with a reference value, and performing terrain recognition according to a comparison result;
the terrain identification is compared with a reference value to obtain a result, and all data of the radar are used for judging due to the terrain identification method, so that four road surfaces of uphill, downhill, low-lying and small soil heap can be judged. Fig. 3 is a plan view of a terrain recognition slope road surface in embodiment 1 of the present invention; as the machine travels, the data measured by the first radar line increases due to the slope or the edge of the depression, from a gradually changing number of lines that becomes smaller or larger.
Because the radar range is due, the obtained data needs to be processed, and the values which do not conform to the radar range are all represented by the nearest normal numerical values. The situation of the terrain change in front of the engineering machinery can be judged by comparing the processed data1 of the radar real-time test data with a reference value Ji (i represents the number of rows). The specific method comprises the following steps:
if the method is a method for establishing a reference value according to the first method, 9600 data dada1 obtained by directly processing the data measured by the area array radar every time are compared with the reference value, and the condition of the road surface is obtained. If the first row (the first 160 data) is smaller than the reference value, the road surface with the slope in front is illustrated; otherwise, the front is provided with a downhill road; if the data in the first row are judged to have five continuous data, even more than five data and less than fifty data changes, if the data are larger than the reference value, a low-lying road surface is indicated, and otherwise, a small soil pile is indicated.
According to the second method for establishing the reference value, data1 after data processing is sequentially divided into 60 groups of 160 data. The first 160 data of the data are compared with the first row reference value data J1, and the situation that the front slope road surface exists is indicated if the 1 st row data become small; otherwise, the front part is provided with a downhill road. When five data in the first row of data are changed, even more than five data and less than fifty data, if the data are larger than the reference value, a low-lying road surface is formed, otherwise, a small soil pile is proved.
The above methods are all under ideal conditions, and because various errors exist in real life, the method provided by the invention comprises the following steps: and judging by taking a preset range with the reference value fluctuating up and down as a reference value interval, and if the changed data in the data measured by the radar at each time reaches a threshold value and at least two continuous lines change, judging that the front road surface changes.
When the data of at least two continuous lines are smaller than the minimum value in the reference value interval, the situation that a slope exists in front is indicated; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, the situation that a downhill road surface exists ahead is indicated;
and when five to fifty continuous data in at least two continuous rows of data change and are larger than the maximum value in the reference value interval, indicating that the road surface is low, otherwise, indicating that the road surface is small soil heap.
In step S130, after the terrain is identified, distance estimation is performed by the number of lines that change.
After identifying the terrain, the process of distance estimation through the number of lines changed comprises the following steps:
the distance measuring method corresponding to the first half row number comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure BDA0003642381820000081
The method for measuring and calculating the distance corresponding to the second half of the rows comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure BDA0003642381820000082
Fig. 4 is a schematic diagram of distance measurement corresponding to the first half of rows in embodiment 1 of the present invention; in the distance calculation diagram in the first 30 rows, the distance between the engineering machine and the slope road surface is set as d1 (the length of d1 is divided into two segments, namely d2 and d3, which are calculated respectively).
d2＝J in i *sinθ；
Figure BDA0003642381820000083
Fig. 5 is a diagram illustrating distance measurement corresponding to the second half of rows in embodiment 1 of the present invention; let the distance d1 be the distance between the construction machine and the slope road surface. I.e., d3 minus d2 is the length of the desired distance d 1.
d3＝J in i *sinθ；
Figure BDA0003642381820000084
In the above, the distance from the engineering machine to the slope is obtained by taking the slope road surface as an example, and the downhill road surface identification is consistent with the distance. The identification of small soil mounds and low-lying road surfaces is only the establishment of data3, data3 is an intermediate value of the data changed in data1 during the identification of the road surfaces, and other distance measurement methods are consistent with those of slope road surfaces.
In step S140, calculation of the uphill gradient and calculation of the downhill gradient are performed according to different terrains.
The process of calculating the uphill gradient includes:
the calculation formula of the vertical distance AB from the first row to the radar irradiation surface of the ith row corresponding to the first half row number is as follows:
Figure BDA0003642381820000091
the calculation formula of the vertical distance AB from the first line corresponding to the second half of the lines to the radar irradiation surface of the ith line is as follows:
Figure BDA0003642381820000092
when theta is measured 2 When the angle is smaller than the radar mounting angle theta,
BC＝AB/cos(|θ-θ 2 |)＝(J in i -S1)*cos(θ)/sin(θ 2 )；
If theta is greater than theta 2 Greater than theta and less than or equal to 90 degrees;
BC＝(J in i -S1)*cos(θ)/sin(θ)；
If theta is greater than theta 2 If the angle is greater than 90 degrees, calculating errors; wherein BC is that AB is used as a right-angle side when ascending, and the included angle is theta-theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle; s1 is the actual measurement value of the current radar.
The calculation process of the downhill gradient comprises the following steps:
AD＝AB/cos(|θ+θ 2 |)＝(S1-J in i )*cos(θ)/sin(θ 2 )；
Wherein AD is that AB is used as a right-angle side when going downhill, and the included angle is theta + theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle.
Fig. 6 is a schematic diagram of calculation of an uphill road surface in embodiment 1 of the present invention;
after a period of time when the radar detects an uphill road surface, the data of the ith row is exactly equal to the reference value Ji. The values of J1, S1, Long1 and Long2 are respectively calculated by formula 1, formula 4, formula 2 and formula 3; the length of AB is solved in two cases, one is when i is less than or equal to 30:
Figure BDA0003642381820000093
the other is when i is greater than 30:
Figure BDA0003642381820000094
in triangle ABC, since angle BAC is equal to 90,
when theta is measured 2 When the angle is smaller than the radar mounting angle theta,
BC＝AB/cos(|θ-θ 2 |)＝(J in i -S1)*cos(θ)/sin(θ 2 )；
If theta is greater than theta 2 Greater than theta and less than or equal to 90 degrees;
BC＝(J in i -S1)*cos(θ)/sin(θ)；
If theta is greater than theta 2 If the angle is greater than 90 degrees, calculating errors;
fig. 7 is a schematic diagram illustrating downhill road surface calculation in embodiment 1 of the present invention;
after a certain period of time when the radar detects a downhill road, the data of the ith row is exactly equal to the reference value Ji. The values of J1, S1, Long1 and Long2 are respectively calculated by formula 1, formula 4, formula 2 and formula 3; AB is also calculated using equations 10 and 11.
In the triangular ABD, since angle ABC is equal to 90,
AD＝AB/cos(|θ+θ 2 |)＝(S1-J in i )*cos(θ)/sin(θ 2 )
In a triangular AED, AD can be represented by equation 16, and the angle of slope θ 2 can be solved by combining equations 15 and 16, and if θ 2 is found to be greater than 90 degrees, this indicates that the calculation error must be recalculated.
The embodiment 1 of the invention provides a terrain recognition method for unmanned construction of engineering machinery, wherein a terrain recognition algorithm is combined with an area array radar to better eliminate system errors, so that the terrain recognition is more accurate and the terrain recognition is wider.
The embodiment 1 of the invention provides an area array radar with a ToF ranging mode, which is selected by the terrain identification method for unmanned construction of engineering machinery, the radar has the advantages of good stability, low cost, larger field angle, higher resolution, stronger light source, smaller volume and convenience in installation.
The terrain recognition method for unmanned construction of the engineering machinery, which is provided by the embodiment 1 of the invention, not only well solves the limitation of the camera on terrain recognition, but also well avoids the problem of mechanical damage caused by the fact that the machinery is clamped due to the terrain problem and the like by corresponding operation of the engineering machinery after the terrain recognition, thereby achieving the purpose of smoothness and fluency of construction of the engineering machinery and greatly improving the working efficiency of the engineering machinery.
Example 2
Based on the terrain recognition method for unmanned construction of engineering machinery provided by embodiment 1 of the invention, embodiment 2 of the invention also provides a terrain recognition system for unmanned construction of engineering machinery, and as shown in fig. 8, the invention is a schematic diagram of the terrain recognition system for unmanned construction of engineering machinery of embodiment 2 of the invention, and the system comprises a reference value determination module, a terrain recognition module and a calculation module;
the reference value determining module is used for determining a reference value of radar ranging according to the terrain where the radar is installed;
the terrain identification module is used for comparing data actually measured by the radar with a reference value and carrying out terrain identification according to a comparison result;
the calculation module is used for measuring and calculating the distance through the changed line number after the terrain is identified, and calculating the uphill gradient and the downhill gradient according to different terrains.
The implementation process of the benchmark identification module comprises the following steps: if the engineering mechanical vehicle is on the level ground, taking the data read by the radar for the first time as a reference value;
if the engineering mechanical vehicle is on the non-horizontal ground, selecting the distance measurement of the middle row of the radar as a middle reference value; i.e. the intermediate reference value J in i h/COS θ; h is the vertical distance from the middle of the radar to the ground; theta is the angle between the middle of the radar and the ground
Calculating a reference value of the radar in any row according to the intermediate reference value;
firstly, determining the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar;
wherein
Figure BDA0003642381820000111
Where ω is half the longitudinal field of view of the radar;
according to the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar; calculating a reference value J of the radar ranging of the ith row i ；
Figure BDA0003642381820000112
Figure BDA0003642381820000113
Wherein, the total measuring line number of the H radar; i is the number of rows, i 1,2,3.
The terrain recognition module implemented process comprises: and judging by taking a preset range with the reference value fluctuating up and down as a reference value interval, and judging that the front road surface changes if the changed data in the data measured by the radar at each time reaches a threshold value and at least two continuous lines change.
The method for judging the change of the front road surface comprises the following steps:
when the data of at least two continuous lines are smaller than the minimum value in the reference value interval, the situation that a slope exists in front is indicated; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, the situation that a downhill road surface exists in front is indicated;
and when five to fifty continuous data in at least two continuous rows of data change and are larger than the maximum value in the reference value interval, indicating that the road surface is low, otherwise, indicating that the road surface is small soil heap.
The process implemented by the computing module comprises: the process of distance estimation through the changed number of rows comprises the following steps:
the distance measuring and calculating method corresponding to the first half of the line numbers comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure BDA0003642381820000121
The method for measuring and calculating the distance corresponding to the second half row number comprises the following steps:
engineering machinery distance slope roadThe distance of the surfaces is
Figure BDA0003642381820000122
The process of calculating the uphill gradient includes:
the calculation formula of the vertical distance AB from the first row to the radar irradiation surface of the ith row corresponding to the first half row number is as follows:
Figure BDA0003642381820000123
the calculation formula of the vertical distance AB from the first line corresponding to the second half of the lines to the radar irradiation surface of the ith line is as follows:
Figure BDA0003642381820000124
when theta is measured 2 When the angle is smaller than the radar mounting angle theta,
BC＝AB/cos(|θ-θ 2 |)＝(J in i -S1)*cos(θ)/sin(θ 2 )；
If theta is greater than theta 2 Greater than theta and less than or equal to 90 degrees;
BC＝(J in i -S1)*cos(θ)/sin(θ)；
If theta is greater than theta 2 If the angle is larger than 90 degrees, calculating errors; wherein BC is that AB is used as a right-angle side when ascending, and the included angle is theta-theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle; s1 is the actual measurement value of the current radar.
The calculation process of the downhill gradient comprises the following steps:
AD＝AB/cos(|θ+θ 2 |)＝(S1-J in i )*cos(θ)/sin(θ 2 )；
Wherein AD is that AB is used as a right-angle side when going downhill, and the included angle is theta + theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle.
The embodiment 2 of the invention provides an algorithm for terrain recognition in a terrain recognition system for unmanned construction of engineering machinery, which is combined with an area array radar to better eliminate system errors, so that the terrain recognition is more accurate and the terrain recognition is wider.
The embodiment 2 of the invention provides an area array radar with a ToF ranging mode selected by a terrain recognition system for unmanned construction of engineering machinery, which has the advantages of good radar stability, low cost, larger field angle, higher resolution, stronger light source, smaller volume and convenience in installation.
The terrain identification system for unmanned construction of the engineering machinery, which is provided by the embodiment 2 of the invention, not only can well solve the limitation of the camera on terrain identification, but also can well avoid the problem of mechanical damage caused by the fact that the machinery is clamped due to the terrain problem and the like by corresponding operation of the engineering machinery after the terrain identification, thereby realizing the purposes of smoothness and smoothness of construction of the engineering machinery and greatly improving the working efficiency of the engineering machinery.
Example 3
Based on the terrain recognition method for unmanned construction of the engineering machinery provided by the embodiment 1 of the invention, the embodiment 3 of the invention also provides mechanical equipment, and the mechanical equipment adopts the terrain recognition method for unmanned construction of the engineering machinery to carry out terrain recognition. The specific implementation process of the method is as detailed in the specification of the embodiment 1.
The embodiment 3 of the invention provides an algorithm for terrain identification in mechanical equipment, which is combined with an area array radar to better eliminate system errors, so that the terrain identification is more accurate and the terrain identification is wider.
The embodiment 3 of the invention provides an area array radar adopting a ToF ranging mode in mechanical equipment, which has the advantages of good radar stability, low cost, larger field angle, higher resolution, stronger light source, smaller volume and convenience in installation.
The embodiment 3 of the invention provides mechanical equipment which not only well solves the limitation of a camera on terrain recognition, but also well avoids the problem of mechanical damage caused by the fact that the machine is clamped due to the terrain problem and the like by corresponding operation of the engineering machine after the terrain recognition, achieves the aim of smoothness and fluency of construction of the engineering machine, and greatly improves the working efficiency of the engineering machine.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, the scope of the present invention is not limited thereto. Various modifications and alterations will occur to those skilled in the art based on the foregoing description. And are neither required nor exhaustive of all embodiments. On the basis of the technical scheme of the invention, various modifications or changes which can be made by a person skilled in the art without creative efforts are still within the protection scope of the invention.

Claims (10)

1. A terrain identification method for unmanned construction of engineering machinery is characterized by comprising the following steps:
determining a reference value of radar ranging according to the terrain where the radar is installed;
comparing data actually measured by the radar with a reference value, and performing terrain identification according to a comparison result;
after the topography is identified, distance measurement is carried out by means of the number of lines which change, and the calculation of the uphill gradient and the calculation of the downhill gradient are carried out according to different topographies.
2. The terrain recognition method for unmanned construction of construction machinery, as recited in claim 1, wherein the method for determining the reference value for radar ranging according to the terrain on which the radar is installed comprises:
if the engineering mechanical vehicle is on the level ground, taking the data read by the radar for the first time as a reference value;
if the engineering mechanical vehicle is on the non-horizontal ground, selecting the distance measurement of the middle row of the radar as a middle reference value; i.e. the intermediate reference value J in i h/COS θ; wherein h is the vertical distance from the middle of the radar to the ground; theta is the included angle between the middle of the radar and the ground.
3. The terrain recognition method for unmanned construction of construction machinery, as recited in claim 2, further comprising calculating a reference value of a radar in any one of the rows based on the intermediate reference value;
firstly, determining the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar;
wherein
Figure FDA0003642381810000011
Wherein ω is half the longitudinal field of view of the radar;
according to the test length long2 corresponding to the front half row number and the test length long1 corresponding to the rear half row number of the radar; calculating a reference value J of the radar ranging of the ith row i ；
Figure FDA0003642381810000012
Figure FDA0003642381810000013
Wherein, the total measuring line number of the H radar; i is the number of rows, i 1,2,3.
4. The method for recognizing the terrain of the construction machine during unmanned construction according to claim 1, wherein the method for comparing the data actually measured by the radar with the reference value comprises:
and judging by taking a preset range with the reference value fluctuating up and down as a reference value interval, and judging that the front road surface changes if the changed data in the data measured by the radar at each time reaches a threshold value and at least two continuous lines change.
5. The terrain recognition method for unmanned construction of construction machinery according to claim 4, wherein the method for determining that the road surface ahead has changed is:
when the data of at least two continuous lines are smaller than the minimum value in the reference value interval, the front is indicated to have a slope; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, the situation that a downhill road surface exists in front is indicated;
and when five to fifty continuous data in at least two continuous rows of data change and are larger than the maximum value in the reference value interval, indicating that the road surface is low, otherwise, indicating that the road surface is small soil heap.
6. The terrain recognition method of an unmanned construction machine of claim 3, wherein the process of distance estimation through a varying number of lines after terrain recognition comprises:
the distance measuring method corresponding to the first half row number comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure FDA0003642381810000021
The method for measuring and calculating the distance corresponding to the second half of the rows comprises the following steps:
the distance between the engineering machinery and the slope road surface is
Figure FDA0003642381810000022
7. The terrain recognition method for unmanned construction of construction machinery, as recited in claim 6, wherein the process of calculating the uphill gradient comprises:
the calculation formula of the vertical distance AB from the first row to the radar irradiation surface of the ith row corresponding to the first half row number is as follows:
Figure FDA0003642381810000023
the calculation formula of the vertical distance AB from the first line corresponding to the second half line number to the radar irradiation surface of the ith line is as follows:
Figure FDA0003642381810000024
when theta is 2 When the angle is smaller than the radar mounting angle theta,
BC＝AB/cos(|θ-θ 2 |)＝(J in i -S1)*cos(θ)/sin(θ 2 )；
If theta is greater than theta 2 Greater than theta and less than or equal to 90 degrees;
BC＝(J in i -S1)*cos(θ)/sin(θ)；
If theta is greater than theta 2 If the angle is larger than 90 degrees, calculating errors; wherein BC is that AB is used as a right-angle side when ascending, and the included angle is theta-theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle; s1 is the actual measurement value of the current radar.
8. The terrain recognition method for unmanned construction of construction machinery, as recited in claim 7, wherein the calculation of the downhill grade comprises:
AD＝AB/cos(|θ+θ 2 |)＝(S1-J in i )*cos(θ)/sin(θ 2 )；
Wherein AD is that AB is used as a right-angle side when going downhill, and the included angle is theta + theta 2 The bevel edge corresponding to | l; theta 2 Is a slope angle.
9. The terrain recognition system for unmanned construction of engineering machinery is characterized by comprising a reference value determination module, a terrain recognition module and a calculation module;
the reference value determining module is used for determining a reference value of radar ranging according to a terrain where the radar is installed;
the terrain identification module is used for comparing data actually measured by the radar with a reference value and carrying out terrain identification according to a comparison result;
the calculation module is used for measuring and calculating the distance through the changed line number after the terrain is identified, and calculating the uphill gradient and the downhill gradient according to different terrains.
10. A mechanical device, characterized in that the terrain recognition method of the unmanned construction of engineering machinery is adopted for terrain recognition, and the method is as claimed in any one of claims 1 to 8.
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