CN114942427B - Terrain identification method, system and mechanical equipment for unmanned construction of engineering machinery - Google Patents
Terrain identification method, system and mechanical equipment for unmanned construction of engineering machinery Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention provides a terrain recognition method, a system and mechanical equipment for unmanned construction of engineering machinery, wherein the method comprises the steps of determining a radar ranging reference value according to the terrain on which a radar is installed; comparing the actual measurement data of the radar with a reference value, and carrying out terrain identification according to the comparison result; after the terrain is identified, distance measurement and calculation are performed through the changed line numbers, calculation of the ascending slope and calculation of the descending slope are performed according to different terrains, and the terrain identification system and the mechanical equipment for unmanned construction of the engineering machinery are further provided based on the terrain identification method for unmanned construction of the engineering machinery. The invention not only well solves the limitation of the camera on the terrain recognition, but also makes corresponding operation through the engineering machinery after the terrain recognition, well avoids the mechanical damage problem caused by the mechanical jam caused by the terrain problem and the like, achieves the aim of smoothness and fluency of the engineering machinery construction, and simultaneously greatly improves the working efficiency of the engineering machinery.
Description
Technical Field
The invention belongs to the technical field of unmanned engineering machinery, and particularly relates to a terrain identification method, system and mechanical equipment for unmanned engineering machinery construction.
Background
The engineering machinery is mostly applied to a construction site, and the rugged road surface is a main characteristic of the construction site, and the machinery can work abnormally or even be damaged due to the unevenness of the road surface. When the driver's eyes find out that the road surface is uneven, the machine is required to be operated in a complicated way to overcome the rugged road surface, and many engineering machines are not operated normally due to the absence of eyes when being operated unmanned today, for example, the machine is blocked by a soil pile or is sunk in a pit, and the like. Thus, terrain identification is important.
Aiming at the problem of terrain identification, the method is mainly divided into a traditional terrain identification method and an indirect terrain identification method by using a sensing sensor, wherein the traditional terrain identification method is a road surface identification method in the background of a non-intelligent automobile, and the identification means is single. In conventional vehicles, the terrain is identified mainly by acceleration sensors or by identification. For intelligent automobiles, the method of sensing sensors is mainly used, and the method refers to terrain identification by using cameras. The camera can recognize the terrain, but has the limitation of application range due to the recognition principle, is easily influenced by stronger and darker light or is influenced by weather, so that the camera cannot work normally.
Disclosure of Invention
In order to solve the technical problems, the invention provides a terrain identification method, a system and mechanical equipment for unmanned construction of engineering machinery, and the combination area array radar can better eliminate systematic errors, so that the terrain identification is more accurate and the terrain identification is wider.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A terrain recognition method for unmanned construction of engineering machinery comprises the following steps:
Determining a reference value of radar ranging according to the terrain on which the radar is installed;
Comparing the actual measurement data of the radar with a reference value, and carrying out terrain identification according to the comparison result;
After the terrain is identified, distance measurement is performed by the number of lines that change, and calculation of the uphill gradient and calculation of the downhill gradient are performed according to different terrains.
Further, the method for determining the reference value of the radar ranging according to the terrain of radar installation comprises the following steps:
if the engineering machinery vehicle is on the horizontal ground, taking the data read by the radar for the first time as a reference value;
If the engineering machinery vehicle is on the non-horizontal ground, selecting the ranging of the radar middle line as a middle reference value; i.e., intermediate reference value J i In (a) =h/COS θ; wherein h is the vertical distance from the middle of the radar to the ground; θ is the 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 a test length long2 corresponding to the first half line number of the radar and a test length long1 corresponding to the second half line number;
Wherein the method comprises the steps of Wherein ω is half the longitudinal field angle of the radar;
According to the test length long2 corresponding to the front half line number of the radar and the test length long1 corresponding to the rear half line number; calculating a reference value J i of radar ranging of the ith row;
wherein, the total measurement 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 range of the preset reference value floating 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 reaches a threshold value and at least two continuous lines change.
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, indicating that a slope exists in front; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, indicating that a downhill road surface exists in front;
when five to fifty continuous data in at least two continuous lines of data are changed and the data are larger than the maximum value in the reference value interval, the low-lying road surface is indicated, otherwise, the low-lying road surface is a small soil pile.
Further, the process of performing distance measurement through the changed line number after the terrain is identified includes:
The distance measuring and calculating method corresponding to the first half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The distance measuring and calculating method corresponding to the second half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
Further, the process of calculating the uphill gradient includes:
the calculation formula of the vertical distance AB of the radar irradiation surface of the first half line number corresponding to the first line to the i-th line is:
the calculation formula of the vertical distance AB of the radar irradiation surface from the first row to the ith row corresponding to the second half row number is as follows:
When theta 2 is less than the radar mount angle theta,
BC＝AB/cos(|θ-θ2|)＝(Ji In (a) -S1)*cos(θ)/sin(θ2)；
If theta 2 is greater than theta and less than or equal to 90 degrees;
BC＝(Ji In (a) -S1)*cos(θ)/sin(θ)；
If θ 2 is greater than 90 degrees, then calculate error; wherein BC is a hypotenuse corresponding to an angle of |theta-theta 2 | by taking AB as a right-angle side when ascending; θ 2 is the gradient angle; s1 is an actual measurement value of the current radar.
Further, the calculation process of the downhill gradient includes:
AD＝AB/cos(|θ+θ2|)＝(S1-Ji In (a) )*cos(θ)/sin(θ2)；
Wherein AD is a hypotenuse corresponding to an angle of |theta+θ 2 | by taking AB as a right-angle side when descending a slope; θ 2 is the gradient 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 the terrain of radar installation;
the terrain identification module is used for comparing the data actually measured by the radar with a reference value and carrying out terrain identification according to the comparison result;
The calculation module is used for carrying out distance measurement and calculation through the changed line number after the terrain is identified, and carrying out calculation of the ascending slope and calculation of the descending slope according to different terrains.
The invention also provides mechanical equipment, and the terrain identification is carried out by adopting the terrain identification method of unmanned construction of the engineering machinery.
The effects provided in the summary of the invention are merely effects of embodiments, not all effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
The invention provides a terrain recognition method, a system and mechanical equipment for unmanned construction of engineering machinery, wherein the method comprises the steps of determining a radar ranging reference value according to the terrain on which a radar is installed; comparing the actual measurement data of the radar with a reference value, and carrying out terrain identification according to the comparison result; after the terrain is identified, distance measurement and calculation are performed through the changed line numbers, calculation of the ascending slope and calculation of the descending slope are performed according to different terrains, and the terrain identification system and the mechanical equipment for unmanned construction of the engineering machinery are further provided based on the terrain identification method for unmanned construction of the engineering machinery. The algorithm of terrain identification provided by the invention is combined with the area array radar to better eliminate systematic errors, so that the terrain identification is more accurate and the terrain identification is wider.
The invention selects the area array radar in the ToF ranging mode, has good radar stability, low cost, larger angle of view, higher resolution, stronger light source, smaller volume and convenient installation.
The invention not only well solves the limitation of the camera on the terrain recognition, but also makes corresponding operation through the engineering machinery after the terrain recognition, well avoids the mechanical damage problem caused by the mechanical jam caused by the terrain problem and the like, achieves the aim of smoothness and fluency of the engineering machinery construction, and simultaneously greatly improves the working efficiency of the engineering machinery.
Drawings
FIG. 1 is a flow chart of a terrain recognition method for unmanned construction of an engineering machine in embodiment 1 of the 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 ramp pavement in accordance with embodiment 1 of the present invention;
fig. 4 is a schematic diagram of distance measurement and calculation corresponding to the first half line number in embodiment 1 of the present invention;
FIG. 5 is a distance measurement corresponding to the second half of the rows in embodiment 1 of the present invention;
FIG. 6 is a schematic view of the calculation of the uphill road surface in example 1 of the present invention;
FIG. 7 is a schematic view of the calculation of the downhill road according to the embodiment 1 of the present invention;
fig. 8 is a schematic diagram of a terrain recognition system for unmanned construction of an engineering machine according to embodiment 2 of the present invention.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, 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 processes are omitted so as to not unnecessarily obscure the present 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 gradient, as shown in fig. 1, which 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 first selected.
Radar is classified into FMCW ranging, AMCW ranging and ToF ranging according to ranging modes, but FMCW ranging requires a laser diode very much and is rarely used. Compared to ToF lidar, AMCW lidar has higher ranging accuracy because it applies a difference frequency technique to measure phase. However, in practical applications, the inherent defect in AMCM principle results in that the measured distance cannot be uniquely determined, and two laser beams with different modulation frequencies cannot be distinguished, and the AMCW lidar can only measure the distance of objects within the ambiguity interval, so that it can be seen that the maximum ranging range of the AMCW lidar is limited by the wavelength of the modulation wave; meanwhile, because the AMCW laser radar works in a difference frequency phase measurement mode, the measurement speed is slower than that of the ToF laser radar. Moreover, the continuous wave ranging laser radar is also very sensitive to the temperature of the environment and the reflectivity of objects; in addition, the AMCW laser radar has small power and short measuring range, and can not measure the distance to non-cooperative targets generally, and has great difficulty in multi-target measurement. In a word, compared with the existing three-dimensional measurement method, the ToF has the technical advantages of long detection distance, easy miniaturization of equipment, good dynamic performance and the like.
The area array laser radar of the ToF ranging mode is selected at this time by combining cost, radar volume and the like under the condition that the application environment of the proposal is mechanical unmanned operation, and 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 of radar ranging is determined according to the topography of radar installation.
The determination of the reference value in embodiment 1 of the present invention includes two cases:
in the first case, if the engineering machinery vehicle is on the horizontal ground, taking the data read by the radar for the first time as the reference value of the current identification;
In the second case, if the engineering machinery vehicle is on a non-level ground, selecting the ranging of the radar middle line as a middle reference value; namely, the intermediate reference value is:
Ji In (a) ＝h/COSθ； (1)
wherein h is the vertical distance from the middle of the radar to the ground; θ is the angle between the middle of the radar and the ground.
The method further comprises the step of calculating a reference value of the radar in any row 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 a test length long2 corresponding to the first half line number of the radar and a test length long1 corresponding to the second half line number; wherein:
wherein ω is half the longitudinal field angle of the radar;
According to the test length long2 corresponding to the front half line number of the radar and the test length long1 corresponding to the rear half line number; calculating a reference value J i of radar ranging of the ith row;
wherein, the total measurement 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 topography recognition algorithm are obtained, there are two ways of establishing the reference values due to different traveling scenes of the construction machine.
The range of the area array radar employed in embodiment 1 of the present invention is 60 lines. The reference value J i In (a) =h/COS θ from which the radar line 29 and line 30 ranging is calculated is selected.
The test length long2 corresponding to the front half row number of the radar is the test length of the front 30 rows of the radar;
the test length long1 corresponding to the second half row number of the radar is the test length of the second 30 rows of the radar.
Omega is 16 in example 1 of the present invention.
In step S120, comparing the data actually measured by the radar with a reference value, and performing terrain recognition according to the comparison result;
The result is obtained by comparing the current terrain identification with the reference value, and the result is judged by using all data of the radar because of the terrain identification method, so that the ascending slope, the descending slope, the low-lying slope and the small soil pile of four roads can be judged. FIG. 3 is a plan view of a terrain recognition ramp pavement in accordance with embodiment 1 of the present invention; as the machine travels, the radar first measured data increases in number of lines that become smaller or larger and gradually change due to the origin of the sloping or depressed ground.
Because of the reason of the radar range, the obtained data needs to be processed, and all the data which do not accord with the radar range are represented by the nearest normal value. The situation of the terrain change in front of the engineering machinery can be judged by comparing the data1 of the radar real-time test data after being processed with the reference value Ji (i represents the line number). The specific method comprises the following steps:
If the first method is to establish the reference value, the data measured by the area array radar is directly processed to obtain 9600 data dada1 which are compared with the reference value to obtain the road surface condition. If the first row (the first 160 data) is smaller than the reference value, namely, the road surface with a slope is indicated to be in front; otherwise, a downhill road surface is arranged in front of the road surface; if the continuous five data or even more than five data and less than fifty data in the first row of data are judged to change, if the data are larger than the reference value, a low-lying road surface is indicated, otherwise, a small soil pile is proved.
If the data1 after the data processing is sequentially divided into 60 groups of 160 data per group according to the second method of establishing the reference value. The first 160 data are compared with the first line reference value data J1, and if the data1 are smaller, the road surface with a slope in front is indicated; the reverse front is provided with a downhill road surface. When the continuous five data or even more than five data and less than fifty data in the first row of data change, if the data is larger than the reference value, the low-lying road surface is indicated, otherwise, the small soil pile is proved.
The method is under ideal conditions, and various errors exist in real life, so the method provided by the invention comprises the following steps: and judging by taking a range of the preset reference value floating 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 reaches a threshold value and at least two continuous lines change.
When the data of at least two continuous lines are smaller than the minimum value in the reference value interval, indicating that a slope exists in front; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, indicating that a downhill road surface exists in front;
when five to fifty continuous data in at least two continuous lines of data are changed and the data are larger than the maximum value in the reference value interval, the low-lying road surface is indicated, otherwise, the low-lying road surface is a small soil pile.
In step S130, after the terrain is identified, a distance measurement is performed by varying the number of lines.
After identifying the terrain, the process of distance measurement by varying the number of lines includes:
The distance measuring and calculating method corresponding to the first half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The distance measuring and calculating method corresponding to the second half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
Fig. 4 is a schematic diagram of distance measurement and calculation corresponding to the first half line number in embodiment 1 of the present invention; for the distance map in the first 30 rows, the distance from the construction machine to the slope road surface is set as d1 (the length of d1 is divided into two sections d2 and d3 to be calculated respectively).
d2＝Ji In (a) *sinθ；
FIG. 5 is a distance measurement corresponding to the second half of the rows in embodiment 1 of the present invention; let the distance of the engineering machine from the slope road surface be d1. That is, d3 minus d2 is the length of the distance d1.
d3＝Ji In (a) *sinθ；
The distance between engineering machinery and a slope is calculated by taking a slope road surface as an example, and the identification of a downhill road surface is consistent with the distance. The small soil pile and the low-lying road surface identification are different from each other only in the establishment of data3, and data3 is the intermediate value of the change data in data1 during the road surface identification, and other ranging methods are consistent with the slope road surface.
In step S140, calculation of an ascending gradient and calculation of a descending gradient are performed according to different terrains.
The process of calculating the ascending slope gradient comprises the following steps:
the calculation formula of the vertical distance AB of the radar irradiation surface of the first half line number corresponding to the first line to the i-th line is:
the calculation formula of the vertical distance AB of the radar irradiation surface from the first row to the ith row corresponding to the second half row number is as follows:
When theta 2 is less than the radar mount angle theta,
BC＝AB/cos(|θ-θ2|)＝(Ji In (a) -S1)*cos(θ)/sin(θ2)；
If theta 2 is greater than theta and less than or equal to 90 degrees;
BC＝(Ji In (a) -S1)*cos(θ)/sin(θ)；
If θ 2 is greater than 90 degrees, then calculate error; wherein BC is a hypotenuse corresponding to an angle of |theta-theta 2 | by taking AB as a right-angle side when ascending; θ 2 is the gradient angle; s1 is an actual measurement value of the current radar.
The calculation process of the downhill gradient comprises the following steps:
AD＝AB/cos(|θ+θ2|)＝(S1-Ji In (a) )*cos(θ)/sin(θ2)；
Wherein AD is a hypotenuse corresponding to an angle of |theta+θ 2 | by taking AB as a right-angle side when descending a slope; θ 2 is the gradient angle.
FIG. 6 is a schematic view of the calculation of the uphill road surface in example 1 of the present invention;
After the radar detects the uphill road surface for a while, the data of the ith row is exactly equal to the reference value Ji. The values of J1, S1, long1 and Long2 are calculated from equation 1, equation 4, equation 2 and equation 3, respectively; the length of AB is solved in two cases, one is when i is equal to or less than 30:
The other is when i is greater than 30:
In triangle ABC, since angle BAC is equal to 90,
When theta 2 is less than the radar mount angle theta,
BC＝AB/cos(|θ-θ2|)＝(Ji In (a) -S1)*cos(θ)/sin(θ2)；
If theta 2 is greater than theta and less than or equal to 90 degrees;
BC＝(Ji In (a) -S1)*cos(θ)/sin(θ)；
If θ 2 is greater than 90 degrees, then calculate error;
FIG. 7 is a schematic view of the calculation of the downhill road according to the embodiment 1 of the present invention;
After the radar detects the downhill road for a while, the data of the ith row is exactly equal to the reference value Ji. The values of J1, S1, long1 and Long2 are calculated from equation 1, equation 4, equation 2 and equation 3, respectively; AB was also calculated using equations 10 and 11.
In the triangle ABD, since the angle ABC is equal to 90,
AD＝AB/cos(|θ+θ2|)＝(S1-Ji In (a) )*cos(θ)/sin(θ2)
In a triangular AED, AD can be represented by equation 16, where the angle of slope θ2 can be solved by combining equations 15 and 16, and if θ2 is greater than 90 degrees, this indicates that the calculation error must be recalculated.
The embodiment 1 of the invention provides a terrain identification method for unmanned construction of engineering machinery, which combines an algorithm of terrain identification with an area array radar to better eliminate systematic errors, so that the terrain identification is more accurate and the terrain identification is wider.
The embodiment 1 of the invention provides a terrain identification method for unmanned construction of engineering machinery, which selects an area array radar in a 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.
According to the terrain recognition method for unmanned construction of the engineering machinery, provided by the embodiment 1 of the invention, not only is the limitation of a camera on terrain recognition well solved, but also the corresponding operation is carried out on the engineering machinery after the terrain recognition, so that the mechanical damage problem caused by the fact that the machinery is blocked due to the terrain problem is well avoided, the smoothness and fluency of construction of the engineering machinery are achieved, and meanwhile, the working efficiency of the engineering machinery is greatly improved.
Example 2
Based on the unmanned construction terrain recognition method of the engineering machinery provided by the embodiment 1 of the invention, the embodiment 2 of the invention also provides an unmanned construction terrain recognition system of the engineering machinery, as shown in fig. 8, which is a schematic diagram of the unmanned construction terrain recognition system of the engineering machinery provided by the embodiment 2 of the invention, wherein the system comprises a reference value determining module, a terrain recognition module and a calculating module;
The reference value determining module is used for determining a reference value of radar ranging according to the terrain of radar installation;
The terrain identification module is used for comparing the data actually measured by the radar with a reference value and carrying out terrain identification according to the comparison result;
the calculation module is used for carrying out distance measurement through the changed line number after the terrain is identified, and carrying out calculation of the ascending slope and calculation of the descending slope according to different terrains.
The reference identification module comprises the following steps: if the engineering machinery vehicle is on the horizontal ground, taking the data read by the radar for the first time as a reference value;
If the engineering machinery vehicle is on the non-horizontal ground, selecting the ranging of the radar middle line as a middle reference value; i.e., intermediate reference value J i In (a) =h/COS θ; wherein 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 a test length long2 corresponding to the first half line number of the radar and a test length long1 corresponding to the second half line number;
Wherein the method comprises the steps of
Wherein ω is half the longitudinal field angle of the radar;
According to the test length long2 corresponding to the front half line number of the radar and the test length long1 corresponding to the rear half line number; calculating a reference value J i of radar ranging of the ith row;
Wherein, the total measurement line number of the H radar; i is the number of rows, i=1, 2,3.
The terrain identification module implements the process comprising: and judging by taking a range of the preset reference value floating 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 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, indicating that a slope exists in front; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, indicating that a downhill road surface exists in front;
when five to fifty continuous data in at least two continuous lines of data are changed and the data are larger than the maximum value in the reference value interval, the low-lying road surface is indicated, otherwise, the low-lying road surface is a small soil pile.
The process implemented by the computing module comprises the following steps: the process of distance measurement through the changed line number comprises the following steps:
The distance measuring and calculating method corresponding to the first half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The distance measuring and calculating method corresponding to the second half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The process of calculating the ascending slope gradient comprises the following steps:
the calculation formula of the vertical distance AB of the radar irradiation surface of the first half line number corresponding to the first line to the i-th line is:
the calculation formula of the vertical distance AB of the radar irradiation surface from the first row to the ith row corresponding to the second half row number is as follows:
When theta 2 is less than the radar mount angle theta,
BC＝AB/cos(|θ-θ2|)＝(Ji In (a) -S1)*cos(θ)/sin(θ2)；
If theta 2 is greater than theta and less than or equal to 90 degrees;
BC＝(Ji In (a) -S1)*cos(θ)/sin(θ)；
If θ 2 is greater than 90 degrees, then calculate error; wherein BC is a hypotenuse corresponding to an angle of |theta-theta 2 | by taking AB as a right-angle side when ascending; θ 2 is the gradient angle; s1 is an actual measurement value of the current radar.
The calculation process of the downhill gradient comprises the following steps:
AD＝AB/cos(|θ+θ2|)＝(S1-Ji In (a) )*cos(θ)/sin(θ2)；
Wherein AD is a hypotenuse corresponding to an angle of |theta+θ 2 | by taking AB as a right-angle side when descending a slope; θ 2 is the gradient angle.
The embodiment 2 of the invention provides a system error elimination method by combining an algorithm of terrain identification with an area array radar in a terrain identification system of unmanned construction of engineering machinery, so that the terrain identification is more accurate and the terrain identification is wider.
The embodiment 2 of the invention provides an unmanned construction terrain recognition system of engineering machinery, which selects a ToF ranging mode area array radar, has the advantages of good radar stability, low cost, larger field angle, higher resolution, stronger light source, smaller volume and convenient installation.
The terrain recognition system for unmanned construction of the engineering machinery provided by the embodiment 2 of the invention not only well solves the limitation of the camera on the terrain recognition, but also well avoids the mechanical damage problem caused by the fact that the machinery is blocked due to the terrain problem and the like by making corresponding operation on the engineering machinery after the terrain recognition, achieves the aim of smoothness and fluency of construction of the engineering machinery, and also greatly improves 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 perform terrain recognition. The process embodying the method is according to the detailed procedure in example 1 of the specification.
The embodiment 3 of the invention provides a method for identifying the terrain in mechanical equipment, which is combined with an area array radar to better eliminate systematic 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 for selecting 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 convenient 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 mechanical damage problem caused by the fact that the machinery is blocked due to the terrain problem and the like by performing corresponding operation on the engineering machinery after the terrain recognition, achieves the aim of smoothness and fluency of construction of the engineering machinery, and greatly improves the working efficiency of the engineering machinery.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 is inherent to. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of the corresponding technical solutions in the prior art, are not described in detail, so that redundant descriptions are avoided.
While the specific embodiments of the present invention have been described above with reference to the drawings, the scope of the present invention is not limited thereto. Other modifications and variations to the present invention will be apparent to those of skill in the art upon review of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. On the basis of the technical scheme of the invention, various modifications or variations which can be made by the person skilled in the art without the need of creative efforts are still within the protection scope of the invention.
Claims (5)
1. The terrain identification method for unmanned construction of the engineering machinery is characterized by comprising the following steps of:
Determining a reference value of radar ranging according to the terrain on which the radar is installed; the method for determining the reference value of radar ranging according to the terrain of radar installation comprises the following steps: if the engineering machinery vehicle is on the horizontal ground, taking the data read by the radar for the first time as a reference value; if the engineering machinery vehicle is on the non-horizontal ground, selecting the ranging of the radar middle line as a middle reference value; i.e., intermediate reference value J i In (a) =h/COS θ; wherein h is the vertical distance from the middle of the radar to the ground; θ is the angle between the middle of the radar and the ground;
the method further comprises calculating a reference value of the radar in any row according to the intermediate reference value;
firstly, determining a test length long2 corresponding to the first half line number of the radar and a test length long1 corresponding to the second half line number;
Wherein the method comprises the steps of Wherein ω is half the longitudinal field angle of the radar;
According to the test length long2 corresponding to the front half line number of the radar and the test length long1 corresponding to the rear half line number; calculating a reference value J i of radar ranging of the ith row;
wherein, the total measurement line number of the H radar; i is the number of rows, i=1, 2, 3..h;
Comparing the actual measurement data of the radar with a reference value, and carrying out terrain identification according to the comparison result;
After the terrain is identified, performing distance measurement through the changed line number, and performing calculation of the ascending slope and calculation of the descending slope according to different terrains;
the process of measuring and calculating the distance through the changed line number after the terrain is identified comprises the following steps:
The distance measuring and calculating method corresponding to the first half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The distance measuring and calculating method corresponding to the second half line number comprises the following steps:
the distance between the engineering machinery and the slope pavement is
The process of calculating the uphill gradient comprises the following steps:
the calculation formula of the vertical distance AB of the radar irradiation surface of the first half line number corresponding to the first line to the i-th line is:
the calculation formula of the vertical distance AB of the radar irradiation surface from the first row to the ith row corresponding to the second half row number is as follows:
When theta 2 is less than the radar mount angle theta,
BC＝AB/cos(|θ-θ2|)＝(Ji In (a) -S1)*cos(θ)/sin(θ2)；
If theta 2 is greater than theta and less than or equal to 90 degrees;
BC＝(Ji In (a) -S1)*cos(θ)/sin(θ)；
If θ 2 is greater than 90 degrees, then calculate error; wherein BC is a hypotenuse corresponding to an angle of |theta-theta 2 | by taking AB as a right-angle side when ascending; θ 2 is the gradient angle; s1 is an actual measured value of a current radar;
The calculation process of the downhill gradient comprises the following steps:
AD＝AB/cos(|θ+θ2|)＝(S1-Ji In (a) )*cos(θ)/sin(θ2)；
Wherein AD is a hypotenuse corresponding to an angle of |theta+θ 2 | by taking AB as a right-angle side when descending a slope; θ 2 is the gradient angle;
The radar adopts an area array radar.
2. The terrain recognition method for unmanned construction of a construction machine according to claim 1, wherein the method for comparing the data actually measured by the radar with a reference value comprises:
And judging by taking a range of the preset reference value floating 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 reaches a threshold value and at least two continuous lines change.
3. The terrain recognition method for unmanned construction of engineering machinery according to claim 2, wherein the method for judging the change of the front road surface is as follows:
when the data of at least two continuous lines are smaller than the minimum value in the reference value interval, indicating that a slope exists in front; when the data of at least two continuous lines are larger than the maximum value in the reference value interval, indicating that a downhill road surface exists in front;
when five to fifty continuous data in at least two continuous lines of data are changed and the data are larger than the maximum value in the reference value interval, the low-lying road surface is indicated, otherwise, the low-lying road surface is a small soil pile.
4. A terrain recognition system for unmanned construction of engineering machinery, for executing the terrain recognition method for unmanned construction of engineering machinery according to any one of claims 1 to 3, 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 the terrain of radar installation;
the terrain identification module is used for comparing the data actually measured by the radar with a reference value and carrying out terrain identification according to the comparison result;
The calculation module is used for carrying out distance measurement and calculation through the changed line number after the terrain is identified, and carrying out calculation of the ascending slope and calculation of the descending slope according to different terrains.
5. A mechanical device characterized in that the terrain recognition is performed by using the terrain recognition method for unmanned construction of the construction machine according to any one of claims 1 to 3.
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