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Planet vehicle motion mode selection method based on geometric information of obstacles

A technology of movement mode and geometric information, applied in the fields of extraterrestrial vehicles, 3D modeling, image data processing, etc., can solve problems such as difficult shapes, evaluation of obstacle-crossing methods of planetary vehicles, and inaccurate description of obstacle shapes, etc. sexual effect

Active Publication Date: 2022-02-01
HARBIN INST OF TECH
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  • Description
  • Claims
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Problems solved by technology

However, this method usually does not describe the shape of the obstacle accurately enough, and the obtained shape is difficult to directly evaluate the obstacle-crossing method of the planetary vehicle.

Method used

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  • Planet vehicle motion mode selection method based on geometric information of obstacles
  • Planet vehicle motion mode selection method based on geometric information of obstacles
  • Planet vehicle motion mode selection method based on geometric information of obstacles

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Embodiment Construction

[0050] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, or It can be a detachable connection or an integral connection; it can be a mechanical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

[0052] In the description of this specification, descriptions with reference to the terms...

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Abstract

The invention provides a planet vehicle motion mode selection method based on geometric information of an obstacle, and the method comprises the steps: obtaining three-dimensional point cloud data of obstacle, generating the geometric information of the obstacle according to the three-dimensional point cloud data, and determining the relative position condition of the obstacle and a planet vehicle, the geometric information of the obstacle comprising a height feature, a surface topography feature and a longitudinal contour feature of the obstacle; and determining a motion mode of the planet vehicle according to the geometric information of the obstacle and the relative position condition so as to cross the obstacle. The beneficial effects of the method are that the robot can select a proper planet vehicle motion mode to cross obstacles based on the determination of the geometric information of the obstacles.

Description

technical field [0001] The present invention relates to the technical field of obstacle surmounting control, in particular to a method for selecting a motion mode of a planetary vehicle based on obstacle geometric information. Background technique [0002] In the planetary exploration environment, planetary rovers, such as Mars rovers with active and passive suspensions, are extremely important for judging the obstacles in front of them, which directly determines the way the planetary rovers pass. Usually, choose to go around for large obstacles, and choose to climb or climb over small obstacles. However, in actual engineering, in order to avoid danger, detours are often chosen, mainly because of the lack of specific information about obstacles. [0003] In the related art, the obstacle surmounting of the planetary vehicle is carried out based on the description of obstacles based on vision. Among them, the form of envelope is often used for the description of obstacles, th...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00B64G1/16
CPCG06T17/00B64G1/16G06T2207/10028
Inventor 杨怀广高海波齐华囡郭新颜丁亮李楠邓宗全
Owner HARBIN INST OF TECH
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