Anti-toppling device and anti-toppling method

Abstract

The application discloses a device and method for preventing a vehicle from toppling. The device comprises a first body, at least one swing rod and a driving mechanism. One end of the swing rod is provided with a roller, and the other end is provided with a movable shaft which is at least partially accommodated in a sliding groove and slides along the sliding groove under the driving of the driving mechanism. The movable shaft can rotate around the axis in the sliding groove to make the swing rod swing around the movable shaft relative to the first body. The device can be arranged on a vehicle, and the method can obtain the slope of a target slope and the position of the center of gravity of the vehicle, determine the target position of the movable shaft in the sliding groove according to the slope, the position of the center of gravity and the length of the swing rod, and finally drive the movable shaft to slide to the target position through the driving mechanism, so that the problem of the vehicle toppling when going uphill or downhill is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle safety, in particular to a tilting prevention device and a tilting prevention method. BACKGROUND

[0002] With the development of machine intelligence, in indoor scenes such as underground garages, supermarkets, and logistics warehouses, more and more intelligent small vehicles with automatic driving begin to be responsible for various types of goods transportation. For example, in a warehouse, a logistics small vehicle can transport goods to a designated position according to an instruction, and during the transportation process, the logistics small vehicle can complete the turning operation according to a designated route.

[0003] However, the intelligent small vehicle is often designed to be relatively high, so when the intelligent small vehicle passes through a slope, it often falls and is damaged due to the high center of gravity.

[0004] At present, the prior art can prevent the vehicle from falling by designing the height of the vehicle to be relatively low when passing through a slope. However, this method cannot adjust the center of gravity according to the slope, and cannot ensure that the vehicle will not fall when passing through any slope. SUMMARY

[0005] The present application provides a tilting prevention device and a tilting prevention method. The tilting prevention device comprises a first body, at least one swing rod, and a driving mechanism, wherein one section of the swing rod is provided with a roller, and the other end is provided with a movable shaft, the movable shaft is at least partially accommodated in a sliding groove and slides along the sliding groove under the driving of the driving mechanism, and the movable shaft can rotate around the axis in the sliding groove to make the swing rod swing around the movable shaft relative to the first body. The tilting prevention device can be provided on the vehicle, and the tilting prevention method can obtain the slope of the target slope and the center of gravity position of the vehicle, and then determine the target position of the movable shaft in the sliding groove according to the slope, the center of gravity position, and the length of the swing rod. Finally, the driving mechanism drives the movable shaft to slide to the target position. The present application can reduce the center of gravity height of the vehicle on the target slope according to the center of gravity position of the vehicle and the slope of the target slope, thereby solving the problem that the vehicle cannot maintain balance when going up and down the slope and falls.

[0006] In a first aspect, the present application provides a tilting prevention device, which comprises:

[0007] A first body, the first body is provided with at least one sliding groove;

[0008] At least one swing rod, the swing rod has a first end and a second end arranged oppositely, the first end is provided with a roller, and the second end is provided with a movable shaft, the movable shaft is at least partially accommodated in the sliding groove and slides along the sliding groove, and the movable shaft can rotate around the axis in the sliding groove to make the swing rod swing around the movable shaft relative to the first body; and

[0009] The driving mechanism is used to drive the movable shaft to slide along the sliding groove.

[0010] In combination with the first aspect, in some possible embodiments, the extending direction of the sliding groove is perpendicular to the supporting surface.

[0011] In combination with the first aspect, in some possible embodiments, when the movable shaft slides along the sliding groove in a direction close to the support surface, the roller rolls on the support surface in a direction away from the first body.

[0012] In combination with the first aspect, in some possible embodiments, when the movable shaft slides along the sliding groove in a direction away from the support surface, the roller rolls on the support surface in a direction toward the first body.

[0013] In combination with the first aspect, in some possible embodiments, the diameter of the roller is smaller than the width of the slide groove, and the length of the rocker arm is smaller than the length of the slide groove, so that the rocker arm can be retracted into the slide groove in a specific scenario.

[0014] In combination with the first aspect, in some possible embodiments, the driving mechanism includes a first motor, a first gear, a first rack, a second motor, a second gear and a second rack; the first motor is fixed to the first body, and a first gear is provided on the output shaft of the first motor, the first gear is engaged with the first rack, and the first rack is connected to the movable shaft so that the movable shaft slides along the slide groove in the first direction; the second motor is fixed to the first body, and a second gear is provided on the output shaft of the second motor, the second gear is engaged with the second rack, and the second rack is connected to the movable shaft so that the movable shaft slides along the slide groove in the second direction.

[0015] In conjunction with the first aspect, in some possible embodiments, the anti-dumping device further includes a controller, the controller including one or more processors and one or more memories, the one or more memories storing computer instructions, and the one or more processors calling the computer instructions to execute:

[0016] Obtain the slope of the target ramp and the center of gravity position of the vehicle;

[0017] Determine the target position of the movable axis in the chute based on the slope, center of gravity position and swing arm length;

[0018] The movable shaft is driven to slide to a target position by a driving mechanism.

[0019] In a second aspect, an embodiment of the present application provides a vehicle comprising the anti-dumping device of any one of the first aspects.

[0020] In a third aspect, the embodiments of the present application provide a method for preventing a vehicle from tipping over. The method is applied to a vehicle, and the vehicle comprises a first body, at least one chute provided on the first body, at least one swing rod having a first end and a second end arranged oppositely, the first end being provided with a roller, the second end being provided with a movable shaft, the movable shaft being at least partially accommodated in the chute and sliding along the chute, the movable shaft being capable of rotating around an axis in the chute to enable the swing rod to swing around the movable shaft relative to the first body, and a driving mechanism for driving the movable shaft to slide along the chute, the roller being rolled on a support surface of the anti-tipping device in a direction approaching or moving away from the first body under the action of the swing rod.

[0021] The method comprises:

[0022] obtaining a slope of a target slope and a position of a gravity center of the vehicle;

[0023] when it is determined that the vehicle will tip over on the target slope based on the slope and the position of the gravity center, determining a target position of the movable shaft in the chute according to the slope, the position of the gravity center and a length of the swing rod;

[0024] driving the movable shaft to slide to the target position by the driving mechanism.

[0025] In combination with the third aspect, in some possible embodiments, the slope of the target slope is obtained, comprising:

[0026] when a distance between the vehicle and the target slope is equal to a first distance, the slope of the target slope is obtained.

[0027] In combination with the third aspect, in some possible embodiments, the target position of the movable shaft in the chute is determined according to the slope, the position of the gravity center and the length of the swing rod, comprising:

[0028] a distance between the roller and the vehicle is determined according to the slope and the position of the gravity center;

[0029] the target position is determined according to the distance between the roller and the vehicle and the length of the swing rod.

[0030] In combination with the third aspect, in some possible embodiments, the movable shaft is driven to move to the determined position by the driving mechanism, comprising:

[0031] when the distance between the vehicle and the target slope is equal to a second distance, the movable shaft is driven to move to the determined position by the driving mechanism.

[0032] In combination with the third aspect, in some possible embodiments, the method further comprises:

[0033] a first length is determined according to an inclination angle of the target slope and the position of the gravity center, the first length being a distance between a first point and a second point, the first point being an intersection of a perpendicular line of the vehicle and the target slope, and the second point being a projection of the gravity center on the target slope;

[0034] When the first length is greater than the second length, it is determined that the vehicle will overturn on the target slope. The second length is the distance between the projection and the target straight line; the target straight line is a straight line determined by the contact points of the front wheels or rear wheels of the vehicle with the ground.

[0035] Based on the implementation methods provided in the above aspects, this application can also be further combined to provide more implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The following is an introduction to the drawings used in the embodiments of this application.

[0037] Figure 1 This is a schematic diagram of the functional framework of a vehicle provided in an embodiment of the present application;

[0038] Figure 2 Schematic diagram of the structure of an anti-dumping device provided in an embodiment of the present application;

[0039] Figure 3A This is a schematic diagram of a connection between a movable shaft and a slide groove provided in an embodiment of the present application;

[0040] Figure 3B This is a schematic diagram of a movable shaft driving a swing arm to swing provided in an embodiment of the present application;

[0041] Figure 4 This is a schematic diagram of a swing arm retracted into a chute provided in an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of a driving mechanism provided in an embodiment of the present application;

[0043] Figure 6 This is a working diagram of an anti-dumping device provided in an embodiment of the present application;

[0044] Figure 7 This is a flow chart of an anti-dumping method provided in an embodiment of the present application;

[0045] Figure 8 is a schematic diagram of a target straight line provided in an embodiment of the present application;

[0046] Figure 9 This is a schematic diagram of two vehicles with different center of gravity positions on a slope provided by an embodiment of the present application;

[0047] Figure 10 Schematic diagram of a vehicle located on a target slope provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The terminology used in the following embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the embodiments of the present application and the appended claims, the singular forms "a," "an" and "the" are intended to include both singular and plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or," as used in the description of the embodiments of the present application, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0049] In order to better understand the anti-toppling device and the anti-toppling method disclosed by the embodiments of the present application, a vehicle used in the embodiments of the present application is described first as follows.

[0050] In the embodiments of the present application, the vehicle can be an intelligent car, and the intelligent car has the function of automatically driving according to a specified route. Therefore, the intelligent car can be applied in indoor scenes such as underground garages, supermarkets, logistics warehouses, etc., and can transport specific goods according to instructions, so as to meet the needs of goods transportation in different scenes.

[0051] Specifically, please refer to Figure 1 , Figure 1 is a functional framework schematic diagram of a vehicle provided by the embodiments of the present application. As Figure 1 indicated, the functional framework of the vehicle 10 can include various subsystems, such as the sensor system 12, the control system 14, one or more peripheral devices 16 (one is illustrated as an example), the power supply 18, the computer system 20 and the anti-toppling device 22 in the illustration. Optionally, the vehicle 10 can also include other functional systems, such as an engine system for providing power for the vehicle 10, etc., which are not limited herein. Among them,

[0052] The sensor system 12 can include a plurality of detection devices, which can sense the measured information and convert the sensed information into an electrical signal or other required form of information output according to a certain rule. As illustrated, the detection devices can include a global positioning system 1201 (GPS), a vehicle speed sensor 1202, an inertial measurement unit 1203 (IMU), a radar unit 1204, a laser range finder 1205, a camera 1206, a wheel speed sensor 1207, a steering sensor 1208, a gear sensor 1209, or other elements for automatic detection, etc., which are not limited herein.

[0053] The global positioning system GPS 1201 is a system that utilizes GPS positioning satellites to perform real-time positioning and navigation in a global range. In this application, the global positioning system GPS can be used to realize real-time positioning of the vehicle and provide geographical position information of the vehicle. The vehicle speed sensor 1202 is used to detect the driving speed of the vehicle. The inertial measurement unit 1203 can include a combination of accelerometers and gyroscopes, which is a device for measuring the angular rate and acceleration of the vehicle 10. For example, during the driving of the vehicle, the inertial measurement unit can measure the position and angle change of the vehicle body based on the inertial acceleration of the vehicle.

[0054] The radar unit 1204 can also be referred to as a radar system. The radar unit utilizes wireless signals to sense objects in the current environment in which the vehicle is driving. Optionally, the radar unit can also sense information such as the running speed and direction of travel of the objects. In practical applications, the radar unit can be configured as one or more antennas for receiving or transmitting wireless signals. The laser range finder 1205 can utilize modulated laser to realize distance measurement of target objects, that is, the laser range finder can be used to realize distance measurement of target objects. In practical applications, the laser range finder can include, but is not limited to, a combination of one or more of the following elements: a laser source, a laser scanner, and a laser detector.

[0055] The camera 1206 is used to take images, such as images and videos, etc. In this application, the camera can collect images in the environment in which the vehicle is driving in real time during the driving of the vehicle or after the camera is enabled. For example, during the process of the vehicle entering and exiting the tunnel, the camera can collect corresponding images in real time and continuously. In practical applications, the camera includes, but is not limited to, a drive recorder, a camera, a camera, or other elements for taking pictures / photographs, etc., and the number of cameras is not limited in this application.

[0056] The wheel speed sensor 1207 is a sensor for detecting the rotation speed of the vehicle wheel. The commonly used wheel speed sensor 1207 can include, but is not limited to, a magneto electric wheel speed sensor and a Hall wheel speed sensor. The steering sensor 1208, which can also be referred to as a steering angle sensor, can represent a system for detecting the steering angle of the vehicle. In practical applications, the steering sensor 1208 can be used to measure the steering angle of the steering wheel of the vehicle, or to measure the electrical signal representing the steering angle of the steering wheel of the vehicle. Optionally, the steering sensor 1208 can also be used to measure the steering angle of the vehicle tire, or to measure the electrical signal representing the steering angle of the vehicle tire, etc., which is not limited in this application.

[0057] That is, the steering sensor 1208 can be used to measure a combination of one or more of the following: the steering angle of the steering wheel, the electrical signal representing the steering angle of the steering wheel, the steering angle of the wheel (vehicle tire), and the electrical signal representing the steering angle of the wheel, etc.

[0058] The gear sensor 1209 is configured to detect a current gear of the vehicle. Different vehicles can have different gears due to different manufacturers. For example, an autonomous vehicle can support six gears, i.e., P, R, N, D, 2, and L. The P (parking) gear is used for parking, which uses the mechanical device of the vehicle to lock the brake part of the vehicle so that the vehicle cannot move. The R (reverse) gear, also known as the reverse gear, is used for reversing the vehicle. The D (drive) gear, also known as the forward gear, is used for driving the vehicle on the road. The 2 (second gear) gear is also a forward gear, which is used to adjust the driving speed of the vehicle. The 2 gear is usually used when the vehicle is on or off the slope. The L (low) gear, also known as the low-speed gear, is used to limit the driving speed of the vehicle. For example, when the vehicle is on a downhill road, the vehicle enters the L gear so that the vehicle uses the engine power to brake when it is on the downhill, and the driver does not have to press the brake for a long time to cause the brake pad to overheat and cause danger.

[0059] The control system 14 can include several elements, such as the steering unit 1401, the braking unit 1402, the lighting system 1403, the autonomous driving system 1404, the map navigation system 1405, the network time system 1406, and the obstacle avoidance system 1407, as shown in the figure. Optionally, the control system 14 can also include elements such as the throttle controller and the engine controller for controlling the driving speed of the vehicle, which are not limited in the present application.

[0060] The steering unit 1401 can represent a system for adjusting the direction of travel of the vehicle 10, which can include but is not limited to a steering wheel or any other structure for adjusting or controlling the direction of travel of the vehicle. The braking unit 1402 can represent a system for slowing down the driving speed of the vehicle 10, also known as the vehicle brake system. It can include but is not limited to a brake controller, a speed reducer, or any other structure for slowing down the vehicle, etc. In practical applications, the braking unit 1402 can use friction to slow down the vehicle tires, thereby slowing down the driving speed of the vehicle. The lighting system 1403 is used to provide lighting or warning functions for the vehicle. For example, during the night driving of the vehicle, the lighting system 1403 can enable the front and rear lights of the vehicle to provide the light intensity for the driving of the vehicle, ensuring the safe driving of the vehicle. In practical applications, the lighting system includes but is not limited to the front light, the rear light, the width indicator light, and the warning light, etc.

[0061] The autonomous driving system 1404 can include a hardware system and a software system for processing and analyzing data inputted into the autonomous driving system 1404 to obtain actual control parameters of components in the control system 14, such as a desired brake pressure of a brake controller in a brake unit and a desired torque of an engine, etc. The control system 14 can implement corresponding control to ensure safe driving of the vehicle. Alternatively, the autonomous driving system 1404 can also determine information such as obstacles encountered by the vehicle and features of the environment in which the vehicle is located (e.g., a lane in which the vehicle is currently driving, a road boundary, and a traffic light to be passed, etc.) by analyzing the data. The data inputted into the autonomous driving system 1404 can be image data collected by the camera or data collected by components in the sensor system 12, such as a steering angle sensor providing a steering wheel turning angle, a wheel speed sensor providing a wheel speed, etc., which are not limited in the present application.

[0062] The map navigation system 1405 is configured to provide map information and navigation services for the vehicle 10. In actual applications, the map navigation system 1405 can plan an optimal driving route, such as a route with the shortest distance or a route with less traffic, etc., according to positioning information (specifically, a current position of the vehicle) of the vehicle provided by the GPS and a destination address inputted by a user. The vehicle can drive according to the optimal driving route to reach the destination address. Alternatively, the map navigation system can provide or display corresponding map information according to actual needs of the user, such as real-time display of a road segment on which the vehicle is currently driving, etc., which are not limited in the present application.

[0063] The network time system 1406 (NTS) is configured to provide time synchronization services to ensure that a current time of a system of the vehicle and a network standard time are synchronized, which is beneficial to providing more accurate time information for the vehicle. In specific implementations, the network time system 1406 can obtain a standard time signal from a GPS satellite, and use the time signal to update the current time of the system of the vehicle to ensure that the current time of the system of the vehicle is consistent with the time of the obtained standard time signal.

[0064] The obstacle avoidance system 1407 is configured to predict obstacles that can be encountered by the vehicle during driving, and then control the vehicle 10 to bypass or cross the obstacles to achieve normal driving of the vehicle 10. For example, the obstacle avoidance system 1407 can analyze and determine possible obstacles on a road on which the vehicle is driving by using sensor data collected by components in the sensor system 12. If the obstacle has a large size, such as a fixed building (a building) on a roadside, the obstacle avoidance system 1407 can control the vehicle 10 to bypass the obstacle to drive safely. Conversely, if the obstacle has a small size, such as a small stone on the road, the obstacle avoidance system 1407 can control the vehicle 10 to cross the obstacle to continue driving forward, etc.

[0065] The peripheral device 16 can include several elements, such as a communication system 1601, a touch screen 1602, a user interface 1603, a microphone 1604, and a speaker 1605, and the like. The communication system 1601 is configured to enable network communication between the vehicle 10 and other devices other than the vehicle 10. In practice, the communication system 1601 can be configured to enable network communication between the vehicle 10 and other devices using wireless communication technology or wired communication technology. The wired communication technology can refer to communication between the vehicle and other devices through a network cable or optical fiber, and the like. The wireless communication technology includes, but is not limited to, global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) network), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), and the like.

[0066] The touch screen 1602 can be configured to detect operation instructions on the touch screen 1602. For example, a user can perform a touch operation on content data displayed on the touch screen 1602 according to actual needs, so as to realize a function corresponding to the touch operation, such as playing multimedia files, such as music and video, and the like. The user interface 1603 can be a touch panel configured to detect operation instructions on the touch panel. The user interface 1603 can also be a physical button or a mouse. The user interface 1604 can also be a display screen configured to output data, display images or data. Alternatively, the user interface 1604 can also be at least one device belonging to the peripheral device category, such as a touch screen, a microphone, and a speaker, and the like.

[0067] Microphone 1604, also known as a microphone or a microphone, is used to convert a sound signal into an electrical signal. When making a call or sending a voice message, the user speaks near the microphone to input the sound signal into the microphone. The speaker 1605, also known as a loudspeaker, is used to convert an audio electrical signal into a sound signal. The vehicle can listen to music through the speaker 1605, or listen to a hands-free call, etc.

[0068] The power supply 18 represents a system for providing power or energy to the vehicle, which can include but is not limited to rechargeable lithium batteries or lead-acid batteries, etc. In practical applications, one or more battery components in the power supply are used to provide power or energy for vehicle starting, and the type and material of the power supply are not limited in this application. Alternatively, the power supply 18 can also be an energy source for providing energy to the vehicle, such as gasoline, diesel, ethanol, solar cells or solar panels, etc., which are not limited in this application.

[0069] The functions of the vehicle 10 are controlled and implemented by the computer system 20. The computer system 20 can include one or more processors 2001 (one processor is shown as an example) and a memory 2002 (also referred to as a storage device). In practical applications, the memory 2002 is also inside the computer system 20, and can also be outside the computer system 20, such as a cache in the vehicle 10, etc., which is not limited in this application. Among them,

[0070] The processor 2001 can include one or more general-purpose processors, such as a graphics processing unit (GPU). The processor 2001 can be used to run the relevant programs or instructions corresponding to the programs stored in the memory 2002 to implement the corresponding functions of the vehicle.

[0071] The memory 2002 can include volatile memory such as RAM, and the memory can also include non-volatile memory such as ROM, flash memory, HDD or solid state drive SSD, and the memory 2002 can also include a combination of the above types of memory. The memory 2002 can be used to store a set of program codes or instructions corresponding to the program codes, so that the processor 2001 calls the program codes or instructions stored in the memory 2002 to implement the corresponding functions of the vehicle. The functions include but are not limited to Figure 1 Some or all of the functions in the vehicle function block diagram shown in this application. In this application, a set of program codes for vehicle control can be stored in the memory 2002, and the processor 2001 can control the vehicle to travel safely by calling the program codes. How to achieve safe driving of the vehicle is described in detail below.

[0072] Optionally, the memory 2002 can store information such as road map, driving route, sensor data, etc. in addition to storing program codes or instructions. The computer system 20 can realize relevant functions of the vehicle in combination with other elements in the vehicle functional framework diagram, such as sensors in the sensor system, GPS, etc. For example, the computer system 20 can control the driving direction or driving speed of the vehicle 10 based on the data input of the sensor system 12, which is not limited in the present application.

[0073] The anti-toppling device 22 can include several elements, such as the first body 2201, the swing rod 2202 and the driving device 2203 shown in the figure. Specifically, the first body 2201 is provided with a sliding groove; the swing rod 2201 has a first end and a second end arranged oppositely, wherein the first end is provided with a roller, and the second end is provided with a movable shaft, which is at least partially accommodated in the sliding groove; the driving mechanism is used to drive the movable shaft to slide on the sliding groove. The anti-toppling device 22 can also include devices for obtaining environmental information such as cameras and radars, and a calculation unit for calculating the sliding distance of the movable shaft.

[0074] In the present application, Figure 1 It is shown that the vehicle 10 includes four subsystems, the sensor system 12, the control system 14, the computer system 20 and the anti-toppling device 22, which are only examples and do not constitute a limitation. In actual applications, the vehicle 10 can combine several elements in the vehicle according to different functions to obtain corresponding subsystems with different functions. For example, the vehicle 10 can also include an electronic stability program (ESP) and an electric power steering (EPS) system, which are not shown in the figure. Specifically, the ESP system can be composed of part of the sensors in the sensor system 12 and part of the elements in the control system 14, and specifically, the ESP system can include a wheel speed sensor 1207, a steering sensor 1208, a lateral acceleration sensor, a control unit involved in the control system 14, etc. The EPS system can be composed of part of the sensors in the sensor system 12, part of the elements in the control system 14 and elements such as the power supply 18, and specifically, the EPS system can include the steering sensor 1208, the generator and the reducer involved in the control system 14, the battery power supply, etc. For another example, the anti-toppling device can also include a user interface 1603 and a touch screen 1602 in the peripheral device to realize the function of receiving user instructions, and the anti-toppling device can also include a camera unit in the sensor system to identify the slope in cooperation with the controller 1203, for example, the camera unit sends images to the controller 1203, and the controller identifies the slope through the images.

[0075] It should be noted that the above Figure 1This is only a schematic diagram of a possible functional framework of the vehicle 10. In actual applications, the vehicle 10 may include more or fewer systems or components, which is not limited in this application.

[0076] The vehicle 10 may be a car, truck, motorcycle, bus, boat, airplane, helicopter, lawn mower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and cart, etc., and the embodiments of the present application do not impose any particular limitation.

[0077] See Figure 2 , Figure 2 This is a schematic diagram of the structure of an anti-dumping device provided in an embodiment of the present application. The anti-dumping device can be arranged on the above Figure 1 The vehicle can also be installed as an independent device on the above Figure 1 The anti-dumping device of the device includes a first body 100, a rocker 200 and a driving mechanism 300.

[0078] The first body 100 is provided with a slide 101, wherein the first body 100 can be a fixed plate or a vehicle shell. For example, when the first body 100 is a fixed plate, the fixed plate has a first surface and a second surface that are arranged opposite to each other, wherein the slide 101 can be provided on the first surface, and the second surface is used to connect to other objects, such as connecting to a vehicle through the second surface so that the anti-dumping device is attached to the vehicle. The extension direction of the slide 101 can be perpendicular to the support surface of the first body 100, such as Figure 2 As shown, the first body 100 is placed on a horizontal support surface, and the extension direction of the sliding groove 101 can be set to be perpendicular to the direction of the support surface.

[0079] Optionally, the first body 100 may include at least one roller. For example, four rollers may be provided below the first body 100 so that the first body 100 may contact the ground through the four rollers.

[0080] The rocker arm 200 has a first end and a second end that are relatively arranged, wherein the first end is provided with a roller 201, and the second end is provided with a movable shaft 202, and the movable shaft 202 is at least partially accommodated in the slide groove 101. The movable shaft 202 can rotate axially in the slide groove 101 so that the rocker arm 200 swings around the movable shaft 202 relative to the first body 100.

[0081] Optionally, the pendulum rod 200 may also be a telescopic pendulum rod. The pendulum rod 200 may change its length as needed, for example, the pendulum rod 200 may include at least two length adjustments.

[0082] See Figure 3A , Figure 3Ais a schematic view of the connection between the movable shaft and the sliding groove provided by the embodiment of the present application. As shown in Figure 3A , the movable shaft 202 is partially accommodated in the sliding groove and can rotate along a first rotation shaft, wherein the first rotation shaft is perpendicular to the extension direction of the sliding groove 101. It should be understood that the first rotation shaft is only a virtual axis introduced for the convenience of describing the rotating motion.

[0083] Please refer to Figure 3B , Figure 3B is a schematic view of the swinging of the swing lever driven by the movable shaft provided by the embodiment of the present application. As shown in Figure 3B , the movable shaft 202 can drive the swing lever 200 to swing around the movable shaft 202 relative to the first body 100 when the movable shaft 202 rotates, and α in the figure represents the included angle between the first body 100 and the swing lever 200.

[0084] In some embodiments, the swing lever can be accommodated in the sliding groove. Please refer to Figure 4 , Figure 4 is a schematic view of the swing lever accommodated in the sliding groove provided by the embodiment of the present application. As shown in Figure 4 , the diameter d of the roller 201 is smaller than the width L of the sliding groove 101, and the length of the swing lever 200 is smaller than the length of the sliding groove 101, so that the swing lever 200 can be accommodated in the sliding groove 101.

[0085] The driving mechanism 300 can be arranged on the first body 100, or can be connected to the movable shaft 202 as a separate device to drive the movable shaft 202 to slide on the sliding groove 101. Specifically, when the driving mechanism 300 drives the movable shaft 202 to slide along the sliding groove 101, the roller 201 can roll on the support surface of the anti-toppling device in the direction close to or away from the first body 100, so that the swing lever 200 swings relative to the first body 100.

[0086] As shown in Figure 2 , the driving mechanism 300 can include a motor 301, a gear 302 and a rack 303. Specifically, it can include a first motor, a first gear, a first rack, a second motor, a second gear and a second rack. Among them, the first motor is fixed on the first body, the first gear is arranged on the output shaft of the first motor, the first gear is engaged with the first rack, and the first rack is connected with the movable shaft to make the movable shaft slide along the sliding groove to the first direction; the second motor is fixed on the first body, the second gear is arranged on the output shaft of the second motor, the second gear is engaged with the second rack, and the second rack is connected with the movable shaft to make the movable shaft slide along the sliding groove to the second direction.

[0087] Please refer to Figure 5 , Figure 5 is a schematic view of the driving mechanism provided by the embodiment of the present application. As shown in Figure 5As shown, the driving mechanism 300 includes two step motors and traction chains connected with the step motors, and the up and down movement of the movable shaft 202 is realized by the two step motors and the traction chains. The step motor can receive a pulse result corresponding to a distance, and realize the up and down movement of the movable shaft 202 according to the pulse result. After the movable shaft 202 is moved to a position corresponding to the pulse result, the left lower and right upper traction chains restrict each other to ensure the fixation of the movable shaft 202.

[0088] In one implementation, the first body 100 is a shell of a vehicle, and the sliding groove 101 is longitudinally arranged on the vehicle, and the extension direction of the sliding groove 101 is perpendicular to the ground. When the vehicle is normally driven, the movable shaft 202 is located at one end of the sliding groove 101 away from the ground, the roller 201 is in a ground-leaving state, and the swing lever 200 and the roller 201 can be accommodated in the sliding groove 101; when the driving mechanism 300 drives the movable shaft 202 to slide in the sliding groove 101, the swing lever 200 can be extended from the sliding groove 101 under the action of the ground, and the roller 201 can roll on the ground.

[0089] Please refer to Figure 6 , Figure 6 is a working schematic diagram of a prevent falling device provided by the embodiment, in which the solid arrow indicates the moving direction of the object, and the dashed arrow indicates the rotating direction of the object along the first rotating shaft, as Figure 6 shown, the driving mechanism 300 drives the movable shaft 202 to move downward along the sliding groove 101, and after the roller 201 contacts the ground, the movable shaft 202 rotates in the counterclockwise direction of the first rotating shaft under the action of the ground. The movable shaft 202 rotates while driving the swing lever 200 to swing in the counterclockwise direction of the first rotating shaft relative to the first body 100, the angle α between the swing lever and the first body becomes larger, and the roller 201 rolls on the ground in the direction away from the first body 100. Preferably, the connection between the movable shaft 202 and the sliding groove 101 has a certain damping design, the swing lever 200 extends out of the sliding groove 101, and the damping design can prevent shaking when the roller 201 rolls on the slope and encounters uneven ground.

[0090] In combination with the foregoing Figure 1 vehicle in the embodiment, the vehicle is provided with the prevent falling device in the embodiment, and the following introduces a prevent falling method provided by the application.

[0091] In the embodiment, the prevent falling device on the vehicle includes a first body, a swing lever and a driving mechanism. Specifically, the first body is a shell of the vehicle, and a longitudinally extending sliding groove is arranged on the shell, that is, the extension direction of the sliding groove is perpendicular to the ground; one end of the swing lever is provided with a movable shaft, and the movable shaft is partially accommodated in the sliding groove; the other end of the swing lever is provided with a roller; and the vehicle is provided with a driving mechanism, which can drive the movable shaft to slide along the sliding groove.

[0092] Please refer to Figure 7 , Figure 7 is a flowchart of a method for preventing overturning provided by an embodiment of the present application. The method can be performed by a vehicle, a processor deployed in the vehicle, or a device in network communication with the vehicle, wherein the vehicle can be a vehicle as shown in Figure 1 , and the device includes but is not limited to a mobile phone, a tablet personal computer (table personal computer, PDA), a mobile internet device (mobile internet device, MID), a wearable device, a vehicle-mounted device, and other devices supporting and network communication. Embodiments of the present application take the vehicle as an example to illustrate that the method for preventing overturning can include the following part or all steps:

[0093] S101, the vehicle obtains the slope of the target slope and the center of gravity of the vehicle.

[0094] The center of gravity of the vehicle is known data or can be determined based on the center of gravity of the vehicle when it is not loaded and the center of gravity and weight of the loaded object.

[0095] In one implementation, during the driving of the vehicle, the vehicle can detect the road conditions in front of it in real time through a vehicle-mounted camera, radar, and other devices. When a slope is detected in front of the vehicle, the slope is the target slope of the vehicle, and then the slope of the target slope can be obtained. In another implementation, the vehicle can also determine the target slope according to the path planning of the vehicle, for example, the slope closest to the vehicle in the path planning is determined as the target slope.

[0096] In the embodiments of the present application, the slope of the target slope can be obtained based on the image captured by the vehicle-mounted camera or the data detected by the radar; it can also be requested from other devices (such as a server), for example, a vehicle driving on a road can obtain the road segment data where it is located through Baidu Map and Gaode Map, etc., which includes the slope and position of the target slope; it can also be obtained based on the existing map data analysis for the vehicle, which can be seen from the following steps 1011-1013, which will not be described here.

[0097] It can be understood that the map data can be a map of a specific area. For example, a vehicle working in a fixed area can pre-store a high-precision map of the area in the vehicle, and the high-precision map of the area is obtained by all people in the area, for example, the owner of a garage can collect accurate map data of the garage.

[0098] The specific implementation of the vehicle obtaining the slope of the target slope is described below. Specifically, the implementation can include the following part or all steps:

[0099] S1011, acquire a map.

[0100] Specifically, the vehicle can be built-in with a map, or can acquire a map in real time through a network. For example, taking an automatic driving vehicle in a garage as an example, the automatic driving vehicle can first acquire and pre-store a high-precision map of the garage.

[0101] S1012, determine the position of the vehicle in the map according to the image of the surrounding environment acquired by the camera.

[0102] Specifically, the vehicle can acquire the image of the surrounding environment through the camera, and determine the position of the vehicle in the high-precision map according to the image. It should be noted that the vehicle can acquire the image in real time through the camera and process the image in real time.

[0103] In one implementation, the map includes the positions of various markers. After acquiring the image of the surrounding environment, the vehicle can identify the markers in the image, and then determine the positions of the identified markers according to the map. Further, the vehicle can acquire the positions of the markers and the vehicle through the radar, so as to accurately position the vehicle. This positioning method can improve the accuracy of the positioning of the vehicle.

[0104] Among them, in some scenarios, the markers can be buildings, signs, street lamps, etc. In other scenarios, such as a garage or a warehouse, the markers can be support columns, building bodies, signs, etc.

[0105] It should be understood that the steps of acquiring the image through the camera and identifying the markers can be performed in any order, or can be performed simultaneously.

[0106] In another implementation, the position of the vehicle in the map can be positioned through the GPS, and the position of the vehicle can also be assisted by the camera or the radar.

[0107] S1013, determine the slope of the target slope according to the position of the vehicle in the map.

[0108] In one implementation, the map can include data of the slope, such as the position, length, and slope of the slope. The vehicle can determine the first slope in front of the vehicle in the map according to the position of the vehicle in the map and the current driving direction, and determine the slope as the target slope. When the distance between the first slope in front of the vehicle and the vehicle is greater than the target distance, it is considered that the target slope does not appear. Further, the position, length, and slope of the target slope can be acquired from the map.

[0109] In some embodiments, the vehicle can obtain the slope of the target slope after detecting or determining the target slope. In some other embodiments, the vehicle can further obtain the distance between the vehicle and the target slope in real time after determining the target slope; and obtain the slope of the target slope when the distance between the vehicle and the target slope is equal to a first distance. The first distance can be determined by the anti-rollover device of the vehicle and the computing capability of the vehicle, for example, the first distance satisfies that the time for the vehicle to travel the first distance at the current speed is greater than the time for the vehicle to complete the preparation of the anti-rollover device, so that the anti-rollover device of the vehicle is in a working state when the vehicle is on the slope.

[0110] S102, determining whether the vehicle will roll over on the target slope according to the slope of the target slope and the position of the gravity center of the vehicle.

[0111] Specifically, the vehicle can determine a first length according to the slope of the target slope and the position of the gravity center, the first length being the distance between a first point and a second point, the first point being the intersection of the perpendicular line of the vehicle and the target slope, and the second point being the projection of the gravity center on the target slope; and determining that the vehicle will roll over on the target slope when the first length is greater than a second length, the second length being the distance between the projection and the target straight line, the target straight line being the straight line determined by the contact points between the front wheels or the rear wheels of the vehicle and the ground. For example, when the anti-rollover device is installed on the rear side of the vehicle, the target straight line is the straight line determined by the contact points between the two rear wheels of the four-wheel vehicle and the ground during the uphill process of the vehicle.

[0112] In another implementation, the vehicle is a two-wheel vehicle, and the second length can be the distance between the contact point between the front wheels or the rear wheels of the vehicle and the target slope and the projection. For example, when the anti-rollover device is installed on the rear side of the vehicle, the second length can be the distance between the contact point between the rear wheels of the vehicle and the target slope and the projection during the uphill process of the vehicle.

[0113] Please refer to Figure 8 , Figure 8 is a schematic diagram of a target straight line provided by an embodiment of the present application. Figure 8 Taking the uphill of a four-wheel vehicle as an example, the target straight line is the straight line determined by the contact points between the two rear wheels of the vehicle and the target slope.

[0114] Optionally, the vehicle can execute step S102 when the distance between the vehicle and the target slope is equal to a target distance. It can be understood that the target distance can be determined according to the time for the vehicle to complete the preparation of the anti-rollover device, the time for the vehicle to complete the preparation of the swing rod, and the current speed of the vehicle, so that the anti-rollover device of the vehicle is in a working state when the vehicle is on the slope.

[0115] The specific implementation of comparing the first length and the second length is described below. Specifically, step S102 can include the following part or all steps:

[0116] Please refer toFigure 9 , Figure 9 is a schematic diagram of two vehicles with different barycentric positions on a slope, provided by an embodiment of the present application. As shown in (A) of FIG. 1, a two-wheeled vehicle is located on a target slope, point A represents the position of the rear wheel of the vehicle on the target slope, the barycentric position of the vehicle is point G, the perpendicular line from the barycenter to the ground is the barycentric perpendicular line of the vehicle, the intersection of the barycentric perpendicular line and the slope is point B, and the projection of the barycenter of the vehicle on the target slope is point C. Figure 9

[0117] S1021, the vehicle determines a first length according to the slope of the target slope and the position of the barycenter.

[0118] As shown in (A) of FIG. 1, GC is the height of the barycenter of the vehicle, that is, the distance from the barycenter to the target slope, and the barycenter height GC can be determined based on the barycenter position; β is the slope of the target slope, and the slope β of the vehicle can be obtained by step S101. Figure 9

[0119] Further, the first length BC can be calculated by using the following formula (1).

[0120] BC = GC x tan β Formula (1)

[0121] S1022, the vehicle obtains a second length.

[0122] As shown in (A) of FIG. 1, the second length AC is the distance between the contact point A of the rear wheel of the vehicle and the target slope and the projection C, and the second length AC is a known parameter or determined based on the positions of the front and rear wheels of the vehicle, which will not be described here. Figure 9 S1023, when the first length is greater than the second length, it is determined that the vehicle will tip over on the slope.

[0123] As shown in (A) of FIG. 1, BC > AC, that is, the first length is greater than the second length, and the vehicle will tip over on the slope, as shown in (B) of FIG. 1, BC < AC, that is, the first length is less than the second length, and the vehicle has no risk of tipping over on the slope. When the vehicle determines that it will tip over on the target slope, step S103 is performed; when the vehicle determines that it has no risk of tipping over on the target slope, it can continue to drive normally.

[0124] Figure 9 S103, when it is determined that the vehicle will tip over on the target slope, the target position of the movable shaft in the sliding groove is determined according to the slope of the target slope, the barycenter position of the vehicle and the length of the swing rod. Figure 9

[0125] S103, when it is determined that the vehicle will tip over on the target slope, the target position of the movable shaft in the sliding groove is determined according to the slope of the target slope, the barycenter position of the vehicle and the length of the swing rod.

[0126] ​​​​Specifically, the vehicle can first determine the distance between the roller and the vehicle according to the gravity center position of the vehicle and the slope of the target slope, and then determine the target position of the movable shaft in the sliding groove according to the distance between the roller and the vehicle and the length of the swing rod.

[0127] Please refer to Figure 10 , Figure 10 is a schematic view of a vehicle located on a target slope. In combination with Figure 10 , step S103 can include the following part or all steps:

[0128] S1031, determining the distance between the roller and the vehicle according to the gravity center position of the vehicle and the slope of the target slope.

[0129] As shown in Figure 10 , MD is the distance between the roller and the vehicle, BC is the first length, and CD is the vehicle parameter. Wherein, BC can be obtained by step S1021 according to the gravity center position of the vehicle and the slope of the target slope.

[0130] First, according to BD = BC-CD, the length of BD is obtained.

[0131] Further, since the vehicle does not fall on the slope, it is necessary to satisfy that the length of MD is greater than or equal to the length of BD.

[0132] Therefore, according to MD = BD+x, the length of MD can be obtained. Wherein, MN > x > 0, MN is the length of the swing rod.

[0133] Optionally, MD is greater than the length of BD. It should be noted that point B is the critical point of the roller that can make the vehicle not fall, so taking MD greater than BD can better ensure that the vehicle does not fall.

[0134] S1032, determining the target position of the movable shaft in the sliding groove according to the distance between the roller and the vehicle and the length of the swing rod.

[0135] As shown in Figure 10 , d is the diameter of the wheel, and MN is the length of the swing rod.

[0136] Then the target height ND of the movable shaft can be calculated by the following formula (2).

[0137]

[0138] Wherein, the target height ND of the movable shaft is the distance from the movable shaft to the target slope when the movable shaft is in the target position.

[0139] If the distance from the bottom of the sliding groove to the target slope is the diameter of the wheel, then the distance from the target position to the bottom of the sliding groove is the target height ND of the movable shaft minus the diameter d of the wheel.

[0140] S104, the vehicle drives the movable shaft to the target position through the driving mechanism.

[0141] Specifically, the vehicle drives the movable shaft to the target position through the driving mechanism, and the swing lever swings to the fixed position under the action of the ground to prevent the vehicle from falling.

[0142] In some implementations, the number of rotations of the motor can be determined based on the distance between the current position and the target position of the movable shaft, and further, the motor is controlled to rotate the determined number of rotations. Finally, the motor rotates the number of rotations to drive the rack to move the movable shaft to the target position.

[0143] Alternatively, the vehicle can drive the movable shaft to the target position when the distance to the target slope is equal to the second distance. It should be noted that the vehicle needs to control the movable shaft to move to the target position before the vehicle falls, which is not limited here.

[0144] In some embodiments, during normal driving of the vehicle, the swing lever can be retracted into the sliding groove; when it is determined that the vehicle will fall on the target slope, the vehicle drives the movable shaft to slide to the target position through the driving mechanism. Wherein, during the downward sliding of the movable shaft, when the roller touches the ground, the movable shaft rotates under the action of the ground, the swing lever swings away from the vehicle, and the roller rolls away from the vehicle; when the movable shaft slides to the target position, the movable shaft is fixed, at this time, the swing lever is located outside the sliding groove, and a certain angle is formed between the swing lever and the vehicle, and the roller is located on the ground as a support point of the vehicle to prevent the vehicle from falling.

[0145] It can be understood that the anti-falling device can be installed on the front side of the vehicle, or on the rear side of the vehicle. For example, the anti-falling device is installed on the rear side of the vehicle, before step S103 is executed, the vehicle can first determine whether the target slope is an uphill slope or a downhill slope, when the target slope is an uphill slope, the vehicle can drive the movable shaft to the target position through the driving mechanism when the distance to the slope is zero; when the target slope is a downhill slope, the vehicle can turn around and go downhill in a backward manner, and before going downhill, the vehicle drives the movable shaft to the target position through the driving mechanism.

[0146] It can be understood that the center of gravity of the vehicle is a fixed value, and the vehicle can also pre-store parameters such as the length, width and distance between parts of the vehicle, for example, the center of gravity height GC of the vehicle, the diameter d of the wheel, and the distance between the sliding groove and the rear wheel of the vehicle. The above parameters can be measured by the staff or obtained by the vehicle factory configuration.

[0147] Those skilled in the art can understand that all or part of the processes in the above-mentioned method embodiments can be implemented by a computer program instructing relevant hardware to complete, the program can be stored in a computer readable storage medium, and the program can include the processes of the above-mentioned method embodiments when executed. The aforementioned storage medium includes ROM or random storage memory RAM, magnetic disc or optical disc and various storage code medium.

Claims

1. A method for preventing dumping, characterized in that: Applied to a vehicle, the vehicle comprising: a first body, wherein at least one sliding groove is provided on the first body; at least one swing rod, the swing rod having a first end and a second end oppositely disposed, the first end being provided with a roller, the second end being provided with a movable shaft, the movable shaft being at least partially received in the slide groove and sliding along the slide groove, the movable shaft being axially rotatable in the slide groove to cause the swing rod to swing about the movable shaft relative to the first body; and a driving mechanism, the driving mechanism being used to drive the movable shaft to slide along the sliding groove, and the roller to roll on the supporting surface in a direction close to or away from the first body under the action of the rocker; The method comprises: Obtain the slope of the target ramp and the center of gravity position of the vehicle; Determining a first length based on the inclination angle of the target ramp and the position of the center of gravity, the first length being the distance between a first point and a second point, the first point being the intersection of a vertical line of gravity of the vehicle and the target ramp, and the second point being the projection of the center of gravity on the target ramp; When the first length is greater than a second length, it is determined that the vehicle will overturn on the target slope, where the second length is the distance between the projection and a target straight line; the target straight line is a straight line determined by the contact points of the front wheels or rear wheels of the vehicle with the ground; When it is determined based on the slope and the center of gravity position that the vehicle will tip over on the target slope, determining a target position of the movable shaft in the chute according to the slope, the center of gravity position, and the length of the rocker bar; The movable shaft is driven to slide to the target position by the driving mechanism.

2. The method according to claim 1, characterized in that The step of obtaining the slope of the target ramp includes: When the distance between the vehicle and the target slope is equal to a first distance, the gradient of the target slope is acquired.

3. The method according to claim 1 or 2, characterized in that Determining the target position of the movable shaft in the chute according to the slope, the center of gravity position, and the length of the rocker includes: Determine the distance between the roller and the vehicle based on the slope and the center of gravity The target position is determined according to the distance and the length of the pendulum rod.

4. The method according to claim 3, characterized in that Driving the movable shaft to slide to the target position by the driving mechanism includes: When the distance between the vehicle and the target ramp is equal to a second distance, the movable shaft is driven by the driving mechanism to slide to the target position.

5. An anti-dumping device, characterized in that: include: a first body, wherein at least one sliding groove is provided on the first body; at least one swing rod, the swing rod having a first end and a second end oppositely disposed, the first end being provided with a roller, the second end being provided with a movable shaft, the movable shaft being at least partially received in the slide groove and sliding along the slide groove, the movable shaft being axially rotatable in the slide groove to cause the swing rod to swing about the movable shaft relative to the first body; and a driving mechanism, the driving mechanism being used to drive the movable shaft to slide along the sliding groove; The anti-tipping device is used to implement the method according to any one of claims 1 to 4.

6. The anti-dumping device according to claim 5, characterized in that: The extending direction of the sliding groove is perpendicular to the supporting surface.

7. The anti-dumping device according to claim 6, characterized in that: When the movable shaft slides along the sliding groove toward the direction approaching the supporting surface, the roller rolls on the supporting surface toward the direction away from the first body.

8. The anti-dumping device according to claim 6, characterized in that: When the movable shaft slides along the sliding groove in a direction away from the supporting surface, the roller rolls on the supporting surface in a direction approaching the first body.

9. The anti-dumping device according to any one of claims 5 to 8, characterized in that: The diameter of the roller is smaller than the width of the chute, and the length of the rocker is smaller than the length of the chute.

10. The anti-dumping device according to any one of claims 5 to 8, wherein the driving mechanism comprises a first motor, a first gear, a first rack, a second motor, a second gear and a second rack; The first motor is fixed to the first body, the first gear is provided on the output shaft of the first motor, the first gear is engaged with the first rack, and the first rack is connected to the movable shaft so that the movable shaft slides along the sliding groove in the first direction; The second motor is fixed on the first body, the second gear is provided on the output shaft of the second motor, the second gear is engaged with the second rack, and the second rack is connected to the movable shaft so that the movable shaft slides along the sliding groove in the second direction.

11. The anti-dumping device according to any one of claims 5 to 8, characterized in that: The anti-dumping device further includes a controller, which includes one or more processors and one or more memories, wherein the one or more memories store computer instructions, and the one or more processors call the computer instructions to execute the instructions in the method according to any one of claims 1-4.

12. A vehicle, characterized in that: The device comprises an anti-tipping device as claimed in any one of claims 5 to 11.

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