Vehicle and cliff detection methods and terminals

Abstract

This invention discloses a cliff detection method and terminal. Single-point lasers are installed downwards directly in front of and behind the left and right drive wheels of a vehicle, respectively. A single-point laser is also installed at an angle downwards directly in front of the vehicle. The cliff situation near the drive wheels is measured using these single-point lasers. The angled single-point laser at the front of the vehicle avoids the laser detection position being too close to the front wheels when the vehicle is moving, preventing the vehicle from failing to stop in time due to inertia. The method selects the appropriate single-point laser group for detection based on the vehicle's motion state. Therefore, irrelevant single-point laser data does not participate in the logic under different motion states, reducing the possibility of false signal triggering. If the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance, the vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance is within the preset distance. This accurately assesses the surrounding ground environment and improves the accuracy of cliff detection.

Description

[0001] This application is a divisional application in accordance with the Implementing Regulations of the Patent Law Article 42, the parent application is a Chinese invention application with the application date of August 25, 2021, the application number of 202110985059.0, the applicant of Tangen Intelligent Technology (Changshu) Co., Ltd., and the invention name of A Cliffs Detection Method and Terminal. The entire contents of the parent application are incorporated herein in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of unmanned vehicle perception technology, in particular to a cliff detection method and terminal. BACKGROUND

[0003] At present, robots can use various sensors to avoid cliffs, such as depth cameras, infrared sensors, ultrasonic sensors, etc. Typical robot navigation cliff detection algorithms include grid method, view method and free space method, etc. Generally, the direction and distance of the cliff relative to the robot need to be determined first, and then a travel route that can avoid the cliff is designed.

[0004] However, due to the limitations of the characteristics and installation layout of the sensors, the sensors such as depth cameras, infrared sensors and ultrasonic sensors have a high misjudgment rate when detecting cliffs. In some specific scenarios, it may not be possible to correctly determine whether a cliff exists, which poses a great risk to the normal operation of the robot. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a cliff detection method and terminal that can improve the accuracy of cliff detection.

[0006] To solve the above technical problems, the technical scheme adopted by the present application is:

[0007] A cliff detection method, comprising the steps of:

[0008] A single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and a single-point laser is installed downward obliquely in front of the vehicle;

[0009] According to the motion state of the vehicle, a corresponding single-point laser group is selected for detection, and it is determined whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance. If yes, the vehicle brake program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance.

[0010] To solve the above technical problems, another technical scheme adopted by the present application is:

[0011] A cliff detection terminal comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor implements the following steps when executing the computer program:

[0012] Single-point lasers are respectively installed downward in front of and behind left and right drive wheels of a vehicle, and single-point lasers are installed downward obliquely in front of the vehicle;

[0013] According to a motion state of the vehicle, a corresponding single-point laser group is selected for detection, and it is determined whether a distance detected by one single-point laser in the single-point laser group exceeds a preset distance, and if so, a vehicle braking program is triggered, and the vehicle moves in a direction of the single-point laser whose detected distance does not exceed the preset distance.

[0014] The present application has the beneficial effects that single-point lasers are respectively installed downward in front of and behind left and right drive wheels of a vehicle, and single-point lasers are installed downward obliquely in front of the vehicle, the cliff situation near the drive wheels can be measured by the single-point lasers near the left and right drive wheels, the laser detected position is prevented from being too close to the front wheels when the vehicle is moving forward, so that the vehicle cannot stop in time due to inertia when braking, according to the motion state of the vehicle, a corresponding single-point laser group is selected for detection, so that irrelevant single-point laser data does not participate in logic under different motion states, greatly reducing the probability of signal false triggering and other factors leading to unsmooth vehicle operation, if the distance detected by one single-point laser in the single-point laser group exceeds the preset distance, the vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance, therefore, through the setting of multiple single-point laser groups and distance thresholds, the vehicle can accurately judge the surrounding ground environment, help the vehicle pass through narrow roads, move in a straight line close to a cliff, and improve the accuracy of cliff detection. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A flowchart of a cliff detection method according to an embodiment of the present application;

[0016] Figure 2 A schematic diagram of a cliff detection terminal according to an embodiment of the present application;

[0017] Figure 3 A single-point laser installation position schematic diagram of a cliff detection method according to an embodiment of the present application;

[0018] Figure 4 A single-point laser installation position side view of a cliff detection method according to an embodiment of the present application;

[0019] Figure 5 A single-point laser detection drop distance schematic diagram of a cliff detection method according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] To describe the technical solutions in the present application in detail, achieve the objectives and effects, the following will be described in conjunction with the embodiments and the accompanying drawings.

[0021] Please refer to Figure 1 , Figures 3 to 5 The embodiment of the present application provides a cliff detection method, comprising the following steps:

[0022] A single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and a single-point laser is installed downward obliquely in front of the vehicle;

[0023] According to the motion state of the vehicle, a corresponding single-point laser group is selected for detection, and it is judged whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, if yes, a vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance.

[0024] From the above description, the beneficial effects of the present application are as follows: a single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and a single-point laser is installed downward obliquely in front of the vehicle, which can measure the cliff condition near the drive wheels through the single-point lasers near the left and right drive wheels, and can avoid the situation that the position detected by the laser is too close to the front wheel when the vehicle is moving forward, so that the vehicle cannot stop in time due to inertia when braking; according to the motion state of the vehicle, a corresponding single-point laser group is selected for detection, so that in different motion states, irrelevant single-point laser data does not participate in logic, greatly reducing the probability of signal false triggering and other factors leading to unsmooth vehicle operation; if the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, a vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance, therefore, through the setting of multiple single-point laser groups and distance thresholds, the vehicle can accurately judge the surrounding ground environment, help the vehicle pass through narrow roads, and perform fine motion scenes such as linear motion close to the cliff, thereby improving the accuracy of cliff detection.

[0025] Further, the single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and the single-point laser is installed downward obliquely in front of the vehicle, comprising:

[0026] A first single-point laser is installed downward behind the left drive wheel, a second single-point laser is installed downward in front of the left drive wheel and close to one end of the left drive wheel, and a third single-point laser is installed downward in front of the left drive wheel and close to one end of the universal wheel, which is arranged at the front middle position of the bottom of the vehicle;

[0027] A fourth single-point laser is installed at an angle directly in front of the vehicle;

[0028] A fifth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the omnidirectional wheel; a sixth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the right drive wheel; and a seventh single-point laser is installed downwards in the direction directly behind the right drive wheel.

[0029] As described above, installing single-point lasers directly behind the left and right drive wheels facilitates the detection of cliffs directly behind and to the left and right when the vehicle is reversing or turning in reverse. Installing single-point lasers directly in front of and near the left and right drive wheels allows detection of cliffs to the left and right sides of the drive wheels, facilitating cliff detection when the vehicle is moving forward or turning. Installing single-point lasers directly in front of and near the swivel wheels allows detection of cliffs a little further in front of the drive wheels, thus detecting cliffs to the left and right front of the entire vehicle. Therefore, the six downward-mounted single-point lasers are distributed around each wheel, ensuring uniform distribution. Furthermore, the fourth single-point laser, installed at an angle downwards directly in front of the vehicle, prevents the laser detection point from being too close to the front wheel when the vehicle is moving forward, which could cause the vehicle to fail to stop in time due to inertia when braking, thus improving the accuracy of cliff detection.

[0030] Furthermore, the step of selecting the corresponding single-point laser group for detection based on the vehicle's motion state includes:

[0031] If the vehicle's motion is forward or forward turning, then the second to sixth single-point lasers are used as the first single-point laser group for detection;

[0032] If the vehicle is in a reversing or reversing turn state, the first single-point laser and the seventh single-point laser are used as the second single-point laser group for detection.

[0033] As described above, when moving forward or turning forward, the second to sixth single-point lasers are used for cliff detection, which can effectively detect the cliff directly in front, the left front, and the rear front. When reversing or turning backward, the first and seventh single-point lasers are used for cliff detection, which can effectively detect the cliff directly behind, the left rear, and the right rear. Therefore, irrelevant single-point laser data are not included in the detection calculation, which can summarize the occurrence of false signal triggering and ensure the smooth operation of the vehicle.

[0034] Further, determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance includes:

[0035] If the single-point laser is installed downwards, then the preset distance t = h1 + l, where h1 represents the height of the downward-facing single-point laser above the ground, and l represents the maximum ground drop of the single-point laser.

[0036] If the single-point laser is installed at an angle, the preset distance t = (h2 + l) / sinα, where h2 represents the height of the tilted single-point laser above the ground, l represents the maximum ground drop of the single-point laser, and α represents the tilt angle of the single-point laser.

[0037] As described above, in order to avoid misjudging cliffs caused by slight ground undulations, the threshold in cliff determination needs to take into account the maximum ground drop that a vehicle can pass through. Different preset distance calculation methods are used for the adaptability of single-point lasers with different installation directions, which can improve the flexibility and accuracy of preset distance calculation.

[0038] Furthermore, before determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance, the process also includes:

[0039] The maximum ground drop that the vehicle can withstand is calculated based on the vehicle's structure, mass, and driving capability.

[0040] As described above, the maximum ground drop value needs to be flexibly set according to the actual structure of the vehicle, the overall vehicle weight, and the vehicle's driving capability to ensure the flexibility and accuracy of cliff detection.

[0041] Please refer to Figure 2 Another embodiment of the present invention provides a cliff detection terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0042] Single-point lasers are installed downwards directly in front of and behind the left and right drive wheels of the vehicle, respectively, and a single-point laser is installed obliquely downwards directly in front of the vehicle.

[0043] Based on the vehicle's motion state, a corresponding single-point laser group is selected for detection. It is determined whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance. If so, the vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser where the detected distance does not exceed the preset distance.

[0044] As described above, single-point lasers are installed downwards directly in front of and behind the left and right drive wheels of the vehicle, respectively. A single-point laser is also installed at an angle downwards directly in front of the vehicle. This allows for the detection of cliff conditions near the drive wheels using these single-point lasers. The angled single-point laser at the front of the vehicle prevents the laser detection point from being too close to the front wheels, which could cause the vehicle to fail to stop in time due to inertia when braking. The detection is performed using a group of single-point lasers selected according to the vehicle's motion state. Therefore, irrelevant single-point laser data does not participate in the logic under different motion states, greatly reducing the probability of signal mis-triggers and other issues causing vehicle malfunctions. If the distance detected by one of the single-point lasers in the group exceeds a preset distance, the vehicle's braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detection distance is within the preset distance. Therefore, by using multiple single-point laser groups and setting distance thresholds, the vehicle can accurately judge the surrounding ground environment, helping it navigate narrow roads, move close to cliffs in straight lines, and improve the accuracy of cliff detection.

[0045] Furthermore, the step of mounting single-point lasers downwards directly in front of and behind the left and right drive wheels of the vehicle, respectively, and mounting a single-point laser obliquely downwards at the front of the vehicle, includes:

[0046] A first single-point laser is installed directly behind the left drive wheel, a second single-point laser is installed downwards at the end directly in front of the left drive wheel and close to the left drive wheel, and a third single-point laser is installed downwards at the end directly in front of the left drive wheel and close to the omnidirectional wheel. The omnidirectional wheel is located at the front middle position of the bottom of the vehicle.

[0047] A fourth single-point laser is installed at an angle directly in front of the vehicle;

[0048] A fifth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the omnidirectional wheel; a sixth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the right drive wheel; and a seventh single-point laser is installed downwards in the direction directly behind the right drive wheel.

[0049] As described above, installing single-point lasers directly behind the left and right drive wheels facilitates the detection of cliffs directly behind and to the left and right when the vehicle is reversing or turning in reverse. Installing single-point lasers directly in front of and near the left and right drive wheels allows detection of cliffs to the left and right sides of the drive wheels, facilitating cliff detection when the vehicle is moving forward or turning. Installing single-point lasers directly in front of and near the swivel wheels allows detection of cliffs a little further in front of the drive wheels, thus detecting cliffs to the left and right front of the entire vehicle. Therefore, the six downward-mounted single-point lasers are distributed around each wheel, ensuring uniform distribution. Furthermore, the fourth single-point laser, installed at an angle downwards directly in front of the vehicle, prevents the laser detection point from being too close to the front wheel when the vehicle is moving forward, which could cause the vehicle to fail to stop in time due to inertia when braking, thus improving the accuracy of cliff detection.

[0050] Furthermore, the step of selecting the corresponding single-point laser group for detection based on the vehicle's motion state includes:

[0051] If the vehicle's motion is forward or forward turning, then the second to sixth single-point lasers are used as the first single-point laser group for detection;

[0052] If the vehicle is in a reversing or reversing turn state, the first single-point laser and the seventh single-point laser are used as the second single-point laser group for detection.

[0053] As described above, when moving forward or turning forward, the second to sixth single-point lasers are used for cliff detection, which can effectively detect the cliff directly in front, the left front, and the rear front. When reversing or turning backward, the first and seventh single-point lasers are used for cliff detection, which can effectively detect the cliff directly behind, the left rear, and the right rear. Therefore, irrelevant single-point laser data are not included in the detection calculation, which can summarize the occurrence of false signal triggering and ensure the smooth operation of the vehicle.

[0054] Further, determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance includes:

[0055] If the single-point laser is installed downwards, then the preset distance t = h1 + l, where h1 represents the height of the downward-facing single-point laser above the ground, and l represents the maximum ground drop of the single-point laser.

[0056] If the single-point laser is installed at an angle, the preset distance t = (h2 + l) / sinα, where h2 represents the height of the tilted single-point laser above the ground, l represents the maximum ground drop of the single-point laser, and α represents the tilt angle of the single-point laser.

[0057] As described above, in order to avoid misjudging cliffs caused by slight ground undulations, the threshold in cliff determination needs to take into account the maximum ground drop that a vehicle can pass through. Different preset distance calculation methods are used for the adaptability of single-point lasers with different installation directions, which can improve the flexibility and accuracy of preset distance calculation.

[0058] Furthermore, before determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance, the process also includes:

[0059] The maximum ground drop that the vehicle can withstand is calculated based on the vehicle's structure, mass, and driving capability.

[0060] As described above, the maximum ground drop value needs to be flexibly set according to the actual structure of the vehicle, the overall vehicle weight, and the vehicle's driving capability to ensure the flexibility and accuracy of cliff detection.

[0061] This invention provides a cliff detection method and terminal, applicable to improving the cliff detection function of vehicles using a single-point laser sensor. The following detailed embodiments illustrate this method:

[0062] Example 1

[0063] Please refer to Figure 1 , Figures 3 to 5 A cliff detection method, comprising the following steps:

[0064] S1. Install single-point lasers downwards directly in front of and behind the left and right drive wheels of the vehicle, respectively, and install a single-point laser at an angle downwards directly in front of the vehicle.

[0065] Specifically, a first single-point laser is installed directly behind the left drive wheel, a second single-point laser is installed downwards at the end directly in front of the left drive wheel and close to the left drive wheel, and a third single-point laser is installed downwards at the end directly in front of the left drive wheel and close to the omnidirectional wheel. The omnidirectional wheel is located at the front middle position of the bottom of the vehicle.

[0066] A fourth single-point laser is installed at an angle directly in front of the vehicle;

[0067] A fifth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the omnidirectional wheel; a sixth single-point laser is installed downwards at the end directly in front of the right drive wheel and close to the right drive wheel; and a seventh single-point laser is installed downwards in the direction directly behind the right drive wheel.

[0068] For details, please refer to Figure 3 and Figure 4The first to the seventh single-point lasers correspond to single-point lasers 1 to 7 in the figure. Single-point laser 1 is installed directly behind the left drive wheel; single-point laser 2 is installed directly in front of the left drive wheel and near one end of the left drive wheel; single-point laser 3 is installed directly in front of the left drive wheel and near one end of the swivel wheel; single-point laser 4 is installed directly in front of the vehicle; single-point laser 5 is installed directly in front of the right drive wheel and near one end of the swivel wheel; single-point laser 6 is installed directly in front of the right drive wheel and near one end of the right drive wheel; and single-point laser 7 is installed directly behind the right drive wheel.

[0069] All single-point lasers are installed in two directions: downward and tilted. Only single-point laser 4 is installed at an angle, which can prevent the laser detection position from being too close to the omnidirectional wheel, causing the vehicle to be unable to stop in time due to inertia when braking and fall off the cliff.

[0070] S2. Select the corresponding single-point laser group for detection according to the vehicle's motion state, and determine whether the distance detected by one of the single-point lasers in the single-point laser group exceeds the preset distance. If so, trigger the vehicle braking program and move in the direction of the single-point laser where the detected distance does not exceed the preset distance.

[0071] The step of selecting the corresponding single-point laser group for detection based on the vehicle's motion state includes:

[0072] If the vehicle's motion is forward or forward turning, then the second to sixth single-point lasers are used as the first single-point laser group for detection;

[0073] If the vehicle is in a reversing or reversing turn state, the first single-point laser and the seventh single-point laser are used as the second single-point laser group for detection.

[0074] Specifically, the vehicle's motion state can be divided into four categories: forward, forward turning, reverse, and reverse turning; under each motion state, the threshold of each single-point laser remains unchanged.

[0075] The range of laser detection at each individual point is different:

[0076] Single-point laser 1 is used to determine the cliff situation directly behind the left drive wheel, that is, the left rear of the vehicle.

[0077] Single-point laser 2 is used to determine the cliff situation directly in front of and close to the left drive wheel;

[0078] Single-point laser 3 is used to determine the cliff situation directly in front of the left drive wheel and close to the omnidirectional wheel;

[0079] Single-point laser 4 is used to determine the cliff situation directly in front of the center-mounted omnidirectional wheel, that is, directly in front of the entire vehicle;

[0080] Single-point laser 5 is used to determine cliff conditions directly in front of the right drive wheel and close to the omnidirectional wheel;

[0081] The single-point laser 6 is used to determine the cliff situation directly in front of and close to the right drive wheel;

[0082] The single-point laser 7 is used to determine the cliff situation directly behind the right drive wheel, that is, the right rear of the vehicle.

[0083] When moving forward or turning forward, single-point lasers 2, 3, 4, 5, and 6 participate in cliff detection, effectively detecting the cliff directly in front, the cliff to the left front, and fuel lines; when moving backward or turning backward, single-point lasers 1 and 7 participate in cliff detection, effectively detecting the cliff directly behind, the cliff to the left rear, and the cliff to the right rear.

[0084] The process of determining whether the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance includes:

[0085] If the single-point laser is installed downwards, then the preset distance t = h1 + l, where h1 represents the height of the downward-facing single-point laser above the ground, and l represents the maximum ground drop of the single-point laser.

[0086] If the single-point laser is installed at an angle, the preset distance t = (h2 + l) / sinα, where h2 represents the height of the tilted single-point laser above the ground, l represents the maximum ground drop of the single-point laser, and α represents the tilt angle of the single-point laser.

[0087] The maximum ground drop that the vehicle can withstand is calculated based on the vehicle's structure, mass, and driving capability.

[0088] Specifically, to avoid misjudging cliffs due to small ground undulations, the preset distance in cliff determination needs to take into account the maximum ground drop that a vehicle can pass through, which is determined by the height h of the single-point laser to the ground and the maximum ground drop l.

[0089] Please refer to Figure 5 The preset distance for a downward-mounted single-point laser is: t = h1 + l, where h1 represents the height of the downward-mounted single-point laser above the ground;

[0090] The preset distance for a tilted single-point laser is: t=(h2+l) / sinα, where h2 represents the height of the tilted single-point laser above the ground, and α represents the tilt angle of the single-point laser.

[0091] The maximum ground drop value needs to be flexibly set according to the actual vehicle structure, vehicle weight, vehicle driving capability, and other actual conditions. In this embodiment, the maximum ground drop is designed to be 30mm.

[0092] If the distance data collected by any single-point laser sensor on the vehicle exceeds the preset distance, the braking procedure will be triggered immediately. At this time, the vehicle can only move in the direction of the single-point laser sensor that has not detected the cliff.

[0093] Therefore, this embodiment is mainly applied to cliff detection during vehicle driving. It can quickly and accurately detect cliff conditions on the vehicle's driving route, providing accurate environmental data for the vehicle to avoid cliffs.

[0094] Example 2

[0095] Please refer to Figure 2 A cliff detection terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps of a cliff detection method according to Embodiment 1.

[0096] In summary, the cliff detection method and terminal provided by this invention involves installing single-point lasers downwards directly in front of and behind the left and right drive wheels of a vehicle, respectively, and installing a single-point laser at an angle downwards directly in front of the vehicle. This allows for the detection of cliff conditions near the drive wheels using single-point lasers near the left and right drive wheels. The angled single-point laser at the front of the vehicle avoids situations where the laser detection point is too close to the front wheels, preventing the vehicle from failing to stop in time due to inertia during braking. The method selects the appropriate single-point laser group for detection based on the vehicle's motion state. Therefore, irrelevant single-point laser data does not participate in the logic under different motion states, greatly reducing the probability of signal mis-triggers and other issues causing vehicle malfunctions. If the distance detected by one of the single-point lasers in the single-point laser group exceeds a preset distance, the vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance is within the preset distance. The methods for calculating the preset distance differ between the downward-mounted and angled single-point lasers, allowing for flexible and accurate calculations. Therefore, by setting multiple single-point laser groups and distance thresholds, vehicles can accurately judge the surrounding ground environment, helping them to pass through narrow roads, move close to cliffs in straight lines, and improve the accuracy of cliff detection.

[0097] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robot, characterized in that, The robot comprises a cliff detection terminal, the cliff detection terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the following steps are implemented: A single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and a single-point laser is installed obliquely downward in front of the vehicle; According to the motion state of the vehicle, a corresponding single-point laser group is selected for detection, and if the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the vehicle brake program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance; The single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and the single-point laser is installed obliquely downward in front of the vehicle, comprising: A first single-point laser is installed downward in front of the left drive wheel, a second single-point laser is installed downward in front of the left drive wheel and close to one end of the left drive wheel, a third single-point laser is installed downward in front of the left drive wheel and close to one end of the universal wheel, and the universal wheel is arranged at the front middle position of the bottom of the vehicle; A fourth single-point laser is installed obliquely in front of the vehicle; A fifth single-point laser is installed downward in front of the right drive wheel and close to one end of the universal wheel, a sixth single-point laser is installed downward in front of the right drive wheel and close to one end of the right drive wheel, and a seventh single-point laser is installed downward in front of the right drive wheel.

2. The robot of claim 1, wherein, The single-point laser group is selected for detection according to the motion state of the vehicle, comprising: If the motion state of the vehicle is forward or forward turning, the second single-point laser to the sixth single-point laser are used as a first single-point laser group for detection; If the motion state of the vehicle is reverse or reverse turning, the first single-point laser and the seventh single-point laser are used as a second single-point laser group for detection.

3. The robot of claim 1, wherein, Before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, comprising: If the single-point laser is installed downward, the preset distance t = h1 + l, wherein h1 represents the height of the downward single-point laser to the ground, and l represents the maximum ground drop of the single-point laser; If the single-point laser is installed obliquely, the preset distance t = (h2 + l) / sinα, wherein h2 represents the height of the oblique single-point laser to the ground, l represents the maximum ground drop of the single-point laser, and α represents the inclination angle of the single-point laser.

4. The robot of claim 3, wherein, Before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the maximum ground drop that can be tolerated by the vehicle is calculated according to the structure, mass and driving capacity of the vehicle.

5. A vehicle characterized by comprising: The vehicle comprises a cliff detection terminal, the cliff detection terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the following steps are implemented: A single-point laser is installed downward in front of and behind the left and right drive wheels of the vehicle, and a single-point laser is installed obliquely downward in front of the vehicle; According to the motion state of the vehicle, a corresponding single-point laser group is selected for detection. If the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, a vehicle braking program is triggered, and the vehicle moves in the direction of the single-point laser whose detected distance does not exceed the preset distance. The single-point lasers are installed downward in front of and behind the left and right drive wheels of the vehicle. The single-point lasers installed downward in front of the left drive wheel include: A first single-point laser is installed downward in front of the left drive wheel, a second single-point laser is installed downward in front of the left drive wheel and close to one end of the left drive wheel, and a third single-point laser is installed downward in front of the left drive wheel and close to one end of the universal wheel, which is arranged in the middle of the front of the vehicle bottom. A fourth single-point laser is installed obliquely in front of the vehicle. A fifth single-point laser is installed downward in front of the right drive wheel and close to one end of the universal wheel, a sixth single-point laser is installed downward in front of the right drive wheel and close to one end of the right drive wheel, and a seventh single-point laser is installed downward in front of the right drive wheel.

6. The vehicle of claim 5, wherein, The selection of the corresponding single-point laser group for detection according to the motion state of the vehicle includes: If the motion state of the vehicle is forward or forward turning, the second single-point laser to the sixth single-point laser are used as a first single-point laser group for detection. If the motion state of the vehicle is reverse or reverse turning, the first single-point laser and the seventh single-point laser are used as a second single-point laser group for detection.

7. The vehicle of claim 5, wherein, Before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the following steps are included: If the single-point laser is installed downward, the preset distance t = h1 + l, where h1 represents the height of the downward single-point laser above the ground, and l represents the maximum ground fall of the single-point laser. If the single-point laser is installed obliquely, the preset distance t = (h2 + l) / sinα, where h2 represents the height of the oblique single-point laser above the ground, l represents the maximum ground fall of the single-point laser, and α represents the inclination angle of the single-point laser.

8. The vehicle of claim 7, wherein, Before determining whether the distance detected by one single-point laser in the single-point laser group exceeds a preset distance, the maximum ground fall that the vehicle can withstand is calculated according to the structure, mass, and driving capacity of the vehicle.

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