Control methods and controllers, control systems and engineering vehicles for detection devices

Abstract

This application provides a control method and controller for a detection device, a control system, and an engineering vehicle, solving the technical problem in existing autonomous driving engineering vehicles where the inability of sensors to adapt to different operating scenarios reduces the accuracy of automatic control. This application provides a control method and controller for a detection device, a control system, and an engineering vehicle. It calibrates the detection areas of the sensors required by the engineering vehicle in different operating scenarios, as well as the parameters and / or positions of the sensors corresponding to those detection areas. Based on the engineering vehicle's operating information, it determines the operating scenario of the engineering vehicle and retrieves the pre-calibrated sensor position information and / or parameter information to adjust the sensors. This allows the engineering vehicle to adaptively adjust the detection areas of the control sensors according to different operating scenarios, thereby improving the accuracy of automatic control and thus enhancing the safety of autonomous driving, while simultaneously reducing the number of sensors and computational complexity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular to a control method and a controller of a detection device, a regulation system and an engineering vehicle. BACKGROUND

[0002] The automatic driving engineering vehicle refers to an engineering vehicle capable of sensing or detecting the road and the surrounding environment, and automatically driving to the destination without the need of a driver to manipulate the accelerator, steering wheel, brake and the like. It utilizes various technologies including radar, laser, ultrasonic wave, GPS, computing vision and the like to perceive the surrounding environment, identifies obstacles and signs and the like through a computing and control system, so as to plan a reasonable path to control the engineering vehicle to travel.

[0003] In order to meet the intelligent driving of the engineering vehicle, various types of detection devices (for example, sensors) are needed to detect the external environment of the vehicle, for example, through a camera module, lane departure warning, traffic sign recognition, lane keeping assistance, panoramic parking and the like can be performed.

[0004] As the "senses" of the intelligent driving and unmanned engineering vehicle, the sensing distance and range, the sensing accuracy and correctness of the sensor are very important to the planning and control of the engineering vehicle. When the engineering vehicle is in different operation scenarios, the sensing demand degree of the surrounding environment of the engineering vehicle is also different, but the installation mode and installation position of the sensor installed on the engineering vehicle are fixed. When the engineering vehicle is in different operation scenarios, the sensor cannot be regulated and controlled, so that the sensor of the engineering vehicle cannot be suitable for different operation scenarios, which reduces the accuracy of the automatic control of the engineering vehicle. SUMMARY

[0005] Therefore, the present application provides a control method and a controller of a detection device, a regulation system and an engineering vehicle, which solves the technical problem that the sensor in the automatic driving engineering vehicle in the prior art cannot be suitable for different operation scenarios, thereby reducing the accuracy of the automatic control of the engineering vehicle.

[0006] As a first aspect of the present application, the present application provides a control method of a detection device, comprising:

[0007] constructing a scenario information library, the scenario information library comprising a standard operation scenario and reference information of a detection device corresponding to the standard operation scenario; determining an actual operation scenario of the engineering vehicle according to running information of the engineering vehicle; determining a standard operation scenario matched with the actual operation scenario and reference information of a detection device corresponding to the standard operation scenario in the scenario information library according to the actual operation scenario of the engineering vehicle; and regulating and controlling the detection device of the engineering vehicle according to the reference information of the detection device; wherein the reference information of the detection device comprises reference position information of the detection device and / or reference characteristic parameters of the detection device.

[0008] In a possible implementation, after determining the standard operation scene matching the actual operation scene of the engineering vehicle in the scene information library according to the actual operation scene of the engineering vehicle and the reference information of the detection device corresponding to the standard operation scene, the control method further comprises: determining a first detection device of the engineering vehicle that needs to be regulated in the actual operation scene according to the actual operation scene of the engineering vehicle; searching for reference information of the first detection device in the reference information of the detection device corresponding to the standard operation scene according to the first detection device; and regulating the detection device of the engineering vehicle according to the reference information of the detection device comprises regulating the first detection device according to the reference information of the first detection device.

[0009] In a possible implementation, the reference information of the detection device comprises reference position information of the detection device; and the constructing the scene information library comprises: calibrating initial position information of the detection device corresponding to a regular operation scene of the engineering vehicle according to the regular operation scene of the engineering vehicle; adjusting the detection device to position information of the detection device according to the initial position information of the detection device according to the standard operation scene of the engineering vehicle and preset requirement information, so that the position information of the detection device meets the preset requirement information; and calibrating the position information of the detection device meeting the preset requirement information as the reference position information of the detection device corresponding to the standard operation scene.

[0010] In a possible implementation, the determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle comprises: acquiring running position information of the engineering vehicle; and determining the actual operation scene of the engineering vehicle according to the running position information of the engineering vehicle.

[0011] In a possible implementation, the determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle comprises: acquiring chassis control information of the engineering vehicle; and determining the actual operation scene of the engineering vehicle according to the chassis control information of the engineering vehicle.

[0012] In a possible implementation, the determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle comprises: acquiring chassis control information of the engineering vehicle; acquiring running position information of the engineering vehicle; and determining the actual operation scene of the engineering vehicle according to the running position information of the engineering vehicle and the chassis control information of the engineering vehicle.

[0013] In a possible implementation, the determining the actual operation scenario of the engineering vehicle according to the operation information of the engineering vehicle comprises: acquiring operation route information of the engineering vehicle; acquiring operation state information of the engineering vehicle; and determining the actual operation scenario of the engineering vehicle according to the operation state information of the engineering vehicle and the operation route information of the engineering vehicle.

[0014] As a second aspect of the present application, the present application further provides a controller of a detection device, comprising:

[0015] an operation scenario determining module configured to determine an actual operation scenario of the engineering vehicle according to operation information of the engineering vehicle; a reference information determining module configured to determine, according to the actual operation scenario of the engineering vehicle, a standard operation scenario matched with the actual operation scenario and reference information of the detection device corresponding to the standard operation scenario from a scenario information library, the scenario information library comprising standard operation scenarios and reference information of the detection device corresponding to the standard operation scenarios; and a regulation and control module configured to regulate and control the detection device of the engineering vehicle according to the reference information of the detection device, wherein the reference information of the detection device comprises reference position information of the detection device and / or reference characteristic parameters of the detection device.

[0016] As a third aspect of the present application, the present application further provides a regulation and control system of a detection device, comprising: a detection device; a support, the detection device being fixed on the support; a positioning device, the positioning device being configured to detect position information of the engineering vehicle; a driving motor, the driving motor having a motor driving shaft, the support being rotationally connected to the motor driving shaft; a chassis controller; a position detection module, the position detection module being configured to detect position information of the detection device; and the controller as described above, wherein the controller is in communication connection with the positioning device, the driving motor, the chassis controller and the position detection module respectively.

[0017] As a fourth aspect of the present application, the present application further provides an engineering vehicle, comprising: the regulation and control system as described above.

[0018] The application provides a control method and a controller of a detection device, a control system and an engineering vehicle. The control method calibrates a detection area required by a sensor of the engineering vehicle in different operation scenarios and parameters and / or positions of the sensor corresponding to the detection area, and then directly controls the sensor according to the position information and / or parameter information of the sensor previously calibrated according to the operation scenario when the engineering vehicle runs in the operation process according to running information of the engineering vehicle, so that the engineering vehicle can adaptively adjust the detection area of the control sensor according to different operation scenarios to improve the multi-scene application performance of the sensor of the engineering vehicle, thereby improving the accuracy of automatic control of the engineering vehicle, and improving the safety of automatic driving, and reducing the number of sensors and the calculation difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application, taken in conjunction with the accompanying drawings. The drawings provided in the specification and the embodiments of the present application together serve to provide a further understanding that enables others skilled in the art to make or use the present application. The drawings provided are for illustrative purposes and are not intended to limit the present application. In the drawings, the same reference numerals generally refer to the same components or steps throughout the drawings.

[0020] Figure 1 Fig. 1 shows a flowchart of a control method of a detection device according to an embodiment of the present application;

[0021] Figure 2 Fig. 2 shows a schematic diagram of a change in a detection area of a detection device of an engineering vehicle after the detection device is controlled by the control method of the detection device according to an embodiment of the present application;

[0022] Figure 3 Fig. 3 shows a flowchart of a control method of a detection device according to another embodiment of the present application;

[0023] Figure 4 Fig. 4 shows a schematic diagram of a change in a detection area of a detection device of an engineering vehicle after the detection device is controlled by the control method of the detection device according to another embodiment of the present application;

[0024] Figure 5 Fig. 5 shows a flowchart of a control method of a detection device according to another embodiment of the present application;

[0025] Figure 6 Fig. 6 shows a flowchart of a control method of a detection device according to another embodiment of the present application;

[0026] Figure 7 Fig. 7 shows a flowchart of a control method of a detection device according to another embodiment of the present application;

[0027] Figure 8 Fig. 6 shows a flow chart of a control method of a detection device according to another embodiment of the present application;

[0028] Figure 9 Fig. 6 shows a flow chart of a control method of a detection device according to another embodiment of the present application;

[0029] Figure 10 Fig. 7 shows a working principle diagram of a controller of a detection device according to an embodiment of the present application;

[0030] Figure 11 Fig. 8 shows a working principle diagram of a detection system of a detection device according to another embodiment of the present application;

[0031] Figure 12 Fig. 9 shows a working principle diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, and the like, unless otherwise explicitly and specifically limited. All directional indications, such as upper, lower, left, right, front, back, top, bottom, and the like, are intended to facilitate the understanding of relative positions between components, movement conditions, and the like, among components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units that are not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0033] In addition, the phrase "embodiment" mentioned herein means that the specific features, structures, or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment that is not mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] SUMMARY

[0035] As the "senses" of intelligent driving and unmanned engineering vehicles, the sensing distance and range, sensing accuracy and correctness of sensors are very important for the planning and control of engineering vehicles. When engineering vehicles are in different operating scenarios, the sensing needs of the surrounding environment of engineering vehicles are also different. However, the installation method and position of sensors on engineering vehicles are fixed. In order to meet the needs of automatic driving, multiple sensors are arranged at different positions of engineering vehicles to sense and collect the environment at different positions around engineering vehicles. However, with the increase in the number of sensors, the amount of information processed by the computing platform increases when calculating and controlling the engineering vehicle system according to the surrounding environment, and the cost is also high.

[0036] Therefore, the present application provides a control method and controller of a detection device, a regulation system and an engineering vehicle. The detection area of the sensor required by the engineering vehicle in different operating scenarios and the parameters and / or positions of the sensor corresponding to the detection area are calibrated. Then, when the engineering vehicle is running in the running process, the operating scenario of the engineering vehicle is determined according to the running information of the engineering vehicle. The position information and / or parameter information of the sensor calibrated in advance are directly retrieved to regulate the sensor according to the operating scenario, so that the engineering vehicle can adjust the detection area of the sensor according to different operating scenarios to improve the multi-scene application performance of the sensor of the engineering vehicle, thereby improving the accuracy of automatic control of the engineering vehicle, and further improving the safety of automatic driving, while reducing the number of sensors and the calculation difficulty.

[0037] The technical means in the embodiments of the present application will be described clearly and completely in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0038] Exemplary method

[0039] As a first aspect of the present application, Figure 1 As shown in the flowchart of the control method of the detection device provided by the present application, the control method of the detection device comprises the following steps: Figure 1 As shown in the flowchart of the control method of the detection device provided by the present application, the control method of the detection device comprises the following steps:

[0040] Step S10: constructing a scenario information library, the scenario information library comprising standard operating scenarios and reference information of the detection device corresponding to the standard operating scenarios;

[0041] Specifically, the detection device is used to detect the environment around the engineering vehicle during the driving process of the engineering vehicle.

[0042] The detection device can be a sensor for sensing the environment around the engineering vehicle. For example, a camera can capture images of the environment around the engineering vehicle during driving. For example, a radar can detect whether there is an obstacle around the engineering vehicle and detect the distance between the obstacle and the engineering vehicle. For example, an ultrasonic probe can detect the road surface condition of the road on which the engineering vehicle travels, such as detecting whether there are pits, stones, etc. on the road on which the engineering vehicle travels to detect the flatness of the road.

[0043] Specifically, the detection device installed on the engineering vehicle can be one detection device or multiple detection devices, and the number of each detection device can be one or multiple. For example, the engineering vehicle is installed with an ultrasonic probe to detect the flatness of the road on which the engineering vehicle travels, a camera to capture images of the environment around the engineering vehicle during driving, and a radar to detect whether there is an obstacle around the engineering vehicle and detect the distance between the obstacle and the engineering vehicle.

[0044] Specifically, the operation scene standard information refers to the operation scene standard information of the engineering vehicle, such as normal straight driving of the engineering vehicle, turning of the engineering vehicle (right angle turning, turning at a T-shaped intersection, turning at a cross-shaped intersection), stopping of the engineering vehicle, reversing of the engineering vehicle, and loading of the dump truck.

[0045] Specifically, the reference information of the detection device refers to the reference position information and / or characteristic reference information of the detection device. The reference position information refers to the position information of the detection device, such as the installation position information. When the installation position of the detection device is regulated, the detection region detected by the detection device can be regulated.

[0046] Specifically, the type of detection device corresponding to the standard operation scene can be one or multiple. It can also be all detection devices installed on the engineering vehicle. For example, the engineering vehicle is installed with an ultrasonic probe to detect the flatness of the road on which the engineering vehicle travels, a camera to capture images of the environment around the engineering vehicle during driving, and a radar to detect whether there is an obstacle around the engineering vehicle and detect the distance between the obstacle and the engineering vehicle. Then, the ultrasonic probe, the camera, and the radar all have corresponding reference information under each standard operation scene of the engineering vehicle.

[0047] That is, the scene information library can be represented by an excel table, each row represents a standard operation scene of the engineering vehicle, each column represents a sensor type, and each cell at the intersection of each row and each column represents reference information, as shown in Table 1 below:

[0048] Table 1: Performance form of scene information library

[0049] Standard operating scenario 1 Standard operating scenario 2 Standard operating scenario 3 …… Detection device 1 Reference information 11 Reference information 12 Reference information 13 …… Detection device 2 …… …… …… …… Detection device 3 …… …… …… …… Detection device 4 Reference information 41 Reference information 42 Reference information 43 …… …… …… …… ……

[0050] Step S20: determining the actual operation scene of the engineering vehicle according to the operation information of the engineering vehicle;

[0051] Specifically, the operation information of the engineering vehicle includes the operation position information of the engineering vehicle, i.e., the positioning information of the engineering vehicle, which can be detected by a global positioning system (e.g., a GPS positioning system) installed on the engineering vehicle.

[0052] The operation information of the engineering vehicle also includes chassis control information of the engineering vehicle, such as gear information, steering information, etc.

[0053] Step S20 is to determine the actual operation scene of the engineering vehicle.

[0054] Step S30: determining the standard operation scene matched with the actual operation scene and the reference information of the detection device corresponding to the standard operation scene in the scene information library according to the actual operation scene of the engineering vehicle;

[0055] After the actual operation scene of the engineering vehicle is determined, the standard operation scene matched with the actual operation scene and the reference information of the detection device are searched in the scene information library according to the actual operation scene.

[0056] Step S40: regulating the detection device of the engineering vehicle according to the reference information of the detection device.

[0057] Specifically, when the reference information of the detection device includes reference position information of the detection device, the position of the detection device is regulated to the reference position information according to the reference position information of the detection device, so that the detection device can detect the surrounding environment information in the optimal position area with better detection conditions, thereby accurately perceiving the environment around the engineering vehicle. The reference position information generally refers to the angle of the detection device relative to a reference (e.g., the frame of the engineering vehicle).

[0058] For example, the detection device is installed on the engineering vehicle and is fixedly connected with a support, and the support is rotationally connected with a motor drive shaft of a driving motor. When the detection device is a camera, when the engineering vehicle runs from a straight line to an actual operation scene of a right-angle left turn, the included angle between the camera and a first reference on the engineering vehicle is α1; according to the right-angle left turn, the reference position information of the camera under the standard right-angle left turn operation scene is found in the scene information library, i.e., the included angle between the camera and the first reference is α2, then the motor drive shaft is regulated to rotate according to α2 and α1, so that the support is rotated by the motor drive shaft, thereby regulating the included angle between the camera and the first reference to α2, so that the camera area of the camera is changed from a first camera area Q1 to a second camera area Q2, as shown in Figure 2 , thereby accurately and effectively capturing the environment around the engineering vehicle, greatly improving the safety of the engineering vehicle.

[0059] The control method of the detection device provided in the application calibrates the detection area of the sensor required by the engineering vehicle in different operation scenarios and the parameters and / or positions of the sensor corresponding to the detection area, and then directly adjusts the position information and / or parameter information of the sensor according to the operation scenario when the engineering vehicle runs in the operation process according to the running information of the engineering vehicle to control the sensor, so that the engineering vehicle can adaptively adjust the detection area of the control sensor according to different operation scenarios to improve the multi-scene application performance of the sensor of the engineering vehicle, thereby improving the accuracy of automatic control of the engineering vehicle, and further improving the safety of automatic driving, while reducing the number of sensors and the calculation difficulty.

[0060] In an embodiment of the present application, as shown in FIG. 3, after step S30 (determining the standard operation scenario matched with the actual operation scenario and the reference information of the detection device corresponding to the standard operation scenario in the scenario information library according to the actual operation scenario of the engineering vehicle), the control method further comprises the following steps: Figure 2

[0061] Step S300: determining the first detection device required to be controlled by the engineering vehicle in the actual operation scenario according to the actual operation scenario of the engineering vehicle;

[0062] Since the engineering vehicle is installed with various detection devices, for example, the engineering vehicle is installed with an ultrasonic probe to detect the flatness of the road traveled by the engineering vehicle, a camera to shoot the surrounding environment image of the engineering vehicle in the running process, and a radar to detect whether there is an obstacle around the engineering vehicle and to detect the distance between the obstacle and the engineering vehicle. The engineering vehicle has corresponding information of the ultrasonic probe, the camera and the radar in each actual operation scenario. However, not all information of the detection device needs to be adjusted. For example, when the engineering vehicle is in the loading area scenario, the camera for shooting the surrounding environment image of the engineering vehicle does not need to be adjusted, but the information of the ultrasonic probe for detecting the flatness of the road traveled by the engineering vehicle needs to be adjusted.

[0063] For another example, when the engineering vehicle runs from a straight line to a right-angle left turn actual operation scenario, at this time, in order to accurately obtain the image information around the engineering vehicle, the information of the camera needs to be adjusted, and the ultrasonic probe does not need to be adjusted. At this time, the first detection device is the camera.

[0064] Therefore, the corresponding adjustment of the detection device that needs to be adjusted according to the difference of the actual operation scenario can accurately adjust the detection device that needs to be adjusted, improve the control efficiency, and reduce the complexity.

[0065] Step S301: searching for the reference information of the first detection device in the reference information of the detection device corresponding to the standard operation scenario according to the first detection device.​

[0066] According to the first detection device, the reference information of the first detection device is searched in the reference information.

[0067] For example, when the engineering vehicle is in the loading area scene, the first detection device that needs to be adjusted is the ultrasonic probe, and the reference information of the ultrasonic probe is searched in the reference information of the detection device corresponding to the standard operation scene of the loading area, without searching the reference information of the camera. At this time, the included angle between the ultrasonic probe and the first reference object on the engineering vehicle is β1; the searched reference position information of the ultrasonic probe is that the included angle between the ultrasonic probe and the first reference object is β2.

[0068] For another example: when the engineering vehicle is in the actual operation scene of running in a straight line to a right angle left turn, at this time, the included angle between the camera and the first reference object on the engineering vehicle is α1; the searched reference position information of the camera is that the included angle between the camera and the first reference object is α2.

[0069] At this time, the step S40 (controlling the detection device of the engineering vehicle according to the reference information of the detection device) specifically includes the following steps:

[0070] S401: controlling the first detection device according to the reference information of the first detection device.

[0071] For example, when the included angle between the ultrasonic probe and the first reference object is β2, the motor driving shaft is controlled to rotate according to β2 and β1, so that the motor driving shaft drives the bracket to rotate, thereby adjusting the included angle between the ultrasonic probe and the first reference object to β2, so that the height h2 of the detection area of the adjusted ultrasonic probe is higher than the height h1 of the detection area of the unadjusted ultrasonic probe, as shown in Figure 4 which is conducive to avoiding the situation that the ground unevenness or scrap steel residue affects the reversing out of position.

[0072] For another example: when the included angle between the camera and the first reference object is α2, the motor driving shaft is controlled to rotate according to α2 and α1, so that the motor driving shaft drives the bracket to rotate, thereby adjusting the included angle between the camera and the first reference object to α2, so that the camera area of the camera changes from the first camera area Q1 to the second camera area Q2, as shown in Figure 2 which is conducive to avoiding the situation that the ground unevenness or scrap steel residue affects the reversing out of position.

[0073] For example, reference information refers to the reference characteristic parameters of the detection device. In the adjustment process, the characteristic parameters of the detection device are adjusted. For example, when the detection device is a lidar, the detection area of ​​the lidar can be adjusted by adjusting the characteristic parameters of the lidar, such as the lidar's field of view, refresh rate, and resolution.

[0074] The field of view (FOV) of a lidar system includes the horizontal and vertical FOVs. The FOV is the range that the detection lines emitted by the lidar can cover.

[0075] Resolution refers to the angular interval between two adjacent detection points of a lidar system, and is divided into horizontal angular resolution and vertical angular resolution. The smaller the angular interval between adjacent detection points, the stronger the ability to resolve details of the target object.

[0076] The refresh rate refers to the scanning frequency of a LiDAR on a target object, usually expressed in frequency (Hz), which indicates how many times it scans per second.

[0077] In one possible implementation, such as Figure 5 As shown, the reference information of the detection device includes the reference position information of the detection device. Step S10 (building a scene information database) specifically includes the following steps:

[0078] Step S101: Based on the normal operating scenario of the engineering vehicle, calibrate the initial position information of the detection device corresponding to the normal operating scenario information;

[0079] The standard operating scenario is one in which the engineering vehicle travels in a straight line. The initial position information is the position information of each detection device (e.g., the angle between the detection device and the reference object) in this scenario.

[0080] Specifically, the initial position information of each detection device can be 0 in the operation scenario of the engineering vehicle driving in a straight line, for example, the angle between each detection device and the reference object is 0° or 90°, which facilitates the calculation of the angle that the motor driving shaft needs to rotate, thereby facilitating the adjustment of the angle between the detection device and the first reference object. For example, the engineering vehicle is provided with an ultrasonic probe for detecting the flatness of the road surface on which the engineering vehicle drives, a camera for shooting the surrounding environment image during the driving of the engineering vehicle, and a radar for detecting whether there is an obstacle around the engineering vehicle and detecting the distance between the obstacle and the engineering vehicle. In the operation scenario of the engineering vehicle driving in a straight line, the angle between the ultrasonic probe and the first reference object is 0°, the angle between the camera and the second reference object is 90°, and the angle between the radar and the third reference object is 90°. It should be noted that the reference object of each detection device can be determined according to the actual structure of the engineering vehicle, and the reference object of each detection device can be the same or different, for example, the first reference object, the second reference object and the third reference object can be the same or different.

[0081] Step S102: According to the standard operation scenario of the engineering vehicle and the preset requirement information, the initial position information of the detection device is adjusted to the position information of the detection device that meets the preset requirement information.

[0082] Specifically, the preset requirement information can be the requirement that needs to be met during the operation of the engineering vehicle. Since multiple engineering vehicles work in a standard operation scenario (for example, a loading area standard operation scenario), before the engineering vehicle works, one engineering vehicle is taken as a calibration engineering vehicle, and the reference position information of the detection device is calibrated in the loading area standard operation scenario.

[0083] Specifically, the calibration process can be:

[0084] (I) According to the preset requirement information of the user, the initial position information of the detection device is preliminarily adjusted to the preset position information;

[0085] (II) The detection device works at the preset position information to detect the surrounding environment of the engineering vehicle, and then according to the detection information detected by the detection device, the surrounding environment is pre-judged, and then according to the pre-judgment result, the operation of the engineering vehicle is controlled;

[0086] (III) According to the running state of the engineering vehicle, it is judged whether the position information of the detection device needs to be further adjusted. When it is not needed to be further adjusted, the calibration is ended. When it is needed to be further adjusted, the position information of the detection device is adjusted until the position information of the detection device meets the preset requirement information of the engineering vehicle, and the calibration is ended.

[0087] Step S103: calibrate the position information of the detection device meeting the preset requirement information as the reference position information of the detection device corresponding to the standard operation scene.

[0088] When the position information of the detection device is determined in step S102, the position information of the detection device meeting the preset requirement information is calibrated as the reference position information of the detection device corresponding to the standard operation scene.

[0089] It should be noted that under one standard operation scene, the detection device of the engineering vehicle can include multiple types or one type. Therefore, in the process of calibrating the reference position information of the detection device in steps S101-S103, the reference position information of all detection devices of the engineering vehicle under the standard operation scene should be calibrated.

[0090] In one possible implementation, the specific determination manner of determining the actual operation scene of the engineering vehicle can include but is not limited to the following four manners:

[0091] (1) As shown in FIG. 10, step S20 (determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle) specifically includes the following steps: Figure 6

[0092] Step S201: obtaining the running position information of the engineering vehicle;

[0093] The running position information of the engineering vehicle can be obtained by using a global positioning system, for example, the running position information of the engineering vehicle can be determined by using GPS.

[0094] Step S202: determining the actual operation scene of the engineering vehicle according to the running position information of the engineering vehicle.

[0095] The actual operation scene of the engineering vehicle can be determined according to the running position information of the engineering vehicle. For example, when the preset running route of the engineering vehicle is determined, when the running position information of the engineering vehicle is determined, the running position information can be compared with the preset running route, and the actual operation scene of the engineering vehicle can be determined. For example, when the engineering vehicle runs to the first running position, the first running position is found to be a T-junction requiring a left turn when the first running position is compared with the preset running route, and it is determined that the actual operation scene of the engineering vehicle is a T-junction left turn.

[0096] (2) As shown in FIG. 11, step S20 (determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle) specifically includes the following steps: Figure 7

[0097] Step S203: obtaining the chassis control information of the engineering vehicle;

[0098] ​​The chassis control information of the engineering vehicle includes but is not limited to gear, steering signal. For example, when the gear is forward gear and there is no steering signal, it is determined that the actual operation scene of the engineering vehicle is a straight running scene.

[0099] Step S204: determining the actual operation scene of the engineering vehicle according to the chassis control information of the engineering vehicle.

[0100] The actual operation scene of the engineering vehicle can be determined according to the chassis control information of the engineering vehicle. For example, when the gear is reverse gear, it is determined that the actual operation scene of the engineering vehicle is a reverse scene; for example, when the gear is forward gear and there is a steering signal, it is determined that the actual operation scene of the engineering vehicle is a turning scene.

[0101] (3) As shown in Figure 8 Step S20 (determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle) specifically includes the following steps:

[0102] Step S205: obtaining the chassis control information of the engineering vehicle;

[0103] Specifically, the chassis control information of the engineering vehicle includes but is not limited to gear and steering signal. For example, the chassis control information of the engineering vehicle is that the gear is forward gear and the steering signal is 0.

[0104] Step S206: obtaining the running position information of the engineering vehicle;

[0105] Specifically, the running position information of the engineering vehicle can be obtained by using a global positioning system, for example, the running position information of the engineering vehicle can be determined by using GPS.

[0106] Step S207: determining the actual operation scene of the engineering vehicle according to the running position information and the chassis control information of the engineering vehicle.

[0107] For example, when the chassis control information of the engineering vehicle is reverse gear information, and the running position information of the engineering vehicle is determined to be in the loading area, the actual operation scene of the engineering vehicle is determined to be loading area reverse unloading according to the reverse gear information and the running position information of the engineering vehicle.

[0108] The actual operation scene of the engineering vehicle is determined by combining the running position information and the chassis control information of the engineering vehicle, which increases the accuracy of determining the actual operation scene and improves the safety of the engineering vehicle.

[0109] (4) As shown in Figure 9 Step S20 (determining the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle) specifically includes the following steps:

[0110] Step S208: obtaining the running route information of the engineering vehicle;

[0111] Specifically, the operation route information of the engineering vehicle is an operation route of the engineering vehicle, and the operation route is known. For example, the operation route includes straight road information, T-junction information (left turn, right turn, and turn angle), crossroad information, parking lot information, gas station information, and the like.

[0112] Step S209: obtaining operation state information of the engineering vehicle;

[0113] Collectively, the operation state information of the engineering vehicle refers to state information in the operation process of the engineering vehicle, for example, straight state information of the engineering vehicle, turning state information (for example, left turn and left turn angle).

[0114] Step S2091: determining an actual operation scenario of the engineering vehicle according to the operation state information of the engineering vehicle and the operation route information of the engineering vehicle.

[0115] According to the operation state information of the engineering vehicle and the operation route information, the actual operation scenario of the engineering vehicle is determined, for example, when the operation state information of the engineering vehicle is: left turn and left turn angle is 45°, and the operation route information of the engineering vehicle includes: T-junction, left turn, and left turn angle is 20°-80°, the actual operation scenario of the engineering vehicle can be determined as: T-junction left turn according to the "left turn and left turn angle is 45°" of the engineering vehicle and the operation route information.

[0116] Exemplary device

[0117] As a second aspect of the present application, the present application also provides a controller of a detection device, as shown in the figure, the controller 10 of the detection device includes: Figure 10

[0118] An operation scenario determination module 100 is configured to determine an actual operation scenario of the engineering vehicle according to operation information of the engineering vehicle.

[0119] A reference information determination module 200 is configured to determine a standard operation scenario matched with the actual operation scenario and reference information of the detection device corresponding to the standard operation scenario in a scenario information library according to the actual operation scenario of the engineering vehicle, and the scenario information library includes the standard operation scenario and the reference information of the detection device corresponding to the standard operation scenario.

[0120] A regulation and control module 300 is configured to regulate and control the detection device of the engineering vehicle according to the reference information of the detection device.

[0121] The reference information of the detection device includes reference position information of the detection device and / or reference characteristic parameters of the detection device.

[0122] ​The controller of the detection device provided in the application calibrates the detection area of the sensor required by the engineering vehicle in different operation scenarios and the parameters and / or positions of the sensor corresponding to the detection area, and then directly adjusts and controls the position information and / or parameter information of the sensor according to the operation scenario to control the sensor when the engineering vehicle runs in the running process according to the running information of the engineering vehicle to determine the operation scenario in which the engineering vehicle is located, so that the engineering vehicle can adaptively adjust the detection area of the control sensor according to different operation scenarios to improve the multi-scene application performance of the sensor of the engineering vehicle, thereby improving the accuracy of automatic control of the engineering vehicle, and further improving the safety of automatic driving, while reducing the number of sensors and the calculation difficulty.

[0123] Exemplary system

[0124] As a third aspect of the application, the application also provides a regulation and control system of a detection device, as shown in the accompanying drawings, the regulation and control system comprises: Figure 11

[0125] The detection device 1 is installed on the engineering vehicle and is used to detect the surrounding environment of the engineering vehicle; for example, the detection device can be a sensor used to perceive the surrounding environment of the engineering vehicle. The sensor may, for example, be a camera that can take images of the surrounding environment during the driving process of the engineering vehicle. Also, for example, a radar is used to detect whether there are obstacles around the engineering vehicle and to detect the distance between the obstacles and the engineering vehicle. Also, for example, an ultrasonic probe is used to detect the road surface conditions of the engineering vehicle, such as detecting the flatness of the road surface by detecting whether there are pits, stones and the like on the road surface on which the engineering vehicle travels.

[0126] The bracket 2 is fixed on the bracket 2;

[0127] The positioning device 3 is used to detect the position information of the engineering vehicle; wherein the positioning device 3 can be a global satellite navigation system used to position the driving position of the engineering vehicle, i.e. to determine the position information of the engineering vehicle. The global satellite navigation system specifically includes but is not limited to a global positioning system (Global Positioning System, GPS), a Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS), and a Galileo satellite navigation system (Galileo satellite navigation system).

[0128] The chassis controller 4 is used to control the driving system of the chassis, and the chassis control information such as gear information and steering information can be obtained at the chassis controller 4.

[0129] ​The drive motor 5 has a motor drive shaft 51, and the bracket 2 is rotatably connected to the motor drive shaft 51.

[0130] The position detection module 6 is used to detect the position information of the detection device 1; specifically, the position detection module 6 can be a gyroscope in the position sensor, which is used to detect the angular velocity of the motor drive shaft relative to the bracket.

[0131] The controller 10 described above is communicatively connected to the drive motor 5, the positioning device 3, the chassis controller 4, and the position detection module 6.

[0132] Optionally, the position detection module 6 is integrated into the controller 10.

[0133] The controller 10 determines the actual operating scenario of the detection device based on the chassis control information in the chassis controller 4 and / or the position information of the engineering vehicle detected by the positioning device 2. Then, based on the actual operating scenario, it determines the reference position information corresponding to the actual operation and controls the drive motor 5 to rotate the motor drive shaft 51, thereby adjusting the angle between the detection device and the reference object. The rotation angle of the drive motor drive shaft 51 can be determined jointly based on the reference position information and the position information of the detection device detected by the position detection module 6.

[0134] Exemplary engineering vehicle

[0135] As a fourth aspect of this application, this application also provides an engineering vehicle, including: the control system described above.

[0136] Exemplary electronic device

[0137] Below, for reference Figure 12 This describes an electronic device according to embodiments of the present application. Figure 12 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application.

[0138] like Figure 12 As shown, the electronic device 600 includes one or more processors 601 and memory 602.

[0139] The processor 601 may be a central processing unit (CPU) or other form of processing unit with information processing and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0140] The memory 601 can include one or more computer program products that can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory, for example, can include random access memory (RAM), cache memory, and / or the like. The non-volatile memory, for example, can include read only memory (ROM), hard disk, flash memory, and / or the like. The computer-readable storage media can store one or more computer program instructions implementing the control method of the detection apparatus of various embodiments of the present application described above or other desired functions.

[0141] In one example, the electronic device 600 can further include an input device 603 and an output device 604, which are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0142] The input device 603 can include, for example, a keyboard, a mouse, and / or the like.

[0143] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network and a remote output device connected thereto, and / or the like.

[0144] Of course, in order to simplify, Figure 12 Only some of the components of the electronic device 600 related to the present application are shown in the figure, and components such as buses, input / output interfaces, and the like are omitted. In addition, the electronic device 600 can further include any other appropriate components according to specific application cases.

[0145] In addition to the above-described methods and devices, embodiments of the present application can also be computer program products including computer program information that, when executed by a processor, causes the processor to perform the steps in the control method of the detection apparatus according to various embodiments of the present application described in the specification.

[0146] The computer program product can be written in any combination of one or more programming languages, including object-oriented programming languages, such as Java, C++, and / or conventional procedural programming languages, such as "C" programming language or similar programming languages. The program code can be executed entirely on a user computing device, partially on a user device, as a separate software package, partially on a user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0147] In addition, an embodiment of the present application can also be a computer readable storage medium, having stored thereon computer program information, which, when executed by a processor, causes the processor to perform the steps of the control method of the detection device according to various embodiments of the present application.

[0148] The computer readable storage medium can be any combination of one or more computer readable medium(s). The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0149] The above describes the basic principles of the present application in combination with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present application are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present application. In addition, the above specific details are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present application to the above specific details.

[0150] The block diagrams of the devices, apparatuses, equipment, systems involved in the present application are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein mean the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein means the phrase "such as but not limited to", and can be used interchangeably.

[0151] It should also be noted that in the devices, equipment and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalent ways of the present application.

[0152] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0153] The above description is intended to be illustrative and not restrictive. Many other modifications within the scope of the application will be apparent to those skilled in the art upon reviewing the above description. The scope of the application should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, along with their full scope of equivalents.

Claims

1. A control method of a detection device mounted on a construction vehicle, characterized by, The control method comprises the following steps: constructing a scene information library, wherein the scene information library comprises standard operation scenes and reference information of detection devices corresponding to the standard operation scenes; determining an actual operation scene of the engineering vehicle according to operation information of the engineering vehicle, wherein the operation information of the engineering vehicle comprises operation position information and / or chassis control information of the engineering vehicle; determining a standard operation scene matched with the actual operation scene and reference information of detection devices corresponding to the standard operation scene in the scene information library according to the actual operation scene of the engineering vehicle; and adjusting the detection devices of the engineering vehicle according to the reference information of the detection devices; wherein the reference information of the detection devices comprises reference position information of the detection devices, and the reference position information refers to installation position information of the detection devices. The construction of the scene information library comprises the following steps: labeling initial position information of the detection devices corresponding to the regular operation scenes of the engineering vehicle; adjusting the detection devices according to the initial position information of the detection devices to position information of the detection devices meeting preset requirement information according to the standard operation scenes of the engineering vehicle and the preset requirement information; and labeling the position information of the detection devices meeting the preset requirement information as the reference position information of the detection devices corresponding to the standard operation scenes.

2. The control method according to claim 1, characterized by, After determining the standard operation scene matched with the actual operation scene and the reference information of the detection devices corresponding to the standard operation scene in the scene information library according to the actual operation scene of the engineering vehicle, the control method further comprises the following steps: determining a first detection device of the engineering vehicle that needs to be adjusted in the actual operation scene according to the actual operation scene of the engineering vehicle; finding reference information of the first detection device in the reference information of the detection devices corresponding to the standard operation scene according to the first detection device; wherein the adjusting of the detection devices of the engineering vehicle according to the reference information of the detection devices comprises the following steps: adjusting the first detection device according to the reference information of the first detection device.

3. The control method according to claim 2, characterized by, The determination of the actual operation scene of the engineering vehicle according to the operation information of the engineering vehicle comprises the following steps: obtaining operation position information of the engineering vehicle; determining the actual operation scene of the engineering vehicle according to the operation position information of the engineering vehicle.

4. The control method according to claim 2, characterized by, The determination of the actual operation scene of the engineering vehicle according to the operation information of the engineering vehicle comprises the following steps: obtaining chassis control information of the engineering vehicle; determining the actual operation scene of the engineering vehicle according to the chassis control information of the engineering vehicle.

5. The control method according to claim 2, characterized by, The determination of the actual operation scene of the engineering vehicle according to the operation information of the engineering vehicle comprises the following steps: obtaining chassis control information of the engineering vehicle; obtaining operation position information of the engineering vehicle; and determining the actual operation scene of the engineering vehicle according to the operation position information and the chassis control information of the engineering vehicle.

6. The control method according to claim 1, characterized by, The determination of the actual operation scene of the engineering vehicle according to the operation information of the engineering vehicle comprises the following steps: obtaining operation route information of the engineering vehicle; obtaining operation state information of the engineering vehicle; and The actual operation scene of the engineering vehicle is determined according to the running state information of the engineering vehicle and the running route information of the engineering vehicle.

7. A controller for a detection device mounted on a work vehicle, characterized by, Comprise: An operation scene determination module, configured to determine the actual operation scene of the engineering vehicle according to the running information of the engineering vehicle, wherein the running information of the engineering vehicle comprises running position information and / or site control information of the engineering vehicle; A reference information determination module, configured to determine, according to the actual operation scene of the engineering vehicle, a standard operation scene matched with the actual operation scene and reference information of a detection device corresponding to the standard operation scene in a scene information library, wherein the scene information library comprises standard operation scenes and reference information of detection devices corresponding to the standard operation scenes; and A regulation and control module, configured to regulate and control the detection device of the engineering vehicle according to the reference information of the detection device. Wherein, the reference information of the detection device comprises reference position information of the detection device, and the reference position information refers to installation position information of the detection device.

8. A regulating system for a detection device, characterized in that Comprise: A detection device; A bracket, wherein the detection device is fixed on the bracket; A positioning device, configured to detect position information of the engineering vehicle; A driving motor, wherein the bracket is rotationally connected to a motor driving shaft of the driving motor; A chassis controller; A position detection module, configured to detect position information of the detection device; and A controller according to claim 7. Wherein, the controller is in communication connection with the positioning device, the driving motor, the chassis controller and the position detection module respectively. Comprise:

9. An engineered vehicle characterized by, The regulation and control system according to claim 8. ​

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