Automatic driving device control method and driving device for crossing obstacles

Abstract

The present invention discloses a control method and a driving device for automatic driving equipment for crossing obstacles, wherein the automatic driving equipment comprises a chassis, a plurality of front and rear wheels arranged on the chassis, and two groups of lifting rods respectively installed at the front and rear parts of the chassis, each group of lifting rods being configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, firstly judging whether it is close to an area to be crossed according to map data or regional feature detection, if it is close to the area to be crossed, reducing the speed of the equipment at a first preset distance from the edge of the area to be crossed until it stops at a second preset distance from the edge of the area to be crossed; then identifying and obtaining the maximum height difference of the area to be crossed, if the maximum height of the area to be crossed is higher than a first preset value of the current position of the equipment, executing a first crossing mode, and finally, after monitoring that the equipment has completed the first crossing mode, driving the equipment to travel along a predetermined path to achieve the purpose of crossing the obstacle.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic obstacle crossing, and in particular to an automatic driving device control method and driving device for crossing obstacles. Background Art

[0002] With the development of science and technology, automatic driving equipment has gradually entered all aspects of human life. Its application scenarios are becoming more and more extensive and facing more and more complex situations that require obstacle crossing. For example, when hotels use service robots or factories use automatic guided vehicles for skip-level services, due to problems such as elevator sensor failure, overload or insufficient maintenance, the elevator car often stops inaccurately, resulting in a significant height difference between the inside and outside of the elevator car. In some places, in order to protect the elevator, a panel is placed at the bottom of the elevator to prevent the elevator from being crushed. This makes the elevator still have a height difference with the outside even when it is normally parked, making it difficult or impossible for the automatic driving equipment to enter, affecting its normal work; at the same time, when the automatic driving equipment shuttles in the shopping mall, the height of the wire protection cover and the ground lamp holder in the mall will also affect the forward movement of the equipment. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a control method for an automatic driving device for crossing obstacles, wherein the automatic driving device comprises a chassis, a plurality of front and rear wheels arranged on the chassis, and two sets of lifting rods respectively installed at the front and rear parts of the chassis, wherein each set of lifting rods is configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, and the control method for the automatic driving device comprises the following steps:

[0004] Determine whether the vehicle is close to the area to be crossed according to map data or regional feature detection, and if close to the area to be crossed, reduce the speed of the device at a first preset distance from the edge of the area to be crossed, until it stops at a second preset distance from the edge of the area to be crossed;

[0005] Identify and obtain the maximum height difference of the area to be crossed, if the maximum height of the area to be crossed is higher than a first preset value of the current position of the device, execute a first crossing mode, the first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the device when it is detected that the device is in a stuck state, after the first push rod group lifts the first wheel group to a first height, drive the device forward for a first target distance and then reset the first push rod group, after the second push rod group lifts the second wheel group to a second preset height, drive the device forward for a second target distance and then reset the second push rod group, the first wheel group is configured as a wheel group located in front of the device, the second wheel group is configured as a wheel group located behind the device, the first push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured to be located behind the second wheel group;

[0006] After detecting that the equipment has ended the first leapfrogging mode, the driving equipment travels along a predetermined path.

[0007] Preferably, the first crossing mode is specifically configured to include: controlling the device to travel toward the area to be crossed at a low speed, and when detecting that the device is in a stuck state, extending the first push rod group toward the ground to lift the first wheel group of the device to a first height; driving the device to travel a first target distance toward the area to be crossed and resetting the first push rod group; driving the device to continue traveling toward the area to be crossed at a low speed until the device is in a stuck state again, extending the second push rod group toward the ground to lift the second wheel group of the device to a second height; and resetting the second push rod group after the driving device travels the second target distance.

[0008] Preferably, when the automatic driving device uses an elevator to perform a floor-skipping service, the area to be crossed is the combined area of ​​the elevator car and the elevator room, and the automatic driving device control method also includes: judging whether it is close to the elevator door based on map data or area feature detection, if it is close to the elevator door, reducing the device speed at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, sending a first request to the elevator control module, and waiting for the elevator door to open after receiving a response to the request, the first request is configured to control the elevator car to move to the current floor and open the elevator door; after the elevator door is opened, identifying and obtaining the height difference between the bottom surface of the elevator car and the ground outside the elevator door, if the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, executing the first leaping mode; after monitoring that the device ends the first leaping mode, driving the device to enter the elevator car until the device as a whole enters the elevator car and stops running, and sending a second request to the elevator control module, the second request is configured to be a request sent to the elevator controller to drive the elevator car to the desired floor.

[0009] Preferably, after the elevator door is opened, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained. If the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, the first leaping mode is executed. Specifically, if the bottom surface of the elevator car is higher than the second preset value of the ground outside the elevator door, a calibration instruction is sent to the elevator room to make the elevator room automatically calibrate, and the calibration instruction is configured as a request sent to the elevator controller to drive the elevator car to run downward to the bottom and then return to the current floor. The maximum height difference of the elevator door after calibration is identified. If the maximum height of the elevator door is higher than the second preset value of the ground outside the elevator door, a release instruction is sent. Otherwise, it is determined whether the maximum height of the elevator door is higher than the first preset value of the ground outside the elevator door. If it is higher than the preset value, the first leaping mode is entered. If it is not higher, the device is driven away from the elevator room.

[0010] Preferably, it also includes: identifying the size of the elevator car, and if the size of the elevator car reaches the turning requirement of the device, driving the device to rotate a preset angle; after receiving the arrival command sent by the elevator control module and the elevator car door is opened, identifying and obtaining the height difference between the bottom surface of the elevator car and the floor of the elevator hall of the current stop floor, if the bottom surface of the elevator car is lower than a first preset value of the floor of the elevator hall of the current stop floor, entering the first crossing mode; after monitoring that the device has ended the first crossing mode, driving the device out of the elevator car.

[0011] Preferably, a second crossing mode is also included, and the automatic driving equipment control method specifically includes: judging whether it is close to the area to be crossed based on map data or area feature detection, if it is close to the area to be crossed, rotating the device to a preset angle, and reducing the device speed at a third preset distance from the edge of the area to be crossed, until it stops at a fourth preset distance from the edge of the area to be crossed; identifying and obtaining the maximum height difference of the area to be crossed, if the maximum height of the area to be crossed is lower than the first preset value of the current position of the device, executing the second crossing mode, the second crossing mode is configured to drive the device forward for a third target distance and reset the second push rod group after the second push rod group extends downward to the third height, and drive the device forward for a fourth target distance and reset the first push rod group after the first push rod group lifts the device to the fourth height; after monitoring that the device ends the second crossing mode, drive the device away from the area to be crossed.

[0012] The present invention also discloses a traveling device, comprising a vehicle controller, a chassis, a plurality of front and rear wheels arranged on the chassis, and two groups of lifting rods respectively installed at the front and rear parts of the chassis, each group of lifting rods being configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, the vehicle controller comprising an area detection module, a crossing control module and an area distance module, wherein the area approaching module is used to determine whether it is close to an area to be crossed based on map data or area feature detection, and if it is close to the area to be crossed, the device speed is reduced at a first preset distance from the edge of the area to be crossed, until it stops at a second preset distance from the edge of the area to be crossed; the area crossing module is used to identify and obtain the maximum height difference of the area to be crossed, and if the maximum height of the area to be crossed is higher than a first preset value of the current position of the device, the first crossing module is executed The first leaping mode is configured to, when it is detected that the device is in a stuck state, control the first push rod group or the second push rod group to extend toward the ground to lift the device, after the first push rod group lifts the first wheel group to the first height, drives the device forward for a first target distance and then resets the first push rod group, after the second push rod group lifts the second wheel group to the second preset height, drives the device forward for a second target distance and then resets the second push rod group, the first wheel group is configured as the wheel group located in front of the device, the second wheel group is configured as the wheel group located behind the device, the first push rod group is configured as the push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured to be located behind the second wheel group; an area away module is used to drive the device to travel along a predetermined path after monitoring that the device has completed the first leaping mode.

[0013] Preferably, the first crossing mode is specifically configured to include: controlling the device to travel toward the area to be crossed at a low speed, and when detecting that the device is in a stuck state, extending the first push rod group toward the ground to lift the first wheel group of the device to a first height; driving the device to travel a first target distance toward the area to be crossed and resetting the first push rod group; driving the device to continue traveling toward the area to be crossed at a low speed until the device is in a stuck state again, extending the second push rod group toward the ground to lift the second wheel group of the device to a second height; and resetting the second push rod group after the driving device travels the second target distance.

[0014] Preferably, when the automatic driving device uses an elevator to perform a floor-skipping service, the area to be crossed is the combined area of ​​the elevator car and the elevator room, and the automatic driving device control method further includes a detection module, a crossing module and an entry module, wherein the detection module is used to determine whether it is close to the elevator door according to map data or regional feature detection, and if it is close to the elevator door, the device speed is reduced at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, and a first request is sent to the elevator control module, and after receiving the request response, the elevator door is waited for to open, and the first request is configured to control the elevator car to move to the current floor and open the elevator door; the crossing module is used to identify and obtain the height difference between the bottom surface of the elevator car and the ground outside the elevator door after the elevator door is opened, and if the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, the first crossing mode is executed; the entry module is used to drive the device to enter the elevator car after monitoring that the device ends the first crossing mode until the device as a whole enters the elevator car and stops running, and send a second request to the elevator control module, and the second request is configured to be a request sent to the elevator controller to drive the elevator car to move to the required floor.

[0015] The present invention also discloses a vehicle control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any of the above-described automatic driving equipment control methods for crossing obstacles are implemented.

[0016] The present invention also discloses a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for controlling an automatic driving device for crossing an obstacle are implemented.

[0017] The present invention discloses an automatic driving equipment control method and driving equipment for crossing obstacles, wherein the automatic driving equipment comprises a chassis, multiple front and rear wheel groups arranged on the chassis, and two groups of lifting rods installed on the front and rear parts of the chassis, wherein the two groups of lifting rods can be extended toward the ground to lift the wheels in the same direction off the ground, and when the equipment identifies an area to be crossed, the speed is gradually reduced until it stops in front of the area to be crossed, and whether it is necessary to cross it is determined by identifying the maximum height difference of the area to be crossed, and if necessary, the first crossing mode is executed, and the two groups of lifting rods are respectively extended to lift the wheels of the equipment to a certain height, so that the equipment can pass the obstacle smoothly, wherein the first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the equipment when it is detected that the equipment is in a stuck state. In this way, obstacles can be avoided from blocking the forward distance of the equipment and hindering its normal operation, thereby improving the working efficiency of the equipment.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of the steps of a method for controlling an automatic driving device for crossing an obstacle disclosed in one embodiment of the present invention.

[0021] Figure 2 The present invention is a schematic structural diagram of an automatic driving device for crossing obstacles disclosed in one embodiment of the present invention.

[0022] Figure 3 This is a schematic structural diagram of an automatic driving device disclosed in another embodiment of the present invention, in which the front wheels are in a stuck state.

[0023] Figure 4 This is a schematic structural diagram of an automatic driving device disclosed in another embodiment of the present invention, in which the front lifting rod is extended so that the front wheels are located on the maximum slope of the area to be crossed.

[0024] Figure 5 This is a schematic structural diagram of an automatic driving device disclosed in another embodiment of the present invention, in which the rear wheels are in a stuck state.

[0025] Figure 6 A schematic diagram of the steps of a method for controlling an automatic driving device for crossing an obstacle disclosed in another embodiment of the present invention.

[0026] Figure 7 A schematic diagram of the steps of a method for controlling an automatic driving device for crossing an obstacle disclosed in another embodiment of the present invention.

[0027] Figure 8 A schematic diagram of the steps of an elevator calibration mode disclosed in another embodiment of the present invention.

[0028] Fig. 9 A schematic diagram of the steps for an automatic driving device to exit an elevator car according to another embodiment of the present invention.

[0029] Fig.10 This is a structural block diagram of a traveling device disclosed in another embodiment of the present invention.

[0030] Fig.11 The present invention is a structural block diagram of a vehicle control device disclosed in another embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0034] Unless otherwise defined, the technical or scientific terms used herein shall have the common meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantity limitation, but indicate the existence of at least one.

[0035] With the development of science and technology, automatic driving equipment has gradually entered all aspects of human life. Its application scenarios are becoming more and more extensive and facing more and more complex situations that require obstacle crossing. For example, when hotels use service robots or factories use automatic guided vehicles for skip-level services, due to problems such as elevator sensor failure, overload or insufficient maintenance, the elevator car often stops inaccurately, resulting in a significant height difference between the inside and outside of the elevator car. In some places, in order to protect the elevator, a panel is placed at the bottom of the elevator to prevent the elevator from being crushed. This makes the elevator still have a height difference with the outside even when it is normally parked, making it difficult or impossible for the automatic driving equipment to enter, affecting its normal work; at the same time, when the automatic driving equipment shuttles in the shopping mall, the height of the wire protection cover and the ground lamp holder in the mall will also affect the progress of the equipment.

[0036] Therefore, if the attached Figure 1 As shown, this embodiment discloses a control method for an automatic driving device for crossing an obstacle, wherein the automatic driving device includes a chassis, multiple front and rear groups of wheels arranged on the chassis, and two groups of lifting rods respectively installed at the front and rear parts of the chassis, each group of lifting rods is configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, including the following steps.

[0037] Step S11, judging whether the vehicle is close to the area to be crossed based on map data or regional feature detection, and if so, reducing the speed of the device at a first preset distance from the edge of the area to be crossed, until stopping at a second preset distance from the edge of the area to be crossed.

[0038] In this embodiment, the automatic driving device 1 is as shown in the attached Figure 2 As shown, it includes two camera devices, a front camera 2 and a rear camera 3, located at the front and rear ends of the device, a chassis 4, front wheels 5, rear wheels 6, and two groups of lifting rods, a front lifting rod 7 and a rear lifting rod 8, arranged on the chassis 4, a wireless communication module 9 for receiving external signals or 4G signals and a device control module 10 for controlling vehicle operation and data exchange, and a laser radar 11 for detecting the area to be crossed, wherein the front wheel is a guide wheel and the rear wheel is a driving wheel. The area to be crossed is the area where the automatic driving device needs to cross obstacles. The automatic driving device will first determine whether it is approaching the area to be crossed based on the map data pre-stored in the device or the characteristics of the area to be crossed, such as the unique shape of the elevator control button or depression, wires and other areas. If it is close to the area to be crossed, it will be ready to slow down and stop to cross the obstacle.

[0039] Step S12, identifying and obtaining the maximum height difference of the area to be crossed. If the maximum height of the area to be crossed is higher than a first preset value of the current position of the device, a first crossing mode is executed. The first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the device when it is detected that the device is in a stuck state. After the first push rod group lifts the first wheel group to a first height, the device is driven forward for a first target distance and then reset the first push rod group. After the second push rod group lifts the second wheel group to a second preset height, the device is driven forward for a second target distance and then reset the second push rod group. The first wheel group is configured as a wheel group located in front of the device, and the second wheel group is configured as a wheel group located behind the device. The first push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured as a push rod group located behind the second wheel group.

[0040] Specifically, the first preset value is related to the wheels of the equipment and is usually configured as the lowest height at which the equipment cannot successfully cross the area to be crossed. At this time, the two built-in sets of lifting rods can be deployed to lift the front and rear wheels of the equipment in turn to overcome the obstacle. When the height difference of the area to be crossed is too high, there is a situation where the two sets of lifting rods cannot be deployed and the obstacle cannot be overcome. Then the corresponding step S2 also includes: if the maximum height of the area to be crossed is higher than the first edge value of the current equipment, a command that cannot be crossed is sent.

[0041] Among them, the first crossing mode is specifically configured as follows: controlling the device to travel toward the area to be crossed at a low speed, and when detecting that the device is in a stuck state, extending the first push rod group toward the ground to lift the first wheel group of the device to a first height; driving the device to travel the first target distance toward the area to be crossed and then resetting the first push rod group; after resetting the first push rod group, driving the device to continue traveling toward the area to be crossed at a low speed until the device is in a stuck state again, extending the second push rod group toward the ground to lift the second wheel group of the device to a second height; and resetting the second push rod group after driving the device to travel the second target distance.

[0042] Specifically, when the device is executing the first crossing mode, the front and rear wheels are judged by the stuck state whether they are close to the area to be crossed, and the device is lifted when they are close to the area to be crossed, the first height is configured as the maximum height difference of the area to be crossed + the first wheel radius, and the second height is configured as the maximum height difference of the area to be crossed + the second wheel radius. The push rod group can be extended when the device is in a stationary state, or the device can be controlled to move forward at a low speed while the push rod group is extended.

[0043] In a specific embodiment, as shown in the attached Figure 3-5As shown in the figure, before the device reaches the area to be crossed, it slows down to a lower speed and moves forward slowly. During the process of moving forward, the wheel speed fed back by the device is monitored. When the device is detected to be stuck, it is determined that the device has stopped. Figure 3 At this time, stop driving the equipment and control the front lifting rod to descend until the equipment is in Figure 4 The device enters a forward tilt state. In this state, the device continues to move forward at a certain speed for a distance S1. The value of the distance S1 is equal to the radius of the front wheel. This ensures that when the front wheel of the device is lowered, it is at the maximum slope of the area to be crossed, thus avoiding the failure of the device to cross. At this time, the device stops moving forward, retracts the front lifting rod to place the front wheel of the device on the ground, and then controls the operation of the rear wheel to make the front wheel of the device cross the area to be crossed, and continues to move forward at a certain speed. At the same time, the wheel speed fed back by the device is monitored. When the device is monitored to be stuck again, the rear wheel of the device has entered the overcut state. At this time, the device continues to send the forward speed, so that the rear wheel is close to the edge of the area to be crossed, monitors the displacement of the current device, and slowly lowers the rear lifting rod. In this state, in order to ensure that the driving wheel can climb up, it is necessary to ensure that the height of the device lifted by the rear lifting rod is higher than the maximum height difference of the area to be crossed. At the same time, in order to prevent the wheel from slipping, the maximum telescopic amount of the lifting rod is preferably less than 1.5 times the diameter of the rear wheel and the height of the rear wheel from the ground is not higher than half the distance of the rear wheel diameter. At this time, the control device moves forward by a distance S2, which is half the diameter of the rear wheel, to ensure that the rear wheel is on the maximum slope of the area to be crossed. Then, the vehicle stops moving, the rear push rod is retracted, the drive wheel works, and the vehicle enters the elevator.

[0044] Step S13: after monitoring that the device ends the first leapfrogging mode, the device is driven to travel along a predetermined path.

[0045] In another embodiment, when the area to be crossed is a recessed area, as shown in the attached Figure 6 As shown, the method also includes the following steps.

[0046] Step S21, judging whether it is close to the area to be crossed based on map data or area feature detection, if it is close to the area to be crossed, rotating the device to a preset angle, and reducing the device speed at a third preset distance from the edge of the area to be crossed, until it stops at a fourth preset distance from the edge of the area to be crossed.

[0047] Specifically, when the area to be crossed is a sunken area, forcing through it may cause damage to the wheels of the equipment, or imbalance of the equipment, resulting in collision and collapse of the internal load. Therefore, it is also necessary to extend two sets of lifting rods to smoothly pass the pit. At this time, the equipment will cross the area to be crossed in reverse mode, and there is no order of reverse and driving. Then, step S21 also includes: judging whether it is close to the area to be crossed according to map data or regional feature detection, if it is close to the area to be crossed, reducing the speed of the equipment at the third preset distance from the edge of the area to be crossed, until it stops at the fourth preset distance from the edge of the area to be crossed, and rotating the equipment to a preset angle.

[0048] Step S22, identify and obtain the maximum height difference of the area to be crossed. If the maximum height of the area to be crossed is lower than the first preset value of the current position of the device, execute the second crossing mode. The second crossing mode is configured to drive the device forward for a third target distance and reset the second push rod group after the second push rod group extends downward to a third height, and drive the device forward for a fourth target distance and reset the first push rod group after the first push rod group lifts the device to a fourth height.

[0049] Specifically, the first target distance is configured to be no less than the second wheel radius, the second target distance is configured to be no less than the first wheel radius, the third height is configured to be the maximum height difference of the area to be crossed + the second wheel radius, and the fourth height is configured to be the maximum height difference of the area to be crossed + the first wheel radius.

[0050] In this embodiment, the second crossing mode is specifically configured as follows: the control device is driven to travel toward the area to be crossed at a low speed, and when it is detected that the distance between the first wheel group of the device and the area to be crossed is less than a first threshold, the second push rod group is extended toward the ground to a third height; the drive device is driven to travel a third target distance toward the area to be crossed and the second push rod group is reset after the driving is completed; the drive device continues to travel toward the area to be crossed at a low speed until the distance between the first wheel group and the area to be crossed is less than a second threshold, and the first push rod group is extended toward the ground to a fourth height; the drive device is driven to travel the fourth target distance and the first push rod group is reset after the driving is completed.

[0051] Specifically, through the second crossing mode, the equipment can smoothly cross areas such as sand pits and steps where the forward direction suddenly drops, avoiding equipment bumps or equipment rollovers caused by sudden height reduction, improving equipment stability and the safety of cargo transportation, and extending the service life of some parts of the equipment.

[0052] Step S23: after monitoring that the device ends the second crossing mode, driving the device away from the area to be crossed.

[0053] In another embodiment, as shown in the attached Figure 7As shown, when the automatic driving device uses the elevator to perform a jump-floor service, the area to be crossed is the combined area of ​​the elevator car and the elevator room. The method specifically also includes the following contents.

[0054] Step S31, determine whether it is close to the elevator door based on map data or area feature detection. If it is close to the elevator door, reduce the device speed at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, send a first request to the elevator control module, and wait for the elevator door to open after receiving a response to the request. The first request is configured to control the elevator car to move to the current floor and open the elevator door.

[0055] In this embodiment, the device uses a laser module to identify the elevator area in a laser navigation manner and sends a use request to the elevator controller through a wireless communication module after reaching the elevator door, waiting for the elevator car to stop at the current floor. After receiving the use request sent by the device, the elevator controller controls the elevator car to stop at the current floor of the device and opens the elevator door.

[0056] Step S32, after the elevator door is opened, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained, and if the bottom surface of the elevator car is higher than a first preset value of the ground outside the elevator door, the first crossing mode is executed.

[0057] Specifically, after the elevator door is opened, the device uses a laser module to scan whether the conditions inside the elevator car support the entry of the device. If the conditions inside the elevator car do not support the entry of the device, a request command to release the elevator is sent to the elevator controller through the wireless communication module. At this time, the device gives up entering the elevator. After receiving the release command, the elevator controller executes other related commands, which specifically include the following steps.

[0058] Step S101, after the elevator door is opened, the interior space of the elevator car is scanned. When there is unoccupied space inside the elevator car that is larger than the current size of the device, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained. If the bottom surface of the elevator car is higher than a first preset value of the ground outside the elevator door, the first leaping mode is executed.

[0059] Step S102: If there is no unoccupied space inside the elevator car that is larger than the current size of the device, a release signal is sent to the elevator control module, and after the elevator door is closed, the first request is repeatedly sent to the elevator control module, waiting for the elevator door to open.

[0060] Specifically, before scanning and judging the height of the combined area of ​​the elevator car and the elevator room, the internal status of the elevator is scanned in advance to determine whether there is an overcrowded crowd inside the current elevator car. If there are too many people inside the elevator, the device directly releases the elevator and waits for the elevator to deliver this round of passengers to the destination floor before entering again, so as to avoid unnecessary waste of computing resources of the equipment and improve the working efficiency of the equipment.

[0061] Furthermore, if the device also includes a voice module, when the unoccupied space inside the elevator car is smaller than the current size of the device, whether the elevator can be entered can be further judged according to the crowd density inside the elevator, and the step S322 also includes:

[0062] If there is no unoccupied space inside the elevator car that is larger than the current size of the device, the ratio of the occupied area to the unoccupied area of ​​the current elevator car internal space is calculated. If the ratio is greater than the preset value, a release signal is sent to the elevator. Otherwise, a prompt message is sent through the voice module, and the internal space of the elevator car is re-scanned after a preset time period. If after the rescan, there is still no unoccupied space inside the elevator car that is larger than the current size of the device, a release command is sent, otherwise, subsequent operations are performed.

[0063] At this time, when the elevator car is crowded, the elevator determines based on the crowd density whether an area supporting entry can be formed if the people inside the elevator move appropriately. If the judgment result is yes, a voice broadcast is sent to the people inside the elevator through the voice module to prompt people to move to form an accessible area for them, so as to further reduce the possibility of equipment waiting, reduce equipment waiting time, and improve equipment working efficiency.

[0064] If the current elevator interior has conditions that support the entry of the device, the camera will be used to scan and detect the height difference between the bottom surface of the elevator car and the ground outside the elevator door. When it is detected that the height difference exceeds the passable height of the device in normal mode and crossing mode, the wireless communication module will send a calibration instruction to the elevator controller. After receiving the calibration instruction, the elevator controller controls the elevator car to move to the bottom of the elevator and then run to the current floor of the device, and open the elevator door. The device will use the camera to detect the height difference between the bottom surface of the elevator car and the ground outside the elevator door again; if it is detected that the device can pass the height difference in normal mode, it will directly enter the elevator; if it is detected that the height difference poses a certain obstacle for the device to cross but can be crossed through the crossing mode of the device, the first crossing mode will be entered to cross the combined area of ​​the elevator car and the elevator room. Among them, the calibration mode is as shown in the attached figure. Figure 8 As shown, the specific contents include the following.

[0065] Step S201, if the bottom surface of the elevator car is higher than the second preset value of the ground outside the elevator door, a calibration instruction is sent to the elevator to enable the elevator to perform automatic calibration. The calibration instruction is configured as a request sent to the elevator controller to drive the elevator car to run downward to the bottom and then return to the current floor.

[0066] Step S202, identifying the height difference between the bottom surface of the elevator car and the ground outside the elevator door after calibration, and sending a release command if the bottom surface of the elevator car is still higher than the second preset value of the ground outside the elevator door; otherwise, determining whether the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door; if it is higher than the preset value, entering the first leaping mode; if not, driving the device away from the elevator.

[0067] Specifically, when the bottom surface of the elevator car is too high, it is calibrated through the calibration mode to avoid the impact of accidental errors caused by non-system reasons of the elevator on the equipment entering the elevator, thereby increasing the possibility of the equipment crossing obstacles.

[0068] Step S33, after monitoring that the device has ended the first leap mode, the device is driven into the elevator car until the entire device enters the elevator car and then stops running, and a second request is sent to the elevator control module, where the second request is configured as a request sent to the elevator controller to drive the elevator car to move to the desired floor.

[0069] Specifically, after entering the elevator, the device sends a request instruction to release the elevator and run to the required floor to the elevator controller through the wireless communication module. After receiving the request instruction, the elevator moves the elevator car to the required floor.

[0070] In this embodiment, as shown in the attached Fig. 9 As shown, after the device enters the elevator car, its exit from the elevator car specifically includes the following contents.

[0071] Step S41, identifying the size of the elevator car, if the size of the elevator car meets the turning requirement of the device, driving the device to rotate by a preset angle. Specifically, the turning requirement is configured as the width of the elevator car is greater than the length of the device.

[0072] Furthermore, if the size of the elevator car reaches the turning requirement of the equipment and there are too many people in the current elevator, the step S41 also includes the following content.

[0073] Step S411, scan the internal space of the elevator car to obtain the total value of the unoccupied area of ​​the current elevator car internal space. If the total value of the unoccupied area of ​​the current elevator car internal space is not less than the preset value, drive the device to rotate the preset angle after the elevator door is opened; if the total value of the unoccupied area of ​​the elevator car internal space is less than the preset value, determine whether the elevator control module arrival instruction is received when the elevator car door is opened.

[0074] Step S412, if not received, wait for the elevator car door to close and re-scan the interior space of the elevator car and repeat step S411 until the device receives the elevator arrival instruction or detects that the total value of the unoccupied area of ​​the current elevator car interior space is not less than the preset value and stops after rotation.

[0075] Specifically, after the elevator door opens, there is crowd flow in the elevator car, and the position and density of the crowd inside are redistributed. When the interior of the elevator car is currently too crowded and the equipment cannot turn around, the internal space of the elevator car can be re-scanned after the crowd flow inside the elevator car is stabilized to improve equipment efficiency.

[0076] Step S42, after receiving the arrival instruction sent by the elevator control module and the elevator car door is opened, identify and obtain the height difference between the bottom surface of the elevator car and the floor of the elevator hall of the current stop floor. If the bottom surface of the elevator car is lower than the first preset value of the floor of the elevator hall of the current stop floor, enter the first crossing mode.

[0077] Step S43: after monitoring that the device ends the first leaping mode, drive the device out of the elevator car.

[0078] Specifically, the elevator is a closed area, and the equipment may also encounter a height difference between the inside and outside of the elevator car and be unable to cross it when it drives out of the elevator car. By combining the turn command and the first crossing mode, the possibility of the equipment being unable to drive out of the elevator normally is avoided to a certain extent, thereby improving the automation and intelligence level of the equipment.

[0079] In another embodiment, when the device enters the elevator car, the floor inside the elevator car may be lower than the floor outside the elevator door, and the following steps are also included.

[0080] Step S51, determine whether it is close to the elevator door based on map data or area feature detection. If it is close to the elevator door, reduce the speed of the device at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, send a first request to the elevator control module, and wait for the elevator door to open after receiving a response to the request. The first request is configured to control the elevator car to move to the current floor and open the elevator door.

[0081] Step S52, after the elevator door is opened, identify and obtain the height difference between the bottom surface of the elevator car and the ground outside the elevator door. If the bottom surface of the elevator car is higher than a first preset value of the ground outside the elevator door, rotate the device to a preset angle and execute the second crossing mode.

[0082] Step S53, after monitoring that the device has completed the second leap mode, the device is driven into the elevator car until the entire device enters the elevator car and then stops running, and a second request is sent to the elevator control module, where the second request is configured to control the elevator car to move to the desired floor.

[0083] Specifically, when the height of the elevator car is relatively low, the device smoothly enters the elevator car by combining the second crossing mode, thereby minimizing the possibility of the device being bumped or rolled over, and improving the task completion and efficiency of the device.

[0084] The present invention discloses a control method, system and storage medium for an automatic driving device for crossing obstacles. The automatic driving device includes two sets of lifting rods installed at the front and rear parts of the chassis. After the device identifies and approaches an area to be crossed, it enters a first crossing mode and lifts the wheels of the device to a certain height by extending the two sets of lifting rods respectively, thereby crossing the obstacle, so that the device can pass through the obstacle area smoothly, avoid obstacles blocking the normal operation of the device, and improve the working efficiency of the equipment.

[0085] In another embodiment, as shown in the attached Fig.10 As shown, a driving device is also disclosed, including a vehicle controller, a chassis, a plurality of front and rear wheels arranged on the chassis, and two sets of lifting rods respectively installed at the front and rear parts of the chassis, each set of lifting rods being configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, and the vehicle controller includes an area detection module 1, a crossing control module 2, and an area distance module 3. The area detection module 1 is used to determine whether it is close to the area to be crossed according to map data or area feature detection, and if it is close to the area to be crossed, the device speed is reduced at a first preset distance from the edge of the area to be crossed, until it stops at a second preset distance from the edge of the area to be crossed. The crossing control module 2 is used to identify and obtain the maximum height difference of the area to be crossed. If the maximum height of the area to be crossed is higher than the first preset value of the current position of the device, the first crossing mode is executed. The first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the device when the device is detected to be in a stuck state. After the first push rod group lifts the first wheel group to the first height, the device is driven forward to travel the first target distance and then reset the first push rod group. After the second push rod group lifts the second wheel group to the second preset height, the device is driven forward to travel the second target distance and then reset the second push rod group. The first wheel group is configured as a wheel group located in front of the device, and the second wheel group is configured as a wheel group located behind the device. The first push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured to be located behind the second wheel group. The area is away from the module 3, which is used to drive the device to travel along a predetermined path after monitoring that the device ends the first crossing mode.

[0086] In this embodiment, the first crossing mode is specifically configured to include: controlling the device to travel toward the area to be crossed at a low speed, and when detecting that the device is in a stuck state, extending the first push rod group toward the ground to lift the first wheel group of the device to a first height; driving the device to travel a first target distance toward the area to be crossed and resetting the first push rod group; driving the device to continue traveling toward the area to be crossed at a low speed until the device is in a stuck state again, extending the second push rod group toward the ground to lift the second wheel group of the device to a second height; and resetting the second push rod group after the driving device travels the second target distance.

[0087] In this embodiment, when the automatic driving device uses an elevator to perform a floor-skipping service, the device further includes a detection module, a crossing module, and an entry module. The detection module is used to determine whether it is close to the elevator door according to map data or regional feature detection. If it is close to the elevator door, the device speed is reduced at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, and a first request is sent to the elevator control module, and after receiving the request response, the elevator door is waited for to open. The first request is configured to control the elevator car to move to the current floor and open the elevator door. The crossing module is used to identify and obtain the height difference between the bottom surface of the elevator car and the ground outside the elevator door after the elevator door is opened. If the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, the first crossing mode is executed. The entry module is used to drive the device to enter the elevator car after monitoring that the device ends the first crossing mode until the device as a whole enters the elevator car and stops running, and sends a second request to the elevator control module. The second request is configured to send a request to the elevator controller to drive the elevator car to move to the required floor.

[0088] In other embodiments, as shown in the attached Figure 7 As shown, a vehicle control device is also provided, including a memory 404, a processor 403, and a computer program stored in the memory 404 and executable on the processor 403, wherein the processor 403 implements the various steps of the automatic driving device control method for crossing obstacles as described in the above embodiments when executing the computer program. The server may include, but is not limited to, a processor and a memory. It can be understood by those skilled in the art that the schematic diagram is only an example of a server and does not constitute a limitation on the server, and may include more or fewer components than shown in the figure, or a combination of certain components, or different components.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0090] In conclusion, the above is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A control method for an automatic driving device for crossing an obstacle, characterized in that: The automatic driving device comprises a chassis, a plurality of front and rear wheels arranged on the chassis, and two sets of lifting rods respectively installed at the front and rear parts of the chassis, each set of lifting rods being configured to be able to extend toward the ground to lift the wheels in the same direction off the ground, and the automatic driving device control method comprises the following steps: Determine whether the vehicle is close to the area to be crossed according to map data or regional feature detection, and if close to the area to be crossed, reduce the speed of the device at a first preset distance from the edge of the area to be crossed, until it stops at a second preset distance from the edge of the area to be crossed; Identify and obtain the maximum height difference of the area to be crossed, if the maximum height of the area to be crossed is higher than a first preset value of the current position of the device, execute a first crossing mode, the first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the device when it is detected that the device is in a stuck state, after the first push rod group lifts the first wheel group to a first height, drive the device forward for a first target distance and then reset the first push rod group, after the second push rod group lifts the second wheel group to a second preset height, drive the device forward for a second target distance and then reset the second push rod group, the first wheel group is configured as a wheel group located in front of the device, the second wheel group is configured as a wheel group located behind the device, the first push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured to be located behind the second wheel group; The area to be crossed is the combined area of ​​the elevator car and the elevator room; after the elevator door is opened, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained, and if the bottom surface of the elevator car is higher than the ground outside the elevator door by a first preset value, the first crossing mode is executed, specifically including: If the bottom surface of the elevator car is higher than a second preset value of the ground outside the elevator door, a calibration instruction is sent to the elevator to enable the elevator to perform automatic calibration, wherein the calibration instruction is configured as a request sent to the elevator controller to drive the elevator car to run downward to the bottom and then return to the current floor; Identify the height difference between the bottom surface of the elevator car and the ground outside the elevator door after calibration. If the bottom surface of the elevator car is still higher than the second preset value of the ground outside the elevator door, send a release command. Otherwise, determine whether the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door. If it is higher than the preset value, enter the first crossing mode. If not, drive the device away from the elevator. After monitoring that the device ends the first crossing mode, drive the device to travel along a predetermined path.

2. The method for controlling an automatic driving device for crossing an obstacle according to claim 1, characterized in that: The first leap mode is specifically configured to include: Control the device to travel at a low speed toward the area to be crossed, and when detecting that the device is in a stuck state, extend the first push rod group toward the ground to lift the first wheel group of the device to a first height; The driving device resets the first push rod group after traveling a first target distance to the area to be crossed; The driving device continues to travel toward the area to be crossed at a low speed until the device is in a stuck state again, and the second push rod group is extended toward the ground to lift the second wheel group of the device to a second height; The driving device resets the second push rod group after traveling the second target distance.

3. The method for controlling an automatic driving device for crossing an obstacle according to claim 2, characterized in that: When the automatic driving device uses the elevator to perform a leap-floor service, the automatic driving device control method further includes: Determine whether the vehicle is close to an elevator door based on map data or regional feature detection, and if so, reduce the speed of the device at a first preset distance from the elevator door until it stops at a second preset distance from the elevator door, send a first request to the elevator control module, and wait for the elevator door to open after receiving a response to the request, wherein the first request is configured to control the elevator car to move to the current floor and open the elevator door; After the elevator door is opened, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained, and if the bottom surface of the elevator car is higher than a first preset value of the ground outside the elevator door, a first leaping mode is executed; After monitoring that the device has ended the first leap mode, the device is driven into the elevator car until the entire device enters the elevator car and then stops running, and a second request is sent to the elevator control module, where the second request is configured as a request sent to the elevator controller to drive the elevator car to move to the desired floor.

4. The method for controlling an automatic driving device for crossing an obstacle according to claim 3, characterized in that: Also includes: Identify the size of the elevator car, and if the size of the elevator car meets the turning requirement of the device, drive the device to rotate to a preset angle; After receiving the arrival command sent by the elevator control module and the elevator car door is opened, identifying and obtaining the height difference between the bottom surface of the elevator car and the floor of the elevator hall of the current stop floor, if the bottom surface of the elevator car is lower than a first preset value of the floor of the elevator hall of the current stop floor, entering the first leaping mode; After detecting that the device has ended the first leaping mode, the device is driven out of the elevator car.

5. The method for controlling an automatic driving device for crossing an obstacle according to claim 4, characterized in that: Also including a second leaping mode, the automatic driving equipment control method specifically includes: Determine whether the vehicle is close to the area to be crossed according to map data or regional feature detection. If the vehicle is close to the area to be crossed, rotate the device to a preset angle and reduce the speed of the device at a third preset distance from the edge of the area to be crossed, until the vehicle stops at a fourth preset distance from the edge of the area to be crossed; Identify and obtain the maximum height difference of the area to be crossed, if the maximum height of the area to be crossed is lower than the first preset value of the current position of the device, execute the second crossing mode, the second crossing mode is configured to drive the device forward for a third target distance and reset the second pushing rod group after the second pushing rod group extends downward to a third height, and drive the device forward for a fourth target distance and reset the first pushing rod group after the first pushing rod group lifts the device to a fourth height; After detecting that the device has ended the second crossing mode, the device is driven away from the area to be crossed.

6. A traveling device, characterized in that: The vehicle controller includes a chassis, a plurality of front and rear wheels arranged on the chassis, and two sets of lifting rods respectively installed at the front and rear parts of the chassis, each set of lifting rods being configured to be able to extend toward the ground to lift the wheels in the same direction off the ground. The vehicle controller includes: an area detection module, used to determine whether the vehicle is close to the area to be crossed according to map data or area feature detection, and if close to the area to be crossed, reduce the speed of the device at a first preset distance from the edge of the area to be crossed, until the vehicle stops at a second preset distance from the edge of the area to be crossed; A crossing control module is used to identify and obtain the maximum height difference of the area to be crossed. If the maximum height of the area to be crossed is higher than a first preset value of the current position of the device, a first crossing mode is executed. The first crossing mode is configured to control the first push rod group or the second push rod group to extend toward the ground to lift the device when it is detected that the device is in a stuck state. After the first push rod group lifts the first wheel group to a first height, the device is driven forward for a first target distance and then reset the first push rod group. After the second push rod group lifts the second wheel group to a second preset height, the device is driven forward for a second target distance and then reset the second push rod group. The first wheel group is configured as a wheel group located in front of the device, and the second wheel group is configured as a wheel group located behind the device. The first push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group, and the second push rod group is configured as a push rod group located between the first wheel group and the second wheel group and close to the first wheel group. behind the second wheel group; wherein the area to be crossed is the combined area of ​​the elevator car and the elevator room; after the elevator door is opened, the height difference between the bottom surface of the elevator car and the ground outside the elevator door is identified and obtained; if the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, the first crossing mode is executed; if the bottom surface of the elevator car is higher than the second preset value of the ground outside the elevator door, a calibration instruction is sent to the elevator to make the elevator automatically calibrate, and the calibration instruction is configured to be sent to the elevator controller to drive the elevator car to run downward to the bottom and then return to the current floor request; identify the height difference between the bottom surface of the elevator car and the ground outside the elevator door after calibration, if the bottom surface of the elevator car is still higher than the second preset value of the ground outside the elevator door, a release instruction is sent, otherwise it is determined whether the bottom surface of the elevator car is higher than the first preset value of the ground outside the elevator door, if it is higher than the preset value, the first crossing mode is entered, and if it is not higher, the device is driven away from the elevator; The area departure module is used to drive the device to travel along a predetermined path after detecting that the device has ended the first leaping mode.

7. The traveling device according to claim 6, characterized in that: The first leap mode is specifically configured to include: The control device is driven to travel toward the area to be crossed at a low speed, and when it is detected that the device is in a stuck state, the first push rod group is extended toward the ground to lift the first wheel group of the device to a first height; the driving device is reset after traveling a first target distance toward the area to be crossed; the driving device continues to travel toward the area to be crossed at a low speed until the device is in a stuck state again, and the second push rod group is extended toward the ground to lift the second wheel group of the device to a second height; the driving device is reset after traveling a second target distance.

8. The traveling device according to claim 7, characterized in that: The area to be crossed is the combined area of ​​the elevator car and the elevator room. When the automatic driving device uses the elevator to perform a leap-floor service, the driving device further includes: a detection module, configured to determine whether the vehicle is close to an elevator door based on map data or regional feature detection, and if so, to reduce the speed of the device at a first preset distance from the elevator door, until the device stops at a second preset distance from the elevator door, send a first request to the elevator control module, and wait for the elevator door to open after receiving a response to the request, wherein the first request is configured to control the elevator car to move to the current floor and open the elevator door; A crossing module, used for identifying and obtaining the height difference between the bottom surface of the elevator car and the ground outside the elevator door after the elevator door is opened, and executing a first crossing mode if the bottom surface of the elevator car is higher than a first preset value of the ground outside the elevator door; The entry module is used to drive the device into the elevator car after monitoring that the device has ended the first crossing mode until the device as a whole enters the elevator car and stops running, and sends a second request to the elevator control module, wherein the second request is configured as a request sent to the elevator controller to drive the elevator car to move to the required floor.

9. A vehicle control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

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