Vehicle position obtaining method and system capable of reducing walking accumulated error

Abstract

The invention discloses a vehicle position obtaining method and system capable of reducing accumulated walking errors, and the method comprises the steps: receiving first detection information and second detection information sent by a vehicle posture detection module, the first detection information being driving data information when a vehicle signal is lost, and the second detection information being driving data information when the vehicle signal is lost; the second detection information is driving data information when the vehicle signal is recovered; calculating an error signal [delta] L based on the first detection information and the second detection information; judging the vehicle state in the process from the loss of the vehicle signal to the recovery of the vehicle signal by using the error signal delta L; acquiring the actual position of the vehicle based on the vehicle state, the error signal delta L, the first detection information and the second detection information; the problem that the vehicle position is inaccurate due to accumulated errors generated in the vehicle walking process can be effectively solved, and the accuracy of obtaining the vehicle position is improved.

Description

Technical Field

[0001] The invention relates to a vehicle position acquisition method and system for reducing cumulative walking errors, belonging to the technical field of engineering machinery. Background Art

[0002] The construction environment of underground mines is relatively harsh. In this harsh environment, although technologies such as ultrasonic ranging, laser ranging, gyroscope attitude measurement, and visual image recognition can be applied, the actual effect is not ideal. For example, in the acquisition of vehicle position, because underground mines have a large dust content, the vehicle travels on a rugged road surface, and a large amount of water vapor, the vehicle often loses signal. At present, the general solution in the industry is not to process during the period of signal loss, and wait for the signal to be restored before measuring and acquiring; but during this period, the vehicle's attitude and position may have changed. Even if re-measured, the accuracy of the measuring device cannot identify these small distance changes; therefore, after multiple signal losses, the vehicle's cumulative error increases seriously, affecting the construction personnel's judgment of the vehicle's position, resulting in a decrease in the accuracy of the acquired vehicle position; at the same time, manual intervention measurement is required, and the operation is complicated. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a vehicle position acquisition method and system that reduces the cumulative error during walking. When the signal is lost, the actual position of the final vehicle can be obtained by calculating the error signal in the signal loss time period, thereby effectively reducing the problem of inaccurate vehicle position caused by the cumulative error generated during the vehicle walking process, thereby improving the accuracy of obtaining the vehicle position.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] On the one hand, the present invention provides a vehicle position acquisition method for reducing walking cumulative error, comprising:

[0006] Receiving first detection information and second detection information sent by a vehicle posture detection module, wherein the first detection information is driving data information when a vehicle signal is lost, and the second detection information is driving data information when a vehicle signal is restored;

[0007] Calculating an error signal ΔL based on the first detection information and the second detection information;

[0008] Using the error signal ΔL to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored;

[0009] The actual position of the vehicle is acquired based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information.

[0010] Optionally, the first detection information includes first posture information θ x1 and First travel speed information v1 and first position information L1;

[0011] The second detection information includes second posture information θ x2 and The second traveling speed information v2 and the second position information L2.

[0012] The θ x1 is the angle between the first position point and the ground when the vehicle signal is lost, The angle between the ground projection point of the first position point and the vehicle's forward direction when the vehicle signal is lost;

[0013] The θ x2 is the angle between the second position point and the ground when the vehicle signal is restored, is the angle between the ground projection point of the second position point and the vehicle's forward direction when the vehicle signal is restored;

[0014] Optionally, the formula for calculating the error signal ΔL is:

[0015]

[0016] Optionally, using the error signal ΔL to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored includes:

[0017] When ΔL≠0, the vehicle is in motion from the time the vehicle signal is lost to the time the vehicle signal is restored;

[0018] When ΔL=0, the vehicle is in a stationary state from the time when the vehicle signal is lost to the time when the vehicle signal is restored, or is in a stationary state before the vehicle signal is lost and after the vehicle signal is restored, but is in a moving state during the process.

[0019] Optionally, obtaining the actual position of the vehicle based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information includes:

[0020] When ΔL≠0, when the vehicle is in motion from the time the vehicle signal is lost to the time the vehicle signal is restored, the actual position of the vehicle after the signal is restored is:

[0021] L=L1+ΔL

[0022] Where: L is the actual position of the vehicle, L1 is the first position information;

[0023] When ΔL=0, and the vehicle is stationary from the time the vehicle signal is lost to the time the vehicle signal is restored, the actual position of the vehicle after the signal is restored is:

[0024] L=L1=L2

[0025] Wherein: L is the actual position of the vehicle, L1 is the first position information, and L2 is the second position information;

[0026] When ΔL=0, the vehicle is stationary before signal loss and after signal recovery, but in motion during the process. The actual position of the vehicle after signal recovery is given by:

[0027] L=L2

[0028] Wherein: L is the actual position of the vehicle, and L2 is the second position information.

[0029] The laser ranging sensor at the far rear of the vehicle is used to detect the current vehicle location information.

[0030] On the other hand, the present invention provides a vehicle position acquisition system for reducing walking cumulative error, comprising:

[0031] The vehicle posture monitoring module includes a gyroscope, a walking speed measurement unit and a distance measurement unit; the gyroscope is used to obtain the first posture information θ when the vehicle signal is lost. x1 and And the second posture information θ when the vehicle signal is restored x2 and The walking speed measuring unit is used to obtain first traveling speed information v1 when the vehicle signal is lost, and second traveling speed information v2 when the vehicle signal is restored; the distance measuring unit is used to obtain first position information L1 when the vehicle signal is lost, and second position information L2 when the vehicle signal is restored;

[0032] A control module is used to implement the vehicle position acquisition method for reducing the cumulative walking error described in the first aspect.

[0033] Optionally, the travel speed measurement unit includes: an encoder or a speed sensor installed on the vehicle travel reducer, for detecting the current vehicle travel speed information.

[0034] Optionally, the distance measuring unit includes: a laser ranging sensor installed at the far end of the rear of the vehicle, for detecting the current position information of the vehicle.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The present invention provides a vehicle position acquisition method and system for reducing cumulative walking errors. A control module can receive driving data information obtained by a vehicle posture monitoring module when a vehicle signal is lost and when the vehicle signal is restored, thereby calculating an error signal from before the vehicle signal is lost to during the signal recovery process; and judging the vehicle state and the final actual position of the vehicle through the error signal, thereby reducing the influence of the cumulative error caused by the vehicle walking due to signal loss on the vehicle position acquisition, improving the accuracy of the vehicle position, eliminating the need for manual intervention in measurement, and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor, among which:

[0038] Figure 1 It is a flow chart of a vehicle position acquisition method for reducing walking cumulative error in one embodiment of the present invention;

[0039] FIG. 2( a ) is a schematic diagram showing the position coordinates of a vehicle in first detection information in one embodiment of the present invention;

[0040] FIG2( b ) is a schematic diagram showing the position coordinates of a vehicle in the second detection information in one embodiment of the present invention;

[0041] FIG. 2( c ) is a schematic diagram showing the combination of the position coordinates of the vehicle and the first detection information in one embodiment of the present invention;

[0042] Figure 3 The figure shows a block diagram of a vehicle position acquisition system for reducing accumulated walking error in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected 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 by specific circumstances.

[0046] The application principle of the present invention is described in detail below in conjunction with the accompanying drawings.

[0047] Example 1

[0048] like Figure 1 As shown, an embodiment of the present invention provides a vehicle position acquisition method for reducing walking cumulative error, comprising:

[0049] Receiving first detection information and second detection information sent by a vehicle posture detection module, wherein the first detection information is driving data information when a vehicle signal is lost, and the second detection information is driving data information when a vehicle signal is restored;

[0050] Calculating an error signal ΔL based on the first detection information and the second detection information;

[0051] Using the error signal ΔL to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored;

[0052] The actual position of the vehicle is acquired based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information.

[0053] A vehicle position acquisition method for reducing cumulative walking errors in an embodiment of the present invention is provided to reduce the impact of cumulative errors caused by vehicle movement due to signal loss on vehicle position acquisition, thereby improving the accuracy of vehicle position, eliminating the need for manual intervention in measurement, and reducing costs.

[0054] In a specific implementation of the embodiment of the present invention, in the first detection information and the second detection information sent by the receiving vehicle posture detection module, the first detection information includes the first posture information θ x1 and The first travel speed information v1 and the first position information L1; the second detection information includes the second posture information θ x2 and Second travel speed information v2 and second position information L2.

[0055] Specifically, the θ x1 is the angle between the first position point (first position K1) and the ground when the signal is lost, is the angle between the ground projection point (projection point K1') of the first position point (first position K1) and the vehicle's forward direction when the vehicle signal is lost;

[0056] The θ x2 is the angle between the second position point (second position K2) and the ground when the vehicle signal is restored, is the angle between the ground projection point (projection point K2') of the second position point (second position K2) and the forward direction of the vehicle when the signal is restored;

[0057] The first position point and the second position point are determined by first position information L1 and second position information L2, respectively.

[0058] In a specific implementation of the embodiment of the present invention, a method for acquiring the first detection information and the second detection information includes:

[0059] The first attitude information θ is obtained by the gyroscope in the vehicle attitude monitoring module. x1 and And the second posture information θ x2 and The first posture information θ x1 and The second posture information θ is obtained when the vehicle signal is lost. x2 and Obtained when the vehicle signal is restored;

[0060] Through the walking speed measurement unit in the vehicle posture monitoring module, the first travel speed information v1 and the second travel speed information v2 are obtained; the first travel speed information v1 is obtained when the vehicle signal is lost, and the second travel speed information v2 is obtained when the vehicle signal is restored;

[0061] The first position information L1 and the second position information L2 are obtained through the distance measurement unit in the vehicle posture monitoring module; the first position information L1 is obtained when the vehicle signal is lost, and the second position information L2 is obtained when the vehicle signal is restored.

[0062] In a specific implementation of the embodiment of the present invention, FIG2(a) and FIG2(b) are schematic diagrams of the position coordinates of the vehicle in the first detection information and the second detection information.

[0063] The laser ranging sensor installed at the far rear end of the vehicle is taken as the origin O, the X-axis represents the vehicle's forward direction, the Y-axis represents the vehicle's left-right deviation direction, and the Z-axis represents the vehicle's up-down deviation direction, refer to Figure 2(c);

[0064] The change of vehicle posture is the angle change relative to the coordinate measurement origin O.

[0065] The vehicle takes the origin O as the center coordinate, the X-axis represents the vehicle's forward direction, the Y-axis represents the vehicle's left and right deviation direction, and the Z-axis represents the vehicle's up and down deviation direction.

[0066] According to the first detection information, the first position K1 (the point in space or the first position point detected by the laser ranging sensor when the vehicle signal is lost) is obtained. The angle between it and the XOY plane is The angle between the projection point K1' and the X axis is θ x1 .

[0067] The second position K2 (the point in space or the second position point detected by the laser ranging sensor when the vehicle signal is restored) is obtained according to the second detection information. The angle between it and the XOY plane is The angle between the projection point K2' and the X axis is θ x2 .

[0068] In a specific implementation of the embodiment of the present invention, calculating the error signal ΔL based on the first detection information and the second detection information includes:

[0069] When the vehicle signal is lost, the control module starts to calculate the signal loss time t and stores the first posture information θ obtained by the vehicle posture monitoring module before the signal is lost. x1 and First traveling speed information v1;

[0070] When the vehicle signal is restored, the control module re-reads the second posture information θ obtained by the vehicle posture monitoring module x2 and Second travel speed information v2;

[0071] The error signal ΔL is calculated by the information collected by the control module when the vehicle signal is lost and after the vehicle signal is restored. The formula is:

[0072]

[0073] Specifically: when θ x1 =θ x2 ≠0 or It can be understood that the x-axis angle or z-axis angle in Figure 2 does not change during the signal loss time t, and formula 1 can be simplified to:

[0074]

[0075] or

[0076]

[0077] or

[0078]

[0079] When the travel speed signal v1=v2≠0, it can be understood that the travel speed is uniform during the time t when the signal is lost, and formula 1 can be simplified to:

[0080]

[0081] In a specific implementation of the embodiment of the present invention, the error signal ΔL is used to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored, and the actual position of the vehicle is obtained based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information, including:

[0082] When ΔL≠0, the vehicle is in motion from the time the vehicle signal is lost to the time the vehicle signal is restored; the actual position of the vehicle after the signal is restored is:

[0083] L=L1+ΔL

[0084] Where: L is the actual position of the vehicle, L1 is the first position information;

[0085] When ΔL=0, the vehicle is always stationary from the time when the vehicle signal is lost to the time when the vehicle signal is restored, or is stationary before the signal is lost and after the signal is restored, but is in motion during the process.

[0086] When ΔL=0 and L=L2, when the vehicle is stationary from the time the vehicle signal is lost to the time the vehicle signal is restored, the actual position of the vehicle after the signal is restored is:

[0087] L=L1=L2

[0088] Wherein: L is the actual position of the vehicle, L1 is the first position information, and L2 is the second position information;

[0089] When ΔL=0 and L≠L2, the vehicle is stationary before signal loss and after signal recovery, but in motion during the process. The actual position of the vehicle after signal recovery is given by:

[0090] L=L2

[0091] Wherein: L is the actual position of the vehicle, and L2 is the second position information.

[0092] Example 2

[0093] like Figure 3 As shown, an embodiment of the present invention provides a vehicle position acquisition system for reducing walking cumulative error, including:

[0094] The vehicle posture monitoring module includes a gyroscope, a walking speed measurement unit and a distance measurement unit; the gyroscope is used to obtain the first posture information θ when the vehicle signal is lost. x1 and And the second posture information θ when the vehicle signal is restored x2 and The walking speed measuring unit is used to obtain first traveling speed information v1 when the vehicle signal is lost, and second traveling speed information v2 when the vehicle signal is restored; the distance measuring unit is used to obtain first position information L1 when the vehicle signal is lost, and second position information L2 when the vehicle signal is restored;

[0095] The control module is used to implement the vehicle position acquisition method for reducing the walking cumulative error described in Example 1; the control module is connected to the vehicle posture monitoring module through a bus.

[0096] In a specific implementation of an embodiment of the present invention, a travel speed measuring unit is installed on a vehicle travel reducer, and an encoder is used in this embodiment to detect the current vehicle's travel speed information; a distance measuring unit is installed at the far rear end of the vehicle, and a laser ranging sensor is used in this embodiment to detect the current vehicle's position information.

[0097] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A vehicle position acquisition method for reducing walking cumulative error, characterized in that: include: Receiving first detection information and second detection information sent by a vehicle posture detection module, wherein the first detection information is driving data information when a vehicle signal is lost, and the second detection information is driving data information when a vehicle signal is restored; Calculating an error signal ΔL based on the first detection information and the second detection information; Using the error signal ΔL to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored; The actual position of the vehicle is acquired based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information.

2. The vehicle position acquisition method for reducing walking cumulative error according to claim 1, characterized in that: The first detection information includes first posture information θ x1 and First travel speed information v1 and first position information L1; The second detection information includes second posture information θ x2 and The second traveling speed information v2 and the second position information L2. The θ x1 is the angle between the first position point and the ground when the vehicle signal is lost, is the angle between the ground projection point of the first position point and the vehicle's forward direction when the vehicle signal is lost; The θ x2 is the angle between the second position point and the ground when the vehicle signal is restored, It is the angle between the ground projection point of the second position point and the vehicle's forward direction when the vehicle signal is restored.

3. The vehicle position acquisition method for reducing walking cumulative error according to claim 2 is characterized in that: The formula for calculating the error signal ΔL is:

4. The vehicle position acquisition method for reducing walking cumulative error according to claim 1, characterized in that: The error signal ΔL is used to determine the vehicle state from when the vehicle signal is lost to when the vehicle signal is restored, including: When ΔL≠0, the vehicle is in motion from the time the vehicle signal is lost to the time the vehicle signal is restored; When ΔL=0, the vehicle is in a stationary state from the time when the vehicle signal is lost to the time when the vehicle signal is restored, or is in a stationary state before the vehicle signal is lost and after the vehicle signal is restored, but is in a moving state during the process.

5. The vehicle position acquisition method for reducing walking cumulative error according to claim 4 is characterized in that: Based on the vehicle state, the error signal ΔL, and the first detection information and the second detection information, the actual position of the vehicle is obtained, including: When ΔL≠0, when the vehicle is in motion from the time the vehicle signal is lost to the time the vehicle signal is restored, the actual position of the vehicle after the signal is restored is: L=L1+ΔL Where: L is the actual position of the vehicle, L1 is the first position information; When ΔL=0, and the vehicle is stationary from the time the vehicle signal is lost to the time the vehicle signal is restored, the actual position of the vehicle after the signal is restored is: L=L1=L2 Wherein: L is the actual position of the vehicle, L1 is the first position information, and L2 is the second position information; When ΔL=0, the vehicle is stationary before signal loss and after signal recovery, but in motion during the process. The actual position of the vehicle after signal recovery is given by: L=L2 Wherein: L is the actual position of the vehicle, and L2 is the second position information.

6. A vehicle position acquisition system for reducing walking cumulative error, characterized in that: include: A vehicle posture monitoring module, the vehicle posture monitoring module comprising a gyroscope, a walking speed measurement unit and a distance measurement unit; The gyroscope is used to obtain the first attitude information θ when the vehicle signal is lost x1 and And the second posture information θ when the vehicle signal is restored x2 and The walking speed measuring unit is used to obtain first traveling speed information v1 when the vehicle signal is lost, and second traveling speed information v2 when the vehicle signal is restored; the distance measuring unit is used to obtain first position information L1 when the vehicle signal is lost, and second position information L2 when the vehicle signal is restored; A control module, used to implement the vehicle position acquisition method for reducing walking cumulative error as described in any one of claims 1-6.

7. The vehicle position acquisition system for reducing walking cumulative error according to claim 6, characterized in that: The travel speed measuring unit comprises: an encoder or a speed sensor installed on the vehicle travel reducer, which is used to detect the current travel speed information of the vehicle.

8. The vehicle position acquisition system for reducing walking cumulative error according to claim 6, characterized in that: The distance measuring unit comprises: a laser distance measuring sensor installed at the far end of the rear of the vehicle, which is used to detect the current position information of the vehicle.

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