Unmanned tracked vehicle vertical obstacle crossing control method, system, equipment and medium

Abstract

The invention discloses a vertical obstacle crossing control method, system and device for an unmanned tracked vehicle and a medium, and relates to the field of image recognition, sensor observation data of a driving motor of the unmanned tracked vehicle at the current moment are obtained, and feature data are calculated; based on the feature data, a contact mode classification model is adopted to determine the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment; according to the unmanned tracked vehicle-ground-obstacle local motion estimation equations corresponding to different vertical obstacle crossing stages, calculating a reference trajectory of a reference point in the vertical obstacle crossing stage at the current moment; determining an obstacle crossing track of a vehicle body pose observation point of the unmanned tracked vehicle by adopting a whole vehicle vertical obstacle crossing kinematics model; according to the obstacle crossing track of the vehicle body pose observation point of the unmanned tracked vehicle, the reference rotating speed of a driving motor of the unmanned tracked vehicle is determined, a PID controller is adopted to control a movement of the driving motor, and vertical obstacle crossing control over the unmanned tracked vehicle is achieved. The obstacle crossing stability of the unmanned tracked vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of image recognition, and in particular to a method, system, device and medium for vertical obstacle crossing control of an unmanned tracked vehicle. Background Art

[0002] The vertical obstacle crossing capability of unmanned tracked vehicles is one of the key technologies for passing through complex terrain environments. It can improve the vehicle's ability to pass through urban ruins, mountainous hills, and battlefield environments, and is a key indicator for measuring the mobility of unmanned tracked vehicles. However, most of the related vertical obstacle crossing control methods are based on the rigid body model assumption, ignoring the dynamic interaction process between the walking mechanism and the vertical obstacle, such as the deformation of the track under pressure and the displacement of the road wheel under the action of concentrated force. This leads to large errors in the vertical obstacle crossing model, resulting in low accuracy of the model prediction results, which in turn leads to a large fluctuation range of the control output, low obstacle crossing stability of the unmanned tracked vehicle, and difficulty in passing vertical obstacles of extreme heights. Summary of the invention

[0003] The purpose of this application is to provide a method, system, device and medium for vertical obstacle crossing control of an unmanned tracked vehicle, which can improve the obstacle crossing stability of the unmanned tracked vehicle.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a vertical obstacle control method for an unmanned tracked vehicle, comprising:

[0006] Obtain sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment, and calculate characteristic data; the characteristic data includes: the maximum and minimum difference of vertical displacement, the maximum and minimum difference of pitch angle, the average value of vertical displacement velocity and the average value of pitch angle velocity;

[0007] Based on the characteristic data, a contact pattern classification model is used to determine a contact pattern category set of the unmanned tracked vehicle; the contact pattern classification model is obtained by training an SVM model with the sample characteristic data;

[0008] Determining the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment according to the contact mode category set;

[0009] According to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages, the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment is calculated; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis of the torsion shaft includes: the axis of the torsion shaft of the first pair of road wheels, the axis of the torsion shaft of the second pair of road wheels, the axis of the torsion shaft of the third pair of road wheels and the axis of the torsion shaft of the fourth pair of road wheels;

[0010] Based on the reference trajectory of the reference point in the vertical obstacle crossing phase at the current moment, the obstacle crossing trajectory of the vehicle body posture observation point of the unmanned tracked vehicle is determined by using the vehicle vertical obstacle crossing kinematic model;

[0011] Determine a reference speed of a driving motor of the unmanned tracked vehicle according to an obstacle crossing trajectory of a body posture observation point of the unmanned tracked vehicle;

[0012] Based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle crossing control of the unmanned tracked vehicle.

[0013] Optionally, the vertical obstacle crossing stage includes: a first vertical obstacle crossing stage, a second vertical obstacle crossing stage, a third vertical obstacle crossing stage, a fourth vertical obstacle crossing stage, a fifth vertical obstacle crossing stage, a sixth vertical obstacle crossing stage, a seventh vertical obstacle crossing stage and an eighth vertical obstacle crossing stage;

[0014] When the driving wheel of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the driving wheel, it is determined that the unmanned tracked vehicle is in the first vertical obstacle crossing stage;

[0015] When the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle, it is determined that the unmanned track vehicle is in the second vertical obstacle crossing stage;

[0016] When the first pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the first pair of road wheels, it is determined that the unmanned tracked vehicle is in the third vertical obstacle crossing stage;

[0017] When the suspended track between the first pair of road wheels of the unmanned tracked vehicle and the second pair of road wheels of the unmanned tracked vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the first pair of road wheels of the unmanned tracked vehicle and the second pair of road wheels of the unmanned tracked vehicle, it is determined that the unmanned tracked vehicle is in the fourth vertical obstacle crossing stage;

[0018] When the second pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the second pair of road wheels, it is determined that the unmanned tracked vehicle is in the fifth vertical obstacle crossing stage;

[0019] When the suspended track between the second pair of road wheels of the unmanned tracked vehicle and the third pair of road wheels of the unmanned tracked vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the second pair of road wheels of the unmanned tracked vehicle and the third pair of road wheels of the unmanned tracked vehicle, it is determined that the unmanned tracked vehicle is in the sixth vertical obstacle crossing stage;

[0020] When the third pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the third pair of road wheels, it is determined that the unmanned tracked vehicle is in the seventh vertical obstacle crossing stage;

[0021] When the fourth road wheel of the unmanned tracked vehicle contacts the obstacle, the center of gravity of the unmanned tracked vehicle passes through the obstacle, and the posture of the unmanned tracked vehicle returns to normal, it is determined that the unmanned tracked vehicle is in the eighth vertical obstacle crossing stage.

[0022] Optionally, the expression of the unmanned tracked vehicle-obstacle local motion estimation equation in the first vertical obstacle crossing stage is:

[0023]

[0024] The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the second vertical obstacle crossing stage is:

[0025]

[0026] Among them, α′ d,1 (t+1) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t+1 in the first vertical obstacle crossing stage; α′ d,1 (t) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t in the first vertical obstacle crossing stage; is the driving efficiency of the unmanned tracked vehicle; Δrot is the rotation angle of the driving wheel of the unmanned tracked vehicle; y′ d,1 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; y′ d,1 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,1 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; z′ d,1(t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; β d ' ,2 (t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the second vertical obstacle crossing stage; β d ' ,2 (t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the second vertical obstacle crossing stage; Δβ d ' ,2 is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the second vertical obstacle crossing stage; y′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; y′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; Δtk is the track rotation length of the unmanned tracked vehicle; z′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; z′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0027] Optionally, the expressions of the unmanned tracked vehicle-obstacle local motion estimation equations in the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage, and the seventh vertical obstacle crossing stage are the same;

[0028] The expressions of the local motion estimation equations of the unmanned tracked vehicle-obstacle in the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage are as follows:

[0029]

[0030] Among them, γ′ g,i (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; γ′ g,i (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; Vγ′ g,i is the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the i-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; γ′ gmaxis the maximum limit value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; α′ g,i (t+1) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; α′ g,i (t) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; ρ roll is the rolling efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; R load is the radius of the road wheel of the unmanned tracked vehicle; y′ g,i (t+1) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,i (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; ± is the clockwise and counterclockwise rotation of the balance shaft of the unmanned tracked vehicle, where + is the clockwise rotation of the balance shaft of the unmanned tracked vehicle, and - is the counterclockwise rotation of the balance shaft of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,i (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,i (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0031] Optionally, the expressions of the unmanned tracked vehicle-obstacle local motion estimation equations in the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage are the same;

[0032] The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage is:

[0033]

[0034] Among them, γ′ g,j (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the j-th vertical obstacle crossing stage; γ′ g,j (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the j-th vertical obstacle crossing stage; Vγ′ g,jis the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the j-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; γ′ gmax β is the maximum limit value of the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction; j ′(t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the jth vertical obstacle crossing stage; β j ′(t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the jth vertical obstacle crossing stage; Vβ j y′ is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the jth vertical obstacle crossing stage; g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,j (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Y axis of the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,j (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0035] Optionally, the expression of the unmanned tracked vehicle-ground local motion estimation equation in the first to seventh vertical obstacle crossing stages is:

[0036]

[0037] Among them, γ′ 4,r (t+1) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the rth vertical obstacle crossing stage; γ′ 4,r (t) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t in the rth vertical obstacle crossing stage; Vγ′ 4,r is the change in the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction per unit time in the rth vertical obstacle crossing stage; γ′ 4minis the minimum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; γ′ 4max is the maximum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; y′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ 4,r (t) is the coordinate of the Y axis of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the eighth vertical obstacle crossing stage in the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; z′ 4,r (t) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the rth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0038] Optionally, the expression of the vertical obstacle crossing kinematic model of the whole vehicle is:

[0039]

[0040] Constraints: y(t m-1 )+min(v y )Δt≤y(t m )≤y(t m-1 )+max(v y )Δt

[0041] z(t m-1 )+min(v z )Δt≤z(t m )≤z(t m-1 )+max(v z )Δt

[0042] Among them, y′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Z axis of the earth coordinate system YOZ; y′ d,k (w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,k(w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; y′ g,i (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ g,i (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; y′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage on the Y axis of the geodetic coordinate system YOZ; z′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage in the Z-axis of the geodetic coordinate system YOZ; y(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Y-axis of the geodetic coordinate system YOZ; z(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Z-axis of the geodetic coordinate system YOZ; b is the distance between the body posture observation point and the center of the axis of the corresponding stage of the unmanned tracked vehicle in the k-th vertical obstacle crossing stage; c is the distance between the body posture observation point and the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle; y(t m-1 ) is at t m-1 The coordinate of the Y-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; y is the velocity of the Y axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; Δt is the change per unit time; y(t m ) is at t m The coordinate of the Y-axis of the observation point of the unmanned tracked vehicle’s posture at the moment in the earth coordinate system YOZ; z(t m-1 ) is at t m-1 The coordinate of the Z axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; z is the velocity of the Z axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; z(t m ) is at t m The coordinate of the Z-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment.

[0043] In a second aspect, the present application provides a vertical obstacle crossing control system for an unmanned tracked vehicle, comprising:

[0044] An acquisition module is used to acquire sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment and calculate characteristic data; the characteristic data includes: the maximum and minimum difference of vertical displacement, the maximum and minimum difference of pitch angle, the average value of vertical displacement velocity and the average value of pitch angle velocity;

[0045] A contact pattern classification module, for determining a contact pattern category set of the unmanned tracked vehicle based on the feature data using a contact pattern classification model; the contact pattern classification model is obtained by training an SVM model using sample feature data;

[0046] A vertical obstacle crossing stage determination module, used to determine the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment according to the contact pattern category set;

[0047] A reference trajectory generation module is used to calculate the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment according to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis of the torsion shaft includes: the axis of the torsion shaft of the first pair of road wheels, the axis of the torsion shaft of the second pair of road wheels, the axis of the torsion shaft of the third pair of road wheels and the axis of the torsion shaft of the fourth pair of road wheels;

[0048] The obstacle crossing trajectory generation module is used to determine the obstacle crossing trajectory of the vehicle body posture observation point of the unmanned tracked vehicle based on the reference trajectory of the reference point in the vertical obstacle crossing stage at the current moment and using the vertical obstacle crossing kinematic model of the whole vehicle;

[0049] The vertical obstacle control module is used to determine the reference speed of the drive motor of the unmanned tracked vehicle according to the obstacle trajectory of the body posture observation point of the unmanned tracked vehicle; based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle control of the unmanned tracked vehicle.

[0050] In a third aspect, the present application provides a computer device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any one of the above-mentioned methods for vertical obstacle crossing control of unmanned tracked vehicles.

[0051] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-mentioned unmanned tracked vehicle vertical obstacle control methods.

[0052] According to the specific embodiments provided in this application, this application has the following technical effects:

[0053] The present application provides a method, system, device and medium for controlling vertical obstacle crossing of an unmanned tracked vehicle. By calculating characteristic data through sensor observation data of the unmanned tracked vehicle at the current moment, the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment can be determined, and according to the local motion estimation equation of the unmanned tracked vehicle-ground-obstacle, the reference trajectory of the reference point of the current vertical obstacle crossing stage is calculated, thereby describing the different stages of local motion between the unmanned tracked vehicle-ground-obstacle in different vertical obstacle crossing stages, thereby reducing the influence of the change of the contact point on the vertical obstacle crossing kinematic model of the whole vehicle, and then improving the calculation accuracy of the vertical obstacle crossing kinematic model of the whole vehicle, thereby improving the vertical obstacle crossing control effect of the unmanned tracked vehicle and the obstacle crossing stability of the unmanned tracked vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1 This is a flow chart of a vertical obstacle crossing control method for an unmanned tracked vehicle in one embodiment of the present application;

[0056] Figure 2 A schematic diagram of the image segmentation result of the vertical obstacle crossing of an unmanned tracked vehicle provided in an embodiment of the present application, wherein (a) is the vertical displacement of four pairs of road wheels corresponding to eight stages, (b) is the vertical displacement and pitch angle of the vehicle corresponding to eight stages, (c) is the first vertical obstacle crossing stage, (d) is the second vertical obstacle crossing stage, (e) is the third vertical obstacle crossing stage, (f) is the fourth vertical obstacle crossing stage, (g) is the fifth vertical obstacle crossing stage, (h) is the sixth vertical obstacle crossing stage, (i) is the seventh vertical obstacle crossing stage, and (j) is the eighth vertical obstacle crossing stage;

[0057] Figure 3 Schematic diagram of the local motion analysis of the driving wheel-obstacle of an unmanned tracked vehicle according to an embodiment of the present application, wherein (a) is the first vertical obstacle crossing stage, and (b) is the second vertical obstacle crossing stage;

[0058] Figure 4 Schematic diagram of the local motion analysis of the road wheel-obstacle of an unmanned tracked vehicle according to an embodiment of the present application, wherein (a) is the clockwise rotation of the balance shaft of the unmanned tracked vehicle, and (b) is the counterclockwise rotation of the balance shaft of the unmanned tracked vehicle;

[0059] Figure 5 This is a schematic diagram of the suspended track-obstacle local motion analysis of an unmanned tracked vehicle according to an embodiment of the present application;

[0060] Figure 6 Schematic diagram of local movement of an unmanned tracked vehicle-ground contact position according to an embodiment of the present application, wherein (a) shows the fourth pair of road wheels of the unmanned tracked vehicle rotating counterclockwise, and (b) shows the fourth pair of road wheels of the unmanned tracked vehicle rotating clockwise;

[0061] Figure 7 A schematic flow chart of a feedforward-feedback vertical obstacle crossing control system is provided for an embodiment of the present application;

[0062] Figure 8 A schematic diagram of the structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0065] In an exemplary embodiment, Figure 1 As shown, a vertical obstacle crossing control method for an unmanned tracked vehicle is provided, comprising:

[0066] Step 1: Obtain the sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment and calculate the characteristic data; the characteristic data includes: the maximum and minimum difference of the vertical displacement, the maximum and minimum difference of the pitch angle, the average value of the vertical displacement velocity and the average value of the pitch angle velocity.

[0067] Step 2: Based on the feature data, a contact pattern classification model is used to determine the contact pattern category set of the unmanned tracked vehicle; the contact pattern classification model is obtained by training the SVM model through sample feature data.

[0068] Step 3: Determine the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment based on the contact mode category set.

[0069] Step 4: According to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages, calculate the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis center of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis center of the torsion shaft includes: the axis center of the torsion shaft of the first pair of road wheels, the axis center of the torsion shaft of the second pair of road wheels, the axis center of the torsion shaft of the third pair of road wheels and the axis center of the torsion shaft of the fourth pair of road wheels.

[0070] Step 5: Based on the reference trajectory of the reference point in the vertical obstacle crossing phase at the current moment, the vertical obstacle crossing kinematic model of the whole vehicle is used to determine the obstacle crossing trajectory of the body posture observation point of the unmanned tracked vehicle.

[0071] Step 6: Determine the reference speed of the driving motor of the unmanned tracked vehicle according to the obstacle crossing trajectory of the body posture observation point of the unmanned tracked vehicle.

[0072] Step 7: Based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle crossing control of the unmanned tracked vehicle.

[0073] In a specific embodiment, the training process of the SVM model in step 2 specifically includes:

[0074] Step 21: Collect driving data sample sensor observation data of unmanned tracked vehicles passing vertical obstacles of different sizes, calculate sample feature data, and collect vehicle status data (such as suspension displacement, vehicle obstacle crossing trajectory, etc.) and synchronous camera images at the same time, and perform timestamp correction, coordinate calibration and coordinate change on the collected data.

[0075] Select vertical obstacles of multiple heights within the design indicators, including 0.4, 0.5, and 0.6 meter vertical walls, and pass through the above vertical obstacles at the same expected driving speed (not higher than 2 kilometers per hour).

[0076] Step 22: Manually segment and annotate the synchronized camera images.

[0077] In order to determine the vertical obstacle crossing stage corresponding to the sample sensor observation data, the synchronous camera images collected at the same time are manually segmented and annotated. The vertical obstacle crossing stage of the synchronous camera images collected is manually annotated based on the type of walking mechanism (driving wheel, road wheel, suspended track between wheels) that contacts the vertical wall, which assists the manual segmentation and annotation of the sample sensor observation data. Figure 2As shown in the figure, according to the synchronized camera images, vehicle obstacle crossing trajectory and suspension displacement, the vertical obstacle crossing stage is divided into 8 stages to describe the complex vehicle-ground-vertical wall dynamic contact process: the vertical obstacle crossing stage includes: the first vertical obstacle crossing stage, the second vertical obstacle crossing stage, the third vertical obstacle crossing stage, the fourth vertical obstacle crossing stage, the fifth vertical obstacle crossing stage, the sixth vertical obstacle crossing stage, the seventh vertical obstacle crossing stage and the eighth vertical obstacle crossing stage.

[0078] When the driving wheel of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the driving wheel, it is determined that the unmanned tracked vehicle is in the first vertical obstacle crossing stage.

[0079] When the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle contacts an obstacle, and the contact point moves along the direction of the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle, it is determined that the unmanned track vehicle is in the second vertical obstacle crossing stage.

[0080] When the first pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the first pair of road wheels, it is determined that the unmanned tracked vehicle is in the third vertical obstacle crossing stage.

[0081] When the suspended track between the first pair of road wheels of the unmanned track vehicle and the second pair of road wheels of the unmanned track vehicle contacts an obstacle, and the contact point moves along the direction of the suspended track between the first pair of road wheels of the unmanned track vehicle and the second pair of road wheels of the unmanned track vehicle, it is determined that the unmanned track vehicle is in the fourth vertical obstacle crossing stage.

[0082] When the second pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the second pair of road wheels, it is determined that the unmanned tracked vehicle is in the fifth vertical obstacle crossing stage.

[0083] When the suspended track between the second pair of road wheels of the unmanned track vehicle and the third pair of road wheels of the unmanned track vehicle contacts an obstacle, and the contact point moves along the direction of the suspended track between the second pair of road wheels of the unmanned track vehicle and the third pair of road wheels of the unmanned track vehicle, it is determined that the unmanned track vehicle is in the sixth vertical obstacle crossing stage.

[0084] When the third pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the third pair of road wheels, it is determined that the unmanned tracked vehicle is in the seventh vertical obstacle crossing stage.

[0085] When the fourth road wheel of the unmanned tracked vehicle contacts the obstacle, the center of gravity of the unmanned tracked vehicle passes through the obstacle, and the posture of the unmanned tracked vehicle returns to normal, it is determined that the unmanned tracked vehicle is in the eighth vertical obstacle crossing stage.

[0086] Step 23: Train the SVM model.

[0087] Given the segmentation results and manual annotation results of the vertical obstacle crossing process, a classification method based on support vector machine (SVM) is established. The sample feature data input by SVM is calculated from the sample sensor observation data (vertical displacement, pitch angle, vertical displacement velocity, pitch angle velocity). The sample feature data includes the vertical displacement z in the forward time window w from time t. t-w+1:t The maximum and minimum difference of the pitch angle The maximum and minimum difference of vertical displacement velocity The average value of the pitch angular velocity ω t-w+1 The average value is calculated as:

[0088] Δz t =max(z t-w+1:t )-min(z t-w+1:t )(1)

[0089]

[0090] Where Δz t is the maximum and minimum difference of vertical displacement; max(z t-w+1:t ) is the maximum vertical displacement from the t-w+1th moment to the tth moment; min(z t-w+1:t ) is the minimum value of the vertical displacement from the time t-w+1 to the time t; is the maximum and minimum difference of the pitch angle; is the maximum difference in pitch angle; is the minimum value of the pitch angle; is the average value of vertical displacement velocity; is the value of the vertical displacement velocity at the moment t-w+1; is the average value of the pitch angular velocity; ω q is the value of the pitch angular velocity at the moment t-w+1; w is the forward time window.

[0091] The calculation results of formulas (1) to (4) constitute the input feature vector of SVM As a typical binary classification algorithm, SVM identifies the contact pattern between the vehicle and the vertical wall by inputting features, and further infers the sequence number of the vertical obstacle crossing stage of the unmanned tracked vehicle based on the contact pattern transfer obtained by SVM. For the first vertical obstacle crossing stage to the seventh vertical obstacle crossing stage, there are two contact pattern category sets C 1 ={c tk ,c wh}, where c tkIndicates that the suspended track of the unmanned tracked vehicle is in contact with an obstacle (corresponding to the second vertical obstacle crossing stage, the fourth vertical obstacle crossing stage, and the sixth vertical obstacle crossing stage), c wh Indicates that the driving wheel or the road wheel is in contact with the obstacle (corresponding to the first vertical obstacle crossing stage, the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage); for the seventh vertical obstacle crossing stage to the eighth vertical obstacle crossing stage, the contact mode category set C 2 ={c rot ,c wh},c rot Indicates that the vehicle returns to the normal position (corresponding to the eighth vertical obstacle crossing stage). Define the output result of SVM at time t as c t ∈C k , k = 1 or 2, the sequence number of the current vertical obstacle crossing stage is q t ∈{1,2,3,4,5,6,7,8}, when the contact mode classification results c at adjacent moments t ≠c t-1 When the vertical obstacle crossing phase is t =q t-1 +1.

[0092] When determining the vertical obstacle crossing stage, the sequence number of the vertical obstacle crossing stage is recorded at the same time. t is a monotonically increasing integer sequence. When the unmanned tracked vehicle does not cross an obstacle, q t The serial number is 0; when the contact mode of the unmanned tracked vehicle is determined by the contact mode classification model, q t The serial number automatically jumps to 1 and is recorded; in the vertical obstacle crossing process of the unmanned tracked vehicle, the contact mode of the unmanned tracked vehicle is determined by the contact mode classification model. If the contact mode at the current moment is different from the contact mode at the previous moment, the serial number of the vertical obstacle crossing stage is increased by 1, that is, if c t ≠c t-1 When the vertical obstacle crossing phase is t =q t-1 +1, for example, in the second vertical obstacle crossing stage, the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage (c t =c tk ), when the previous stage number q t-1 =1, and c t ≠c t-1 , we get q t =2, similarly q t-1 =3, and c t ≠c t-1 , we get q t =4,q t-1 =5, and c t ≠c t-1 , we get qt =6; in the first vertical obstacle crossing stage, the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage (c t =c wh ), when the previous stage number q t-1 =2, and c t ≠c t-1 , we get q t =3, similarly q t-1 =4, and c t ≠c t-1 , we get q t =5,q t-1 =6, and c t ≠c t-1 , we get q t =7.

[0093] In a specific embodiment, step 4 specifically includes:

[0094] The local motion of the vehicle-obstacle contact position can be divided into three cases, such as Figure 3 As shown, for the contact point Q located at the outer contour of the driving wheel and the adjacent suspended crawler (corresponding to the first vertical obstacle crossing stage ( Figure 3 (a) in the second vertical obstacle crossing stage ( Figure 3 In (b)), the wheel center of the driving wheel of the unmanned tracked vehicle is the reference point O' d,k =(y' d,k ,z' d,k ),(d,k)∈{(d,1),(d,2)}, the radius of the driving wheel is r d The angle between the wheel center and the contact point Q relative to the horizontal direction is α′, and the angle between the track and the contact point Q relative to the horizontal direction is β′. In the first vertical obstacle crossing stage, the reference point O' d,k The local motion estimation equation of the unmanned tracked vehicle-obstacle is expressed as follows:

[0095]

[0096] Among them, α′ d,1 (t+1) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t+1 in the first vertical obstacle crossing stage; α′ d,1 (t) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t in the first vertical obstacle crossing stage; is the driving efficiency of the unmanned tracked vehicle; Δrot is the rotation angle of the driving wheel of the unmanned tracked vehicle; y′ d,1(t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; y′ d,1 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,1 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; z′ d,1 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0097] The vertical obstacle crossing process of the unmanned tracked vehicle is simplified to a two-point contact motion on a single track, namely the vehicle-ground contact point P and the vehicle-obstacle contact point Q. Assuming that the driving wheel speed in a short time Δt is n, the driving wheel rotation angle Vrot is calculated as:

[0098] Vrot=Vt×n×η1×η2(6)

[0099] Among them, η1 is the speed ratio of the reducer; η2 is the transmission ratio of the gearbox.

[0100] The second vertical obstacle crossing stage reference point O' d,k Moving along the track direction, the expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle is:

[0101]

[0102] Among them, β d ' ,2 (t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the second vertical obstacle crossing stage; β d ' ,2 (t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the second vertical obstacle crossing stage; Δβ d ' ,2 is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the second vertical obstacle crossing stage; y′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; y′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; Δtk is the track rotation length of the unmanned tracked vehicle; z′ d,2(t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; z′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0103] Given that the radius of the driving wheel is r, the calculation formula for the track rotation length Vtk is:

[0104] Vtk=Vrot×r(8)

[0105] like Figure 4 As shown, for the contact point Q located at the outer contour of the road wheel (corresponding to the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage), the axis of the torsion axis of the i-th pair of road wheels of the unmanned tracked vehicle is the reference point O' g,i =(y' g,i ,z' g,i ),(g,i)∈{(1,3),(2,5),(3,7)}, the radius of the road wheel is R load , the wheel center of the road wheel rotates around the contact point Q, the angle between the wheel center and the contact point Q relative to the horizontal direction is α′, and the angle between the torsion bar suspension and the horizontal direction is γ′. In the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage, the reference point O' g,i The expression of the unmanned tracked vehicle-obstacle local motion estimation equation in the earth coordinate system YOZ is the same, which is expressed as:

[0106]

[0107] Among them, γ′ g,i (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; γ′ g,i (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; Vγ′ g,i is the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the i-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; γ′ gmax is the maximum limit value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; α′ g,i (t+1) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; α′ g,i(t) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; ρ roll is the rolling efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; R load is the radius of the road wheel of the unmanned tracked vehicle; y′ g,i (t+1) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,i (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; ± is the clockwise and counterclockwise rotation of the balance shaft of the unmanned tracked vehicle, where + is the clockwise rotation of the balance shaft of the unmanned tracked vehicle, and - is the counterclockwise rotation of the balance shaft of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,i (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,i (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0108] like Figure 5 As shown, for the suspended track with the contact point Q located between the road wheels (corresponding to the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage), the axis of the torsion axis of the i-th pair of road wheels of the unmanned tracked vehicle is taken as the reference point O' g,j =(y' g,j ,z' g,j ),(g,j)∈{(1,4),(2,6)}. The fourth and sixth vertical obstacle crossing stages, reference point O' g,j The expression of the unmanned tracked vehicle-obstacle local motion estimation equation in the earth coordinate system YOZ is the same, which is expressed as:

[0109]

[0110] Among them, γ′ g,j (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the j-th vertical obstacle crossing stage; γ′ g,j (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the j-th vertical obstacle crossing stage; Vγ′ g,jis the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the j-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; γ′ gmax β is the maximum limit value of the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction; j ′(t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the jth vertical obstacle crossing stage; β j ′(t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the jth vertical obstacle crossing stage; Vβ j y′ is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the jth vertical obstacle crossing stage; g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,j (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Y axis of the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,j (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0111] For the local movement of the vehicle-ground contact position, it is assumed that the ground is horizontal, point P is always attached to the road wheel farthest from the vertical obstacle, and is close to the ground, moving horizontally along the ground. The balance shaft of the torsion bar suspension of the unmanned tracked vehicle is connected to the road wheel at one end, and the other end of the torsion shaft is connected to the vehicle body. The road wheel can rotate around the torsion shaft through the balance shaft, and the maximum upward displacement is limited by the limiter. Figure 6 As shown, Figure 6 (a) in the figure shows that the fourth pair of road wheels of the unmanned tracked vehicle rotates counterclockwise. Figure 6 (b) in FIG. 1 shows the situation where the fourth pair of road wheels of the unmanned tracked vehicle rotates clockwise. Let the axis of the torsion axis relative to the fourth pair of road wheels of the unmanned tracked vehicle be the reference point O' 4,rSince the height of the wheel center relative to the ground remains unchanged, in the first to seventh vertical obstacle crossing stages, the reference point O' 4,r =(y' 4,r ,z' 4,r ) The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the geodetic coordinate system YOZ is:

[0112]

[0113] Among them, γ′ 4,r (t+1) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the rth vertical obstacle crossing stage; γ′ 4,r (t) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t in the rth vertical obstacle crossing stage; Vγ′ 4,r is the change in the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction per unit time in the rth vertical obstacle crossing stage; The minimum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; is the maximum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; y′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ 4,r (t) is the coordinate of the Y axis of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the eighth vertical obstacle crossing stage in the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; z′ 4,r (t) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the rth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

[0114] The tracked vehicles in stage 8 rotate under their own weight, so detailed modeling and discussion are not included.

[0115] In a specific embodiment, step 5 specifically includes:

[0116] Let the inertial navigation installation position be the vehicle posture observation point O v , the coordinates in the YOZ coordinate system are Use vehicle-ground local motion reference point O' 4,r , vehicle-obstacle local motion reference point O' g,n , n∈(i,j) and the vehicle posture observation point O v Constructing a fixed triangle ΔO' 4,r O v O' g,n , the length of the three sides a=O' 4,r O' g,n , b=O v O' g,n , c=O' 4, r O v The reference point O' obtained in step 4 4,r and O' g,n The motion trajectory of O is obtained by numerical optimization method. v The expression of the vehicle vertical obstacle crossing kinematic model is:

[0117]

[0118] Constraints: y(t m-1 )+min(v y )Δt≤y(t m )≤y(t m-1 )+max(v y )Δt

[0119] z(t m-1 )+min(v z )Δt≤z(t m )≤z(t m-1 )+max(v z )Δt

[0120] Among them, y′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Z axis of the earth coordinate system YOZ; y′ d,k (w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,k (w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; y′ g,i (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ g,i(w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; y′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage on the Y axis of the geodetic coordinate system YOZ; z′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage in the Z-axis of the geodetic coordinate system YOZ; y(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Y-axis of the geodetic coordinate system YOZ; z(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Z-axis of the geodetic coordinate system YOZ; b is the distance between the body posture observation point and the center of the axis of the corresponding stage of the unmanned tracked vehicle in the k-th vertical obstacle crossing stage; c is the distance between the body posture observation point and the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle; y(t m-1 ) is at t m-1 The coordinate of the Y-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; y is the velocity of the Y axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; Δt is the change per unit time; y(t m ) is at t m The coordinate of the Y-axis of the observation point of the unmanned tracked vehicle’s posture at the moment in the earth coordinate system YOZ; z(t m-1 ) is at t m-1 The coordinate of the Z axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; z is the velocity of the Z axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; z(t m ) is at t m The coordinate of the Z-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment.

[0121] Specifically, the Levenberg-Marquardt Algorithm (LMA) is used to solve formula (12). The formula for calculating the pitch angle of the unmanned tracked vehicle at the next moment is:

[0122]

[0123] in, Unmanned tracked vehicle m The pitch angle at the moment, Unmanned tracked vehicle m-1 The pitch angle at the moment.

[0124] In a specific embodiment, step 6 specifically includes:

[0125] like Figure 7 As shown in the figure, the obstacle crossing trajectory of the unmanned tracked vehicle's body posture observation point is set as the ideal obstacle crossing trajectory, and the optimal motor speed that meets the constraint conditions at the next moment is calculated by solving formula (12) through the Levenberg-Marquardt numerical optimization algorithm. The calculation result is used as the reference speed n ref The reference speed is input into the PID feedback control system for error calculation to obtain the speed error feedback, and the torque error feedback at the speed is obtained through the motor built-in control algorithm. According to the speed error feedback, torque error feedback, longitudinal acceleration and vertical acceleration, the PID controller is used to calculate the speed control amount and torque control amount, and the drive motor of the unmanned tracked vehicle is controlled according to the speed control amount and torque control amount.

[0126] The beneficial effects of the unmanned tracked vehicle vertical obstacle control method proposed in this application are mainly manifested in:

[0127] (1) This application achieves a more detailed segmentation of the vertical obstacle crossing process by conducting a comprehensive analysis of sample feature data, state data, and synchronized camera image data, based on the different types of walking mechanisms at the vehicle-obstacle contact position (including drive wheels, road wheels, and suspended tracks). Each sub-stage after segmentation has a unique vehicle-obstacle interaction form and modeling equation, thereby improving the accuracy of vehicle modeling.

[0128] (2) The existing vehicle rigid body model ignores the upward movement of the road wheel when it contacts the obstacle, and the deformation of the track when it is squeezed by the obstacle, resulting in a large error between the modeling result and the actual trajectory. The control system established by this cannot accurately obtain the reference control quantity, resulting in large fluctuations in the control output and poor vehicle stability. In order to avoid this situation, the present application establishes the local motion estimation equation of the unmanned tracked vehicle-ground-obstacle corresponding to different vertical obstacle crossing stages through step 4, uses the vehicle body fixed point as the reference point instead of the track attachment point in the existing method, establishes the vertical obstacle crossing kinematic model of the whole vehicle through step 5, and establishes a model-based feedforward module and a PID-based feedback module through step 6, realizing the vertical obstacle crossing control of the unmanned tracked vehicle, reducing the power output fluctuation range, and improving the vehicle obstacle crossing stability.

[0129] In an exemplary embodiment, a vertical obstacle control system for an unmanned tracked vehicle is provided, comprising:

[0130] The acquisition module is used to obtain the sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment and calculate the characteristic data; the characteristic data includes: the maximum and minimum difference of the vertical displacement, the maximum and minimum difference of the pitch angle, the average value of the vertical displacement speed and the average value of the pitch angle speed.

[0131] The contact mode classification module is used to determine the contact mode category set of the unmanned tracked vehicle based on the feature data using a contact mode classification model; the contact mode classification model is obtained by training an SVM model with sample feature data.

[0132] The vertical obstacle crossing stage determination module is used to determine the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment according to the contact mode category set.

[0133] The reference trajectory generation module is used to calculate the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment according to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis center of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis center of the torsion shaft includes: the axis center of the torsion shaft of the first pair of road wheels, the axis center of the torsion shaft of the second pair of road wheels, the axis center of the torsion shaft of the third pair of road wheels and the axis center of the torsion shaft of the fourth pair of road wheels.

[0134] The obstacle crossing trajectory generation module is used to determine the obstacle crossing trajectory of the vehicle body posture observation point of the unmanned tracked vehicle based on the reference trajectory of the reference point in the vertical obstacle crossing stage at the current moment and using the vertical obstacle crossing kinematic model of the whole vehicle.

[0135] The vertical obstacle control module is used to determine the reference speed of the drive motor of the unmanned tracked vehicle according to the obstacle trajectory of the body posture observation point of the unmanned tracked vehicle; based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle control of the unmanned tracked vehicle.

[0136] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store video tag processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a video tag processing method is implemented.

[0137] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0138] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0139] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0140] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0141] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0142] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.

[0143] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0144] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A vertical obstacle control method for an unmanned tracked vehicle, characterized in that: The unmanned tracked vehicle vertical obstacle control method comprises: Obtain sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment, and calculate characteristic data; the characteristic data includes: the maximum and minimum difference of vertical displacement, the maximum and minimum difference of pitch angle, the average value of vertical displacement velocity and the average value of pitch angle velocity; Based on the characteristic data, a contact pattern classification model is used to determine a contact pattern category set of the unmanned tracked vehicle; the contact pattern classification model is obtained by training an SVM model with the sample characteristic data; Determining the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment according to the contact mode category set; According to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages, the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment is calculated; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis of the torsion shaft includes: the axis of the torsion shaft of the first pair of road wheels, the axis of the torsion shaft of the second pair of road wheels, the axis of the torsion shaft of the third pair of road wheels and the axis of the torsion shaft of the fourth pair of road wheels; Based on the reference trajectory of the reference point in the vertical obstacle crossing phase at the current moment, the obstacle crossing trajectory of the vehicle body posture observation point of the unmanned tracked vehicle is determined by using the vehicle vertical obstacle crossing kinematic model; Determine a reference speed of a driving motor of the unmanned tracked vehicle according to an obstacle crossing trajectory of a body posture observation point of the unmanned tracked vehicle; Based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle crossing control of the unmanned tracked vehicle.

2. The vertical obstacle control method for an unmanned tracked vehicle according to claim 1, characterized in that: The vertical obstacle crossing stage includes: a first vertical obstacle crossing stage, a second vertical obstacle crossing stage, a third vertical obstacle crossing stage, a fourth vertical obstacle crossing stage, a fifth vertical obstacle crossing stage, a sixth vertical obstacle crossing stage, a seventh vertical obstacle crossing stage and an eighth vertical obstacle crossing stage; When the driving wheel of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the driving wheel, it is determined that the unmanned tracked vehicle is in the first vertical obstacle crossing stage; When the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the driving wheel of the unmanned track vehicle and the first pair of road wheels of the unmanned track vehicle, it is determined that the unmanned track vehicle is in the second vertical obstacle crossing stage; When the first pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the first pair of road wheels, it is determined that the unmanned tracked vehicle is in the third vertical obstacle crossing stage; When the suspended track between the first pair of road wheels of the unmanned tracked vehicle and the second pair of road wheels of the unmanned tracked vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the first pair of road wheels of the unmanned tracked vehicle and the second pair of road wheels of the unmanned tracked vehicle, it is determined that the unmanned tracked vehicle is in the fourth vertical obstacle crossing stage; When the second pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the second pair of road wheels, it is determined that the unmanned tracked vehicle is in the fifth vertical obstacle crossing stage; When the suspended track between the second pair of road wheels of the unmanned tracked vehicle and the third pair of road wheels of the unmanned tracked vehicle contacts the obstacle, and the contact point moves along the direction of the suspended track between the second pair of road wheels of the unmanned tracked vehicle and the third pair of road wheels of the unmanned tracked vehicle, it is determined that the unmanned tracked vehicle is in the sixth vertical obstacle crossing stage; When the third pair of road wheels of the unmanned tracked vehicle contacts the obstacle and the contact point rolls along the outer contour of the third pair of road wheels, it is determined that the unmanned tracked vehicle is in the seventh vertical obstacle crossing stage; When the fourth road wheel of the unmanned tracked vehicle contacts the obstacle, the center of gravity of the unmanned tracked vehicle passes through the obstacle, and the posture of the unmanned tracked vehicle returns to normal, it is determined that the unmanned tracked vehicle is in the eighth vertical obstacle crossing stage.

3. The vertical obstacle control method for an unmanned tracked vehicle according to claim 2, characterized in that: The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the first vertical obstacle crossing stage is: The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the second vertical obstacle crossing stage is: Among them, α′ d,1 (t+1) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t+1 in the first vertical obstacle crossing stage; α′ d,1 (t) is the angle between the wheel center d of the driving wheel of the unmanned tracked vehicle and the line connecting the contact points relative to the horizontal direction at time t in the first vertical obstacle crossing stage; is the driving efficiency of the unmanned tracked vehicle; Δrot is the rotation angle of the driving wheel of the unmanned tracked vehicle; y′ d,1 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; y′ d,1 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,1 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the first vertical obstacle crossing stage; z′ d,1 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; β d ' ,2 (t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the second vertical obstacle crossing stage; β d ' ,2 (t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the second vertical obstacle crossing stage; Δβ d ' ,2 is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the second vertical obstacle crossing stage; y′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; y′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; Δtk is the track rotation length of the unmanned tracked vehicle; z′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle on the Z axis in the geodetic coordinate system YOZ at time t+1 of the second vertical obstacle crossing stage; z′ d,2 (t) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

4. The vertical obstacle control method for an unmanned tracked vehicle according to claim 2, characterized in that: The expressions of the unmanned tracked vehicle-obstacle local motion estimation equations in the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage, and the seventh vertical obstacle crossing stage are the same; The expressions of the local motion estimation equations of the unmanned tracked vehicle-obstacle in the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage are as follows: Among them, γ′ g,i (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; γ′ g,i (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; Vγ′ g,i is the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the i-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; γ′ gmax is the maximum limit value of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and the horizontal direction; α′ g,i (t+1) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t+1 in the i-th vertical obstacle crossing stage; α′ g,i (t) is the angle between the center of the g-th road wheel of the unmanned tracked vehicle and the line connecting the contact point relative to the horizontal direction at time t in the i-th vertical obstacle crossing stage; ρ roll is the rolling efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; R load is the radius of the road wheel of the unmanned tracked vehicle; y′ g,i (t+1) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,i (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; ± is the clockwise and counterclockwise rotation of the balance shaft of the unmanned tracked vehicle, where + is the clockwise rotation of the balance shaft of the unmanned tracked vehicle, and - is the counterclockwise rotation of the balance shaft of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,i (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,i (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the i-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

5. The vertical obstacle control method for an unmanned tracked vehicle according to claim 2, characterized in that: The expressions of the unmanned tracked vehicle-obstacle local motion estimation equations in the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage are the same; The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle in the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage is: Among them, γ′ g,j (t+1) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the j-th vertical obstacle crossing stage; γ′ g,j (t) is the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction at time t in the j-th vertical obstacle crossing stage; Vγ′ g,j is the change in the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the j-th vertical obstacle crossing stage; γ′ gmin is the minimum limiting value of the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction; γ′ gmax β is the maximum limit value of the angle of the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle relative to the horizontal direction; j ′(t+1) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t+1 in the jth vertical obstacle crossing stage; β j ′(t) is the angle between the track of the unmanned tracked vehicle and the contact point relative to the horizontal direction at time t in the jth vertical obstacle crossing stage; Vβ j y′ is the change in the angle between the track and the contact point of the unmanned tracked vehicle relative to the horizontal direction per unit time in the jth vertical obstacle crossing stage; g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ g,j (t) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ g,j (t+1) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time t+1 in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ g,j (t) is the coordinate of the center of the torque axis of the g-th road wheel of the unmanned tracked vehicle at time t in the j-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

6. The vertical obstacle control method for an unmanned tracked vehicle according to claim 2, characterized in that: The expression of the local motion estimation equation of the unmanned tracked vehicle-ground in the first to seventh vertical obstacle crossing stages is: Among them, γ′ 4,r (t+1) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t+1 in the rth vertical obstacle crossing stage; γ′ 4,r (t) is the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction at time t in the rth vertical obstacle crossing stage; Vγ′ 4,r is the change in the angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction per unit time in the rth vertical obstacle crossing stage; γ′ 4min is the minimum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; γ′ 4max is the maximum value of the angle between the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle and the horizontal direction; y′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; y′ 4,r (t) is the coordinate of the Y axis of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the eighth vertical obstacle crossing stage in the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance shaft length of the unmanned tracked vehicle; z′ 4,r (t+1) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t+1 of the rth vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; z′ 4,r (t) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time t in the rth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ.

7. The vertical obstacle control method for an unmanned tracked vehicle according to claim 2, characterized in that: The expression of the vehicle vertical obstacle crossing kinematic model is: Constraints: y(t m-1 )+min(v y )Δt≤y(t m )≤y(t m-1 )+max(v y )Δt z(t m-1 )+min(v z )Δt≤z(t m )≤z(t m-1 )+max(v z )Δt Among them, y′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ 4,r (w) is the coordinate of the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle crossing stage on the Z axis of the earth coordinate system YOZ; y′ d,k (w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Y axis in the geodetic coordinate system YOZ; z′ d,k (w) is the coordinate of the wheel center d of the driving wheel at the time w in the kth vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; y′ g,i (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ g,i (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the i-th vertical obstacle crossing stage on the Z axis of the geodetic coordinate system YOZ; y′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage on the Y axis of the geodetic coordinate system YOZ; z′ g,j (w) is the coordinate of the center of the torsion axis of the g-th road wheel of the unmanned tracked vehicle at time w in the j-th vertical obstacle crossing stage in the Z-axis of the geodetic coordinate system YOZ; y(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Y-axis of the geodetic coordinate system YOZ; z(w) is the coordinate of the body posture observation point of the unmanned tracked vehicle in the Z-axis of the geodetic coordinate system YOZ; b is the distance between the body posture observation point and the center of the axis of the corresponding stage of the unmanned tracked vehicle in the k-th vertical obstacle crossing stage; c is the distance between the body posture observation point and the center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle; y(t m-1 ) is at t m-1 The coordinate of the Y-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; y is the velocity of the Y axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; Δt is the change per unit time; y(t m ) is at t m The coordinate of the Y-axis of the observation point of the unmanned tracked vehicle’s posture at the moment in the earth coordinate system YOZ; z(t m-1 ) is at t m-1 The coordinate of the Z axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment; z is the velocity of the Z axis of the unmanned tracked vehicle in the geodetic coordinate system YOZ; z(t m ) is at t m The coordinate of the Z-axis of the unmanned tracked vehicle's body posture observation point in the geodetic coordinate system YOZ at this moment.

8. A vertical obstacle control system for an unmanned tracked vehicle, characterized in that: The unmanned tracked vehicle vertical obstacle crossing control method applied to any one of claims 1 to 7, wherein the unmanned tracked vehicle vertical obstacle crossing control system comprises: An acquisition module is used to acquire sensor observation data of the driving motor of the unmanned tracked vehicle at the current moment and calculate characteristic data; the characteristic data includes: the maximum and minimum difference of vertical displacement, the maximum and minimum difference of pitch angle, the average value of vertical displacement velocity and the average value of pitch angle velocity; A contact pattern classification module, for determining a contact pattern category set of the unmanned tracked vehicle based on the feature data using a contact pattern classification model; the contact pattern classification model is obtained by training an SVM model using sample feature data; A vertical obstacle crossing stage determination module, used to determine the vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment according to the contact pattern category set; A reference trajectory generation module is used to calculate the reference trajectory of the reference point of the vertical obstacle crossing stage at the current moment according to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing stages; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: the unmanned tracked vehicle-obstacle local motion estimation equation; the reference point includes: the axis of the torsion shaft of the unmanned tracked vehicle and the wheel center of the driving wheel of the unmanned tracked vehicle; the axis of the torsion shaft includes: the axis of the torsion shaft of the first pair of road wheels, the axis of the torsion shaft of the second pair of road wheels, the axis of the torsion shaft of the third pair of road wheels and the axis of the torsion shaft of the fourth pair of road wheels; The obstacle crossing trajectory generation module is used to determine the obstacle crossing trajectory of the vehicle body posture observation point of the unmanned tracked vehicle based on the reference trajectory of the reference point in the vertical obstacle crossing stage at the current moment and using the vertical obstacle crossing kinematic model of the whole vehicle; The vertical obstacle control module is used to determine the reference speed of the drive motor of the unmanned tracked vehicle according to the obstacle trajectory of the body posture observation point of the unmanned tracked vehicle; based on the reference speed, a PID controller is used to control the drive motor movement of the unmanned tracked vehicle to achieve vertical obstacle control of the unmanned tracked vehicle.

9. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vertical obstacle control method for an unmanned tracked vehicle according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vertical obstacle crossing control method for an unmanned tracked vehicle described in any one of claims 1 to 7 is implemented.

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