A vertical obstacle crossing control method, system, device and medium for unmanned tracked vehicles

Abstract

The application discloses a vertical obstacle crossing control method, system, device and medium for unmanned tracked vehicles, relates to the field of image recognition, obtains sensor observation data of a driving motor of the unmanned tracked vehicle at the current moment, and calculates characteristic data; based on the characteristic data, a contact mode classification model is used to determine a vertical obstacle crossing stage of the unmanned tracked vehicle at the current moment; according to a local motion estimation equation of the unmanned tracked vehicle-ground-obstacle corresponding to different vertical obstacle crossing stages, a reference trajectory of a reference point in the vertical obstacle crossing stage at the current moment is calculated; then, a whole vehicle vertical obstacle crossing kinematics model is used to determine an obstacle crossing trajectory of a vehicle body pose observation point of the unmanned tracked vehicle; according to the obstacle crossing trajectory of the vehicle body pose observation point of the unmanned tracked vehicle, a reference rotating speed of the driving motor of the unmanned tracked vehicle is determined, and a PID controller is used to control the driving motor core, so that the vertical obstacle crossing control of the unmanned tracked vehicle is realized. The application improves the obstacle crossing stability of the unmanned tracked vehicle.

Description

TECHNICAL FIELD

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

[0002] The vertical obstacle crossing capability of an unmanned tracked vehicle is one of the key technologies for passing through complex terrain environments, and can improve the passing capability of the vehicle in urban ruins, hilly areas and battlefield environments, and is a key indicator for measuring the mobility of the unmanned tracked vehicle. However, most related vertical obstacle crossing control methods are based on rigid body model assumptions, and ignore the dynamic interaction process between the walking mechanism and the vertical obstacle, such as the deformation of the track under pressure, the displacement of the load wheel under the action of concentrated force, and the like, which leads to large errors in the vertical obstacle crossing model, low accuracy of the model prediction results, and large control output fluctuation range, low obstacle crossing stability of the unmanned tracked vehicle, and difficulty in passing through vertical obstacles of extreme height. SUMMARY

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

[0004] To achieve the above purpose, the present application provides the following solutions:

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

[0006] Obtaining sensor observation data of a drive motor of the unmanned tracked vehicle at the current time, and calculating feature data; the feature data includes: a maximum-minimum difference value of the vertical displacement, a maximum-minimum difference value of the pitch angle, an average value of the vertical displacement speed, and an average value of the pitch angle speed;

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

[0008] According to the contact mode category set, the vertical obstacle crossing phase of the unmanned tracked vehicle at the current time is determined;

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

[0010] Based on the reference trajectory of the reference point of the current time vertical obstacle stage, the obstacle trajectory of the vehicle body pose observation point of the unmanned tracked vehicle is determined by using the whole vehicle vertical obstacle kinematics model;

[0011] According to the obstacle trajectory of the vehicle body pose observation point of the unmanned tracked vehicle, the reference speed of the driving motor of the unmanned tracked vehicle is determined;

[0012] Based on the reference speed, the driving motor core of the unmanned tracked vehicle is controlled by using the PID controller, so as to realize the vertical obstacle control of the unmanned tracked vehicle.

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

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

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

[0017] When the suspended track between the first pair of load wheels of the unmanned tracked vehicle and the second pair of load 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 load wheels of the unmanned tracked vehicle and the second pair of load wheels of the unmanned tracked vehicle, it is determined that the unmanned tracked vehicle is in the fourth vertical obstacle stage;

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

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

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

[0021] When the fourth load wheel of the unmanned tracked vehicle contacts the obstacle and the center of gravity of the unmanned tracked vehicle passes through the obstacle, the attitude of the unmanned tracked vehicle is restored, it is determined that the unmanned tracked vehicle is in the eighth vertical obstacle-crossing phase.

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

[0023]

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

[0025]

[0026] Wherein, α′ d,1 (t+1) is the angle between the center d of the driving wheel of the unmanned tracked vehicle at time t+1 in the first vertical obstacle-crossing phase and the contact point relative to the horizontal direction; α′ d,1 (t) is the angle between the center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle-crossing phase and the contact point relative to the horizontal direction; is the running 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 center d of the driving wheel of the unmanned tracked vehicle at time t+1 in the first vertical obstacle-crossing phase on the Y-axis in the earth coordinate system YOZ; y′ d,1 (t) is the coordinate of the center d of the driving wheel of the unmanned tracked vehicle at time t in the first vertical obstacle-crossing phase on the Y-axis in the earth coordinate system YOZ; z′ d,1 (t+1) is the coordinate of the center d of the driving wheel of the unmanned tracked vehicle at time t+1 in the first vertical obstacle-crossing phase on the Z-axis in the earth coordinate system YOZ; 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 second vertical obstacle crossing stage in the Y axis of the earth coordinate system YOZ; Δβ d ,2 (t+1) is the angle between the track and the contact point of the unmanned tracked vehicle at time t+1 in the second vertical obstacle crossing stage relative to the horizontal direction; Δβ d ,2 (t) is the angle between the track and the contact point of the unmanned tracked vehicle at time t in the second vertical obstacle crossing stage relative to the horizontal direction; Δβ d ,2 is the change value of the angle between the track and the contact point of the unmanned tracked vehicle in the second vertical obstacle crossing stage per unit time relative to the horizontal direction; y′ d,2 (t+1) is the coordinate of the wheel center d of the driving wheel of the unmanned tracked vehicle at time t+1 in the second vertical obstacle crossing stage in the Y axis of the earth coordinate system YOZ; 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 in the Y axis of the earth coordinate system YOZ; Δtk is the rotation length of the track 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 at time t+1 in the second vertical obstacle crossing stage in the Z axis of the earth coordinate system YOZ; 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 in the Z axis of the earth 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 expression of the unmanned tracked vehicle-obstacle local motion estimation equation in the third vertical obstacle crossing stage, the fifth vertical obstacle crossing stage and the seventh vertical obstacle crossing stage is:

[0029]

[0030] wherein γ′ g,i (t+1) is the angle between the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle at time t+1 in the ith vertical obstacle crossing stage relative to the horizontal direction; γ′ g,i (t) is the angle between the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle at time t in the ith vertical obstacle crossing stage relative to the horizontal direction; Vγ′ g,i is the change value of the angle between the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle in the ith vertical obstacle crossing stage per unit time relative to the horizontal direction; γ′ gmin is the minimum limit value of the angle between the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle relative to the horizontal direction; γ′ gmax ​​​The maximum limit value of the included angle of the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle relative to the horizontal direction; α′ g,i (t+1) is the included angle of the center of the gth load wheel of the unmanned tracked vehicle and the contact point at time t+1 of the i th vertical obstacle crossing stage relative to the horizontal direction; α′ g,i (t) is the included angle of the center of the gth load wheel of the unmanned tracked vehicle and the contact point at time t of the i th vertical obstacle crossing stage relative to the horizontal direction; ρ roll The rolling efficiency of the unmanned tracked vehicle; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; R load The radius of the load wheel of the unmanned tracked vehicle; y′ g,i (t+1) is the Y-axis coordinate of the axis center of the torsion shaft of the gth load wheel of the unmanned tracked vehicle in the earth coordinate system YOZ at time t+1 of the i th vertical obstacle crossing stage; y′ g,i (t) is the Y-axis coordinate of the axis center of the torsion shaft of the gth load wheel of the unmanned tracked vehicle in the earth coordinate system YOZ at time t of the i th vertical obstacle crossing stage; The driving efficiency of the unmanned tracked vehicle; ± is the clockwise rotation and counterclockwise rotation of the balance shaft of the unmanned tracked vehicle, wherein + 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 The length of the balance shaft of the unmanned tracked vehicle; z′ g,i (t+1) is the Z-axis coordinate of the axis center of the torsion shaft of the gth load wheel of the unmanned tracked vehicle in the earth coordinate system YOZ at time t+1 of the i th vertical obstacle crossing stage; z′ g,i (t) is the Z-axis coordinate of the axis center of the torsion shaft of the gth load wheel of the unmanned tracked vehicle in the earth coordinate system YOZ at time t of the i th vertical obstacle crossing stage.

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

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

[0033]

[0034] Wherein, γ′ g,j (t+1) is the included angle of the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle relative to the horizontal direction at time t+1 of the j th vertical obstacle crossing stage; γ′ g,j (t) is the included angle of the torsion bar suspension of the gth load wheel of the unmanned tracked vehicle relative to the horizontal direction at time t of the j th vertical obstacle crossing stage; Vγ′ g,jis the change value of the angle of the torsion bar suspension of the gth ground wheel of the unmanned tracked vehicle relative to the horizontal direction per unit time in the jth vertical obstacle crossing stage; γ' gmin is the minimum limit value of the angle of the torsion bar suspension of the gth ground wheel of the unmanned tracked vehicle relative to the horizontal direction; γ' gmax is the maximum limit value of the angle of the torsion bar suspension of the gth ground wheel of the unmanned tracked vehicle relative to the horizontal direction; β j is the angle of the track of the unmanned tracked vehicle relative to the horizontal direction at the t+1 moment of the jth vertical obstacle crossing stage; β j is the angle of the track of the unmanned tracked vehicle relative to the horizontal direction at the t moment of the jth vertical obstacle crossing stage; Vβ j is the change value of the angle of the track of the unmanned tracked vehicle relative to the horizontal direction per unit time in the jth vertical obstacle crossing stage; y' g,j is the Y-axis coordinate of the axis center of the torsion shaft of the gth ground wheel of the unmanned tracked vehicle in the YOZ earth coordinate system at the t+1 moment of the jth vertical obstacle crossing stage; y' g,j is the Y-axis coordinate of the axis center of the torsion shaft of the gth ground wheel of the unmanned tracked vehicle in the YOZ earth coordinate system at the t moment of the jth vertical obstacle crossing stage; 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 length of the balance shaft of the unmanned tracked vehicle; z' g,j is the Z-axis coordinate of the axis center of the torsion shaft of the gth ground wheel of the unmanned tracked vehicle in the YOZ earth coordinate system at the t+1 moment of the jth vertical obstacle crossing stage; z' g,j is the Z-axis coordinate of the axis center of the torsion shaft of the gth ground wheel of the unmanned tracked vehicle in the YOZ earth coordinate system at the t moment of the jth vertical obstacle crossing stage.

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

[0036]

[0037] wherein γ' 4,r is the angle of the torsion bar suspension of the fourth pair of ground wheels of the unmanned tracked vehicle relative to the horizontal direction at the t+1 moment of the rth vertical obstacle crossing stage; γ' 4,r is the angle of the torsion bar suspension of the fourth pair of ground wheels of the unmanned tracked vehicle relative to the horizontal direction at the t moment of the rth vertical obstacle crossing stage; Vγ' 4,r is the change value of the angle of the torsion bar suspension of the fourth pair of ground wheels of the unmanned tracked vehicle relative to the horizontal direction per unit time in the rth vertical obstacle crossing stage; γ' 4minγ′ is the minimum value of the included angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction 4max γ′ is the maximum value of the included angle of the torsion bar suspension of the fourth pair of road wheels of the unmanned tracked vehicle relative to the horizontal direction 4,r (t+1) is the coordinate of the axis center of the torsion bar 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 axis center of the torsion bar of the fourth pair of road wheels of the unmanned tracked vehicle at time t of the eighth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; Vtk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp z′ is the balance axis length of the unmanned tracked vehicle; 4,r (t+1) is the coordinate of the axis center of the torsion bar 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 earth coordinate system YOZ; z′ 4,r (t) is the coordinate of the axis center of the torsion bar of the fourth pair of road wheels of the unmanned tracked vehicle at time t of the rth vertical obstacle crossing stage on the Z axis of the earth coordinate system YOZ.

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

[0039]

[0040] Constraint condition: 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] wherein, y′ 4,r (w) is the coordinate of the axis center of the torsion bar of the fourth pair of road wheels of the unmanned tracked vehicle at time w of 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 axis center of the torsion bar of the fourth pair of road wheels of the unmanned tracked vehicle at time w of 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 time w of the kth vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; z′ d,k(w) is the coordinate of the wheel center d of the driving wheel at time w in the kth vertical obstacle crossing stage on the Z axis in the earth 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 in 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 earth 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 axis center 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 axis center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle; y(t m-1 ) is the m-1 The coordinate of the Y-axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at this moment; v y is the velocity of the Y axis of the unmanned tracked vehicle in the earth coordinate system YOZ; Δt is the change per unit time; y(t m ) is the m The coordinate of the Y axis of the observation point of the unmanned tracked vehicle's body posture in the earth coordinate system YOZ at the moment; z(t m-1 ) is the m-1 The coordinate of the Z axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at this moment; v z is the velocity of the Z axis of the unmanned tracked vehicle in the earth coordinate system YOZ; z(t m ) is the m The coordinate of the Z-axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at any 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 for acquiring sensor observation data of the drive motor of the unmanned tracked vehicle at the current moment and calculating characteristic data; the characteristic data including: 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] The contact mode classification module is configured to determine a contact mode category set of the unmanned tracked vehicle based on the feature data by using a contact mode classification model, wherein the contact mode classification model is obtained by training a SVM model based on sample feature data.

[0046] The vertical obstacle phase determination module is configured to determine a vertical obstacle phase of the unmanned tracked vehicle at the current time based on the contact mode category set.

[0047] The reference trajectory generation module is configured to calculate a reference trajectory of a reference point of the vertical obstacle phase at the current time based on an unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle phases, wherein the unmanned tracked vehicle-ground-obstacle local motion estimation equation comprises an unmanned tracked vehicle-obstacle local motion estimation equation and an unmanned tracked vehicle-ground local motion estimation equation, the reference point comprises an axis center of a torsion shaft of the unmanned tracked vehicle and a wheel center of a drive wheel of the unmanned tracked vehicle, and the axis center of the torsion shaft comprises an axis center of a torsion shaft of a first pair of load wheels, an axis center of a torsion shaft of a second pair of load wheels, an axis center of a torsion shaft of a third pair of load wheels, and an axis center of a torsion shaft of a fourth pair of load wheels.

[0048] The obstacle trajectory generation module is configured to determine an obstacle trajectory of an observed point of a body pose of the unmanned tracked vehicle based on the reference trajectory of the reference point of the vertical obstacle phase at the current time by using a whole-vehicle vertical obstacle kinematics model.

[0049] The vertical obstacle control module is configured to determine a reference rotating speed of a drive motor of the unmanned tracked vehicle based on the obstacle trajectory of the observed point of the body pose of the unmanned tracked vehicle, and to control a core of the drive motor of the unmanned tracked vehicle by using a PID controller based on the reference rotating speed, so as to realize vertical obstacle control of the unmanned tracked vehicle.

[0050] In a third aspect, the present application provides a computer device, comprising a memory and a processor, a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the vertical obstacle control method of the unmanned tracked vehicle according to any one of the above embodiments.

[0051] In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the steps of the vertical obstacle control method of the unmanned tracked vehicle according to any one of the above embodiments.

[0052] According to the embodiments provided in the present application, the following technical effects are achieved.

[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 the reference trajectory of the reference point of the current vertical obstacle crossing stage can be calculated based on the local motion estimation equation of the unmanned tracked vehicle-ground-obstacle, thereby describing the different stages of local motion between the unmanned tracked vehicle-ground-obstacle in different vertical obstacle crossing stages, thereby reducing the impact of changes in the contact point on the vertical obstacle crossing kinematic model of the entire vehicle, and further improving the calculation accuracy of the vertical obstacle crossing kinematic model of the entire 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 following briefly introduces the drawings required for use in the embodiments. 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 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 Schematic diagram of the image segmentation results of the unmanned tracked vehicle's vertical obstacle crossing provided by one embodiment of the present application, wherein (a) shows the vertical displacement of the four pairs of road wheels corresponding to eight stages, (b) shows the vertical displacement and pitch angle of the vehicle corresponding to the eight stages, (c) shows the first vertical obstacle crossing stage, (d) shows the second vertical obstacle crossing stage, (e) shows the third vertical obstacle crossing stage, (f) shows the fourth vertical obstacle crossing stage, (g) shows the fifth vertical obstacle crossing stage, (h) shows the sixth vertical obstacle crossing stage, (i) shows the seventh vertical obstacle crossing stage, and (j) shows the eighth vertical obstacle crossing stage;

[0057] Figure 3 Schematic diagram of the local motion analysis of the driving wheel and 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 and obstacle of an unmanned tracked vehicle according to an embodiment of the present application, wherein (a) shows the balance shaft of the unmanned tracked vehicle rotating clockwise, and (b) shows the balance shaft of the unmanned tracked vehicle rotating counterclockwise;

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

[0060] Figure 6 Fig. 4 is a schematic diagram of local motion of a ground contact position of an unmanned tracked vehicle according to an embodiment of the present application, wherein (a) is a fourth pair of load wheels of the unmanned tracked vehicle rotating counterclockwise, and (b) is the fourth pair of load wheels of the unmanned tracked vehicle rotating clockwise;

[0061] Figure 7 Fig. 5 is a schematic diagram of a feed-forward feedback vertical obstacle crossing control system according to an embodiment of the present application;

[0062] Figure 8 Fig. 6 is a schematic diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0064] The above-mentioned purposes, features and advantages of the present application can be more obvious and easy to understand. The present application will be described in further detail below with reference to the drawings and specific embodiments.

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

[0066] Step 1: obtaining sensor observation data of a driving motor of the unmanned tracked vehicle at a current time, and calculating characteristic data; the characteristic data includes: maximum minimum difference of vertical displacement, maximum minimum difference of pitch angle, average value of vertical displacement speed and average value of pitch angle speed.

[0067] Step 2: determining a contact mode category set of the unmanned tracked vehicle based on the characteristic data by using a contact mode classification model; the contact mode classification model is obtained by training a SVM model with sample characteristic data.

[0068] Step 3: determining a vertical obstacle crossing phase of the unmanned tracked vehicle at the current time according to the contact mode category set.

[0069] Step 4: calculating the reference trajectory of the reference point of the current vertical obstacle stage according to the unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle stages; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: unmanned tracked vehicle-obstacle local motion estimation equation and unmanned tracked vehicle-ground 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 drive wheel of the unmanned tracked vehicle; the axis of the torsion shaft includes: the axis of the torsion shaft of the first pair of load wheels, the axis of the torsion shaft of the second pair of load wheels, the axis of the torsion shaft of the third pair of load wheels and the axis of the torsion shaft of the fourth pair of load wheels.

[0070] Step 5: based on the reference trajectory of the reference point of the current vertical obstacle stage, using the whole vehicle vertical obstacle kinematics model, determining the obstacle trajectory of the vehicle body pose observation point of the unmanned tracked vehicle.

[0071] Step 6: determining the reference speed of the drive motor of the unmanned tracked vehicle according to the obstacle trajectory of the vehicle body pose observation point of the unmanned tracked vehicle.

[0072] Step 7: based on the reference speed, using a PID controller to control the drive motor core of the unmanned tracked vehicle, realizing the vertical obstacle control of the unmanned tracked vehicle.

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

[0074] Step 21: collecting driving data sample sensor observation data of the unmanned tracked vehicle passing through vertical obstacles of different sizes, calculating sample feature data, collecting vehicle state data (such as suspension displacement, vehicle obstacle trajectory, etc.) and synchronous camera images at the same time, and correcting time stamp, calibrating coordinates and changing coordinates of the collected data.

[0075] Select vertical obstacles of multiple heights within the design index, including 0.4, 0.5, 0.6m vertical walls, and pass through the above vertical obstacles at the same expected driving speed (not higher than 2km / h).

[0076] Step 22: manually segmenting and labeling the synchronous camera images.

[0077] In order to determine the vertical obstacle stage corresponding to the sample sensor observation data, the synchronous camera images collected at the same time are manually segmented and labeled, and the synchronous camera images collected are manually segmented and labeled by the vertical obstacle stage based on the walking mechanism type (drive wheel, load wheel, suspended track between wheels) in contact with the vertical wall, assisting the manual segmentation and labeling of the sample sensor observation data. For example, Figure 2As shown, the vertical obstacle climbing phase is divided into eight stages according to the synchronous camera image, the vehicle obstacle climbing trajectory and the suspension displacement, for describing the complex vehicle-ground-vertical wall dynamic contact process: the vertical obstacle climbing phase includes: a first vertical obstacle climbing stage, a second vertical obstacle climbing stage, a third vertical obstacle climbing stage, a fourth vertical obstacle climbing stage, a fifth vertical obstacle climbing stage, a sixth vertical obstacle climbing stage, a seventh vertical obstacle climbing stage and an eighth vertical obstacle climbing 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 climbing stage.

[0079] 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 climbing stage.

[0080] 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 climbing stage.

[0081] 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 climbing stage.

[0082] 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 climbing stage.

[0083] 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 climbing stage.

[0084] 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 climbing stage.

[0085] 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 climbing stage.

[0086] Step 23: training the SVM model.

[0087] Based on the known vertical obstacle crossing process segmentation results and artificial annotation results, a classification method based on support vector machine (SVM) is established. The sample feature data input by the 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 maximum-minimum difference of the vertical displacement z t-w+1:t in the forward time window w at time t, the maximum-minimum difference of the pitch angle , the average value of the vertical displacement velocity , and the average value of the pitch angle velocity ω t-w+1 , and the calculation formula is:

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

[0089]

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

[0091] The calculation results of formulas (1)-(4) constitute the input feature vector SVM as a typical binary classification algorithm, the contact mode of the vehicle-vertical wall is identified through the input feature, and the sequence number of the vertical obstacle crossing stage of the unmanned tracked vehicle is further inferred according to the contact mode transition obtained by the SVM. For the first vertical obstacle crossing stage to the seventh vertical obstacle crossing stage, there are two contact mode category sets C 1 ={c tk ,c wh}, wherein c tkc represents the suspension track of the unmanned tracked vehicle contacting the obstacle (corresponding to the second vertical obstacle phase, the fourth vertical obstacle phase and the sixth vertical obstacle phase), wh c represents the driving wheel or the load wheel contacting the obstacle (corresponding to the first vertical obstacle phase, the third vertical obstacle phase, the fifth vertical obstacle phase and the seventh vertical obstacle phase); for the seventh vertical obstacle phase to the eighth vertical obstacle phase, the contact mode category set C 2 ={c rot ,c wh},c rot represents the vehicle returning to normal (corresponding to the eighth vertical obstacle phase). The output result of the SVM at time t is defined as c t ∈C k ,k=1 or 2, the serial number of the current vertical obstacle phase is q t ∈{1,2,3,4,5,6,7,8}, when the contact mode classification result c t ≠c t-1 at the adjacent time, the serial number q t of the vertical obstacle phase t-1 =q +1.

[0092] When the vertical obstacle phase is determined, the serial number of the vertical obstacle phase q t is recorded, and the serial number q t of the vertical obstacle phase is a monotonically increasing integer sequence. When the unmanned tracked vehicle is not performing obstacle crossing, the serial number q t is 0; when the contact mode of the unmanned tracked vehicle is determined by the contact mode classification model, the serial number q t is automatically jumped to 1 and recorded; during the vertical obstacle 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 time is different from the contact mode at the last time, the serial number of the vertical obstacle phase is increased by 1, i.e. if c t-1 ≠c t , the serial number q t-1 of the vertical obstacle phase t =q +1, for example, in the second vertical obstacle phase, the fourth vertical obstacle phase and the sixth vertical obstacle phase (c tk =c ), when the last time phase serial number q t-1 =1, and c t ≠c t-1 , q t =2 is obtained, similarly q t-1 =3, and c t ≠c t-1 , q t =4 is obtained, q t-1 =5, and c t ≠c t-1 , 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, the contact point Q is 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 driving wheel radius 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 unmanned tracked vehicle's driving wheel 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 unmanned tracked vehicle's driving wheel and the line connecting the contact point 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 at time t+1 in the first vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; 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 of the earth 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 at time t+1 in the first vertical obstacle crossing stage on the Z axis of the earth coordinate system YOZ; 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 of the earth coordinate system YOZ.

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

[0098] Vrot=Vt×n×η1×η2(6)

[0099] wherein, η1 is the transmission ratio of the reducer; η2 is the transmission ratio of the gearbox.

[0100] Reference point O' of the second vertical obstacle crossing stage d,k The expression of the local motion estimation equation of the unmanned tracked vehicle-obstacle is as follows:

[0101]

[0102] wherein, β d ' ,2 (t+1) is the angle of 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; Δβ d ' ,2 (t) is the angle of 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 value of the angle of the track of the unmanned tracked vehicle and the contact point 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 at time t+1 in the second vertical obstacle crossing stage on the Y axis of the earth coordinate system YOZ; 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 rotation length of the track 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 on 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 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 local motion estimation equation of the unmanned tracked vehicle-obstacle in the earth coordinate system YOZ is the same, which is:

[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 during 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 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 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 wheel center and the contact point of the gth idler wheel of the unmanned tracked vehicle at time t in the ith vertical obstacle crossing stage relative to the horizontal direction; p 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 idler wheel of the unmanned tracked vehicle; y′ g,i (t+1) is the Y-axis coordinate of the axis center of the torsion shaft of the gth idler wheel of the unmanned tracked vehicle at time t+1 in the ith vertical obstacle crossing stage in the YOZ earth coordinate system; y′ g,i (t) is the Y-axis coordinate of the axis center of the torsion shaft of the gth idler wheel of the unmanned tracked vehicle at time t in the ith vertical obstacle crossing stage in the YOZ earth coordinate system; is the rolling efficiency of the unmanned tracked vehicle; ± is the clockwise rotation and counterclockwise rotation of the balance shaft of the unmanned tracked vehicle, wherein + 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 length of the balance shaft of the unmanned tracked vehicle; z′ g,i (t+1) is the Z-axis coordinate of the axis center of the torsion shaft of the gth idler wheel of the unmanned tracked vehicle at time t+1 in the ith vertical obstacle crossing stage in the YOZ earth coordinate system; z′ g,i (t) is the Z-axis coordinate of the axis center of the torsion shaft of the gth idler wheel of the unmanned tracked vehicle at time t in the ith vertical obstacle crossing stage in the YOZ earth coordinate system.

[0108] As shown in Figure 5 , for the contact point Q being located in the suspended track between the idler wheels (corresponding to the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage), the axis center of the torsion shaft of the ith pair of idler 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)}. In the fourth vertical obstacle crossing stage and the sixth vertical obstacle crossing stage, the reference point O' g,j The expression of the unmanned tracked vehicle-obstacle local motion estimation equation in the YOZ earth coordinate system is the same, and the expression is as follows:

[0109]

[0110] wherein γ′ g,j (t+1) is the angle between the torsion rod suspension of the gth idler wheel of the unmanned tracked vehicle at time t+1 in the jth vertical obstacle crossing stage relative to the horizontal direction; γ′ g,j (t) is the angle between the torsion rod suspension of the gth idler wheel of the unmanned tracked vehicle at time t in the jth vertical obstacle crossing stage relative to the horizontal direction; 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 during 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 of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and 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 j-th 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 j-th vertical obstacle crossing stage; Vβ j ′ 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; y′ 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 Y-axis 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 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 axis 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 Z axis 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 in the geodetic coordinate system YOZ.

[0111] For the local movement of the vehicle-ground contact point, assuming the ground is horizontal, point P is always attached to the road wheel farthest from the vertical obstacle, and is in close contact with 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 center of the torsion shaft at the other end is connected to the vehicle body. The road wheel can rotate around the center of the torsion shaft through the balance shaft, and the maximum upward displacement is limited by the limiter. Figure 6 As shown, Figure 6 (a) shows the situation where the fourth pair of road wheels of the unmanned tracked vehicle rotates counterclockwise. Figure 6 (b) 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 local motion estimation equation of the unmanned tracked vehicle-obstacle in the earth coordinate system YOZ is expressed as:

[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; y′ 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; 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 on the Y axis in the geodetic coordinate system YOZ at time t+1 of the r-th vertical obstacle crossing stage; y′ 4,r (t) is the Y-axis 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 eighth vertical obstacle crossing stage in 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 axis 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 in the r-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ 4,r (t) is the coordinate of the Z axis 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 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 The vehicle-ground local motion reference point O' 4,r The vehicle-obstacle local motion reference point O' g,n , n∈(i,j) and the vehicle body pose observation point O v Construct a fixed structure triangle ΔO' 4,r O v O' g,n , the length of the side a = O' 4,r O' g,n , b = O v O' g,n , c = O' 4, r O v The reference point O' 4,r and the motion trajectory of O' g,n , the result of O v is obtained by using a numerical optimization method. The expression of the whole vehicle vertical obstacle climbing kinematics model is:

[0117]

[0118] Constraint condition: 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] Wherein, y′ 4,r (w) is the coordinate of the axis center of the fourth pair of negative weight wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle climbing stage on the Y axis in the earth coordinate system YOZ; z′ 4,r (w) is the coordinate of the axis center of the fourth pair of negative weight wheels of the unmanned tracked vehicle at time w in the rth vertical obstacle climbing stage on the Z axis in the earth coordinate system YOZ; y′ d,k (w) is the coordinate of the wheel center d of the driving wheel at time w in the kth vertical obstacle climbing stage on the Y axis in the earth coordinate system YOZ; z′ d,k (w) is the coordinate of the wheel center d of the driving wheel at time w in the kth vertical obstacle climbing stage on the Z axis in the earth coordinate system YOZ; y′ g,i (w) is the coordinate of the axis center of the gth negative weight wheel of the unmanned tracked vehicle at time w in the ith vertical obstacle climbing stage on the Y axis in the earth coordinate system YOZ; z′ g,i(w) is the coordinate of the axis center of the torque shaft of the gth load wheel of the unmanned tracked vehicle at the w moment of the i th vertical obstacle crossing stage in the Z axis of the earth coordinate system YOZ; y' g,j (w) is the coordinate of the axis center of the torque shaft of the gth load wheel of the unmanned tracked vehicle at the w moment of the i th vertical obstacle crossing stage in the Z axis of the earth coordinate system YOZ; y' g,j (w) is the coordinate of the axis center of the torque shaft of the gth load wheel of the unmanned tracked vehicle at the w moment of the i th vertical obstacle crossing stage in the Z axis of the earth coordinate system YOZ; y(w) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Y axis of the earth coordinate system YOZ; z(w) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Z axis of the earth coordinate system YOZ; b is the distance between the vehicle body pose observation point and the axis center of the corresponding stage of the unmanned tracked vehicle in the k th vertical obstacle crossing stage; c is the distance between the vehicle body pose observation point and the axis center of the torque shaft of the fourth pair of load wheels of the unmanned tracked vehicle; y(t m-1 ) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Y axis of the earth coordinate system YOZ at the t m-1 time; v y is the speed of the unmanned tracked vehicle in the Y axis of the earth coordinate system YOZ; Δt is the change quantity per unit time; y(t m ) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Y axis of the earth coordinate system YOZ at the t m time; z(t m-1 ) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Z axis of the earth coordinate system YOZ at the t m-1 time; v z is the speed of the unmanned tracked vehicle in the Z axis of the earth coordinate system YOZ; z(t m ) is the coordinate of the vehicle body pose observation point of the unmanned tracked vehicle in the Z axis of the earth coordinate system YOZ at the t m time.

[0121] Specifically, the formula (12) is solved by using the Levenberg-Marquardt algorithm (LMA). The calculation formula of the pitch angle of the unmanned tracked vehicle at the next moment is:

[0122]

[0123] wherein, is the pitch angle of the unmanned tracked vehicle at the t m moment, is the pitch angle of the unmanned tracked vehicle at the t m-1 moment.

[0124] In one specific embodiment, step 6 specifically comprises:

[0125] AsFigure 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 calculated 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 vertical obstacle crossing control method for unmanned tracked vehicles proposed in this application are mainly manifested in:

[0127] (1) This application conducts a comprehensive analysis of sample feature data, state data, and synchronized camera image data, and achieves a more detailed segmentation of the vertical obstacle crossing process according to 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, which improves the accuracy of vehicle modeling.

[0128] (2) The existing vehicle rigid body model ignores the upward movement of the road wheels when they contact obstacles, and the deformation of the tracks when they are squeezed by obstacles, resulting in a large error between the modeling results 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 crossing control system for an unmanned tracked vehicle is provided, comprising:

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

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

[0132] The vertical obstacle phase determination module is configured to determine a vertical obstacle phase of the unmanned tracked vehicle at the current time based on the contact mode category set.

[0133] The reference trajectory generation module is configured to calculate a reference trajectory of a reference point of the vertical obstacle phase at the current time based on an unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle phases, wherein the unmanned tracked vehicle-ground-obstacle local motion estimation equation comprises an unmanned tracked vehicle-obstacle local motion estimation equation and an unmanned tracked vehicle-ground local motion estimation equation, and the reference point comprises an axis of a torsion shaft of the unmanned tracked vehicle and a wheel center of a driving wheel of the unmanned tracked vehicle, and the axis of the torsion shaft comprises an axis of a torsion shaft of a first pair of load wheels, an axis of a torsion shaft of a second pair of load wheels, an axis of a torsion shaft of a third pair of load wheels, and an axis of a torsion shaft of a fourth pair of load wheels.

[0134] The obstacle trajectory generation module is configured to determine an obstacle trajectory of an observed point of a body pose of the unmanned tracked vehicle based on the reference trajectory of the reference point of the vertical obstacle phase at the current time by using a whole-vehicle vertical obstacle kinematics model.

[0135] The vertical obstacle control module is configured to determine a reference rotating speed of a driving motor of the unmanned tracked vehicle based on the obstacle trajectory of the observed point of the body pose of the unmanned tracked vehicle, and to control a core of the driving motor of the unmanned tracked vehicle by using a PID controller based on the reference rotating speed, so as to realize vertical obstacle control of the unmanned tracked vehicle.

[0136] In an exemplary embodiment, a computer device, which can be a server or a terminal, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 8As shown in the figure. The computer device includes a processor, a memory, an input / output interface (I / O for short) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. 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 external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a video tag processing method.

[0137] Those skilled in the art can understand that, Figure 8 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement. In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the method embodiments described above.

[0138] In one exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to implement the steps in each of the method embodiments described above.

[0139] In one exemplary embodiment, a computer program product is provided, including a computer program, which is executed by a processor to implement the steps in each of the method embodiments described above.

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

[0141] Those skilled 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to 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 storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0142] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0143] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0144] The principles and implementation modes of the present application are described by applying specific examples herein. The above description of the embodiments is only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A vertical obstacle control method for an unmanned tracked vehicle, characterized in that: The unmanned tracked vehicle vertical obstacle crossing control method comprises: Obtaining sensor observation data of the drive motor of the unmanned tracked vehicle at the current moment and calculating 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 using the sample characteristic data; Determining the vertical obstacle crossing phase of the unmanned tracked vehicle at the current moment according to the contact pattern category set; 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; 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 unmanned tracked vehicle's body posture observation point is determined using the vehicle's vertical obstacle crossing kinematic model; Determining a reference speed of a drive 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 in 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 track vehicle and the second pair of road wheels of the unmanned track vehicle contacts the obstacle, and the contact point moves in 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; 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 track vehicle and the third pair of road wheels of the unmanned track vehicle contacts the obstacle, and the contact point moves in 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; 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, the unmanned tracked vehicle is determined to be 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 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 unmanned tracked vehicle's driving wheel 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 unmanned tracked vehicle's driving wheel and the line connecting the contact point 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 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 second vertical obstacle crossing stage; 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; △γ′ 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 during 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 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 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 wheel center of the g-th road wheel of the unmanned tracked vehicle and 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; △tk 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 torsion axis of the g-th road wheel of the unmanned tracked vehicle on the Y axis in the geodetic coordinate system YOZ at time t+1 of the i-th vertical obstacle crossing stage; y′ g,i (t) is the Y-axis 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 in the geodetic 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 axis 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 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 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 and sixth vertical obstacle crossing stages 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 during the j-th vertical obstacle crossing stage; △γ′ 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 during 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 of the angle between the torsion bar suspension of the g-th road wheel of the unmanned tracked vehicle and 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 j-th 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 j-th vertical obstacle crossing stage; △β j ′ 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; y′ 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 Y-axis 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 in the geodetic coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; △tk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance axis 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 Z axis 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 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 unmanned tracked vehicle-ground local motion estimation equation 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; △γ′ 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 y′ 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; 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 on the Y axis in the geodetic coordinate system YOZ at time t+1 of the r-th vertical obstacle crossing stage; y′ 4,r (t) is the Y-axis 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 eighth vertical obstacle crossing stage in the earth coordinate system YOZ; is the driving efficiency of the unmanned tracked vehicle; △tk is the rotation angle of the driving wheel of the unmanned tracked vehicle; L susp is the balance axis 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 in the r-th vertical obstacle crossing stage on the Z axis in the geodetic coordinate system YOZ; z′ 4,r (t) is the coordinate of the Z axis 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 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 time w in the kth vertical obstacle crossing stage on the Y axis in the earth coordinate system YOZ; z′ d,k (w) is the coordinate of the wheel center d of the driving wheel at time w in the kth vertical obstacle crossing stage on the Z axis in the earth 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 in 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 earth 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 axis center 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 axis center of the torsion axis of the fourth pair of road wheels of the unmanned tracked vehicle; y(t m-1 ) is the m-1 The coordinate of the Y-axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at this moment; v y is the velocity of the Y axis of the unmanned tracked vehicle in the earth coordinate system YOZ; Δt is the change per unit time; y(t m ) is the m The coordinate of the Y axis of the observation point of the unmanned tracked vehicle's body posture in the earth coordinate system YOZ at the moment; z(t m-1 ) is the m-1 The coordinate of the Z axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at this moment; v z is the velocity of the Z axis of the unmanned tracked vehicle in the earth coordinate system YOZ; z(t m ) is the m The coordinate of the Z-axis of the unmanned tracked vehicle's body posture observation point in the earth coordinate system YOZ at any moment.

8. A vertical obstacle crossing control system for an unmanned tracked vehicle, characterized in that: The unmanned tracked vehicle vertical obstacle crossing control method according to any one of claims 1 to 7, wherein the unmanned tracked vehicle vertical obstacle crossing control system comprises: an acquisition module for acquiring sensor observation data of the drive motor of the unmanned tracked vehicle at the current moment and calculating characteristic data; the characteristic data including: 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, configured to determine 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 the sample feature data; a vertical obstacle crossing stage determination module, configured to determine the vertical obstacle crossing stage of the unmanned tracked vehicle at a current moment according to the contact pattern category set; A reference trajectory generation module is configured to calculate a reference trajectory of a reference point in a vertical obstacle crossing phase at a current moment based on an unmanned tracked vehicle-ground-obstacle local motion estimation equation corresponding to different vertical obstacle crossing phases; the unmanned tracked vehicle-ground-obstacle local motion estimation equation includes: an unmanned tracked vehicle-obstacle local motion estimation equation; an unmanned tracked vehicle-ground local motion estimation equation; the reference points include: the axis of the torsion shaft of the unmanned tracked vehicle and the wheel centers of the driving wheels 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 unmanned tracked vehicle's body posture observation point based on the reference trajectory of the reference point in the vertical obstacle crossing phase at the current moment and using the vehicle's vertical obstacle crossing kinematic model; The vertical obstacle crossing control module is used to determine the reference speed of the unmanned tracked vehicle's drive motor based on the obstacle crossing trajectory of the unmanned tracked vehicle's body posture observation point; 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.

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 according to any one of claims 1 to 7 is implemented.

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