Wheel type scissor self-propelled working vehicle automatic navigation test method and system

Abstract

The application belongs to the technical field of engineering machinery, and particularly relates to an automatic navigation test method and system for a wheeled scissor-type self-propelled working vehicle, which comprises the following steps: acquiring automatic navigation test calibration information used for indicating an offset calibration value and a steering reference angle; controlling the to-be-tested wheeled scissor-type self-propelled working vehicle to travel based on a magnetic track, and collecting a track offset set and a real-time steering angle of the vehicle wheel through a magnetic navigation sensor group and an angle sensor respectively during the travel process, wherein the track offset set comprises track offset values collected by three magnetic navigation sensors in the magnetic navigation sensor group in turn, and the distance between any two adjacent magnetic navigation sensors is a preset distance; and correcting the real-time steering angle of the vehicle wheel based on the magnetic track, the automatic navigation test calibration information and the track offset set, so as to realize the automatic navigation test of the to-be-tested wheeled scissor-type self-propelled working vehicle and improve the test efficiency of the wheeled scissor-type self-propelled working vehicle.

Description

Technical Field

[0001] This application belongs to the field of engineering machinery technology, and in particular relates to an automatic navigation testing method and system for a wheeled scissor lift self-propelled work vehicle. Background Technology

[0002] Wheeled scissor lifts are a type of mechanical equipment widely used in high-altitude operations. They are self-propelled, flexible in operation, and suitable for various scenarios.

[0003] However, due to the relatively simple steering structure of wheeled scissor lift self-propelled work vehicles, such as Figure 1 As shown, the two-wheel steering is achieved by a telescopic hydraulic cylinder driving a connecting rod to create a rough steering angle difference. The drive wheel, i.e., the steering wheel, generally lacks differential function, and steering consistency is difficult to guarantee even with angle sensors installed. Furthermore, there is currently no automated testing equipment available for the walking function. Therefore, during the factory commissioning phase, the walking function of the wheeled scissor lift self-propelled work vehicle mainly relies on commissioning personnel, consuming significant manpower and resulting in low testing efficiency.

[0004] Therefore, improving the testing efficiency of wheeled scissor lift self-propelled work vehicles has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides an automatic navigation testing method and system for wheeled scissor lift self-propelled work vehicles, aiming to improve the testing efficiency of wheeled scissor lift self-propelled work vehicles.

[0006] In a first aspect, embodiments of this application provide an automatic navigation testing method for a wheeled scissor lift self-propelled work vehicle, applied to an automatic navigation testing system for wheeled scissor lift self-propelled work vehicles, the method comprising:

[0007] Obtain automatic navigation test calibration information, which is used to indicate the offset calibration value and steering reference angle corresponding to each position of the magnetic trajectory in the automatic navigation test system;

[0008] The test wheeled scissor lift self-propelled work vehicle is controlled to travel based on the magnetic trajectory. During the travel, the trajectory offset set and the real-time wheel steering angle are collected by the magnetic navigation sensor group and the angle sensor respectively. The trajectory offset set includes the trajectory offset values ​​collected sequentially by the three magnetic navigation sensors in the magnetic navigation sensor group. The distance between any two adjacent magnetic navigation sensors is a preset distance.

[0009] Based on the magnetic trajectory, the automatic navigation test calibration information, and the trajectory offset set, the real-time steering angle of the wheels is corrected to realize the automatic navigation test of the wheeled scissor lift self-propelled work vehicle under test.

[0010] In a possible implementation, the correcting the real-time steering angle of the wheel based on the magnetic track, the automatic navigation test calibration information and the set of track offset amounts comprises:

[0011] determining a correction direction and a correction angle of the to-be-tested wheel-type scissor self-walking working vehicle at the target position in the magnetic track based on a track type of the target position in the magnetic track and the automatic navigation test calibration information and the set of track offset amounts corresponding to the target position, the target position being any position in the magnetic track, and the track type comprising a straight track and a curved track;

[0012] correcting a real-time steering angle of the wheel corresponding to the target position based on the correction direction, the correction angle and a steering reference angle indicated by the automatic navigation test calibration information.

[0013] In a possible implementation, the determining the correction direction and the correction angle of the to-be-tested wheel-type scissor self-walking working vehicle at the target position in the magnetic track based on the track type of the target position in the magnetic track and the automatic navigation test calibration information and the set of track offset amounts corresponding to the target position comprises:

[0014] when the track type of the target position is a straight track, determining the correction direction based on a difference between track offset values respectively collected by any two adjacent magnetic navigation sensors;

[0015] determining the correction angle based on the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors and the preset distance.

[0016] In a possible implementation, the determining the correction direction based on the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors comprises:

[0017] taking right as a positive direction, when the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors is less than 0, the correction direction is left; and when the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors is greater than 0, the correction direction is right.

[0018] In a possible implementation, the determining the correction angle based on the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors and the preset distance comprises:

[0019] calculating a ratio of the difference between the track offset values respectively collected by the any two adjacent magnetic navigation sensors to the preset distance;

[0020] determining the correction angle based on the ratio.

[0021] In a possible implementation, when the trajectory category of the target position is a curve trajectory, the automatic navigation test calibration information corresponding to the target position comprises a first offset calibration value, a second offset calibration value and a third offset calibration value corresponding to the magnetic navigation sensors in the magnetic navigation sensor group in sequence, and the trajectory offset set corresponding to the target position comprises a first trajectory offset value, a second trajectory offset value and a third trajectory offset value collected by the magnetic navigation sensors in the magnetic navigation sensor group in sequence.

[0022] The method further comprises:

[0023] calculating a first difference value between the first trajectory offset value and the second trajectory offset value, and a second difference value between the second trajectory offset value and the third trajectory offset value; and determining the steering direction of the wheel type scissor self-walking working vehicle at the target position based on the first difference value and the second difference value.

[0024] calculating a third difference value between the first trajectory offset value and the third trajectory offset value, and a fourth difference value between the first offset calibration value and the third offset calibration value; and determining the correction direction based on the steering direction, the third difference value and the fourth difference value.

[0025] determining the correction angle based on the third difference value, the fourth difference value and the preset distance.

[0026] In a possible implementation, the method further comprises:

[0027] taking right as a positive direction, when the first difference value is less than the second difference value, the steering direction is left; and when the first difference value is greater than the second difference value, the steering direction is right.

[0028] In a possible implementation, the method further comprises:

[0029] taking right as a positive direction, when the steering direction is left and the third difference value is less than the fourth difference value, the correction direction is left; and when the steering direction is left and the third difference value is greater than the fourth difference value, the correction direction is right.

[0030] In a possible implementation, the determining the correction angle based on the third difference value, the fourth difference value and the preset distance comprises:

[0031] calculating a first inverse tangent value based on the third difference value and the preset distance;

[0032] calculating a second inverse tangent value based on the fourth difference value and the preset distance;

[0033] determining the correction angle based on the first inverse tangent value and the second inverse tangent value.

[0034] In a second aspect, the embodiments of the present application provide an automatic navigation test system of a wheeled scissor self-propelled working vehicle, the system comprising:

[0035] a magnetic track for guiding and restricting a driving path of a to-be-tested wheeled scissor self-propelled working vehicle;

[0036] a magnetic navigation sensor group comprising three magnetic navigation sensors arranged in parallel, a plane formed by all the magnetic navigation sensors being parallel to a chassis of the to-be-tested wheeled scissor self-propelled working vehicle, and a magnetic navigation sensor at a middle position being parallel to a line connecting two shafts of a steering wheel of the to-be-tested wheeled scissor self-propelled working vehicle; a distance between any two adjacent magnetic navigation sensors being a preset distance; and the magnetic navigation sensor group being configured to collect a set of track offset values corresponding to each position of the magnetic track of the to-be-tested wheeled scissor self-propelled working vehicle during driving of the to-be-tested wheeled scissor self-propelled working vehicle based on the magnetic track;

[0037] an angle sensor configured to collect a real-time steering angle of a wheel of the to-be-tested wheeled scissor self-propelled working vehicle during driving of the to-be-tested wheeled scissor self-propelled working vehicle based on the magnetic track;

[0038] an automatic navigation test device configured to acquire automatic navigation test calibration information, the automatic navigation test calibration information being configured to indicate an offset calibration value corresponding to each position of the magnetic track and a steering reference angle; and the automatic navigation test device being configured to correct the real-time steering angle of the wheel based on the magnetic track, the automatic navigation test calibration information and the set of track offset values during driving of the to-be-tested wheeled scissor self-propelled working vehicle based on the magnetic track, so as to realize automatic navigation test of the to-be-tested wheeled scissor self-propelled working vehicle.

[0039] In a third aspect, the embodiments of the present application provide an electronic device, comprising a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor implements the method according to the first aspect or any one of the implementation manners thereof when executing the computer program.

[0040] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the method in the first aspect or any possible implementation manner thereof.

[0041] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device is caused to perform the method in the first aspect or any possible implementation manner thereof.

[0042] Compared with the prior art, the embodiment of the present application has the beneficial effects that: the magnetic track is pre-set, and the automatic navigation test calibration information for indicating the offset calibration value and the steering reference angle corresponding to each position in the magnetic track is determined; when the automatic navigation test is performed on the to-be-tested wheel type scissor self-propelled working vehicle, the to-be-tested wheel type scissor self-propelled working vehicle is controlled to travel based on the magnetic track, and the track offset set and the real-time steering angle of the wheels are collected by the magnetic navigation sensor group and the angle sensor respectively in the travel process, wherein the track offset set includes the track offset values collected by the three magnetic navigation sensors in the magnetic navigation sensor group in turn, and the distance between any two adjacent magnetic navigation sensors is the preset distance; the real-time steering angle of the wheels is corrected based on the magnetic track, the automatic navigation test calibration information and the track offset set, and the automatic navigation test of the to-be-tested wheel type scissor self-propelled working vehicle is realized. Compared with manual test, a large amount of human resources is saved, and the test efficiency and accuracy of the wheel type scissor self-propelled working vehicle are improved.

[0043] It can be understood that the automatic navigation test system of the wheel type scissor self-propelled working vehicle, the electronic device, the computer readable storage medium and the computer program product provided by the embodiment of the present application have the same beneficial effects as the automatic navigation test method of the wheel type scissor self-propelled working vehicle, which will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0045] Figure 1 FIG. 1 is a schematic diagram of a steering structure of a wheel type scissor self-propelled working vehicle;

[0046] Figure 2 FIG. 2 is a schematic diagram of a magnetic track provided by an embodiment of the present application;

[0047] Figure 3A schematic diagram of a magnetic navigation sensor group provided for an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the installation position of a magnetic navigation sensor group provided for an embodiment of the present application;

[0049] Figure 5 A flowchart of an automatic navigation test method of a wheeled scissor-type self-propelled working vehicle provided for an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a straight-line trajectory deviation provided for an embodiment of the present application;

[0051] Figure 7 A schematic diagram of another straight-line trajectory deviation provided for an embodiment of the present application;

[0052] Figure 8 A schematic diagram of still another straight-line trajectory deviation provided for an embodiment of the present application;

[0053] Figure 9 A schematic diagram of a curved-line trajectory deviation provided for an embodiment of the present application;

[0054] Figure 10 A schematic diagram of another curved-line trajectory deviation provided for an embodiment of the present application. DETAILED DESCRIPTION

[0055] In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular sequences of acts, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0056] It is to be understood that the terminology "includes", "has", "holds", "contains" or "comprises", "comprising", or "including" when used in this specification and in the following claims, indicates the presence of the stated features, integers, steps, operations, elements, or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0057] It is also to be understood that the terminology "and / or" when used in this specification and in the following claims, refers to at least one of the items, or any combination of one or more of the items, and includes any possible combination of the items.

[0058] As used in the specification and the appended claims, the term “if’ can be interpreted as meaning “when,” or “upon,” or “in response to a determination,” or “in response to a detection” depending on the context. Similarly, the phrase “if it is determined” or “if [the described condition or event] is detected” can be interpreted as meaning “upon a determination” or “in response to a determination” or “upon detecting [the described condition or event]” or “in response to detecting [the described condition or event]” depending on the context.

[0059] In addition, in the description of the present application and the appended claims, the terms “first”, “second”, “third”, etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0060] Reference in the specification to “one embodiment” or “some embodiments” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases “in one embodiment”, “in some embodiments”, “in other embodiments”, “in additional embodiments”, etc. in various places in the specification are not necessarily all referring to the same embodiment, although they can. The terms “comprising”, “including”, “having” and their variants mean “including but not limited to”, unless otherwise expressly specified and are not excluding additional, unrecited elements or method steps.

[0061] For ease of understanding, the technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0062] First, an automatic navigation test system of a wheeled scissor self-propelled working vehicle provided by an embodiment of the present application is introduced. For ease of illustration, only the parts related to the present embodiment are shown, and the system includes:

[0063] A magnetic track for guiding and constraining the driving path of the wheeled scissor self-propelled working vehicle to be tested;

[0064] A magnetic navigation sensor group including three magnetic navigation sensors arranged in parallel, the plane formed by all the magnetic navigation sensors being parallel to the chassis of the wheeled scissor self-propelled working vehicle to be tested, and the magnetic navigation sensor located in the middle position being parallel to the two-axis line of the steering wheels of the wheeled scissor self-propelled working vehicle to be tested; the distance between any two adjacent magnetic navigation sensors being a preset distance; for collecting the set of track offset amounts corresponding to each position of the magnetic track of the wheeled scissor self-propelled working vehicle to be tested during the driving of the wheeled scissor self-propelled working vehicle to be tested based on the magnetic track;

[0065] An angle sensor is configured to collect a real-time steering angle of a wheel of the to-be-tested wheel-type scissor self-walking working vehicle during the wheel-type scissor self-walking working vehicle travels based on the magnetic track.

[0066] An automatic navigation test device is configured to acquire automatic navigation test calibration information, the automatic navigation test calibration information is configured to indicate a deviation calibration value and a steering reference angle corresponding to each position in the magnetic track, and the real-time steering angle of the wheel is corrected based on the magnetic track, the automatic navigation test calibration information and a track deviation set during the wheel-type scissor self-walking working vehicle travels based on the magnetic track, so as to realize the automatic navigation test of the wheel-type scissor self-walking working vehicle.

[0067] As an example, a physical guide path is formed by embedding magnetic strips or magnetic nails on the ground as the magnetic track, and the shape and size of the magnetic track are as shown in Figure 2 The magnetic track includes a straight track and a curved track, and the curved track includes a left-turn curved track and a right-turn curved track, which can test large-angle steering of left-turn and right-turn, and the magnetic track occupies a small area. According to the test requirement, the walking action is repeatedly performed, and the required distance for the test can be reached.

[0068] As an example, the magnetic navigation sensor group includes three magnetic navigation sensors, and is named as a front magnetic navigation sensor, a middle magnetic navigation sensor and a rear magnetic navigation sensor according to the advancing direction of the to-be-tested wheel-type scissor self-walking working vehicle, as shown in Figure 3 The length of each magnetic navigation sensor is c, and the fixed preset distance d is kept between the front magnetic navigation sensor and the middle magnetic navigation sensor and between the middle magnetic navigation sensor and the rear magnetic navigation sensor. The installation position of the magnetic navigation sensor group is as shown in Figure 4 The position of the middle magnetic navigation sensor is parallel to the connecting line of the two axes of the steering wheel of the to-be-tested wheel-type scissor self-walking working vehicle. The steering angle a (60° in the figure), the wheelbase l and the wheel tread m are known, and the steering radius of the center position of the middle magnetic navigation sensor is .

[0069] As an example, the angle sensor can use a dragline encoder to measure the stroke of the steering telescopic oil cylinder, and the real-time steering angle of the wheel is determined by the stroke of the steering telescopic oil cylinder. Alternatively, an angle encoder can be used to measure the steering angle of the steering shaft, and then the real-time steering angle of the wheel is obtained.

[0070] Optionally, in order to ensure the safety of the automatic navigation test process, the automatic navigation test system of the wheel-type scissor self-walking working vehicle further includes an ultrasonic sensor, which is preferably installed at the four corners of the front and rear of the body of the to-be-tested wheel-type scissor self-walking working vehicle. When an obstacle is detected by the ultrasonic sensor, the to-be-tested wheel-type scissor self-walking working vehicle is controlled to brake in time, so as to ensure the safety of the to-be-tested wheel-type scissor self-walking working vehicle and the intruding line.

[0071] The automatic navigation test system of the wheeled scissor self-propelled working vehicle provided in the embodiment forms a physical guide path by embedding magnetic strips or magnetic nails on the ground, and can achieve centimeter-level path tracking accuracy through the magnetic navigation sensor carried by the wheeled scissor self-propelled working vehicle to be tested. This mechanical guide method has strong environmental anti-interference performance, is less affected by light than visual navigation, and is more stable than Simultaneous Localization and Mapping (SLAM) in a fixed path scene. The system is simple to add, the line is connected through an adapter wire, and the bracket is fixed by hand-tightening screws, so the system is convenient to deploy. The system can support collaborative testing of multiple devices, and can support simultaneous testing of multiple devices in the same test site according to the length of the line.

[0072] Figure 5 A flowchart of an automatic navigation test method of a wheeled scissor self-propelled working vehicle provided in an embodiment of the present application. On the basis of the above-mentioned embodiment, the technical solution is further described and optimized in the present embodiment. For the sake of convenience, only the parts related to the present embodiment are shown, and the specific embodiments are shown in the following Figure 5 The method provided in the present embodiment is applied to the automatic navigation test system of the wheeled scissor self-propelled working vehicle described above, and includes the following steps:

[0073] S1, obtaining automatic navigation test calibration information, the automatic navigation test calibration information being used to indicate offset calibration values and steering reference angles corresponding to positions of the magnetic track in the automatic navigation test system.

[0074] Optionally, the automatic navigation test calibration information corresponding to the straight track in the magnetic track includes a steering mid-angle, and the automatic navigation test calibration information corresponding to the curved track includes offset calibration values and a reference steering angle. The steering mid-angle can be calibrated by a tester, and the offset calibration values and the reference steering angle can be determined according to the shape and size of the magnetic track and the wheel track and the wheelbase of the wheeled scissor self-propelled working vehicle to be tested. The offset calibration values include first, second and third offset calibration values corresponding to the front, middle and rear magnetic navigation sensors in the magnetic navigation sensor group.

[0075] S2, controlling the wheeled scissor self-propelled working vehicle to be tested to travel based on the magnetic track, and collecting a track offset set and a real-time steering angle of the wheels through the magnetic navigation sensor group and the angle sensor respectively during the travel. The track offset set includes track offset values collected by the three magnetic navigation sensors in the magnetic navigation sensor group in turn, and the distance between any two adjacent magnetic navigation sensors is a preset distance.

[0076] In practice, the wheeled scissor lift vehicle under test is driven to the starting position of the magnetic track. Based on the interaction between the magnetic track and the magnetic navigation sensor group installed on the vehicle, the vehicle can automatically drive along the magnetic track. During the journey, the magnetic navigation sensor group and angle sensors collect the track offset values ​​and real-time wheel steering angles of the vehicle at various positions. The track offset values ​​include the first, second, and third track offset values ​​collected sequentially by the front, middle, and rear magnetic navigation sensors in the magnetic navigation sensor group.

[0077] S3 corrects the real-time steering angle of the wheels based on the magnetic trajectory, automatic navigation test calibration information, and trajectory offset set, thereby realizing the automatic navigation test of the wheeled scissor lift self-propelled work vehicle under test.

[0078] In one possible implementation, step S3 may include the following steps:

[0079] S31. Based on the trajectory category of the target position in the magnetic track and the automatic navigation test calibration information and trajectory offset set corresponding to the target position, determine the correction direction and correction angle of the wheeled scissor lift self-propelled vehicle under test at the target position. The target position is any position in the magnetic track, and the trajectory category includes straight track and curved track.

[0080] In one embodiment, when the trajectory type of the target location is a straight line trajectory, step S31 may optionally include the following steps:

[0081] S311, determine the correction direction based on the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors.

[0082] As an example, taking the right as the positive direction, when the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors is less than 0, the correction direction is left; when the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors is greater than 0, the correction direction is right.

[0083] For example, such as Figure 6 As shown in the figure, the diagonal line is a straight line segment of the magnetic trajectory, and the three horizontal lines represent the positions of the three magnetic navigation sensors installed on the wheeled scissor lift vehicle under test. X1, X2, and X3 are the trajectory offset values ​​collected by the front, middle, and rear magnetic navigation sensors at the target position, respectively. At this time, the driving direction of the wheeled scissor lift vehicle under test is perpendicular to the magnetic navigation sensors. The right is defined as the positive direction. Since X1-X2<0 or X2-X3<0, the correction direction is left.

[0084] S312, determining the correction angle based on the difference between the track offset values collected by any two adjacent magnetic navigation sensors and the preset distance.

[0085] As an example, the ratio of the difference between the track offset values collected by any two adjacent magnetic navigation sensors and the preset distance is calculated; based on the ratio, the correction angle is determined.

[0086] For example, when the normal straight line segment deviates, the difference between X1 and X2 and the difference between X2 and X3 are basically the same because the distance between adjacent magnetic navigation sensors in the magnetic navigation sensor is the same. At this time, the ratio of the difference to the preset distance between adjacent magnetic navigation sensors is the tangent value of the deviation angle, and the deviation angle can be calculated based on the tangent value of the deviation angle. The deviation angle is the correction angle.

[0087] Optionally, Figure 7 and Figure 8 Examples of straight line track deviation are shown in the figure, and the diagonal lines are straight line tracks in the magnetic track, Figure 7 The straight line track and the current driving direction are shown, and the deviation correction process can be temporarily suspended because the to-be-tested wheel type scissor type self-propelled working vehicle advances according to the current driving direction, and its driving track will gradually approach and then separate from the straight line track, evolving into Figure 8 The state shown, at which time the steering action is needed to correct the deviation, the correction angle is calculated from the tangent value, the steering correction angle is turned to the correction direction, the deviation angle corresponding to the tangent value is continuously detected, that is, when the vehicle wheel is returned to the center, the vehicle wheel return action is performed to the steering center angle, at which time the track returns to a state similar to Figure 7 The state shown.

[0088] In another embodiment, when the track category of the target position is a curve track, the automatic navigation test calibration information corresponding to the target position includes first, second and third offset calibration values corresponding to each magnetic navigation sensor in the magnetic navigation sensor group in turn, and the track offset set corresponding to the target position includes first, second and third track offset values collected by each magnetic navigation sensor in the magnetic navigation sensor group in turn. In this embodiment, step S31 can optionally include the following steps:

[0089] S313, calculating a first difference value between the first track offset value and the second track offset value, and a second difference value between the second track offset value and the third track offset value; based on the first difference value and the second difference value, determining the steering direction of the to-be-tested wheel type scissor type self-propelled working vehicle at the target position.

[0090] As an example, taking the right direction as the positive direction, when the first difference value is less than the second difference value, the steering direction is left; when the first difference value is greater than the second difference value, the steering direction is right.

[0091] As shown in FIG. 1, X1, X2, X3 are respectively a first offset calibration value, a second offset calibration value and a third offset calibration value, Y1, Y2, Y3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in one case, and Z1, Z2, Z3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in another case. Figure 9 As shown in FIG. 1, X1, X2, X3 are respectively a first offset calibration value, a second offset calibration value and a third offset calibration value, Y1, Y2, Y3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in one case, and Z1, Z2, Z3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in another case. Taking the offset trajectory composed of Y1, Y2 and Y3 as an example, Y1-Y2 is a first difference value and Y2-Y3 is a second difference value. It is defined that the right direction is a positive direction. When the curve segment is offset, Y1-Y2 < Y2-Y3, the curvature center is on the left side, and the turning direction is on the left side under normal circumstances. At this time, the turning angle needs to be adjusted on the basis of the reference turning angle. Similarly, in the offset trajectory composed of Z1, Z2 and Z3, Z1-Z2 is a first difference value, Z2-Z3 is a second difference value, and it is defined that the right direction is a positive direction. When the curve segment is offset, Z1-Z2 < Z2-Z3, the curvature center is on the left side, and the turning direction is also on the left side.

[0092] S314, a third difference value between the first trajectory offset value and the third trajectory offset value and a fourth difference value between the first offset calibration value and the third offset calibration value are calculated; and a correction direction is determined based on the turning direction, the third difference value and the fourth difference value.

[0093] As an example, when the right direction is a positive direction, the correction direction is on the left side when the turning direction is on the left side and the third difference value is less than the fourth difference value, and the correction direction is on the right side when the turning direction is on the left side and the third difference value is greater than the fourth difference value.

[0094] As shown in FIG. 1, X1, X2, X3 are respectively a first offset calibration value, a second offset calibration value and a third offset calibration value, Y1, Y2, Y3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in one case, and Z1, Z2, Z3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in another case. Figure 9 Taking the offset trajectory composed of Y1, Y2 and Y3 as an example, Y1-Y3 is a third difference value and X1-X3 is a fourth difference value. It is defined that the right direction is a positive direction. Since the turning direction is on the left side and Y1-Y3 < X1-X3, the correction direction is on the left side.

[0095] As shown in FIG. 1, X1, X2, X3 are respectively a first offset calibration value, a second offset calibration value and a third offset calibration value, Y1, Y2, Y3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in one case, and Z1, Z2, Z3 are respectively a first trajectory offset value, a second trajectory offset value and a third trajectory offset value in another case. Figure 9 Taking the offset trajectory composed of Z1, Z2 and Z3 as an example, Z1-Z3 is a third difference value and X1-X3 is a fourth difference value. It is defined that the right direction is a positive direction. Since the turning direction is on the left side and Z1-Z3 > X1-X3, the correction direction is on the right side.

[0096] S315, a correction angle is determined based on the third difference value, the fourth difference value and a preset distance.

[0097] As an example, based on the third difference value and the preset distance, a first arctangent value is calculated; based on the fourth difference value and the preset distance, a second arctangent value is calculated; based on the first arctangent value and the second arctangent value, the correction angle is determined.

[0098] As an example, as shown in FIG. 2, taking the offset trajectory composed of Y1, Y2 and Y3 as an example, the first arctangent value is arctan(Y1-Y3 / 2d), and the second arctangent value is arctan(X1-X3 / 2d), and the difference between the first arctangent value and the second arctangent value is taken as the correction angle. Figure 9 As an example, as shown in FIG. 2, taking the offset trajectory composed of Y1, Y2 and Y3 as an example, the first arctangent value is arctan(Y1-Y3 / 2d), and the second arctangent value is arctan(X1-X3 / 2d), and the difference between the first arctangent value and the second arctangent value is taken as the correction angle.

[0099] Figure 9 As an example, as shown in FIG. 2, taking the offset trajectory composed of Y1, Y2 and Y3 as an example, the first arctangent value is arctan(Y1-Y3 / 2d), and the second arctangent value is arctan(X1-X3 / 2d), and the difference between the first arctangent value and the second arctangent value is taken as the correction angle.

[0100] Optionally, when the offset trajectory composed of Y1, Y2 and Y3 and the offset trajectory composed of Z1, Z2 and Z3 are as shown in FIG. 2, the curve trajectory correction processing can be suspended. That is, the right is defined as the positive direction, when Z1X1, Z2X2, Z3X3, and Z1-Z3X1-X3, or when Y1>X1, Y2>X2, Y3>X3, and Y1-Y3>X1-X3, the curve trajectory correction processing can be suspended. Figure 10

[0101] S32, based on the correction direction, the correction angle, and the target position corresponding to the steering reference angle indicated by the automatic navigation test calibration information, the wheel real-time steering angle corresponding to the target position is corrected.

[0102] As an example, when the trajectory type corresponding to the target position is a straight line trajectory, based on the wheel real-time steering angle, the steering correction angle is corrected to the correction direction, the offset angle is continuously detected, and when the offset angle is about to be 0, the wheel returns to the center action to the steering center angle is performed.

[0103] As another example, when the trajectory type corresponding to the target position is a curve trajectory, the wheel real-time steering angle is adjusted based on the reference steering angle, and the steering correction angle is corrected to the correction direction until each trajectory offset value in the trajectory offset set collected by the magnetic navigation sensor group approaches the corresponding offset calibration value indicated by the automatic navigation test calibration information, and then the wheel real-time steering angle returns to the reference steering angle action is performed.

[0104] ​​The technical scheme provided by the embodiment sets a magnetic track and determines automatic navigation test calibration information for indicating offset calibration values and steering reference angles corresponding to positions of the magnetic track; when performing automatic navigation test on the to-be-tested wheel type scissor self-walking working vehicle, the to-be-tested wheel type scissor self-walking working vehicle is controlled to travel based on the magnetic track, and a track offset set and a real-time steering angle of the wheel are collected by the magnetic navigation sensor group and the angle sensor respectively in the process of traveling, wherein the track offset set includes track offset values collected by three magnetic navigation sensors in the magnetic navigation sensor group in turn, and the distance between any two adjacent magnetic navigation sensors is a preset distance; the real-time steering angle of the wheel is corrected based on the magnetic track, the automatic navigation test calibration information and the track offset set, and automatic navigation test of the to-be-tested wheel type scissor self-walking working vehicle is realized. Compared with manual test, a large amount of human resources is saved, and the test efficiency and accuracy of the wheel type scissor self-walking working vehicle are improved.

[0105] In another aspect, the application further provides a computer storage medium storing executable program codes; the executable program codes are used to execute any of the automatic navigation test methods of the wheel type scissor self-walking working vehicle.

[0106] In another aspect, the application further provides an electronic device including a memory and a processor; the memory stores program codes executable by the processor; the program codes are used to execute any of the automatic navigation test methods of the wheel type scissor self-walking working vehicle.

[0107] For example, the program codes can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the program codes in the electronic device.

[0108] The electronic device can be a desktop computer, a notebook computer, a palm computer and a cloud server, etc. The electronic device can include, but is not limited to, a processor, a memory. Those skilled in the art can understand that the electronic device can also include input / output devices, network access devices, buses, etc.

[0109] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0110] The memory can be an internal storage unit of the electronic device, such as a hard disk or a memory. The memory can also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory can also include both the internal storage unit and the external storage device of the electronic device. The memory is used to store the program code and other programs and data required by the electronic device. The memory can also be used to temporarily store data that has been output or will be output.

[0111] The computer storage medium and the electronic device based on the above method are created, and the technical effects and advantages are not repeated here. The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combination of the technical features does not exist, it should be considered as the scope of the description.

[0112] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. An automatic navigation testing method for a wheeled scissor lift self-propelled work vehicle, characterized in that, An automatic navigation testing system applied to wheeled scissor lift self-propelled work vehicles, the method comprising: Obtain automatic navigation test calibration information, which is used to indicate the offset calibration value and steering reference angle corresponding to each position of the magnetic trajectory in the automatic navigation test system; The test wheeled scissor lift self-propelled work vehicle is controlled to travel based on the magnetic trajectory. During the travel, the trajectory offset set and the real-time wheel steering angle are collected by the magnetic navigation sensor group and the angle sensor respectively. The trajectory offset set includes the trajectory offset values ​​collected sequentially by the three magnetic navigation sensors in the magnetic navigation sensor group. The distance between any two adjacent magnetic navigation sensors is a preset distance. Based on the magnetic trajectory, the automatic navigation test calibration information, and the trajectory offset set, the real-time steering angle of the wheels is corrected to achieve automatic navigation testing of the wheeled scissor lift self-propelled work vehicle under test, including: Based on the trajectory category of the target position in the magnetic trajectory and the automatic navigation test calibration information and trajectory offset set corresponding to the target position, the correction direction and correction angle of the wheeled scissor lift vehicle under test at the target position are determined; including: When the trajectory of the target location is a straight trajectory, the correction direction is determined based on the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors; the correction angle is determined based on the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors and the preset distance. When the trajectory of the target location is a curved trajectory, the automatic navigation test calibration information corresponding to the target location includes a first offset calibration value, a second offset calibration value, and a third offset calibration value corresponding sequentially to each of the magnetic navigation sensors in the magnetic navigation sensor group. The trajectory offset set corresponding to the target location includes the first trajectory offset value, the second trajectory offset value, and the third trajectory offset value collected sequentially by each of the magnetic navigation sensors in the magnetic navigation sensor group. A first difference between the first trajectory offset value and the second trajectory offset value, and a second difference between the second trajectory offset value and the third trajectory offset value are calculated. Based on the first and second differences, the turning direction of the wheeled scissor lift self-propelled vehicle under test at the target location is determined. A third difference between the first and third trajectory offset values, and a fourth difference between the first offset calibration value and the third offset calibration value are calculated. Based on the turning direction, the third difference, and the fourth difference, the correction direction is determined. Based on the third difference, the fourth difference, and the preset distance, the correction angle is determined. Based on the correction direction, the correction angle, and the steering reference angle indicated by the automatic navigation test calibration information, the real-time steering angle of the wheels corresponding to the target position is corrected.

2. The method according to claim 1, characterized in that, Determining the correction direction based on the difference between trajectory offset values ​​collected by any two adjacent magnetic navigation sensors includes: With the right as the positive direction, when the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors is less than 0, the correction direction is left; when the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors is greater than 0, the correction direction is right.

3. The method according to claim 2, characterized in that, The determination of the correction angle based on the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors and the preset distance includes: Calculate the ratio of the difference between the trajectory offset values ​​collected by any two adjacent magnetic navigation sensors to the preset distance; The correction angle is determined based on the ratio.

4. The method according to claim 1, characterized in that, Determining the turning direction of the wheeled scissor lift vehicle at the target position based on the first difference and the second difference includes: Taking the right as the positive direction, when the first difference is less than the second difference, the turning direction is left; when the first difference is greater than the second difference, the turning direction is right.

5. The method according to claim 4, characterized in that, Determining the correction direction based on the steering direction, the third difference, and the fourth difference includes: Taking the right as the positive direction, when the turning direction is left and the third difference is less than the fourth difference, the correction direction is left; when the turning direction is left and the third difference is greater than the fourth difference, the correction direction is right.

6. The method according to claim 5, characterized in that, Determining the correction angle based on the third difference, the fourth difference, and the preset distance includes: Based on the third difference and the preset distance, calculate the first arctangent value; Based on the fourth difference and the preset distance, calculate the second arctangent value; The correction angle is determined based on the first arctangent value and the second arctangent value.

7. An automatic navigation testing system for a wheeled scissor lift self-propelled work vehicle, characterized in that, The system for performing the method according to any one of claims 1 to 6 comprises: Magnetic tracks are used to guide and constrain the travel path of the wheeled scissor lift vehicle under test; The magnetic navigation sensor group includes three magnetic navigation sensors arranged in parallel. The plane formed by all the magnetic navigation sensors is parallel to the chassis of the wheeled scissor lift vehicle under test, and the magnetic navigation sensor located in the middle position is parallel to the line connecting the two axles of the steering wheel of the wheeled scissor lift vehicle under test. The distance between any two adjacent magnetic navigation sensors is a preset distance. It is used to collect the set of trajectory offsets of the wheeled scissor lift vehicle under test at each position on the magnetic trajectory during the vehicle's travel based on the magnetic trajectory. An angle sensor is used to collect the real-time steering angle of the wheels of the wheeled scissor lift vehicle under test during the process of the vehicle traveling based on the magnetic track. An automatic navigation testing device is used to acquire automatic navigation test calibration information, which is used to indicate the offset calibration value and steering reference angle corresponding to each position of the magnetic track. During the driving of the wheeled scissor lift self-propelled work vehicle under test based on the magnetic track, the device corrects the real-time steering angle of the wheels based on the magnetic track, the automatic navigation test calibration information, and the track offset set, thereby realizing the automatic navigation test of the wheeled scissor lift self-propelled work vehicle under test.

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