Liquid quality detection method, unmanned vehicle control method and unmanned vehicle
By acquiring the spatial position and shape of the liquid surface inside the storage container, and combining it with liquid level sensor data, the liquid surface plane is determined and the liquid volume and mass are calculated. This solves the problem of inaccurate liquid quality detection in unmanned vehicles, and achieves accuracy in liquid quality detection as well as adaptability and reliability in unmanned vehicle control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- EACON TECHNOLOGY CO LTD
- Filing Date
- 2026-01-08
- Publication Date
- 2026-04-21
AI Technical Summary
In existing technologies, relying on a single point of liquid level height to estimate liquid quality cannot guarantee the accuracy of liquid quality detection in the storage tank, especially when liquid consumption changes dynamically during unmanned vehicle operation, leading to inaccurate detection.
By acquiring the spatial position information of the liquid surface inside the storage container, using the liquid surface height data and position coordinates collected by at least three liquid level sensors, the plane where the liquid surface is located is determined. Combined with the shape of the container, the plane equation is fitted using three-point plane analytical geometry or least squares method to calculate the liquid volume. The liquid mass is then determined by combining the liquid density. Failed sensors are identified and the data is corrected to ensure accurate detection.
This improved the accuracy of liquid quality detection, ensured dynamic matching between the unmanned vehicle's control strategy and the overall vehicle load, enhanced the adaptability and reliability of vehicle control, and ensured the safety and efficiency of driving and operation.
Smart Images
Figure CN121893974A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the fields of smart mining, autonomous driving, and vehicle technology, and in particular to liquid quality detection methods, control methods for unmanned vehicles, and unmanned vehicles. Background Technology
[0002] For unmanned vehicles equipped with liquid storage tanks, the liquid level in the tanks changes dynamically as the operation progresses. For example, during operation, the water level in the onboard water tank of an unmanned water truck will be consumed as it sprays water. Similarly, the fuel level in the fuel tank of a fuel-powered unmanned vehicle will continuously decrease during driving and operation.
[0003] In existing technologies, liquid mass is generally estimated by relying solely on the liquid level height at a single point, which cannot guarantee the accuracy of liquid mass detection in the storage tank. Summary of the Invention
[0004] This disclosure provides a liquid quality detection method, an unmanned vehicle control method, and an unmanned vehicle to solve the problem of inaccurate existing water quantity detection methods.
[0005] In view of the above problems, a first aspect provides a liquid quality detection method, the method comprising: Obtain spatial position information of the liquid level inside the liquid storage container; The volume of the liquid in the storage container is determined based on the spatial position information of the liquid surface and the shape of the storage container. The mass of the liquid in the storage container is determined based on the volume and density of the liquid in the storage container.
[0006] In conjunction with the first aspect, in one possible implementation, obtaining the spatial position information of the liquid level within the storage container includes: Obtain the location information of at least three sampling points on the liquid surface inside the storage container; The plane containing the liquid surface is determined based on the position information of at least three sampling points on the liquid surface; Preferably, obtaining the location information of at least three sampling points on the liquid surface within the storage container includes: Acquire liquid level data from at least three liquid level sensors inside the liquid storage container; Based on the liquid level height data collected by the at least three liquid level sensors and the position coordinates of the at least three liquid level sensors, the position coordinates of at least three sampling points on the liquid surface inside the storage container are determined.
[0007] In conjunction with the first aspect, in one possible implementation, when the number of sampling points is at least three, determining the plane containing the liquid surface based on the position information of at least three sampling points on the liquid surface includes: Based on the position coordinates of the three sampling points on the liquid surface, the plane containing the liquid surface is determined using the analytical geometry method of three-point plane determination.
[0008] In conjunction with the first aspect, in one possible implementation, when the number of sampling points is at least four, determining the plane containing the liquid surface based on the position information of at least three sampling points on the liquid surface includes: Based on the position information of at least four sampling points on the liquid surface inside the liquid storage container, the plane equation of the liquid surface inside the liquid storage container is fitted by the least squares method. Preferably, the position information of the at least four sampling points is determined by the liquid level height data collected by at least four liquid level sensors and the position coordinates of the at least four liquid level sensors. After fitting the plane equation of the liquid surface in the liquid storage container using the least squares method based on the position information of the at least four sampling points on the liquid surface in the liquid storage container, the method further includes: For each of the at least four liquid level sensors, the position coordinates of the liquid level sensor are substituted into the fitted plane equation of the liquid surface in the liquid storage container to obtain the theoretical value of the liquid level height of the liquid level sensor. The deviation between the theoretical value of the liquid level height of the liquid level sensor and the liquid level height data collected by the liquid level sensor is used to determine whether the liquid level sensor is malfunctioning. If a faulty sensor is present among the at least four liquid level sensors, the plane equation of the liquid surface inside the storage container is refitted based on the liquid level height data collected by the effective sensors and the position coordinates of the effective sensors.
[0009] In conjunction with the first aspect, in one possible implementation, after determining whether the liquid level sensor has failed based on the deviation between the theoretical value of the liquid level height from the sensor and the liquid level height data collected by the sensor, the method further includes: If the number of valid sensors is lower than a preset threshold, a sensor failure warning message will be output.
[0010] In conjunction with the first aspect, in one possible implementation, the container cross-section perpendicular to the length direction at various positions along the length of the liquid storage container is symmetrical about the midline in the width direction. Determining the volume of the liquid within the liquid storage container based on the plane containing the liquid surface and the shape of the liquid storage container includes: For each liquid cross-section perpendicular to the length direction at various positions along the length of the liquid storage container, the liquid level height at the midline of the width direction of the liquid cross-section is determined according to the plane equation of the plane containing the liquid surface. Based on the shape of the container cross-section perpendicular to the length direction at that location, a half-section model of the liquid storage container is established. The half-section model of the liquid storage container is used to describe the half-width of the container cross-section at various heights. Along the height direction of the liquid storage container, from the bottom of the liquid storage container to the liquid surface height at the midline of the liquid cross-section in the width direction, the half-width of the half-section model at each height is integrated, and twice the integral result is determined as the area of the liquid cross-section at that position. The volume of the liquid inside the storage container is obtained by integrating the cross-sectional area of the liquid at various positions along the length direction of the storage container that is perpendicular to the length direction.
[0011] In conjunction with the first aspect, in one possible implementation, determining the volume of liquid within the storage container based on the plane containing the liquid surface and the shape of the storage container includes: For each position of the liquid cross section perpendicular to the first direction within the liquid storage container, the maximum value of the liquid surface height on the liquid cross section is determined according to the plane equation of the plane containing the liquid surface, wherein the first direction is perpendicular to the height direction of the liquid storage container; Based on the shape of the liquid cross-section, the area of the liquid cross-section is obtained by integrating the width of the liquid cross-section at each height along the height direction of the liquid storage container, from the bottom of the liquid storage container to the highest point of the liquid surface on the liquid cross-section; the second direction is perpendicular to the first direction and the height direction. The volume of the liquid in the storage container is obtained by integrating the cross-sectional area of the liquid at each position perpendicular to the first direction along the first direction.
[0012] Secondly, a control method for an unmanned vehicle is provided, the method comprising: The current liquid mass in the liquid storage tank of the unmanned vehicle is obtained, wherein the unmanned vehicle is equipped with a liquid storage tank, and the liquid mass in the liquid storage tank changes as the unmanned vehicle operates; The control parameters of the unmanned vehicle are determined based on the current liquid mass. The unmanned vehicle is controlled according to the control parameters.
[0013] In conjunction with the second aspect, in one possible implementation, a first sensor is installed inside the unmanned vehicle's liquid storage tank, and acquiring the current liquid mass inside the unmanned vehicle's liquid storage tank includes: Obtain the status of the unmanned vehicle; Based on the state of the unmanned vehicle, a corresponding calculation rule is determined, and the sensing data of the first sensor is processed according to the corresponding calculation rule to obtain the current liquid mass. The calculation rule is different for different states.
[0014] In conjunction with the second aspect, in one possible implementation, determining the control parameters of the unmanned vehicle based on the current liquid mass includes: Obtain target feature parameters of the liquid in the unmanned vehicle's liquid storage tank, the target feature parameters including the centroid position and / or liquid distribution characteristics; The control parameters of the unmanned vehicle are determined based on the target characteristic parameters and the current liquid mass.
[0015] In conjunction with the second aspect, in one possible implementation, the state is determined by the motion parameters of the unmanned vehicle, including motion parameters of the unmanned vehicle in a specified direction.
[0016] In conjunction with the second aspect, in one possible implementation, the control parameters include at least one of the following: lateral control parameters, longitudinal control parameters, and path planning parameters; Preferably, the path planning parameters include at least one of the following: watering path, water filling path, operation path, and refueling path; Preferably, the storage tank contains water or oil.
[0017] Thirdly, an unmanned vehicle is provided, including: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the steps of a liquid quality detection method as described in the first aspect or in any possible embodiment of the first aspect, or performs the steps of a control method for an unmanned vehicle as described in the second aspect or in any possible embodiment of the second aspect.
[0018] Fourthly, a computer device is provided, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the computer device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, perform the steps of a liquid quality detection method as described in the first aspect, or in combination with any possible embodiment of the first aspect, or perform the steps of a control method for an unmanned vehicle as described in the second aspect, or in combination with any possible embodiment of the second aspect.
[0019] Fifthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, performs the steps of a liquid quality detection method as described in the first aspect or in any possible embodiment of the first aspect, or performs the steps of a control method for an unmanned vehicle as described in the second aspect or in any possible embodiment of the second aspect.
[0020] The beneficial effects of the embodiments disclosed herein include: This disclosure provides a liquid quality detection method that combines the spatial position information of the liquid surface with the shape of the liquid storage container to determine the liquid volume, and then combines the liquid volume and density to determine the liquid quality. The change in liquid morphology within the storage container is directly reflected in the change of the spatial position of the liquid surface, and the liquid morphology is constrained by the shape of the container. Based on the above characteristics, this method can accurately calculate the actual volume of the liquid, thereby effectively improving the accuracy of liquid quality detection.
[0021] This disclosure provides a control method for an unmanned vehicle. Based on the current liquid mass in the storage tank, the control parameters of the unmanned vehicle are determined. This method enables dynamic matching between the control strategy and the real-time load of the vehicle, effectively improving the adaptability and reliability of vehicle control, and ensuring the safety and efficiency of unmanned vehicle operation. Attached Figure Description
[0022] Figure 1 A flowchart of a liquid quality testing method provided in this embodiment of the disclosure; Figure 2 A flowchart of a control method for an unmanned vehicle provided in this embodiment of the disclosure; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation
[0023] This disclosure provides a liquid quality detection method, an unmanned vehicle control method, and an unmanned vehicle. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.
[0024] This disclosure provides a method for detecting the quality of a liquid. Figure 1 A flowchart of a liquid quality testing method provided in this disclosure embodiment is shown below. Figure 1 As shown, the method includes: S101. Obtain the spatial position information of the liquid level inside the liquid storage container; S102. Determine the volume of liquid in the storage container based on the spatial position information of the liquid surface and the shape of the storage container; S103. Determine the mass of the liquid in the storage container based on the volume and density of the liquid in the storage container.
[0025] In this embodiment of the disclosure, when the liquid state inside the storage container changes, it is mainly manifested in a corresponding change in the spatial position of the liquid surface, and the liquid state is constrained by the shape of the storage container. Based on this, by combining the spatial position information of the liquid surface with the shape of the storage container, the actual volume of the liquid inside the container can be accurately calculated, thereby determining the liquid mass and effectively improving the accuracy of liquid mass detection.
[0026] The spatial position information of the liquid surface can be obtained through multiple liquid level sensors, infrared imaging devices, radar imaging devices, laser rangefinders, visual camera imaging devices, etc.
[0027] In another embodiment provided in this disclosure, S101 obtains the spatial position information of the liquid surface in the liquid storage container, including: obtaining the position information of at least three sampling points on the liquid surface in the liquid storage container; and determining the plane where the liquid surface is located based on the position information of at least three sampling points on the liquid surface.
[0028] In this embodiment of the disclosure, according to the fundamental axiom of planes, three points not on the same straight line can form one and only one plane. Therefore, based on the position information of at least three sampling points on the liquid surface, the plane containing the liquid surface can be determined. Specifically, at least three sampling points on the liquid surface are not on the same straight line.
[0029] Preferably, the location information of at least three sampling points on the liquid surface inside the storage container is obtained, including: Acquire liquid level data from at least three liquid level sensors inside the liquid storage container; Based on the liquid level height data collected by at least three liquid level sensors and the position coordinates of at least three liquid level sensors, determine the position coordinates of at least three sampling points on the liquid surface inside the storage container.
[0030] In this embodiment of the disclosure, the liquid level sensor can measure the height difference between itself and the liquid surface. The position coordinates of the liquid level sensor are known. Therefore, the coordinates of the three sampling points on the liquid surface on the horizontal plane can be taken from the position coordinates of the corresponding liquid level sensor. The coordinates in the height direction can be obtained by subtracting the measured liquid level height from the height of the sensor itself.
[0031] For example, the liquid storage container has a length of L and a width of W. Four liquid level sensors can be installed at the center of the front, rear, left, and right sides of the liquid storage container. The origin of the coordinate system is located at the center of the liquid storage container, and the installation coordinates of the four liquid level sensors are as follows: Liquid level sensor at the front center (x = L / 2, y = 0); The liquid level sensor is located at the center of the rear side (x = -L / 2, y = 0). The liquid level sensor is located in the center on the left (x = 0, y = W / 2). The liquid level sensor is located in the center on the right side (x = 0, y = -W / 2).
[0032] In another embodiment provided in this disclosure, when the number of sampling points is at least three, the plane on which the liquid surface is located is determined based on the position information of at least three sampling points on the liquid surface, including: Based on the position coordinates of three sampling points on the liquid surface, the plane containing the liquid surface is determined using the analytical geometry method of three-point plane determination.
[0033] In this embodiment of the disclosure, when there are three sampling points, the position coordinates of these three sampling points can be used to determine the plane where the liquid surface is located.
[0034] If there are more than three sampling points, three sampling points can be selected, and the plane where the liquid surface is located can be determined based on the position coordinates of the three selected sampling points.
[0035] In another embodiment provided in this disclosure, when the number of sampling points is at least four, the plane on which the liquid surface is located is determined based on the position information of at least three sampling points on the liquid surface, including: Based on the position information of at least four sampling points on the liquid surface inside the liquid storage container, the plane equation of the liquid surface inside the liquid storage container is fitted by the least squares method. In this embodiment of the disclosure, in order to ensure the accuracy of fitting the liquid surface plane, the position information of at least four sampling points can be used to fit the equation of the plane where the liquid surface is located.
[0036] Specifically, assuming the coordinates of at least four sampling points are... The equation of the plane containing the liquid surface is: Establish an overdetermined system of equations .
[0037] That is, Where Z represents the height observation vector constructed from the z-coordinates of each sampling point. A represents the design matrix constructed from the x and y coordinates of each sampling point, combined with the constant term 1. , X represents the plane parameter vector to be solved.
[0038] Define RSS (Residual Sum of Squares) as: ; Take the derivative with respect to X and set the derivative to 0: , ; A is reversible. Based on this, the parameters a, b, and c in the equation of the plane containing the liquid surface can be obtained, thus yielding the equation of the plane containing the liquid surface. .
[0039] Preferably, the location information of at least four sampling points is determined by the liquid level height data collected by at least four liquid level sensors and the position coordinates of at least four liquid level sensors. After fitting the plane equation of the liquid surface in the storage container using the least squares method based on the location information of at least four sampling points on the liquid surface, the method further includes: For each of at least four liquid level sensors, substitute the position coordinates of the liquid level sensor into the fitted plane equation of the liquid surface in the storage container to obtain the theoretical value of the liquid level height of the liquid level sensor. The deviation between the theoretical value of the liquid level height of the liquid level sensor and the liquid level height data collected by the liquid level sensor is used to determine whether the liquid level sensor is malfunctioning. In the case of a failed sensor among at least four level sensors, the plane equation of the liquid surface inside the storage container is refitted based on the liquid level height data collected by the effective sensors and the position coordinates of the effective sensors.
[0040] In this embodiment, the liquid level sensor may fail (e.g., data anomalies, hardware malfunctions). Since the theoretical height value corresponding to the fitted liquid surface equation should be highly consistent with the actual height data collected by the sensor, if the deviation between the two exceeds a reasonable range, it indicates that the sensor may be malfunctioning.
[0041] To ensure the accuracy of the liquid surface plane fitting and avoid interference from abnormal data from failed sensors, after identifying the failed sensor, the data collected by the failed sensor can be discarded, and the plane equation of the liquid surface can be refitted based on the position coordinates and height data of the valid sensor.
[0042] In another embodiment of this disclosure, after determining whether the liquid level sensor has failed based on the deviation between the theoretical value of the liquid level sensor and the liquid level data collected by the liquid level sensor, the method further includes: If the number of valid sensors is lower than a preset threshold, a sensor failure warning message will be output.
[0043] In this embodiment, if the number of effective sensors is too low, it may be difficult to fit an accurate liquid surface plane equation. To ensure the basic accuracy of the liquid surface plane fitting, based on the principle that a plane can be determined by three non-collinear effective sampling points, the preset number threshold can be set to 3. To further improve the reliability and anti-interference ability of the fitting results, the preset number threshold can also be set to 4 or higher, and the fitting effect can be optimized by the least squares solution of the overdetermined equation system.
[0044] In another embodiment provided in this disclosure, the container cross-section perpendicular to the length direction at various positions along the length of the liquid storage container is symmetrical about the midline in the width direction. S102 determines the volume of the liquid inside the liquid storage container based on the plane containing the liquid surface and the shape of the liquid storage container, including: For a liquid cross-section perpendicular to the length direction at various locations along the length of the liquid storage container, the height of the liquid surface at the midline in the width direction is determined according to the plane equation of the plane containing the liquid surface. Based on the shape of the container cross-section perpendicular to the length direction at this location, a half-section model of the liquid storage container is established. The half-section model of the liquid storage container is used to describe the half-width of the container cross-section at various heights. Along the height direction of the liquid storage container, from the bottom of the liquid storage container to the liquid surface height at the midline of the liquid cross section in the width direction, integrate the half-width of the half-section model at each height, and determine twice the integral result as the area of the liquid cross section at that location; The volume of the liquid inside the storage container is obtained by integrating the cross-sectional area of the liquid at various locations along the length of the container, perpendicular to the length direction.
[0045] In this embodiment, the container cross-sections perpendicular to the length direction at various locations along the length of the liquid storage container are symmetrical about the centerline in the width direction. Based on this symmetry, a simplified integration can be used to calculate the liquid cross-sectional area: only the half-section model of the liquid storage container needs to be integrated to obtain the half-section area of the container cross-section on one side of the centerline, and then the result is multiplied by 2 to obtain the full cross-sectional area of the liquid, effectively improving the calculation efficiency.
[0046] For example, the origin of the coordinate system is located at the center of the liquid storage container, the z-axis is the height direction of the liquid storage container, the x-axis is the length direction of the liquid storage container, the y-axis is the width direction of the liquid storage container, and the equation of the plane containing the liquid surface is: .
[0047] At the midline in the width direction (y-axis direction), the y-axis coordinate is 0. The height of the liquid surface in a cross-section perpendicular to the length direction (x-axis direction) conforms to the equation of the plane containing the liquid surface. Substituting y=0 into the plane equation, we can obtain the liquid level height at the midline of the liquid cross-section in the width direction. for .
[0048] The half-width function of the cross-section corresponding to the cross-section of the liquid storage container at position x is: This function describes the half-width dimension of this cross-section at different heights z. Specifically, within the cross-section at position x, perpendicular to the length direction (x-axis direction), any height z corresponds to the half-width of the cross-section. The corresponding full width of the cross section is .
[0049] For example, the half-width function of the cross section at a certain x-position is shown below: .
[0050] The height of the liquid level along the height direction (z-axis) of the liquid storage container, from the bottom of the container to the midline of the liquid cross-section in the width direction. For the half-section model at various heights, the half-width Perform integration, and define twice the result as the area of the liquid cross-section at position x. ,in, Let x be the z-coordinate of the bottom of the container at position x.
[0051] The cross-sectional area of the liquid perpendicular to the length direction (x-axis) at various locations along the length of the liquid storage container. Integrating, we obtain the volume V of the liquid in the storage container: ; in, and The x-coordinates of the two endpoints of the liquid storage container along its length (x-axis direction). It is the minimum coordinate value of the container on the x-axis (corresponding to one end of the container's length direction). It is the maximum coordinate value of the container on the x-axis (corresponding to the other end of the container's length direction).
[0052] In another embodiment provided in this disclosure, S102 determines the volume of liquid in the storage container based on the plane where the liquid surface is located and the shape of the storage container, including: For each position of the liquid cross section perpendicular to the first direction in the liquid storage container, the maximum value of the liquid surface height on the liquid cross section is determined according to the plane equation of the plane where the liquid surface is located. The first direction is perpendicular to the height direction of the liquid storage container. Based on the shape of the liquid cross-section, the area of the liquid cross-section is obtained by integrating the width of the liquid cross-section at each height along the height direction of the liquid storage container, from the bottom of the liquid storage container to the highest point of the liquid surface on the liquid cross-section; the second direction is perpendicular to the first direction and the height direction. The volume of the liquid in the storage container is obtained by integrating the cross-sectional area of the liquid at various locations along the first direction, perpendicular to the first direction.
[0053] The calculation method in this embodiment is adaptable to liquid storage containers of any shape.
[0054] In related technologies, the control strategies for unmanned vehicles are typically designed based on a fixed vehicle mass. However, for unmanned vehicles equipped with liquid storage tanks, the mass of the liquid in the tanks changes dynamically as operations progress. For example, during the operation of an unmanned water truck, the water in the onboard tank is continuously consumed; similarly, the fuel level in the tank of a fuel-powered unmanned vehicle decreases continuously during driving and operation. Control strategies based on a fixed mass cannot adapt to the actual working conditions of dynamically changing liquid mass in the storage tanks, easily leading to vehicle control deviations.
[0055] This disclosure provides a control method for an unmanned vehicle. Figure 2 A flowchart of a control method for an unmanned vehicle provided in this disclosure embodiment is shown below. Figure 2 As shown, the method includes: S201. Obtain the current liquid mass in the unmanned vehicle's storage tank.
[0056] The unmanned vehicle is equipped with a liquid storage tank, and the quality of the liquid in the tank changes as the unmanned vehicle operates.
[0057] S202. Determine the control parameters of the unmanned vehicle based on the current liquid mass.
[0058] S203. Control the unmanned vehicle according to the control parameters.
[0059] In this embodiment of the disclosure, the mass of the liquid in the reservoir installed on the unmanned vehicle will affect the vehicle's driving characteristics, such as the overall mass and mass distribution characteristics (e.g., the position of the center of gravity). For unmanned vehicles with different masses of liquid in the reservoir, differentiated control strategies need to be developed to adapt to the current operating conditions. For example, when the mass of liquid in the reservoir is large, it is necessary to increase the braking pressure and reduce the steering speed to improve the vehicle's driving stability.
[0060] It should be noted that step S201 can use the aforementioned liquid quality detection method.
[0061] In some embodiments, a pressure sensor may be installed at the bottom of the storage tank to determine the current liquid mass in the storage tank based on the pressure data collected by the pressure sensor.
[0062] In another embodiment provided in this disclosure, a first sensor is installed inside the liquid storage tank of the unmanned vehicle, and S201 obtains the current liquid mass inside the liquid storage tank of the unmanned vehicle including: The system acquires the state of the autonomous vehicle; based on the state, it determines the corresponding calculation rules and processes the sensing data from the first sensor according to these rules to obtain the current liquid mass. The calculation rules differ depending on the vehicle's state.
[0063] In this embodiment of the disclosure, the liquid state in the storage tank will change with the state of the unmanned vehicle, and the sensing data collected by the first sensor will have differential deviations. Therefore, in order to improve the accuracy of the liquid quality detection results and reduce the detection deviation caused by the change of liquid state, different calculation rules need to be used to process the sensing data of the first sensor for unmanned vehicles in different states.
[0064] The first sensor can be a liquid level sensor, a pressure sensor, a radar imaging sensor, an infrared imaging sensor, etc.
[0065] When the first sensor is a liquid level sensor, the aforementioned liquid quality detection method can be used to determine the liquid quality in the storage container based on the liquid level height data collected by the liquid level sensor. Specifically: acquire liquid level height data collected by at least three liquid level sensors in the storage container; determine the position coordinates of at least three sampling points on the liquid surface in the storage container based on the liquid level height data collected by at least three liquid level sensors and the position coordinates of at least three liquid level sensors; determine the plane on which the liquid surface is located based on the position information of at least three sampling points on the liquid surface; determine the volume of the liquid in the storage container based on the spatial position information of the liquid surface and the shape of the storage container; and determine the mass of the liquid in the storage container based on the volume of the liquid in the storage container and the density of the liquid in the storage container.
[0066] When the autonomous vehicle is stationary or moving smoothly (with acceleration less than a preset acceleration threshold), the liquid level in the storage tank is stable and without significant fluctuations. In this case, the liquid mass in the storage tank can be determined directly based on the liquid level height data collected by the aforementioned liquid level sensor, without the need for additional compensation or correction of the sensing data.
[0067] When the autonomous vehicle is in a state of bumpy driving, turning, going uphill, going downhill, or accelerating or decelerating (with acceleration greater than or equal to a preset acceleration threshold), the calculation rules are switched, and the corresponding new calculation rules are used to process the liquid level height data collected by the liquid level sensor. For example, different compensation and correction algorithms can be used. The liquid level height data after compensation and correction determines the liquid mass in the storage tank, which is used to offset the liquid level height detection error caused by liquid sloshing, and further improves the accuracy of the liquid mass calculation results.
[0068] In another embodiment provided in this disclosure, the state of the unmanned vehicle is determined by the motion parameters of the unmanned vehicle, including the motion parameters of the unmanned vehicle in a specified direction.
[0069] In this embodiment of the disclosure, when the state of the unmanned vehicle changes, the motion parameters of the unmanned vehicle will change. Therefore, the current state of the vehicle can be determined by the motion parameters of the unmanned vehicle.
[0070] For example, when the autonomous vehicle is in a stable driving or stationary state, the motion parameters in all directions remain stable; when the autonomous vehicle shakes, the fluctuation amplitude of the autonomous vehicle's acceleration will exceed the preset fluctuation amplitude threshold.
[0071] Changes in motion parameters in different directions can cause different morphological changes in the liquid within the storage tank. Therefore, different calculation rules are needed to compensate for these changes in motion parameters in different directions. For example, the specified directions include at least one of the x-axis, y-axis, and z-axis directions corresponding to the autonomous vehicle.
[0072] When the acceleration fluctuation amplitude in the z-axis direction exceeds the preset fluctuation amplitude threshold, it indicates that the unmanned vehicle is driving on a bumpy road. The liquid in the storage tank will cause large fluctuations in the liquid surface due to the vertical oscillation of the vehicle body. At this time, the corresponding vertical fluctuation compensation rule is used to filter and correct the sensing data of the first sensor to offset the detection deviation caused by the vertical oscillation of the liquid.
[0073] When there is a significant increase in acceleration in the x-axis direction, it indicates that the autonomous vehicle is in a turning state. The liquid in the storage tank will fluctuate laterally. At this time, the corresponding lateral fluctuation compensation rule is used to correct the sensing data of the first sensor to offset the detection deviation caused by the lateral fluctuation of the liquid.
[0074] When there is a significant increase in acceleration in the y-axis direction, it indicates that the unmanned vehicle is driving uphill or downhill. The liquid in the storage tank will fluctuate longitudinally along the slope. At this time, the corresponding longitudinal fluctuation compensation rule is used to correct the sensing data of the first sensor in combination with the vehicle pitch angle, so as to eliminate the detection deviation caused by the longitudinal fluctuation of the liquid.
[0075] Understandably, if the motion parameters of the unmanned vehicle remain stable and without significant changes in the x, y, and z axes, it indicates that the unmanned vehicle is in a stable driving or stationary state, and the liquid level in the storage tank remains stable. In this case, there is no need to perform additional compensation correction on the sensing data, and the liquid mass can be determined directly by using the basic calculation rules.
[0076] In another embodiment provided in this disclosure, S202 determines the control parameters of the unmanned vehicle based on the current liquid mass by: acquiring target characteristic parameters of the liquid in the unmanned vehicle's storage tank, the target characteristic parameters including the centroid position and / or liquid distribution characteristics; and determining the control parameters of the unmanned vehicle based on the target characteristic parameters and the current liquid mass.
[0077] In this embodiment, the position of the center of mass and the distribution characteristics of the liquid in the storage tank will change the center of mass, inertial characteristics, and driving stability of the unmanned vehicle. Determining the control parameters of the unmanned vehicle based on the target characteristic parameters and the current liquid mass allows the control parameters to be adapted to the dynamic characteristics of the entire vehicle, avoiding driving loss of control and operational deviations caused by liquid imbalance or center of gravity shift, thus achieving more precise and safer vehicle control.
[0078] In yet another embodiment provided in this disclosure, the control parameters include at least one of the following: lateral control parameters, longitudinal control parameters, and path planning parameters; Preferably, the path planning parameters include at least one of the following: watering path, water filling path, operation path, and refueling path; Preferably, the storage tank contains water or oil.
[0079] In this embodiment, the lateral control parameters are used to regulate the steering of the unmanned vehicle. The greater the liquid mass, the higher the risk of lateral inertia and rollover during steering. In this case, the lateral steering damping can be increased, the steering sensitivity can be reduced, and the steering angular velocity can be decreased to improve steering stability. The smaller the liquid mass, the better the vehicle's steering flexibility. In this case, the lateral steering damping can be decreased, and the steering sensitivity can be increased to ensure the accuracy and flexibility of the vehicle's steering response.
[0080] Longitudinal control parameters are used to regulate the driving and braking of the autonomous vehicle. The fluid mass determines the vehicle's longitudinal inertia and driving resistance. The greater the fluid mass, the longer the braking distance and the higher the driving power demand. In this case, the braking advance can be increased, the peak braking deceleration can be reduced, and the power output torque can be increased to meet the longitudinal driving requirements of heavy loads. Conversely, the smaller the fluid mass, the faster the braking response and the better the power output efficiency. In this case, the braking advance can be reduced, the braking response speed can be improved, and the power output efficiency can be optimized to balance driving speed and energy economy.
[0081] Path planning parameters are used to plan the driving path of autonomous vehicles. For scenarios where water is stored in tanks, such as autonomous water trucks, the water filling and spraying paths can be planned based on the liquid mass (water volume) in the tank. For scenarios where oil is stored in tanks, the refueling and operation paths can be planned based on the liquid mass (oil volume) in the tank. For example, in a scenario where a mining truck and an excavator are paired for operation, if the mining truck's fuel level is insufficient to complete the original operation path of the paired excavator, the paired excavator can be changed to a closer excavator, and the mining truck's operation path can be adjusted.
[0082] Based on the same technical concept, this disclosure also provides an unmanned vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the steps of the liquid quality detection method or the control method of the unmanned vehicle in the above method embodiments.
[0083] Based on the same technical concept, this disclosure also provides an electronic device. Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure, such as... Figure 3 As shown, the electronic device 300 includes a processor 301, a memory 302, and a bus 303. The memory 302 stores execution instructions and includes a main memory 3021 and an external memory 3022. The main memory 3021, also called internal memory, temporarily stores computational data in the processor 301 and data exchanged with external memory such as a hard disk. The processor 301 exchanges data with the external memory 3022 through the main memory 3021. When the electronic device 300 is running, the processor 301 and the memory 302 communicate through the bus 303, enabling the processor 301 to execute steps of the liquid quality detection method or the control method of the unmanned vehicle.
[0084] Based on the same technical concept, this disclosure also provides a computer-readable storage medium storing a computer program. When a processor executes the computer program, it performs the steps of the liquid quality detection method or the unmanned vehicle control method described in the above-described method embodiments. The storage medium can be either volatile or non-volatile computer-readable storage.
[0085] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of this disclosure.
[0086] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.
[0087] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure also intends to include these modifications and variations.
Claims
1. A method for detecting the quality of a liquid, characterized in that, The method includes: Obtain spatial position information of the liquid level inside the liquid storage container; The volume of the liquid in the storage container is determined based on the spatial position information of the liquid surface and the shape of the storage container. The mass of the liquid in the storage container is determined based on the volume and density of the liquid in the storage container.
2. The method according to claim 1, characterized in that, The step of obtaining the spatial position information of the liquid level inside the storage container includes: Obtain the location information of at least three sampling points on the liquid surface inside the storage container; The plane containing the liquid surface is determined based on the position information of at least three sampling points on the liquid surface; Preferably, obtaining the location information of at least three sampling points on the liquid surface within the storage container includes: Acquire liquid level data from at least three liquid level sensors inside the liquid storage container; Based on the liquid level height data collected by the at least three liquid level sensors and the position coordinates of the at least three liquid level sensors, the position coordinates of at least three sampling points on the liquid surface inside the storage container are determined.
3. The method according to claim 2, characterized in that, When the number of sampling points is at least three, determining the plane containing the liquid surface based on the position information of at least three sampling points on the liquid surface includes: Based on the position coordinates of the three sampling points on the liquid surface, the plane containing the liquid surface is determined using the analytical geometry method of three-point plane determination.
4. The method according to claim 2, characterized in that, When the number of sampling points is at least four, determining the plane containing the liquid surface based on the position information of at least three sampling points on the liquid surface includes: Based on the position information of at least four sampling points on the liquid surface inside the liquid storage container, the plane equation of the liquid surface inside the liquid storage container is fitted by the least squares method. Preferably, the position information of the at least four sampling points is determined by the liquid level height data collected by at least four liquid level sensors and the position coordinates of the at least four liquid level sensors. After fitting the plane equation of the liquid surface in the liquid storage container using the least squares method based on the position information of the at least four sampling points on the liquid surface in the liquid storage container, the method further includes: For each of the at least four liquid level sensors, the position coordinates of the liquid level sensor are substituted into the fitted plane equation of the liquid surface in the liquid storage container to obtain the theoretical value of the liquid level height of the liquid level sensor. The deviation between the theoretical value of the liquid level height of the liquid level sensor and the liquid level height data collected by the liquid level sensor is used to determine whether the liquid level sensor is malfunctioning. If a faulty sensor is present among the at least four liquid level sensors, the plane equation of the liquid surface inside the storage container is refitted based on the liquid level height data collected by the effective sensors and the position coordinates of the effective sensors.
5. The method according to claim 4, characterized in that, After determining whether the liquid level sensor has failed based on the deviation between the theoretical value of the liquid level height from the sensor and the liquid level height data collected by the sensor, the method further includes: If the number of valid sensors is lower than a preset threshold, a sensor failure warning message will be output.
6. The method according to claim 1, characterized in that, The cross-section of the liquid storage container at various positions along its length, perpendicular to the length direction, is symmetrical about the midline in the width direction. Determining the volume of the liquid inside the storage container based on the plane containing the liquid surface and the shape of the container includes: For each liquid cross-section perpendicular to the length direction at various positions along the length of the liquid storage container, the liquid level height at the midline of the width direction of the liquid cross-section is determined according to the plane equation of the plane containing the liquid surface. Based on the shape of the container cross-section perpendicular to the length direction at that location, a half-section model of the liquid storage container is established. The half-section model of the liquid storage container is used to describe the half-width of the container cross-section at various heights. Along the height direction of the liquid storage container, from the bottom of the liquid storage container to the liquid surface height at the midline of the liquid cross-section in the width direction, the half-width of the half-section model at each height is integrated, and twice the integral result is determined as the area of the liquid cross-section at that position. The volume of the liquid inside the storage container is obtained by integrating the cross-sectional area of the liquid at various positions along the length direction of the storage container that is perpendicular to the length direction.
7. The method according to claim 1, characterized in that, Determining the volume of liquid in the storage container based on the plane where the liquid surface is located and the shape of the storage container includes: For each position of the liquid cross section perpendicular to the first direction within the liquid storage container, the maximum value of the liquid surface height on the liquid cross section is determined according to the plane equation of the plane containing the liquid surface, wherein the first direction is perpendicular to the height direction of the liquid storage container; Based on the shape of the liquid cross-section, the area of the liquid cross-section is obtained by integrating the width of the liquid cross-section at each height along the height direction of the liquid storage container, from the bottom of the liquid storage container to the highest point of the liquid surface on the liquid cross-section; the second direction is perpendicular to the first direction and the height direction. The volume of the liquid in the storage container is obtained by integrating the cross-sectional area of the liquid at each position perpendicular to the first direction along the first direction.
8. A control method for an unmanned vehicle, characterized in that, The method includes: The current liquid mass in the liquid storage tank of the unmanned vehicle is obtained, wherein the unmanned vehicle is equipped with a liquid storage tank, and the liquid mass in the liquid storage tank changes as the unmanned vehicle operates; The control parameters of the unmanned vehicle are determined based on the current liquid mass. The unmanned vehicle is controlled according to the control parameters.
9. The control method according to claim 8, characterized in that, The unmanned vehicle's liquid storage tank is equipped with a first sensor, and the process of obtaining the current liquid mass in the unmanned vehicle's liquid storage tank includes: Obtain the status of the unmanned vehicle; Based on the state of the unmanned vehicle, a corresponding calculation rule is determined, and the sensing data of the first sensor is processed according to the corresponding calculation rule to obtain the current liquid mass. The calculation rule is different for different states.
10. The control method according to claim 8, characterized in that, Determining the control parameters of the unmanned vehicle based on the current liquid mass includes: Obtain target feature parameters of the liquid in the unmanned vehicle's liquid storage tank, the target feature parameters including the centroid position and / or liquid distribution characteristics; The control parameters of the unmanned vehicle are determined based on the target characteristic parameters and the current liquid mass.
11. The control method according to claim 9, characterized in that, The state is determined by the motion parameters of the unmanned vehicle, including the motion parameters of the unmanned vehicle in a specified direction.
12. The control method according to claim 8, characterized in that, The control parameters include at least one of the following: lateral control parameters, longitudinal control parameters, and path planning parameters; Preferably, the path planning parameters include at least one of the following: watering path, water filling path, operation path, and refueling path; Preferably, the storage tank contains water or oil.
13. An unmanned vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, performs the steps of a liquid quality detection method as described in any one of claims 1 to 9 or a control method for an unmanned vehicle as described in any one of claims 8 to 12.