Mobile tool control method and system of mobile tool

Abstract

The application discloses a mobile tool control method and a mobile tool system. The method comprises the following steps: acquiring a target running parameter of a first mobile tool on a to-be-traveled road section; the target running parameter represents a required running parameter of the first mobile tool through the to-be-traveled road section; analyzing the target running parameter and an achievable running parameter to obtain an analysis result; in the case that the analysis result represents that the first mobile tool meets a traffic jam condition on the to-be-traveled road section, controlling the first mobile tool to enter a first running mode or a second running mode; at least one of the first running mode and the second running mode is provided with a first power by the first mobile tool and a second power by at least one second mobile tool; the second mobile tool is an auxiliary mobile device carried on the first mobile tool; and the first power and the second power enable the first mobile tool to run through the to-be-traveled road section.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to a mobile tool control method and a mobile tool system. Background Technology

[0002] With the development of technology, driverless vehicles are being used more and more widely in logistics, exploration, agriculture and other fields.

[0003] However, in actual operation, these vehicles often encounter challenging terrain that exceeds their design limits, such as excessively steep inclines, soft sand or muddy surfaces, and high obstacles (such as speed bumps and steps). In these situations, the vehicles may be unable to pass due to limitations such as insufficient power. Summary of the Invention

[0004] In view of the above, this application provides a mobile tool control method and a mobile tool, as follows:

[0005] A mobile tool control method, comprising:

[0006] Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven; the target driving parameters represent the driving parameters required for the first mobile vehicle to pass through the road segment to be driven.

[0007] The target driving parameters and achievable driving parameters are analyzed to obtain the analysis results; the achievable driving parameters represent the driving parameters that the first mobile tool can provide.

[0008] When the analysis results indicate that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven, the first mobile vehicle is controlled to enter a first driving mode or a second driving mode; in at least one of the first driving mode and the second driving mode, the first mobile vehicle provides first power and at least one second mobile vehicle provides second power to the first mobile vehicle;

[0009] The second mobile tool is an auxiliary mobile device mounted on the first mobile tool; the first power and the second power enable the first mobile tool to travel through the section of road to be traveled.

[0010] The above methods may optionally include:

[0011] In response to detecting that the first mobile vehicle is in a target driving scenario, the road condition parameters of the road segment to be driven are obtained. The road condition parameters include at least one of the following: length, height, slope, friction coefficient of the road segment to be driven, width of obstacles in the road segment to be driven, and height of obstacles. The road segment to be driven includes a road segment that the first mobile vehicle has not traveled or a road segment that the first mobile vehicle has traveled but has not driven through.

[0012] The step of obtaining the target driving parameters of the first mobile vehicle on the road segment to be driven includes:

[0013] Based on the road condition parameters, the target driving parameters of the first mobile vehicle on the road segment to be driven are obtained.

[0014] Optionally, the above method involves controlling the first mobile tool to enter a first driving mode, including:

[0015] Control the at least one second moving tool to detach from the first moving tool;

[0016] Control the second moving tool to move to a second position determined based on a first position, where the first position is the position of the first moving tool;

[0017] Control the second moving tool to come into contact with the first moving tool;

[0018] The first mobile tool is controlled to provide a first power source, and at least one second mobile tool provides a second power source to the first mobile tool;

[0019] The second power is applied to the first mobile vehicle, causing the first mobile vehicle to travel through the section of road to be traveled based on the first power and the second power.

[0020] Optionally, the above method involves controlling the first mobile tool to enter a second driving mode, including:

[0021] Control the at least one second moving tool to detach from the first moving tool;

[0022] Control the first mobile tool to start, so that the first mobile tool provides the first power;

[0023] Control the second moving tool to start, so that the second moving tool provides a second power;

[0024] The first mobile vehicle travels through the section of road to be traveled using the first power source; the second mobile vehicle travels through the section of road to be traveled using the second power source.

[0025] Optionally, the above method involves controlling the second moving tool to contact the first moving tool, including:

[0026] Control the auxiliary lever on the second moving tool to connect with the power docking interface on the first moving tool.

[0027] Optionally, the above method involves controlling the first mobile tool to enter a second driving mode, including:

[0028] Control the at least one second moving tool to detach from the first moving tool;

[0029] Control the first mobile tool to provide the first power;

[0030] Control the second moving tool to provide a second power;

[0031] The first mobile vehicle travels through the section of road to be traveled using the first power source; the second mobile vehicle travels through the section of road to be traveled using the second power source.

[0032] The above methods may optionally include:

[0033] Based on the target driving parameters, determine the total power required for the first mobile vehicle to travel through the road segment to be traveled;

[0034] Based on the achievable driving parameters of the first mobile tool, the first power source of the first mobile tool is determined;

[0035] Based on the total power and the first power, the second power is determined.

[0036] Optionally, the above method involves determining the total power required for the first mobile vehicle to travel through the road segment to be traveled, based on the target driving parameters, including:

[0037] After the at least one second vehicle detaches from the first vehicle, the current achievable driving parameters of the first vehicle are determined based on the load value of the at least one second vehicle.

[0038] Based on the currently achievable driving parameters and the target driving parameters, the total power required for the first mobile vehicle to travel through the road segment to be traveled is determined.

[0039] The above methods may optionally include:

[0040] If it is determined that the first mobile vehicle has passed the section of road to be traveled, the second mobile vehicle is controlled to stop providing the second power to the first mobile vehicle;

[0041] Control the second moving tool to load back into the first moving tool.

[0042] The above methods are optional, wherein:

[0043] The target driving parameters include the slope of the road segment to be driven, and at least one of the following parameters: traction force, speed, acceleration, and torque required for the first mobile vehicle to drive through the road segment to be driven. The achievable driving parameters include at least one of the following parameters: slope, traction force, speed, acceleration, and torque that the first mobile vehicle can achieve.

[0044] The analysis of the target driving parameters and achievable driving parameters yields analysis results, including:

[0045] Analyze at least one of the target driving parameters and the corresponding at least one of the achievable driving parameters;

[0046] If at least one of the achievable driving parameters does not meet the requirements of the corresponding parameter in the target driving parameters, the analysis result indicates that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven; otherwise, the analysis result indicates that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven.

[0047] A system for a mobile tool includes:

[0048] First means of transportation:

[0049] The second moving tool is an auxiliary moving device mounted on the first moving tool;

[0050] The controller is capable of performing the following steps:

[0051] Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven, wherein the target driving parameters represent the required driving parameters for the first mobile vehicle to pass through the road segment to be driven;

[0052] The target driving parameters and achievable driving parameters are analyzed to obtain the analysis results. The achievable driving parameters represent the driving parameters that the first mobile tool can provide.

[0053] When the analysis results indicate that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven, the first mobile vehicle is controlled to enter a first driving mode or a second driving mode; in at least one of the first driving mode and the second driving mode, the first mobile vehicle provides first power and at least one second mobile vehicle provides second power to the first mobile vehicle;

[0054] The first power source and the second power source enable the first mobile vehicle to travel through the section of road to be traveled.

[0055] The aforementioned mobile tool system may include:

[0056] The first means of transportation is an unmanned vehicle;

[0057] The second means of transportation is an auxiliary robot mounted on the unmanned vehicle;

[0058] The controller includes:

[0059] The main controller, mounted on the autonomous vehicle, is used to collect the current road condition parameters of the autonomous vehicle on the road segment to be driven and obtain the target driving parameters based on the current road condition parameters; and to detect whether the autonomous vehicle meets the traffic obstruction conditions on the road segment to be driven based on the target driving parameters and the achievable driving parameters.

[0060] A collaborative controller, mounted on the auxiliary robot, is used to control the first mobile vehicle to enter the first driving mode when the unmanned vehicle meets the obstruction condition on the road segment to be driven; in the first driving mode, at least one of the auxiliary robots provides the second power to the unmanned vehicle, and the second power enables the unmanned vehicle to drive through the road segment to be driven. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart illustrating a mobile tool control method provided in an embodiment of this application;

[0063] Figure 2 These are example diagrams of the first and second moving tools in the embodiments of this application;

[0064] Figure 3 This is an example diagram of the road segment to be traveled in the embodiments of this application;

[0065] Figure 4 Another flowchart of a mobile tool control method provided in an embodiment of this application;

[0066] Figure 5 A partial flowchart of a mobile tool control method provided in an embodiment of this application;

[0067] Figure 6 This is an example diagram showing the contact between the first and second moving tools in an embodiment of this application;

[0068] Figure 7 This is another example diagram showing the contact between the first and second moving tools in an embodiment of this application;

[0069] Figure 8 A partial flowchart of a mobile tool control method provided in an embodiment of this application;

[0070] Figure 9 This is another part of the flowchart of a mobile tool control method provided in the embodiments of this application;

[0071] Figure 10 This is another part of a flowchart illustrating a mobile tool control method provided in an embodiment of this application;

[0072] Figure 11 This application provides a schematic diagram of the structure of a mobile tool system according to an embodiment of the present application.

[0073] Figure 12 This is a partial structural diagram of a mobile tool system provided in an embodiment of this application;

[0074] Figure 13 This is a schematic diagram of the architecture of a collaborative obstacle-crossing system that integrates master and slave functions and provides on-demand assistance, as proposed in an embodiment of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0076] Currently, to improve inspection efficiency, unmanned inspection vehicles are often deployed in scenarios such as industrial parks, municipal facilities, and power plants. However, industrial park scenarios typically contain obstacles such as speed bumps and steps, which can interrupt inspection tasks or even trap unmanned vehicles. Taking the scenario of unmanned inspection in an industrial park as an example, the technical solution of this application is explained below:

[0077] refer to Figure 1 The diagram shown is a flowchart illustrating the implementation of a mobile tool control method according to an embodiment of this application. This method can be applied to a first mobile tool, and the first mobile tool can carry at least one second mobile tool. For example, as... Figure 2As shown, the first mobile tool can be an unmanned vehicle, such as a fire and rescue vehicle, and the second mobile tool can be an auxiliary robot mounted on the unmanned vehicle, such as an auxiliary robot mounted on a fire and rescue vehicle. The technical solution in this embodiment is mainly used to improve the reliability of the mobile tool passing through the road section to be traveled.

[0078] Specifically, the method in this embodiment may include the following steps:

[0079] Step 101: Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven.

[0080] The target driving parameters refer to the driving parameters required for the first mobile vehicle to traverse the road segment to be traversed. For example, the target driving parameters may include at least one of the following: the slope of the road segment to be traversed, the traction force required for the first mobile vehicle to traverse the road segment, the speed required for the first mobile vehicle to traverse the road segment, the acceleration required for the first mobile vehicle to traverse the road segment, and the torque required for the first mobile vehicle to traverse the road segment. The first mobile vehicle travels with the acceleration, speed, and torque specified in the target driving parameters, enabling it to achieve the corresponding traction force, which in turn allows it to climb the corresponding slope on the road segment to be traversed, thus enabling the first mobile vehicle to traverse the road segment.

[0081] It should be noted that the "road section to be traveled" includes sections that the first mobile vehicle has not yet traversed, or sections that the first mobile vehicle has traversed but not yet passed through. Specifically, the "road section to be traveled" refers to a section of road ahead where travel is difficult, such as a steep slope, high obstacles, potholes, or a large amount of loose gravel. For example, such as... Figure 3 As shown, the road section to be traversed can be a muddy section with a slope exceeding 30 degrees. Based on this, this embodiment obtains target driving parameters such as the traction force required for the first mobile vehicle to traverse the muddy road section.

[0082] Specifically, in this embodiment, the target driving parameters can be obtained according to the real-time road conditions on the road segment to be driven.

[0083] It should be noted that the climbing height required for the first vehicle to traverse the section of road to be traveled is the actual slope of that section. The actual slope of the section to be traveled can include the inherent slope of the section itself plus the slope created by obstacles within it. For example, the inherent slope of the section to be traveled is 25 degrees, while obstacles such as speed bumps create a slope of 3 degrees. Or, obstacles such as rocks create a slope of 2 degrees.

[0084] Step 102: Analyze the target driving parameters and achievable driving parameters to obtain the analysis results.

[0085] The analysis results can be obtained by analyzing the target driving parameters and the achievable driving parameters. The analysis results indicate whether the first mobile vehicle meets the conditions of obstructed passage on the road segment to be traveled.

[0086] It should be noted that achievable driving parameters can represent driving parameters that the first mobile tool can provide. For example, achievable driving parameters may include at least one of the following: the traction force (maximum traction force) that the first mobile tool can provide, the gradient that the first mobile tool can achieve (maximum gradient), the speed that the first mobile tool can achieve (maximum speed), the acceleration that the first mobile tool can achieve (maximum acceleration), and the torque that the first mobile tool can achieve (maximum torque). Wherein, the achievable driving parameters characterize the highest level of difficulty of the road segment that the first mobile tool can traverse.

[0087] Specifically, the achievable driving parameters provided by the first mobile tool are related to the mass (weight) of the first mobile tool itself. Therefore, whether or not the first mobile tool releases the second mobile tool will result in different achievable driving parameters provided by the first mobile tool.

[0088] Thus, in one case, the driving parameters can be the first driving parameters that the first moving tool can provide without releasing the second moving tool;

[0089] In another scenario, the driving parameters can be the second driving parameters that can be provided when the first moving tool releases the second moving tool.

[0090] Based on this, the first driving parameter makes the difficulty of the road segment that the first mobile tool can traverse less than the difficulty of the road segment that the second driving parameter makes the first mobile tool can traverse. For example, the traction force in the first driving parameter is less than the traction force in the second driving parameter; or, for example, the torque in the first driving parameter is less than the torque in the second driving parameter.

[0091] In one implementation, step 102 can compare the parameter values ​​of the same type of parameter items in the target driving parameters and achievable driving parameters to obtain the analysis results.

[0092] Among them, the condition for obstructed passage can be: the target driving parameter and the achievable driving parameter do not match the parameter values ​​of the same parameter.

[0093] For example, in this embodiment, the traction force in the target driving parameters is compared with the traction force in the achievable driving parameters. If the traction force in the target driving parameters is greater than the traction force in the achievable driving parameters, an analysis result can be obtained indicating that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven. If the traction force in the target driving parameters is less than or equal to the traction force in the achievable driving parameters, an analysis result can be obtained indicating that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven.

[0094] For example, in this embodiment, the torque in the target driving parameters is compared with the torque in the achievable driving parameters. If the torque in the target driving parameters is greater than the torque in the achievable driving parameters, an analysis result can be obtained indicating that the first mobile tool meets the traffic obstruction condition on the road segment to be driven. If the torque in the target driving parameters is less than or equal to the torque in the achievable driving parameters, an analysis result can be obtained indicating that the first mobile tool does not meet the traffic obstruction condition on the road segment to be driven.

[0095] Based on this, in step 102, if the analysis result indicates that the first mobile tool does not meet the obstruction condition on the road segment to be traveled, no further processing is performed. Instead, the first mobile tool is controlled to provide the first power, which enables the first mobile tool to travel through the road segment to be traveled. If the analysis result indicates that the first mobile tool meets the obstruction condition on the road segment to be traveled, step 103 is executed.

[0096] Step 103: If the analysis results indicate that the first mobile vehicle meets the traffic obstruction conditions on the road segment to be driven, control the first mobile vehicle to enter the first driving mode or the second driving mode.

[0097] In one of the first and second driving modes, a first vehicle provides the first power and at least one second vehicle provides the second power to the first vehicle. In the other driving mode, the first vehicle provides the first power, while the second vehicle is detached from the first vehicle.

[0098] The second means of transportation is an auxiliary mobility device mounted on the first means of transportation, such as an auxiliary robot mounted on an autonomous vehicle. The first and second power sources enable the first means of transportation to travel through the section of road to be traversed.

[0099] Specifically, in this embodiment, corresponding control commands can be sent to the first mobile tool and the second mobile tool respectively. The first mobile tool starts and provides first power in response to the received control command, and the second mobile tool starts and provides second power in response to the received control command.

[0100] For example, two auxiliary robots provide secondary power to the autonomous vehicle, while the autonomous vehicle provides primary power. Thus, with the combined effect of the secondary power from the two auxiliary robots, the autonomous vehicle can successfully climb slopes and pass through muddy sections with gradients exceeding 30 degrees.

[0101] As can be seen from the above technical solutions, in the control method provided by the embodiments of this application, after obtaining the target driving parameters required for the first mobile tool to pass through the road segment to be traveled, the method analyzes the target driving parameters and the achievable driving parameters that the first mobile tool can provide to determine whether the first mobile tool meets the obstruction condition on the road segment to be traveled. Accordingly, if the obstruction condition is met, the first mobile tool can be controlled to be in a corresponding driving mode. In at least one driving mode, the first mobile tool provides a first power and a second mobile tool mounted on the first mobile tool provides a second power to the first mobile tool. In this way, the first power and the second power enable the first mobile tool to travel through the road segment to be traveled. It can be seen that in this embodiment, by having the second mobile tool mounted on the first mobile tool work together with the first mobile tool to provide power for the first mobile tool to travel, the first tool can pass through the road segment to be traveled. Therefore, this application can improve the reliability of the mobile tool passing through the road segment to be traveled.

[0102] In one implementation, step 102, when analyzing the target driving parameters and achievable driving parameters to obtain the analysis results, can be achieved in the following way:

[0103] First, analyze at least one parameter in the target driving parameters and the corresponding at least one parameter in the achievable driving parameters to determine whether the at least one parameter in the achievable driving parameters meets the requirements of the corresponding parameter in the target driving parameters; for example, analyze the traction force in the achievable driving parameters and the traction force in the target driving parameters to determine whether the traction force in the achievable driving parameters meets the requirements of the traction force in the target driving parameters, that is, whether the traction force in the achievable driving parameters is greater than or equal to the traction force in the target driving parameters; as another example, analyze the gradient of the achievable driving parameters and the road gradient in the target driving parameters to determine whether the gradient of the achievable driving parameters meets the road gradient in the target driving parameters, that is, whether the gradient of the achievable driving parameters is greater than or equal to the road gradient in the target driving parameters, and so on;

[0104] Then, if at least one of the achievable driving parameters does not meet the requirements of the corresponding parameter in the target driving parameters, it can be determined that the analysis result indicates that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven; otherwise, it can be determined that the analysis result indicates that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven.

[0105] For example, if the tractive force in the achievable driving parameters is greater than or equal to the tractive force in the target driving parameters, an analysis result is obtained indicating that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven. If the tractive force in the achievable driving parameters is less than the tractive force in the target driving parameters, an analysis result is obtained indicating that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven.

[0106] For example, if the gradient in the achievable driving parameters is greater than or equal to the road segment gradient in the target driving parameters, an analysis result is obtained indicating that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven. If the gradient in the achievable driving parameters is less than the road segment gradient in the target driving parameters, an analysis result is obtained indicating that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven.

[0107] In one implementation, prior to step 101 in this embodiment, the following processing may also be performed: Figure 4 As shown:

[0108] Step 104: In response to detecting that the first mobile vehicle is in the target driving scene, obtain the road condition parameters of the road segment to be driven.

[0109] The road condition parameters may include at least one of the following: length, height, gradient, coefficient of friction, width of obstacles in the road segment to be driven, and height of obstacles. Obstacles in the road segment to be driven may be stones, wooden stakes, etc.

[0110] Specifically, in this embodiment, sensors such as cameras and radars deployed on the first mobile vehicle can collect sensor data of the road segment to be traveled, such as image data collected by the camera and point cloud data collected by the radar. Based on this, the sensor data can be processed by artificial intelligence models or other processing modules to obtain road condition parameters of the road segment to be traveled.

[0111] For example, in this embodiment, an image recognition model is used to perform image recognition on the image data collected by the camera to identify the length, height, slope, and friction coefficient of the road segment to be driven. Furthermore, a point cloud processing model can be used to perform target detection on the point cloud data collected by the radar to detect the width and height of obstacles in the road segment to be driven. As another example, in this embodiment, an image recognition model can be used to perform image recognition on the image data collected by the camera to identify the length, height, and friction coefficient of the road segment to be driven. Then, the slope of the road segment to be driven is calculated using the length and height of the road segment.

[0112] Based on this, in this embodiment, when obtaining the target driving parameters of the first mobile tool on the road segment to be driven in step 101, the target driving parameters of the first mobile tool on the road segment to be driven can be obtained based on the road condition parameters of the road segment to be driven.

[0113] Specifically, in this embodiment, driving parameters can be predicted based on road condition parameters to predict the slope of the road segment to be driven, the traction force, speed, acceleration, torque, etc. required for the first mobile vehicle to pass through the road segment to be driven.

[0114] For example, in this embodiment, the road condition parameters of the road segment to be driven can be processed using a parameter prediction model to obtain the road slope of the road segment to be driven, the traction force, speed, acceleration, torque, etc. required for the first mobile tool to pass through the road segment to be driven, etc., output by the parameter prediction model.

[0115] It should be noted that the target driving scenario for the first mobile vehicle is a driving scenario where there are driving difficulties ahead of the first mobile vehicle. For example, the target driving scenario could be a driving scenario where the autonomous vehicle is traveling on a slope with a high gradient.

[0116] Specifically, in this embodiment, sensors deployed on the first mobile vehicle can collect sensor data of the scene where the first mobile vehicle is located (including the road section ahead to be traveled), such as at least one of image data and point cloud data, and process the sensor data through a scene recognition model to detect the driving scene where the first mobile vehicle is located.

[0117] The scene recognition model is trained by using sensor data of the sample driving road segment as input data and scene type labels as output data. The trained scene recognition model can process the sensor data to output the classified target driving scene, such as a winding mountain road scene, a Gobi desert scene with many gravel, a scene with a gentle driving slope, and a scene with a high driving slope.

[0118] As can be seen, in this embodiment, driving scenarios can be classified first, and then the target driving parameters can be obtained by acquiring the road condition parameters of the road segment to be driven when the first mobile vehicle is detected to be in the target driving scenario. Thus, it is not necessary to continuously acquire road condition parameters and target driving parameters. Therefore, while realizing the driving control of the first mobile vehicle, the continuous acquisition of road condition parameters and driving parameters can be avoided, thereby reducing the driving power consumption of the first mobile vehicle.

[0119] In one implementation, the achievable driving parameters of the first mobile tool are the driving parameters that the first mobile tool can provide after the second mobile tool detaches from the first mobile tool. Based on this, step 103, when controlling the first mobile tool to enter the first driving mode, can be achieved in the following way: Figure 5 As shown:

[0120] Step 501: Control at least one second moving tool to detach from the first moving tool.

[0121] Specifically, in this embodiment, a control command instructing the second mobile tool to detach can be sent to the mounting platform on the first mobile tool. In response to the received control command instructing the second mobile tool to detach, the mounting platform safely releases the second mobile tool to the ground.

[0122] For example, the platform is an automatic lifting platform, and the second mobile tool is mounted on the automatic lifting platform. The automatic lifting platform starts working in response to the control command indicating disengagement, so as to safely release the second mobile tool to the ground; or, the platform is connected to a tilting ramp, and the second mobile tool is mounted on the platform. The platform starts working in response to the control command indicating disengagement, unfolds the tilting ramp and connects it to the ground, so as to safely release the second mobile tool to the ground.

[0123] Step 502: Control the second moving tool to move to the second position determined based on the first position.

[0124] Wherein, the first position is the position of the first moving tool. The second position can be a position adjacent to the first position.

[0125] Specifically, in this embodiment, a control command instructing movement can be sent to the second moving tool, which carries a command parameter indicating the second position. Based on this, the second moving tool moves to the second position in response to the received control command instructing movement.

[0126] Step 503: Control the second moving tool to contact the first moving tool.

[0127] In one implementation, this embodiment allows control of the second moving tool to contact the first moving tool via a connecting surface, where the connecting surface is the contact surface through which the second moving tool can provide a second power to the first moving tool. For example, as... Figure 6 As shown, the connecting surface is the contact surface corresponding to the front of the second mobile tool.

[0128] In another implementation, this embodiment allows control to connect the auxiliary lever on the second moving tool to the power docking interface on the first moving tool. For example, as... Figure 7 As shown, the power docking interface can be an interface with a snap-fit, and the auxiliary rod can be inserted into the snap-fit ​​to connect the auxiliary rod to the power docking interface.

[0129] Step 504: Control the first moving tool to provide the first power and at least one second moving tool to provide the first moving tool with the second power.

[0130] The second power is applied to the first mobile vehicle, enabling the first mobile vehicle to travel through the section of road to be traveled based on the first power and the second power.

[0131] Specifically, in this embodiment, the second mobile tool and the first mobile tool can be controlled to start synchronously. The first mobile tool can provide a first power in the direction of travel, and the second mobile tool can provide a second power in the direction of travel. The first mobile tool and the second mobile tool have the same direction of travel. Thus, the second power can be applied to the first mobile tool through the contact between the second mobile tool and the first mobile tool. As a result, the first mobile tool travels through the section of road to be traveled based on the first power and the second power applied by the second mobile tool.

[0132] For example, such as Figure 7 As shown, the auxiliary robot is positioned in front of the autonomous vehicle. The auxiliary robot is connected to the power docking interface of the autonomous vehicle via an auxiliary rod. Thus, the auxiliary robot provides forward pulling force to the autonomous vehicle. Under the combined action of the autonomous vehicle's own traction force, the autonomous vehicle is able to cross the steep section of road to be traversed.

[0133] For example, such as Figure 6 As shown, the auxiliary robot is positioned behind the autonomous vehicle. The auxiliary robot abuts against the autonomous vehicle through the connecting surface, thereby providing forward pulling force to the autonomous vehicle. Under the combined action of the autonomous vehicle's own traction force, the autonomous vehicle is able to cross the steep section of road to be traversed.

[0134] As can be seen, in this embodiment, the first mobile tool can travel through the road section to be traveled by means of the second mobile tool, thereby improving the reliability of the mobile tool's travel.

[0135] In one implementation, the achievable driving parameters of the first mobile tool are the driving parameters that the first mobile tool can provide before the second mobile tool detaches from the first mobile tool. Based on this, step 103, when controlling the first mobile tool to enter the second driving mode, can be achieved in the following way: Figure 8 As shown:

[0136] Step 801: Control at least one second moving tool to detach from the first moving tool.

[0137] Specifically, in this embodiment, a control command instructing the second mobile tool to detach can be sent to the mounting platform on the first mobile tool. In response to the received control command instructing the second mobile tool to detach, the mounting platform safely releases the second mobile tool to the ground.

[0138] Step 802: Control the first moving tool to provide the first power.

[0139] In this embodiment, the first moving tool can be controlled to start, so that the first moving tool provides the first power.

[0140] Step 803: Control the second moving tool to provide a second power.

[0141] In this embodiment, the second mobile vehicle can be controlled to start, providing a second power source. The first mobile vehicle travels through the section of road to be traveled using the first power source, while the second mobile vehicle travels through the section of road to be traveled using the second power source.

[0142] It should be noted that steps 802 and 803 can be executed simultaneously.

[0143] Specifically, the second mobile tool starts synchronously with the first mobile tool, but the second mobile tool does not come into contact with the first mobile tool. Therefore, the traction provided by the second mobile tool is used for its own movement, and the traction provided to the first mobile tool is zero. At this time, after the first mobile tool releases the second mobile tool, the first mobile tool enhances the achievable driving parameters it can provide by reducing the mass (weight) of the first mobile tool. For example, it increases the traction, gradient, torque, and acceleration that the first mobile tool can provide. Based on this, even if the traction provided by the second mobile tool to the first mobile tool is zero, the first mobile tool can still travel through the road section to be traveled by its enhanced achievable driving parameters.

[0144] It should be noted that while the first mobile vehicle is starting up and driving through the section of road to be driven, the second mobile vehicle can also start up synchronously and drive through the section of road to be driven together with the first mobile vehicle. Correspondingly, after the first mobile vehicle has driven through the section of road to be driven, the second mobile vehicle is retrieved, that is, the second mobile vehicle is reloaded into the first mobile vehicle.

[0145] As can be seen, in this embodiment, the first mobile tool can travel through the road segment to be traveled by unloading the second mobile tool to enhance the achievable driving parameters, thereby improving the driving reliability of the mobile tool.

[0146] In one implementation, when the obstruction condition is met, the achievable driving parameters provided by the first mobile tool prevent it from traversing the section of road to be traversed. For example, the achievable traction force of the first mobile tool is less than the traction force required for it to traverse the section of road to be traversed; or, the achievable gradient of the first mobile tool is less than the actual gradient of the section of road to be traversed. Based on this, in this embodiment, the first power and the second power can be determined in the following ways, such as... Figure 9 As shown:

[0147] Step 901: Based on the target driving parameters, determine the total power required for the first mobile vehicle to travel through the road segment to be traveled.

[0148] In this embodiment, the total power can be understood as the power required by the first mobile vehicle to pass through the road section to be traveled. Specifically, in this embodiment, the traction force required by the first mobile vehicle can be extracted from the target driving parameters as the total power. Alternatively, in this embodiment, the total power required by the first mobile vehicle to pass through the road section to be traveled can be calculated from the height (gradient) of the slope required by the first mobile vehicle to climb in the target driving parameters.

[0149] Step 902: Determine the first power source of the first mobile tool based on the achievable driving parameters of the first mobile tool.

[0150] Here, the first power can be understood as the power that the first mobile tool can provide based on its own performance. Specifically, in this embodiment, the traction force that the first mobile tool can provide can be extracted from the achievable driving parameters as the first power, or, in this embodiment, the first power that the first mobile tool can provide can be calculated from the torque that the first mobile tool can provide from the achievable driving parameters.

[0151] In one implementation, the achievable driving parameters of the first mobile tool can be the driving parameters that the first mobile tool can provide without releasing the second mobile tool. For example, the achievable driving parameters of the first mobile tool may include at least one of the following: gradient, traction, speed, acceleration, and torque that can be achieved when the first mobile tool carries the second mobile tool.

[0152] Specifically, the achievable driving parameters of the first mobile tool can be pre-calibrated based on its tool attributes such as weight and engine parameters. Alternatively, the achievable driving parameters of the first mobile tool can be obtained through actual operational testing.

[0153] Step 903: Determine the second power based on the total power and the first power.

[0154] Specifically, in this embodiment, the first power is subtracted from the total power to obtain the second power.

[0155] As can be seen, in this embodiment, the influence of the second mobile tool on the first mobile tool can be ignored. Based on the achievable driving parameters of the first mobile tool, the first power of the first mobile tool is determined, and the second power is determined by combining the total power required by the first mobile tool to pass through the road segment to be traveled. Based on this, the first mobile tool is controlled to provide the first power and the second mobile tool is controlled to provide the second power, thereby improving the reliability of the mobile tool to pass through the road segment to be traveled.

[0156] In one implementation, when the obstruction condition is met, the achievable driving parameters provided by the first mobile tool prevent it from traversing the section of road to be traversed. For example, the tractive force achievable by the first mobile tool is less than the tractive force required for it to traverse the section of road to be traversed; or, the gradient achievable by the first mobile tool is less than the gradient of the section of road to be traversed. Based on this, in step 901 of this embodiment, the total power can be determined in the following way, such as... Figure 10 As shown:

[0157] Step 1001: After at least one second mobile tool detaches from the first mobile tool, determine the current achievable driving parameters of the first mobile tool based on the load value of the second mobile tool.

[0158] In this embodiment, the second moving tool can be controlled to detach from the first moving tool by sending a control command indicating detachment to the second moving tool.

[0159] The load value of the second mobile tool can be understood as the weight value of the second mobile tool. Based on this, in this embodiment, the current load value (i.e., the current weight value) of the first mobile tool after unloading the second mobile tool can be updated based on the load value of the second mobile tool. After the first mobile tool unloads the second mobile tool, the current load value will decrease. Based on this, the achievable driving parameters that the first mobile tool can achieve, i.e., the current achievable driving parameters, are updated according to the reduced current load value of the first mobile tool. At this time, the current achievable driving parameters are enhanced. For example, the traction force, the gradient, the torque, the acceleration, and the speed in the achievable driving parameters are increased.

[0160] Step 1002: Based on the current achievable driving parameters and the target driving parameters, determine the total power required for the first mobile vehicle to travel through the road segment to be traveled.

[0161] Specifically, after the achievable driving parameters are updated, this embodiment can first re-analyze the updated current achievable driving parameters and target driving parameters to obtain an analysis result characterizing whether the first mobile vehicle meets the communication obstruction condition on the road segment to be traveled. If the analysis result indicates that the first mobile vehicle does not meet the passage obstruction condition on the road segment to be traveled, no further processing is performed; instead, the first mobile vehicle is controlled to provide first power, which enables the first mobile vehicle to travel through the road segment to be traveled. If the analysis result indicates that the first mobile vehicle meets the passage obstruction condition on the road segment to be traveled, the total power required for the first mobile vehicle to pass through the road segment to be traveled is determined according to the target driving parameters.

[0162] Specifically, in this embodiment, the weight value of the first mobile tool in the enhanced achievable driving parameters is reduced. In order to travel through the road segment to be traveled, the total power required will be reduced. Based on this, in this embodiment, according to the mapping relationship between load and power, the traction force in the target driving parameters can be updated based on the reduced weight value of the first mobile tool, such as reducing the traction force in the target driving parameters, so as to obtain the total power required for the first mobile tool to travel through the road segment to be traveled.

[0163] Based on this, in this embodiment, the first power of the first mobile tool can be determined based on the current achievable driving parameters of the first mobile tool, and the second power can be determined based on the total power and the first power.

[0164] As can be seen, in this embodiment, the impact of the second mobile tool on the first mobile tool is not ignored. After the second mobile tool is unloaded, the achievable driving parameters of the first mobile tool are updated and the obstruction conditions are re-evaluated. Then, when the communication obstruction conditions are met, the total power, the first power and the second power are updated. Based on this, the first mobile tool is controlled to provide the first power and the second mobile tool is controlled to provide the second power, thereby improving the reliability of the mobile tool passing through the road section to be traveled.

[0165] In one implementation, step 103, when controlling the first moving tool to provide the first power and controlling at least one second moving tool to provide the second power to the first moving tool, can be achieved in the following way:

[0166] First, based on the primary power source, determine the primary control parameters of the primary mobile tool, such as the throttle opening of an unmanned vehicle;

[0167] Simultaneously, based on the second power source, the second control parameters of the second mobile tool are determined, such as the throttle opening of the auxiliary robot;

[0168] Based on this, the first mobile tool and the second mobile tool are controlled to start and move according to the first control parameter and the second control parameter, respectively, so that the first mobile tool provides the first power and at least one second mobile tool provides the second power to the first mobile tool. Thus, the first mobile tool can travel through the road section to be traveled under the action of the first power and the second power.

[0169] For example, in this embodiment, the throttle opening of the autonomous vehicle is calculated according to the first power and the autonomous vehicle is controlled to move accordingly. The throttle opening of each auxiliary robot is calculated according to each second power and the auxiliary robot is controlled to move accordingly. Based on this, the autonomous vehicle can travel through muddy sections with a high slope with the help of the two auxiliary robots.

[0170] In one implementation, this embodiment can also monitor whether the first mobile tool has passed through the section to be traveled. If it is determined that the first mobile tool has passed through the section to be traveled, the second mobile tool is controlled to stop providing the second power to the first mobile tool, and the second mobile tool is controlled to load back into the first mobile tool.

[0171] Specifically, in this embodiment, the first mobile tool and the second mobile tool are controlled to stop moving respectively, and the second mobile tool is controlled to release the contact between itself and the first mobile tool. Then, the second mobile tool is controlled to move to a nearby target location that is easy to retrieve. Finally, the second mobile tool is loaded into the first mobile tool through the mounting platform on the first mobile tool.

[0172] refer to Figure 11 This is a schematic diagram of the structure of a mobile tool system provided in an embodiment of this application. The mobile tool system may include the following structure:

[0173] First mobile tool 1101;

[0174] The second moving tool 1102, there may be multiple second moving tools 1102, and the second moving tool 1102 is an auxiliary moving device mounted on the first moving tool;

[0175] Controller 1103, the controller 1103 is capable of performing the following steps:

[0176] Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven, wherein the target driving parameters represent the required driving parameters for the first mobile vehicle to pass through the road segment to be driven;

[0177] The target driving parameters and achievable driving parameters are analyzed to obtain the analysis results. The achievable driving parameters represent the driving parameters that the first mobile tool can provide.

[0178] When the analysis results indicate that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven, the first mobile vehicle is controlled to enter a first driving mode or a second driving mode; in at least one of the first driving mode and the second driving mode, the first mobile vehicle provides first power and at least one second mobile vehicle provides second power to the first mobile vehicle;

[0179] The first power source and the second power source enable the first mobile vehicle to travel through the section of road to be traveled.

[0180] As can be seen from the above technical solution, in the mobile tool provided in this application embodiment, after acquiring the target driving parameters required for the first mobile tool to pass through the road segment to be traveled, the controller deployed in the first mobile tool analyzes the target driving parameters and the achievable driving parameters that the first mobile tool can provide to determine whether the first mobile tool meets the passage obstruction condition on the road segment to be traveled. Accordingly, if the passage obstruction condition is met, the controller can control the first mobile tool to provide a first power and control the second mobile tool mounted on the first mobile tool to provide a second power to the first mobile tool. In this way, the first power and the second power enable the first mobile tool to travel through the road segment to be traveled. It can be seen that in this embodiment, by having the second mobile tool mounted on the first mobile tool work together with the first mobile tool to provide power for the first mobile tool to travel, the first tool can pass through the road segment to be traveled. Therefore, this application can improve the reliability of the mobile tool passing through the road segment to be traveled.

[0181] In one implementation, the first mobile tool 1101 can be an unmanned vehicle; while the second mobile tool 1102 is an auxiliary robot mounted on the unmanned vehicle.

[0182] Based on this, the controller 1103 may include the following structure, such as Figure 12 As shown:

[0183] The main controller 1131, mounted on the autonomous vehicle, is used to collect the current road condition parameters of the autonomous vehicle on the road segment to be driven and obtain the target driving parameters based on the current road condition parameters; and to detect whether the autonomous vehicle meets the traffic obstruction conditions on the road segment to be driven based on the target driving parameters and the achievable driving parameters.

[0184] The collaborative controller 1132, mounted on the auxiliary robot, is used to control the first mobile vehicle to enter the first driving mode when the unmanned vehicle meets the obstruction condition on the road segment to be driven; in the first driving mode, at least one of the auxiliary robots provides the second power to the unmanned vehicle, and the second power enables the unmanned vehicle to drive through the road segment to be driven.

[0185] Specifically, when the main controller 1131 detects that the unmanned vehicle meets the obstruction conditions on the road segment to be driven, it generates a cooperative control command and sends the cooperative control command to the corresponding auxiliary robot. The auxiliary robot provides a second power to the unmanned vehicle, while the unmanned vehicle provides a first power under the control of the main controller 1131. This allows the unmanned vehicle to drive through the road segment to be driven under the action of the first and second power, thereby improving the reliability of the unmanned vehicle driving through the road segment to be driven.

[0186] In one implementation, the main controller 1131 may include an environmental perception module and an obstacle crossing ability judgment module deployed on the autonomous vehicle. The environmental perception module collects relevant sensing data through various sensors deployed on the autonomous vehicle, and the obstacle crossing ability judgment module processes the sensing data to detect whether the autonomous vehicle meets the obstruction conditions on the road segment to be driven.

[0187] The collaborative controller 1132 can be a collaborative control module deployed in the auxiliary robot, capable of communicating with the robot control system in the auxiliary robot, and used to control at least one auxiliary robot to provide a second power for the unmanned vehicle.

[0188] In another implementation, the cooperative controller 1132 can also be mounted on an autonomous vehicle and communicate with the robot control system on the auxiliary robot to achieve cooperative control of the auxiliary robot.

[0189] Taking the driving control of unmanned vehicles in inspection scenarios as an example, a main vehicle (unmanned vehicle) is deployed in scenarios such as parks, municipalities, and power plants, with sub-robots mounted on the main vehicle. The following provides examples illustrating the specific applications of the technical solution proposed in this application:

[0190] refer to Figure 13 This is a schematic diagram of the architecture of a collaborative obstacle-crossing system proposed in this application, which is characterized by "master-slave integration and on-demand assistance".

[0191] The main vehicle (autonomous vehicle) system includes an environmental perception module, an obstacle crossing ability assessment module, a main vehicle control system, a power and transmission system, and a sub-robot storage and deployment mechanism. The environmental perception module can be a lidar sensor, a depth camera, an inertial measurement unit (IMU), etc.; the sub-robot storage and deployment mechanism can be a lifting platform or a ramp, etc.

[0192] In addition to the sub-robot body, the sub-robot system also includes a sub-robot control system, a mobility system, and a power docking interface. The mobility system can be high-grip tracks or wheels, and the power docking interface can be a push plate or an electromagnetic chuck.

[0193] The collaborative control module (collaborative controller) can be deployed in the main vehicle system or in the sub-robot system.

[0194] Based on the above architecture, the workflow and implementation of the cooperative obstacle-crossing system proposed in this application are as follows:

[0195] Step 1: Obstacle Perception and Ability Assessment

[0196] 1. Sensing and Modeling: During the vehicle's movement, its environmental perception module (A) (such as LiDAR, depth camera, IMU) continuously scans the terrain ahead to collect road condition parameters such as slope, road surface roughness, obstacle height, and adhesion conditions. At the same time, the vehicle's dynamic model stores the maximum climbing ability (i.e., maximum climbing gradient), tire characteristics (such as rolling resistance coefficient cr), and rated traction.

[0197] 2. The data is sent to the obstacle crossing capability assessment module (B). This module calculates the feasibility of passage in real time based on the information read (obtained by IMU), road surface roughness, obstacle height (obtained by LiDAR), and other information, combined with the main vehicle power model (maximum torque, maximum gradeability, etc.) in its own database, i.e. whether the conditions for obstructed passage are met.

[0198] 3. Judgment Logic: If the terrain requirement (i.e., the target driving parameters) > the vehicle's capability (i.e., the achievable driving parameters), then it is judged as "cannot pass independently", that is, the passage obstruction condition is met, and an assistance request is triggered.

[0199] The collaborative controller (J) takes over the entire process of "deploying sub-robots - docking - synchronous assistance - recovery" when needed. The actuators may include: the main vehicle control system (C) and the sub-robot control system (I / G), as well as the power docking interface (H) and the deployment mechanism (E).

[0200] It should be noted that the above-mentioned actuators share the key status information collected with the cooperative controller (J): the throttle opening of the main vehicle (denoted as...). Current speed (denoted as v), wheel speed ω, sub-robot throttle opening (denoted as v), current ... Contact force F at the docking point cont .

[0201] In this embodiment, the "can pass independently / requires assistance" judgment can be grounded in a calculable quantity using simple and interpretable rules. The specific calculation is as follows:

[0202] Inputs to the main vehicle control system (C): gradient angle (i.e., road slope, denoted as θ), rolling resistance coefficient (denoted as θ). ), obstacle height (denoted as h), desired acceleration (denoted as a), etc.

[0203] Output of the main vehicle control system (C): Passage judgment sign and triggering reason (e.g., "insufficient traction", "obstacle too high", "insufficient adhesion").

[0204] Among them, the traction force required by the main vehicle An approximate estimate can be achieved using formula (1):

[0205] (1)

[0206] Where: m is the mass of the main vehicle plus the mass of the trolley (a fixed value), and g is the acceleration due to gravity. The resistance to climbing (the component of gravity that must be resisted when going uphill). Rolling resistance (constant resistance caused by tire / ground deformation, etc.); The inertial force required for acceleration (the additional traction needed to increase the vehicle speed).

[0207] It should be noted that for raised obstacles (such as raised speed bumps), the height can be set as h and the horizontal half-length as L, which can be equivalent to the slope, as shown in formula (2):

[0208] (2)

[0209] The determination rules are as follows:

[0210] like ≤ And h≤ It was judged as "can pass independently"; Maximum traction force; The maximum surmountable height is mapped to the maximum climbing ability. Otherwise, it is judged as "assistance required," meaning the passage is obstructed, and the triggering reason is recorded (e.g., > or h> wait).

[0211] Step 2: Start the Collaborative Assistance Protocol:

[0212] 1. Upon receiving the assistance request (generated and sent by the obstacle crossing capability judgment module), the collaborative control module (J) immediately takes over the collaborative task between the main vehicle and the sub-robot.

[0213] 2. The cooperative control module instructs the main vehicle control system (C) to stop the vehicle in a safe position (i.e., the first position) in front of the obstacle.

[0214] 3. Simultaneously, the collaborative control module instructs the sub-robot storage and deployment mechanism (E) (e.g., an automatic lifting platform or tilting ramp) to start working and safely release the sub-robot (F) to the ground (i.e., the second position).

[0215] Step 3: Location and Connection

[0216] 1. After the sub-robot disembarks, its own control system (I) uses its own sensors to perform precise positioning based on the instructions sent by the cooperative controller (e.g., "move to the center of the rear of the main vehicle").

[0217] 2. After the sub-robot moves to the designated assist position, it contacts (i.e., abuts) the main vehicle through its power docking interface (H) (e.g., a buffer push plate with a pressure sensor).

[0218] Step 4: Synchronous Collaboration and Assistance:

[0219] 1. Once the sub-robot successfully docks, the collaborative control module (J) enters the "power synchronization mode".

[0220] 2. The driver (or the autonomous driving system) operates the main vehicle to move forward. The main vehicle's control system (C) sends its current throttle / electric throttle opening, engine / motor speed, wheel speed, and other status information to the cooperative control module in real time.

[0221] 3. Based on this information and the dynamic characteristics of the sub-robot, the cooperative controller calculates the optimal auxiliary thrust (i.e., the second power) that the sub-robot needs to provide. It then instructs the sub-robot's control system (I) and mobility system (G) (e.g., drive tracks) to output just the right amount of power.

[0222] 4. Synchronous Control Core: Ensures that the "demand" of the main vehicle and the "assistance" of the sub-robots resonate in unison, avoiding situations where excessive thrust from the sub-robots leads to loss of control of the main vehicle, or insufficient thrust has no effect. The two form a unified and more powerful whole, working together to overcome obstacles.

[0223] The fourth step aims to ensure that the main vehicle and the sub-robot output force "in the same rhythm and direction," neither too little and ineffective, nor too much and disruptive to the main vehicle. The specific process is as follows:

[0224] (1) Data sharing between the main vehicles:

[0225] After the sub-robot docks with the main vehicle, the main vehicle continuously reports key operational parameters (such as...) to the collaborative controller. (v, wheel speed ω), contact force at the main vehicle docking point Simultaneous collection.

[0226] (2) The cooperative controller performs a simple calculation of the "optimal auxiliary thrust":

[0227] The required traction force is obtained from the main vehicle using formula (1). Afterwards, once the co-controller obtains the required traction force, it simultaneously reads the traction force currently available from the master vehicle: (From the model);

[0228] The cooperative controller calculates the difference in traction force using formula (3):

[0229] (3)

[0230] Therefore, for traction force, we can supplement as much as needed according to formula (3).

[0231] (3) The controller performs throttle / power distribution and fine-tuning:

[0232] The collaborative controller will Convert to sub-robot throttle opening It also makes small, rapid closed-loop fine-tuning based on two types of "differences" (speed difference and contact force difference). For example, it sends corresponding control commands to the sub-robot according to the "difference" to instruct it to reduce or increase the throttle opening.

[0233] ①Speed ​​difference: (If a target speed is set) );

[0234] Purpose: When the main vehicle is slower than the target (Δv>0), provide more assistance; when it is faster (Δv<0), provide less assistance, thereby ensuring "stable driving".

[0235] ② Poor contact force: (Measured at the docking point);

[0236] Application: If the measured force does not reach the expected value (ΔF>0), it means "not enough has been pushed"; if it exceeds the value (ΔF<0), it means "too much has been pushed", thus ensuring "accurate pushing".

[0237] The above fine-tuning principle can be described as an intuitive strategy of "increasing or decreasing the opening based on the difference".

[0238] (4) The coordinating controller performs "synchronization and consistency":

[0239] To put it simply: it's like two people pushing a cart together; they need to move in unison. If one person moves faster or slower than the other, it will cause an impact and slippage.

[0240] Engineering criteria: Within the assist section, the following constraints must be met:

[0241] ①Speed ​​difference constraint: ;

[0242] ②Stable contact force: ; It means The standard deviation of the value ensures a smooth actual thrust.

[0243] ③ Synchronization check (optional and easy to calculate): Correlation coefficient of the acceleration sequences of the main vehicle and the sub-robot (a sequence of accelerations over a certain period of time). satisfy . This is the default value.

[0244] Therefore, when the above conditions are met, it is considered to be "synchronous and consistent".

[0245] Step 5: Task Completion and Recovery

[0246] 1. After the main vehicle's sensors determine that the vehicle has completely passed the obstacle zone, the cooperative controller (J) ends the "power synchronization mode".

[0247] 2. The sub-robot separates from the main vehicle and automatically travels to the location of the deployment mechanism (E) according to instructions.

[0248] 3. The deployment unit retrieves the sub-robot and secures it to the main vehicle, and the system returns to the normal transportation mode to continue performing the task.

[0249] Therefore, the core of this application is to propose an innovative collaborative obstacle-crossing system that integrates master and slave robots and provides on-demand assistance. This system consists of a master unmanned vehicle (hereinafter referred to as the master vehicle, driverless vehicle) and at least one slave robot (assistant robot) equipped with an independent power system. Its core technical points are as follows:

[0250] (1) During normal driving, the sub-robot only serves as the "load" of the main vehicle;

[0251] (2) When the main vehicle determines that the obstacle in front exceeds its independent passage capability based on the sensor data collected by the sensor, it will automatically deploy the sub-robot.

[0252] (3) After the sub-robot gets off the vehicle, it moves to the designated position and applies a push or pull force to the main vehicle, working together with the main vehicle's power system to overcome obstacles.

[0253] (4) After the task is completed, the sub-robot will automatically return and be recovered by the main vehicle, and will be restored to the "load" state.

[0254] Conversely, the main vehicle can also provide assistance to the sub-robots. Based on this, the main vehicle and the sub-robots can provide each other with power according to subsequent tasks. Thus, during their respective actions, the main vehicle and the sub-robots can provide each other with environmental information, enabling the other to better plan its path.

[0255] In summary, the advantages of the technical solution in this application are as follows:

[0256] (1) Extremely high energy efficiency and economy: The main vehicle can be designed to be lightweight and energy-saving based on more than 95% of its routine tasks, without the need for "over-design" for a very small number of extreme working conditions, which significantly reduces manufacturing costs and daily energy consumption. The auxiliary power provided by the sub-robots is only "activated" when needed, achieving optimal resource allocation.

[0257] (2) Excellent terrain adaptability and mission success rate: The system gives the standard configuration of the unmanned vehicle the ability to cope with extreme terrain, greatly expanding its working range and improving the mission success rate and system reliability.

[0258] (3) High degree of automation and autonomy: The entire auxiliary process—from obstacle judgment, sub-robot deployment, collaborative assistance to recycling—is completed automatically by the system without human intervention, achieving true "self-rescue" and "autonomous collaboration".

[0259] (4) System flexibility and redundancy: The sub-robot itself can be designed as a multi-functional unit, such as using a tracked chassis to provide better traction than the main vehicle's wheels. In some cases, the sub-robot can even explore unknown terrain ahead in advance to plan the path for the main vehicle, increasing the system's functional redundancy.

[0260] (5) Better address concerns about battery life.

[0261] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0262] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0263] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0264] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a mobile tool, comprising: Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven; The target driving parameters represent the driving parameters required for the first mobile vehicle to pass through the road segment to be driven; The target driving parameters and achievable driving parameters are analyzed to obtain the analysis results; the achievable driving parameters represent the driving parameters that the first mobile tool can provide. When the analysis results indicate that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven, the first mobile vehicle is controlled to enter a first driving mode or a second driving mode; in at least one of the first driving mode and the second driving mode, the first mobile vehicle provides first power and at least one second mobile vehicle provides second power to the first mobile vehicle; The second mobile tool is an auxiliary mobile device mounted on the first mobile tool; the first power and the second power enable the first mobile tool to travel through the section of road to be traveled.

2. The method according to claim 1, further comprising: In response to detecting that the first mobile vehicle is in a target driving scenario, the road condition parameters of the road segment to be driven are obtained. The road condition parameters include at least one of the following: length, height, slope, friction coefficient of the road segment to be driven, width of obstacles in the road segment to be driven, and height of obstacles. The road segment to be driven includes a road segment that the first mobile vehicle has not traveled or a road segment that the first mobile vehicle has traveled but has not driven through. The step of obtaining the target driving parameters of the first mobile vehicle on the road segment to be driven includes: Based on the road condition parameters, the target driving parameters of the first mobile vehicle on the road segment to be driven are obtained.

3. The method according to claim 1, wherein controlling the first mobile tool to enter a first driving mode includes: Control the at least one second moving tool to detach from the first moving tool; Control the second moving tool to move to a second position determined based on a first position, where the first position is the position of the first moving tool; Control the second moving tool to come into contact with the first moving tool; Controlling the first mobile tool to provide a first power and at least one second mobile tool to provide a second power to the first mobile tool; The second power is applied to the first mobile vehicle, causing the first mobile vehicle to travel through the section of road to be traveled based on the first power and the second power.

4. The method according to claim 3, wherein controlling the second moving tool to contact the first moving tool includes: Control the auxiliary lever on the second moving tool to connect with the power docking interface on the first moving tool.

5. The method according to claim 1, wherein controlling the first mobile tool to enter a second driving mode includes: Control the at least one second moving tool to detach from the first moving tool; Control the first mobile tool to provide the first power; Control the second moving tool to provide a second power; The first mobile vehicle travels through the section of road to be traveled based on the first power source. The second mobile vehicle travels through the section of road to be traveled using the second power source.

6. The method according to claim 1, further comprising: Based on the target driving parameters, determine the total power required for the first mobile vehicle to travel through the road segment to be traveled; Based on the achievable driving parameters of the first mobile tool, the first power source of the first mobile tool is determined; Based on the total power and the first power, the second power is determined.

7. The method according to claim 6, wherein determining the total power required for the first mobile vehicle to travel through the road segment to be traveled, based on the target driving parameters, includes: After the at least one second vehicle detaches from the first vehicle, the current achievable driving parameters of the first vehicle are determined based on the load value of the at least one second vehicle. Based on the currently achievable driving parameters and the target driving parameters, the total power required for the first mobile vehicle to travel through the road segment to be traveled is determined.

8. The method according to claim 1, further comprising: If it is determined that the first mobile vehicle has passed the section of road to be traveled, the second mobile vehicle is controlled to stop providing the second power to the first mobile vehicle; Control the second moving tool to load back into the first moving tool.

9. The method according to claim 1, wherein the target driving parameters include at least one of the following parameters: the slope of the road segment to be driven, the traction force, speed, acceleration, and torque required for the first mobile tool to drive through the road segment to be driven, and the achievable driving parameters include at least one of the following parameters: the climbing slope, traction force, speed, acceleration, and torque that the first mobile tool can achieve. The analysis of the target driving parameters and achievable driving parameters yields analysis results, including: Analyze at least one of the target driving parameters and the corresponding at least one of the achievable driving parameters; If at least one of the achievable driving parameters does not meet the requirements of the corresponding parameter in the target driving parameters, the analysis result indicates that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven; otherwise, the analysis result indicates that the first mobile vehicle does not meet the traffic obstruction condition on the road segment to be driven.

10. A system for a mobile tool, comprising: The first means of transportation; The second moving tool is an auxiliary moving device mounted on the first moving tool; The controller is capable of performing the following steps: Obtain the target driving parameters of the first mobile vehicle on the road segment to be driven, wherein the target driving parameters represent the required driving parameters for the first mobile vehicle to pass through the road segment to be driven; The target driving parameters and achievable driving parameters are analyzed to obtain the analysis results. The achievable driving parameters represent the driving parameters that the first mobile tool can provide. When the analysis results indicate that the first mobile vehicle meets the traffic obstruction condition on the road segment to be driven, the first mobile vehicle is controlled to enter a first driving mode or a second driving mode; in at least one of the first driving mode and the second driving mode, the first mobile vehicle provides first power and at least one second mobile vehicle provides second power to the first mobile vehicle; The first power source and the second power source enable the first mobile vehicle to travel through the section of road to be traveled.

11. The system for a mobile tool according to claim 10, wherein: The first means of transportation is an unmanned vehicle; The second means of transportation is an auxiliary robot mounted on the unmanned vehicle; The controller includes: The main controller, mounted on the autonomous vehicle, is used to collect the current road condition parameters of the autonomous vehicle on the road segment to be driven and obtain the target driving parameters based on the current road condition parameters; based on the target driving parameters and the achievable driving parameters, it detects whether the autonomous vehicle meets the traffic obstruction conditions on the road segment to be driven. A collaborative controller, mounted on the auxiliary robot, is used to control the first mobile vehicle to enter the first driving mode when the unmanned vehicle meets the obstruction condition on the road segment to be driven; in the first driving mode, at least one of the auxiliary robots provides the second power to the unmanned vehicle, and the second power enables the unmanned vehicle to drive through the road segment to be driven.

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