From 35e7f70e0f2660846849bce11731a627173a0e38 Mon Sep 17 00:00:00 2001 From: nitiantuhao <2062405236@qq.com> Date: Fri, 3 Apr 2026 07:57:57 +0800 Subject: [PATCH] 1.0 --- App/VL53L0X_API/MIGRATION_NOTES.md | 143 ++++ App/VL53L0X_API/VL53L0X.pdf | Bin 0 -> 939709 bytes Doc/CODE_REVIEW.md | 397 +++++++++ Doc/GLOBAL_NAV_REQUIREMENT.md | 667 +++++++++++++++ Doc/HANDOFF.md | 773 ++++++++++++++++++ Doc/HYBRID_NAVIGATION_GUIDE.md | 458 +++++++++++ Doc/IMU_YAW_REQUIREMENT.md | 321 ++++++++ Doc/can通讯协议.md | 23 + Doc/map.md | 61 ++ Doc/大体方案.md | 507 ++++++++++++ ...:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md | 27 + 11 files changed, 3377 insertions(+) create mode 100644 App/VL53L0X_API/MIGRATION_NOTES.md create mode 100644 App/VL53L0X_API/VL53L0X.pdf create mode 100644 Doc/CODE_REVIEW.md create mode 100644 Doc/GLOBAL_NAV_REQUIREMENT.md create mode 100644 Doc/HANDOFF.md create mode 100644 Doc/HYBRID_NAVIGATION_GUIDE.md create mode 100644 Doc/IMU_YAW_REQUIREMENT.md create mode 100644 Doc/can通讯协议.md create mode 100644 Doc/map.md create mode 100644 Doc/大体方案.md create mode 100644 Doc/附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md diff --git a/App/VL53L0X_API/MIGRATION_NOTES.md b/App/VL53L0X_API/MIGRATION_NOTES.md new file mode 100644 index 0000000..b51f3a7 --- /dev/null +++ b/App/VL53L0X_API/MIGRATION_NOTES.md @@ -0,0 +1,143 @@ +# VL53L0X_API Notes + +本文档只说明 `VL53L0X_API` 目录里我们自己写的兼容层分别负责什么,方便后续在旧工程里继续集成。 + +## 目录分层 + +### `core/` + +这是 ST 官方 API 核心层,主要负责: + +- 设备初始化 +- 寄存器访问逻辑 +- 测距流程 +- 官方校准函数 + - `PerformRefSpadManagement` + - `PerformRefCalibration` + - `PerformOffsetCalibration` + - `PerformXTalkCalibration` + +这部分一般不要随便改,除非明确要修改 ST 官方行为。 + +### `platform/` + +这是我们自己写的兼容层,负责把 ST API 接到 STM32 工程里。 + +## 我们自己写的兼容层文件说明 + +### `platform/vl53l0x_platform.h` + +平台适配层头文件。 + +主要作用: + +- 声明和 STM32 平台相关的接口 +- 给 ST API 提供底层读写函数声明 +- 提供总线、GPIO、延时、地址切换相关接口声明 + +### `platform/vl53l0x_platform.c` + +平台适配层实现。 + +主要作用: + +- 对接 STM32 的 `HAL I2C` +- 实现 VL53L0X 所需的寄存器读写 +- 绑定每颗传感器的 I2C 句柄和地址 +- 控制 `XSHUT` +- 支持运行时改 I2C 地址 + +简单说,这一层负责把 ST API 的“平台无关接口”落到我们实际板子上。 + +### `platform/vl53_board.h` + +板级管理层头文件。 + +主要作用: + +- 定义多颗 VL53 共用的管理结构体 +- 定义快照结构 `Vl53BoardSnapshot_t` +- 定义硬件配置结构 `Vl53BoardHwCfg_t` +- 对外暴露板级接口,例如: + - `Vl53Board_Init` + - `Vl53Board_StartContinuous` + - `Vl53Board_StopContinuous` + - `Vl53Board_ReadAll` +- 当前版本还扩展了校准相关数据结构和接口 + +这一层是“上层任务代码直接调用的 API”。 + +### `platform/vl53_board.c` + +板级管理层实现。 + +主要作用: + +- 管理一组 VL53 传感器 +- 完成多颗设备的上电、拉低/拉高 `XSHUT`、分配运行地址 +- 调 ST 官方初始化流程 +- 启动/停止连续测量 +- 轮询读取测距结果 +- 组织成统一快照给上层使用 +- 对每颗测距值做简单卡尔曼滤波 + +如果说 `vl53l0x_platform.c` 是“底层总线适配”,那 `vl53_board.c` 就是“更贴近业务的板级封装”。 + +### `platform/vl53_calibration_config.h` + +这是我们自己加的运行时校准配置头。 + +主要作用: + +- 集中保存已经确认过的校准值 +- 让上层在启动后把这些值写回 VL53 + +当前主要用于保存: + +- `offset_micro_meters` +- `xtalk_compensation_rate_mcps` +- 对应的 `*_calibrated` 标志 + +这不是 ST 官方自带文件,是我们为了工程集成方便单独加的配置层。 + +### `platform/vl53l0x_types.h` + +类型辅助头文件。 + +主要作用: + +- 补充平台侧需要的公共类型定义 +- 给 `platform` 层做类型适配 + +### `platform/vl53l0x_platform_log.h` + +日志相关兼容头。 + +主要作用: + +- 兼容 ST API 的日志宏 +- 当前工程里基本属于轻量占位层 + +## 推荐修改边界 + +如果后续要继续改 VL53 集成,优先修改: + +- `platform/vl53_board.c/.h` +- `platform/vl53_calibration_config.h` + +如果只是换板子、换 I2C、换 XSHUT 引脚,优先修改: + +- `platform/vl53l0x_platform.c/.h` + +如果不是明确要动 ST 官方行为,尽量不要去改: + +- `core/` + +## 一句话总结 + +我们自己写的兼容层分两层: + +- `vl53l0x_platform.*`:把 ST API 接到 STM32 HAL +- `vl53_board.*`:把多颗 VL53 封装成上层任务可直接使用的板级接口 + +而 `vl53_calibration_config.h` 是我们额外加的“运行时固定标定值配置文件”。 diff --git a/App/VL53L0X_API/VL53L0X.pdf b/App/VL53L0X_API/VL53L0X.pdf new file mode 100644 index 0000000000000000000000000000000000000000..96f442dad57aec5a5c0d6f9a027d98fe6a8c80db GIT binary patch literal 939709 zcmeFa1yCH_x;2ak2^t6zWN?SUCAhmoa39^WpWqZ7>>LdooFmcFTLSkH^R_Lwe9 z5Uuq5YERxk0blK;ZaAu|C_1C1TY(HO{dPetOF&+{rOl&_sq-_SA2qsX`TtYyWHUUdx`@N(@rzr%nVC?cj+Gs&G#=v2QZm7DCvFa zR*pTI{t~0r+z928Q-z$MQt6b2?jM6rHguc#^D5jjBWXemDaOL6LH{%^%j(P{K}!>p zdZwditx{dtv4JkB@tay$4LzN6_~u)%z8a|%(88{eTI~SCCvoHoLlr%10Je*mYU>4_ 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z+vn@&*RQX)*I(}+zI^?nn91i)x6iMyK2>w~_~rHf=E=l;ygWVLe|dPiJimPWdinDC zAMbzu=j*q39C&u0=l<>2|GdoqZa#m$`qz)A??3+i{pIz_uv{BgKmGLQzy9UwzdjOg A8vp **审查日期**: 2025 年 +> **审查范围**: `/App` 目录下全部业务代码(排除 `VL53L0X_API/core` ST 官方库) +> **审查基准**: HANDOFF.md 中的设计描述与已修复 BUG 列表 +> **审查重点**: 残留 BUG、潜在运行时风险、代码质量问题 + +--- + +## 审查总结 + +| 严重等级 | 数量 | 说明 | +|---------|------|------| +| 🔴 严重 (可能导致功能错误/崩溃) | 4 | 运行时会导致错误行为 | +| 🟠 中等 (潜在风险/隐患) | 6 | 特定条件下可能触发问题 | +| 🟡 低 (代码质量/可维护性) | 7 | 不影响功能但应改善 | + +**总体评价**: 项目架构设计清晰,HANDOFF.md 中列出的 9 个严重 BUG 和 7 个质量问题均已正确修复。但仍存在若干残留问题,以下逐一分析。 + +--- + +## 🔴 严重问题 + +### S-1: VL53L0X 卡尔曼滤波 Q/R 参数硬编码,未使用 `robot_params.h` 配置 + +**文件**: `VL53L0X_API/platform/vl53_board.c:84` + +```c +/* 初始化卡尔曼滤波器:默认 Q=1.0, R=9.5 */ // ← 注释过期 +vl53_kalman_init(&board->kf[i], 10.0f, 14.1f); // ← 硬编码值 +``` + +`robot_params.h` 中定义了 `PARAM_VL53_KALMAN_Q = 10.0f` 和 `PARAM_VL53_KALMAN_R = 14.1f`,但 `vl53_board.c` 没有 `#include "robot_params.h"`,而是直接写死了 `10.0f` 和 `14.1f`。虽然当前值恰好与参数一致,但**修改 `robot_params.h` 中的 `PARAM_VL53_KALMAN_Q/R` 不会生效**,与 BUG-2 (EKF 参数硬编码) 属于同类问题。 + +**修复建议**: +```c +#include "robot_params.h" +// ... +vl53_kalman_init(&board->kf[i], PARAM_VL53_KALMAN_Q, PARAM_VL53_KALMAN_R); +``` + +--- + +### S-2: `LASER_SIMPLE_GetSnapshot()` 返回指针无线程安全保护,存在数据撕裂风险 + +**文件**: `laser/laser_manager.c:277-279` + +```c +const laser_simple_snapshot_t *LASER_SIMPLE_GetSnapshot(void) { + return &g_snapshot; // ← 返回原始指针,无拷贝、无临界区保护 +} +``` + +消费者 `AppTasks_RunLaserTestTask_Impl()` 调用此函数获取指针后直接传给 `Blackboard_UpdateLaser(snap)`。由于 `LaserTask`(内部10ms任务)在 `taskENTER_CRITICAL()` 中**逐通道写入** `g_snapshot.ch[i]`,而消费者拿到的是裸指针,读取可能发生在写入的间隙——比如前两个通道已更新、后两个通道还是旧值——构成**部分撕裂**。 + +虽然 `Blackboard_UpdateLaser` 内部有临界区保护,但问题出在**读 g_snapshot 的时候没有保护**。当前架构中 `laserTestTask` 以 50ms 周期读取、`LaserTask` 以 10ms 周期写入,两者优先级相同,可能发生抢占。 + +**影响等级**: 中高。实际撕裂概率取决于临界区外的读取窗口大小。由于 `laser_simple_snapshot_t` 只包含 4 个 `laser_simple_data_t`,单次 `memcpy` 耗时极短,实际风险较低。但从防御性编程角度应修复。 + +**修复建议**: +```c +void LASER_SIMPLE_GetSnapshotCopy(laser_simple_snapshot_t *out) { + taskENTER_CRITICAL(); + *out = g_snapshot; + taskEXIT_CRITICAL(); +} +``` + +--- + +### S-3: `snc_parse_odom_delta()` 在 ISR 中写 `odom_accum` 无临界区保护 + +**文件**: `Can/snc_can_app.c:148-173` (在 `SNC_CAN_RxFifo0Callback` 即 CAN ISR 中被调用) + +```c +static void snc_parse_odom_delta(const uint8_t *d) +{ + // ... 直接写 g_snc_can_app.odom_accum 的各个字段 ... + SNC_OdomDeltaAccum_t *acc = &g_snc_can_app.odom_accum; + acc->fl_accum += (int32_t)snc_read_i16_le(d[0], d[1]); + // ... + if (acc->frame_count < 255U) { + acc->frame_count++; + } +} +``` + +而消费侧 `SNC_CAN_ConsumeOdomDelta()` 使用 `taskENTER_CRITICAL()` 保护读取和清零。问题是:**`taskENTER_CRITICAL()` 在 Cortex-M 上通过 BASEPRI 屏蔽中断,只屏蔽优先级不高于 `configMAX_SYSCALL_INTERRUPT_PRIORITY` 的中断**。如果 CAN FIFO0 中断的优先级高于此阈值(即数值更小),那么 `snc_parse_odom_delta()` 可能在消费者持有临界区期间执行,导致**竞态条件**:消费者清零后,ISR 立刻写入新数据,然后消费者返回的 `snapshot` 中 `frame_count=0` 但 `accum` 值已非零。 + +**影响等级**: 取决于 CAN 中断优先级配置。如果 CAN 中断优先级在 FreeRTOS 管理范围内(优先级数值 ≥ `configMAX_SYSCALL_INTERRUPT_PRIORITY`),则 `taskENTER_CRITICAL()` 可以正确屏蔽它,问题不存在。**需要检查 CubeMX 中 FDCAN1 中断优先级配置**。 + +**修复建议**: 确认 FDCAN1 中断优先级 ≥ `configMAX_SYSCALL_INTERRUPT_PRIORITY`。或在 `snc_parse_odom_delta()` 中也使用 `taskENTER_CRITICAL()`(但 ISR 中应使用 `taskENTER_CRITICAL_FROM_ISR()`)。 + +--- + +### S-4: `corridor_msgs.h` 使用 `#pragma pack(push, 1)` 导致 EKF 矩阵和浮点运算性能损失及潜在对齐异常 + +**文件**: `preproc/corridor_msgs.h:8,61` + +```c +#pragma pack(push, 1) +// ... +typedef struct { + float P[3][3]; // 36 字节的浮点矩阵,被强制 1 字节对齐 + float innovation[3]; // 12 字节 + float mahalanobis_d2; + // ... +} CorridorState_t; +// ... +#pragma pack(pop) +``` + +`CorridorState_t` 包含大量 `float` 和 `float[3][3]` 数组,被 `#pragma pack(push, 1)` 强制 1 字节对齐。在 Cortex-M7 上: +1. **性能损失**: 未对齐的 float 访问会触发硬件 unaligned access 处理,速度比对齐访问慢数倍。这个结构体在 navTask 的 20ms 循环中被高频读写,影响实时性能。 +2. **FPU 指令风险**: 某些 FPU 指令(如 `VLDM`/`VSTM`)**要求 4 字节对齐**,不对齐会触发 UsageFault。虽然 GCC 通常会生成安全的加载指令,但编译器优化可能引入向量化或批量加载指令。 + +`CorridorObs_t` 和 `RawCmd_t` 也受影响,但内部结构更简单,风险较低。 + +**修复建议**: `#pragma pack(push, 1)` 仅用于需要匹配物理总线帧格式的结构体(如 `chassis_can_msg.h` 中的 CAN 帧,那是正确的用法)。`corridor_msgs.h` 中的结构体是内存中的数据传递,**不需要 pack(1)**,应删除。 + +--- + +## 🟠 中等问题 + +### M-1: IMU 帧解析状态机缺少帧类型 0x55 之后的 header byte 校验 + +**文件**: `IMU/hwt101.c:64-68` + +```c +if (s_frame_idx == 0 && byte != 0x55) continue; +s_frame[s_frame_idx++] = byte; +if (s_frame_idx >= 11) { +``` + +当前状态机只检查首字节 `0x55`,然后无条件接收后续 10 字节。如果数据流中出现非帧头的 `0x55`(比如校验和恰好是 `0x55`),会导致帧错位。虽然最后有校验和检查可以过滤错误帧,但会**浪费 10 个字节的解析窗口**,在高频数据流中可能导致短暂的数据更新延迟。 + +**修复建议**: 在 `s_frame_idx == 1` 时检查第二字节是否为有效帧类型 (`0x51`/`0x52`/`0x53`),不匹配则 `s_frame_idx = 0` 重新寻帧。 + +--- + +### M-2: `nav_script.c` 转向方向始终为正,不支持反向 (顺时针) 180° 转弯 + +**文件**: `nav/nav_script.c:202,229` + +```c +float target_delta = s_cfg.turn_target_angle; // 默认 PI (180度) +// ... +float turn_dir = (target_delta > 0.0f) ? 1.0f : -1.0f; +``` + +`turn_target_angle` 在 `app_tasks.c` 中始终被初始化为 `3.14159265f`(正值),所以 `turn_dir` 永远为 `1.0f`(逆时针)。如果因场地布局需要顺时针转弯,当前代码无法支持。更关键的是,**两次 180° 转弯方向相同**——第一次到端逆时针转,第二次到端又逆时针转,结果机器人回到出发方向。这可能是设计意图(转完 180° 后继续正向走),但如果走廊空间不对称,固定转向方向可能导致转弯时撞墙。 + +**修复建议**: 考虑根据当前方向或走廊几何自动选择转向方向,或至少在 `NavScriptConfig_t` 中加一个 `turn_direction` 参数。 + +--- + +### M-3: `Odom_GetSpeed()` 在临界区外读取 `s_odom.vx` 和 `s_odom.wz` + +**文件**: `Contract/robot_odom.c:122-124` + +```c +void Odom_GetSpeed(float *out_vx, float *out_wz, OdomStatus_t *out_status) +{ + if (out_vx != NULL) *out_vx = s_odom.vx; // ← 临界区外 + if (out_wz != NULL) *out_wz = s_odom.wz; // ← 临界区外 + if (out_status != NULL) { + lock_odom(); // ← 只有 status 在临界区内 + // ... + unlock_odom(); + } +} +``` + +`s_odom.vx` 和 `s_odom.wz` 是 `float` 类型,在 Cortex-M7 上 32 位对齐的 float 读写是原子的,所以单独读取不会撕裂。但 `vx` 和 `wz` 之间不是原子的——可能读到旧的 `vx` 和新的 `wz`。不过此函数当前未被任何代码调用(速度通过 `Blackboard_UpdateOdom` 传递),所以实际影响为零。 + +**修复建议**: 将 `vx/wz` 的读取也放入 `lock_odom()` 中,或标注此函数为 `@deprecated`。 + +--- + +### M-4: `SNC_CAN_SendHeartbeat()` 使用零长度数组 + +**文件**: `Can/snc_can_app.c:194` + +```c +HAL_StatusTypeDef SNC_CAN_SendHeartbeat(void) +{ + uint8_t data[0]; // ← 零长度数组,C11 标准未定义行为 + HAL_StatusTypeDef ret = snc_fdcan_add_tx_std(SNC_CAN_ID_HEARTBEAT, data, 0U); +``` + +零长度数组 `uint8_t data[0]` 在 C11 标准中是未定义行为(C99 的 flexible array member 语法是 `[]` 且只能在结构体末尾)。虽然 GCC 作为扩展支持它,且 `snc_fdcan_add_tx_std` 传入 `dlc_bytes=0` 不会实际读取 `data`,但这仍属于未定义行为。 + +**修复建议**: 改为 `uint8_t data[1] = {0};` 或直接传 `NULL`(需确认 HAL 是否接受 NULL data)。 + +--- + +### M-5: 安全状态机 (SegFsm) 在脚本覆盖模式下仍然生效,可能干扰转弯等特殊动作 + +**文件**: `app_tasks.c` navTask 流水线 Step 5-6 + +```c +/* Step 5: 控制律 */ +if (script_out.use_override) { + raw_cmd.v = script_out.override_v; // 脚本指定速度 + raw_cmd.w = script_out.override_w; +} else if (script_out.request_corridor) { + CorridorCtrl_Compute(..., &raw_cmd); +} + +/* Step 6: 段状态机 -> 安全仲裁 */ +SegFsm_Update(&raw_cmd, &obs, &corridor_state, &fsm_out); +``` + +当脚本处于 `TURN_AT_END` 阶段时,`use_override = true`,输出 `v=0, w=turn_omega`(原地转向)。但此时 EKF 因侧墙观测丢失,`conf` 可能降到 `< 0.1`,触发 `SegFsm` 进入 `E-STOP`,**强制将转向角速度归零**,导致机器人无法完成转弯。 + +虽然 `E-STOP` 有自动恢复机制(`conf >= 0.5` 时恢复),但在转弯过程中侧墙持续不可见,`conf` 不会恢复,造成**死锁**:转不了弯 → 永远看不到墙 → 永远 E-STOP。 + +**影响等级**: 实车中度风险。取决于转弯时 EKF 的 IMU 航向观测是否能维持 `conf >= 0.1`。如果 IMU 航向观测能阻止 `conf` 跌破阈值,则不会触发。但这是一个脆弱的依赖。 + +**修复建议**: 在 `SegFsm_Update()` 中增加一个 bypass 标志,当脚本处于 `use_override` 模式时跳过 E-STOP 判定;或仅在 `request_corridor` 为 true 时检查置信度。 + +--- + +### M-6: `process_complementary_laser()` 中 ATK 距离值无上限校验 + +**文件**: `preproc/corridor_preproc.c:30-73` + +```c +static bool process_complementary_laser(const SensorItem_t *stp, const SensorItem_t *atk, float *out_m) +{ + // ... + float atk_m = atk->value / 1000.0f; + // ATK 没有像 VL53 那样的量程校验 (0.02~2.0m) + // 如果 ATK 吐出异常大值 (如 65535mm),会被当作有效数据 +``` + +`process_side_laser()` 对 VL53L0X 数据做了 `[0.02m, 2.0m]` 范围校验,但 `process_complementary_laser()` 对 ATK 和 STP 数据**没有上限校验**。如果 ATK 传感器吐出异常大值(如掉线前最后一帧的乱码),这个值会被当作有效距离传递给安全状态机,可能导致**该停车时不停车**。 + +**修复建议**: 添加 ATK/STP 的量程校验,如 `atk_m > 0.0f && atk_m <= 8.0f` (ATK 标称量程 4m,留双倍余量)。 + +--- + +## 🟡 低优先级 / 代码质量问题 + +### L-1: `PARAM_IMU_YAW_OFFSET` 声明但未使用 + +**文件**: `robot_params.h:100` + +```c +#define PARAM_IMU_YAW_OFFSET 0.0f // 声明了但代码中未使用 +``` + +HANDOFF.md CAL-4 已标注此问题。如果 IMU 安装有固定偏角,此参数应在 `HWT101_Process()` 或 `corridor_filter.c` 中使用。当前为死代码。 + +--- + +### L-2: `corridor_filter.c` 中 `s_imu_yaw_ref_set` 在 Reset/Init 时未重置 + +**文件**: `est/corridor_filter.c:23-24` + +```c +static float s_imu_yaw_ref_rad = 0.0f; +static bool s_imu_yaw_ref_set = false; +``` + +`CorridorFilter_Init()` 不会重置 `s_imu_yaw_ref_set`。如果比赛中途调用 `NavScript_Reset()` → `CorridorFilter_Init()` 重新初始化,旧的 `s_imu_yaw_ref_rad` 会保留,导致 IMU 航向观测使用过时的参考值。 + +**修复建议**: 在 `CorridorFilter_Init()` 末尾添加: +```c +s_imu_yaw_ref_rad = 0.0f; +s_imu_yaw_ref_set = false; +``` + +--- + +### L-3: `retarget.c` 中 `_write()` 的忙等循环可能阻塞调用任务 + +**文件**: `retarget.c:44-64` + +```c +int _write(int file, char *ptr, int len) +{ + while (1) { + result = CDC_Transmit_FS((uint8_t *)ptr, (uint16_t)len); + if (result == USBD_OK) return len; + if ((HAL_GetTick() - start_tick) > 20U) return 0; + if (osKernelGetState() == osKernelRunning) osDelay(1); + } +} +``` + +如果 USB CDC 端口忙碌(Host 未连接或 buffer 满),`printf` 会阻塞当前任务最多 20ms。对于 `navTask`(20ms 周期)和 `canTxTask`(20ms 周期),一次 `printf` 阻塞就可能导致**整个控制周期跳过**。当前 `App_PrintStatus()` 已被注释掉,但如果未来取消注释或在其他任务中添加 `printf`,可能造成问题。 + +**修复建议**: 在实时任务中避免使用 `printf`,或将 `_write` 改为非阻塞(丢弃模式)。 + +--- + +### L-4: 多个模块重复定义 `clampf()` 静态内联函数 + +**文件**: +- `est/corridor_ekf.c:42` +- `nav/corridor_ctrl.c:12` +- `nav/nav_script.c:34` +- `nav/segment_fsm.c:12` + +四个文件各自定义了相同的 `static inline float clampf()`。虽然由于 `static` 链接属性不会导致链接错误,但违反 DRY 原则。 + +**修复建议**: 提取到公共头文件 `robot_params.h` 或新建 `utils.h`。 + +--- + +### L-5: `CorridorObs_t.valid_mask` 类型为 `uint8_t` 但掩码使用 bit 0-5 共 6 位 + +**文件**: `preproc/corridor_msgs.h:31` 和 `corridor_preproc.h:10-15` + +当前 6 个掩码位刚好在 `uint8_t` 范围内(最大 bit 5 = 0x20),但余量很小。如果未来添加更多传感器(如第二组 VL53),很容易溢出。不紧急但值得注意。 + +--- + +### L-6: `vl53_board.c:84` 注释与实际值不一致 + +```c +/* 初始化卡尔曼滤波器:默认 Q=1.0, R=9.5 */ // ← 注释说 Q=1.0, R=9.5 +vl53_kalman_init(&board->kf[i], 10.0f, 14.1f); // ← 实际值 Q=10.0, R=14.1 +``` + +注释是旧版残留,与当前代码不符。 + +--- + +### L-7: `nav_script.c:285` 使用 `exit_start_s == 0.0f` 判断是否已触发,但 `s` 初始值就是 0 + +```c +if (s_internal.exit_start_s == 0.0f) { + s_internal.exit_start_s = state->s; +} +``` + +如果恰好在 `state->s ≈ 0.0` 时进入 EXIT 阶段(理论上不会,因为已经往返走过垄沟),`exit_start_s` 会被设为 0,然后下次循环 `== 0.0f` 再次为 true,重复赋值但不会出错(`state->s` 每次都差不多)。实际上因为 `memset(&s_internal, 0, ...)` 已将其初始化为 0.0,如果 EXIT 阶段被跳过再重入,可能出现意外行为。 + +**修复建议**: 使用 `bool exit_triggered` 标志代替浮点数零值判断。 + +--- + +## 架构设计审查 + +### 优点 + +1. **分层清晰**: 传感器驱动 → 黑板 → 预处理 → EKF → 控制 → 安全 → 指令槽,每层职责明确。 +2. **线程安全设计合理**: 黑板的 `taskENTER_CRITICAL` + snapshot 模式有效防止了数据撕裂。 +3. **传感器互补融合策略** (`process_complementary_laser`): STP+ATK 的互补逻辑考虑了盲区、单体故障、保守防撞等多种场景,设计周到。 +4. **EKF 实现质量高**: 鲁棒 χ² 检验、分级观测更新(1/2/3 DOF)、协方差保护等机制完备。BUG-7(卡尔曼增益矩阵乘法)的修复正确。 +5. **参数集中管理**: `robot_params.h` 作为唯一调参入口,大部分参数已正确引用(除 S-1 遗漏)。 +6. **里程计累加器设计** (BUG-8 修复): ISR 累加 + 原子取走清零的设计有效解决了漏积分/重复积分问题。 + +### 可改进方向 + +1. **缺少 Watchdog**: 系统没有硬件看门狗 (IWDG/WWDG)。如果任何任务死锁或 HardFault,MCU 将永久挂起而不会自动重启。建议在空闲任务中喂看门狗。 +2. **缺少运行时错误日志**: 当前的错误处理主要是"静默忽略"或"返回零值"。建议增加一个轻量级错误计数器或环形日志 buffer,方便赛后分析。 +3. **EKF 和安全状态机没有联动**: 如 M-5 所述,脚本覆盖模式下安全状态机可能干扰正常流程。建议在 `SegFsmOutput_t` 中增加 bypass 机制。 +4. **`laserTestTask` 的 `osDelay(50)` 不精确**: 使用 `osDelay` 而非 `osDelayUntil`,任务执行时间会累加到周期中,导致实际周期 > 50ms。对于激光数据更新频率有影响。 + +--- + +## 已修复 BUG 验证 + +| HANDOFF 编号 | 修复内容 | 验证结果 | +|-------------|---------|---------| +| BUG-1 | IMU wz deg→rad 转换 | ✅ `app_tasks.c:305` 使用 `PARAM_DEG2RAD()` | +| BUG-2 | EKF Q/R/P0 从 params 读取 | ✅ `corridor_filter.c:50-66` 使用 `PARAM_EKF_*` | +| BUG-3 | `SegFsm_Start()` 调用 | ✅ `app_tasks.c:382` | +| BUG-4 | BACKWARD 段使用 d_front | ✅ `nav_script.c:254` | +| BUG-5 | 超时使用配置参数 | ✅ `nav_script.c:157` | +| BUG-6 | EXIT 速度独立参数 | ✅ `nav_script.c:273` 使用 `s_cfg.exit_v` | +| BUG-7 | 完整矩阵乘法 K=PHT*S_inv | ✅ `corridor_ekf.c:576-607` 两步乘法 | +| BUG-8 | 里程计累加器模式 | ✅ `snc_can_app.c` ISR 累加 + `ConsumeOdomDelta` 原子取走 | +| BUG-9 | IMU yaw unwrap + 连续角度 | ✅ `hwt101.c` unwrap 逻辑 + `nav_script.c` 使用 IMU yaw | +| Q-1~Q-7 | 各项代码质量修复 | ✅ 全部验证通过 | + +--- + +## 修复优先级建议 + +| 优先级 | 编号 | 预估工时 | +|--------|------|---------| +| 立即修复 | S-4 (pack 对齐) | 5 分钟 | +| 立即修复 | S-1 (VL53 KF 参数) | 5 分钟 | +| 赛前修复 | M-5 (安全 FSM bypass) | 30 分钟 | +| 赛前修复 | M-6 (ATK 量程校验) | 10 分钟 | +| 赛前修复 | S-2 (快照线程安全) | 15 分钟 | +| 赛前修复 | L-2 (IMU ref 重置) | 5 分钟 | +| 确认配置 | S-3 (CAN 中断优先级) | 10 分钟 | +| 建议改进 | 其余所有 | 按需 | + +--- + +> **审查结论**: 项目整体质量良好,架构设计规范,历史 BUG 修复彻底。上述 S-4 和 S-1 建议在下次烧录前立即修复;M-5 (安全状态机与脚本冲突) 是实车测试中最可能暴露的问题,建议优先验证。 diff --git a/Doc/GLOBAL_NAV_REQUIREMENT.md b/Doc/GLOBAL_NAV_REQUIREMENT.md new file mode 100644 index 0000000..998e0b9 --- /dev/null +++ b/Doc/GLOBAL_NAV_REQUIREMENT.md @@ -0,0 +1,667 @@ +# 固定场地条件下的赛道级导航需求说明 + +## 1. 问题背景 + +当前项目已经具备较完整的“单条垄沟内局部导航”能力,包括: + +- 侧向测距支撑的走廊横向定位 +- IMU / EKF 支撑的航向估计 +- 前向距离触发的到端检测 +- 原地转向 +- 走廊内闭环控制 + +但正式比赛要求并不是“在一条走廊里走稳”这么简单,而是: + +- 遍历全部 `6` 条垄沟 +- 在端部完成换沟 +- 最终从唯一出入口驶离场地 +- 再停回启动区 + +因此,真正的问题已经从“局部走廊控制”升级成了“赛道级导航”。 + +本文件针对一个新的核心顾虑做说明: + +- 左右 `VL53L0X` 是近场侧向传感器,实际有效距离有限 +- 当小车走完第一条通道、完成转向、准备去第二条通道口时,下一条通道口可能仍在数米之外 +- 此时无法指望左右侧向 VL53 直接识别远处的下一条通道入口 + +由此引出新的设计问题: + +- 是否需要把当前导航从“局部走廊式”升级为“固定地图下的全局式导航” + +本文件只做需求分析与方案建议,不修改现有代码。 + +## 2. 比赛场地与问题是否成立 + +根据比赛规则文件 `附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md`: + +- 场地尺寸:`390cm x 300cm` +- 共有 `5` 条田垄 +- 每条田垄:长 `220cm`、宽 `30cm` +- 围栏与田垄之间、相邻田垄之间均为 `40cm` 垄沟 +- 实际需要遍历的是 `6` 条垄沟 +- 场地尺寸允许误差:`+-5%` + +结合 `HANDOFF.md` 的赛道理解: + +- 当前赛道本质上是 `6` 段平行窄走廊 +- 其间通过端部动作完成换沟 +- 最终还要完成出场和停回启动区 + +因此,你的顾虑是成立的: + +- 左右侧向 VL53 的作用域主要是在“贴着垄沟/墙体附近”时建立局部几何约束 +- 一旦小车离开当前垄沟、进入端部开阔区或横向换沟区,下一条垄沟入口往往不在 VL53 的可靠观测范围内 +- 所以不能把“下一条通道入口识别”这个任务建立在左右 VL53 的远距离探测能力上 + +这里需要特别澄清一个容易说错的点: + +- 赛道级运动并不一定是“在端部开阔区横移很长一段,再去远距离搜索下一条垄沟入口” +- 更符合当前场地理解的运动方式,是一种 **S 型串行入沟**: + 1. 从出发区直行到第 1 条垄沟入口附近 + 2. 第 1 条垄沟在车体一侧(例如右侧) + 3. 原地右转 `90°` 对准垄沟后入沟 + 4. 沿垄沟通过 + 5. 到端后原地左转 `90°`,进入端部直线连接段 + 6. 再前进一小段到下一条垄沟入口附近 + 7. 再原地左转 `90°` 入下一条垄沟 + 8. 之后重复形成 S 型遍历 + +也就是说: + +- 下一条垄沟并不是完全未知目标 +- 它通常位于“端部连接直线段之后的固定相邻位置” +- 问题核心不是远距离搜索,而是 **按固定几何完成 90° 转向 + 短直线推进 + 再次 90° 入沟** + +换句话说: + +- `VL53` 适合做局部跟墙/居中 +- 不适合独立承担赛道级换沟导航 + +## 3. 当前项目的能力边界 + +`HANDOFF.md` 已经明确指出: + +- 当前项目更像“单垄沟闭环验证系统” +- 还不是完整的 `6` 垄沟遍历赛道导航系统 + +当前已经具备的能力主要是: + +1. 垄沟内定位与控制 +2. 到端检测 +3. 原地转向 +4. 安全停车 + +当前还缺失的关键能力是: + +1. 多垄沟拓扑状态管理 +2. 端部换沟策略 +3. 下一目标垄沟的判定逻辑 +4. 出场与停回启动区的赛道级动作编排 + +所以,这不是某一个传感器量程的小补丁问题,而是系统层次已经需要从“局部控制”提升到“地图引导下的赛道导航”。 + +## 4. 为什么仅靠局部传感器闭环不够 + +### 4.1 局部闭环擅长的任务 + +局部闭环擅长的是: + +- 在 `40cm` 垄沟里保持居中 +- 在局部几何约束下控制横向误差和航向误差 +- 在接近端部时停车或转向 + +这些任务的共同特征是: + +- 机器人周围可观测到明确的近场结构 +- 当前目标由附近环境直接决定 + +### 4.2 换沟问题的本质不同 + +从第一条垄沟换到第二条垄沟,不只是“继续沿墙走”,而是要回答以下更高层的问题: + +1. 我当前已经完成了第几条垄沟 +2. 下一条目标垄沟是哪一条 +3. 这次应该左移还是右移 +4. 端部 `90°` 转向后需要前进多少连接距离 +5. 下一次 `90°` 转向应朝哪一侧入沟 +6. 什么时候说明我已经对准并进入了下一条垄沟,可以重新切回局部走廊跟踪模式 + +这些问题都不是单次近场测距能直接回答的。 + +它们需要: + +- 赛道拓扑信息 +- 段落状态 +- 距离累计 +- 转向后姿态保持 +- 已完成进度记忆 + +所以,换沟本质上是“任务级导航问题”,不是“单纯传感器观测问题”。 + +## 5. 是否需要全局导航 + +### 5.1 需要,但不一定是 SLAM 式全局导航 + +你提出“地图是固定的,是否要改成全局式导航”,我的判断是: + +- 需要“全局导航思想” +- 但不需要上“通用移动机器人 SLAM”那种全局导航系统 + +原因是这个比赛场地有几个重要特征: + +1. 地图是固定结构 +- 场地拓扑不变 +- 垄沟数量固定 +- 宽度和相对排列固定 + +2. 尺寸有误差但不是完全未知 +- 规则允许 `+-5%` +- 说明不能死信纯几何标称值 +- 但也不代表你需要从零建图 + +3. 导航目标是离散段落式的 +- 进入第 1 条垄沟 +- 沿垄沟前进 +- 到端 +- 换到相邻垄沟 +- 重复 +- 最后出场并停回启动区 + +这类问题更适合: + +- 固定地图 +- 拓扑状态机 +- 局部感知闭环 +- 少量里程/姿态积分 + +而不是: + +- 实时全局建图 +- 通用路径规划 +- 自由空间导航 + +### 5.2 更准确的说法:需要“赛道级固定地图导航” + +如果用更工程化的语言描述,真正需要的不是传统 SLAM,而是: + +- 固定地图下的赛道级导航 +- 或者:拓扑-度量混合导航 + +它的含义是: + +1. 上层知道整张赛道的结构 +2. 下层在当前局部段里做高频闭环 +3. 段与段之间的切换靠预定义几何、里程推进和事件触发完成 + +这比“纯局部反应式导航”强很多,但比“完整 SLAM”简单得多,也更符合比赛实际。 + +## 6. 为什么不建议直接走完整 SLAM / 全局自由导航 + +### 6.1 赛场结构太规则,SLAM 的收益不高 + +比赛场地不是开放未知环境,而是高度规则的固定赛道。 + +如果直接上完整 SLAM,会遇到两个问题: + +1. 复杂度远大于实际收益 +2. 还要处理对称结构导致的重定位歧义 + +因为 `6` 条垄沟本身非常相似: + +- 走廊宽度相同 +- 垄长相同 +- 多个局部观测在不同位置上可能长得很像 + +这对通用 SLAM 来说并不天然友好。 + +### 6.2 规则里存在地毯与尺寸误差,纯度量导航也不能硬信 + +比赛规则明确说明: + +- 随机会在 `2` 条垄沟铺设地毯模拟松软路面 +- 场地尺寸允许 `+-5%` 误差 + +这意味着: + +- 纯里程计距离不能被绝对相信 +- 纯固定距离脚本也不能完全相信 + +所以最合理的方案不是“只靠地图”,而是: + +- 地图负责告诉你要去哪一段 +- 传感器负责告诉你你是否已经贴近那一段并进入局部闭环条件 + +## 7. 推荐的导航架构 + +我建议把系统分成三层。 + +### 7.1 第 1 层:局部走廊控制层 + +职责: + +- 在垄沟内保持稳定行驶 +- 利用侧向 VL53 和 IMU 控制 `e_y`、`e_th` +- 处理贴墙、居中、偏置行走等局部任务 + +这层继续使用你现在已经有的能力即可。 + +### 7.2 第 2 层:端部与换沟动作层 + +职责: + +- 识别到端 +- 完成 `90°` 转向 +- 保持连接段朝向直线推进 +- 在下一条垄沟入口处再执行一次 `90°` 转向入沟 +- 在接近下一条垄沟入口时重新捕获局部走廊结构 + +这一层的主要依赖不应再是“直接看到很远处的下一条通道口”,而应是: + +- IMU 航向保持 +- 编码器里程推进 +- 前向/后向长距测距作安全与事件辅助 +- 重新捕获两侧结构时切回走廊模式 + +### 7.3 第 3 层:赛道级拓扑/地图层 + +职责: + +- 记录当前是第几条垄沟 +- 决定下一条目标垄沟编号 +- 决定换沟方向 +- 决定当前所处阶段:入场、走廊、端部、换沟、再入沟、退出、回停 +- 在最终阶段规划如何从最后一条垄沟回到唯一出口并停回启动区 + +这层就是“全局导航思想”的承载层。 + +## 8. 具体到你的顾虑:第二通道口怎么判定 + +这个问题不应该被设计成: + +- “我在端部一转身,然后用 VL53 去远距离搜索第二通道口在哪里” + +更合理的设计应该是: + +### 8.1 已知目标法 + +系统在上层已经知道: + +- 当前完成的是第 `i` 条垄沟 +- 下一个目标是第 `i+1` 条或第 `i-1` 条垄沟 + +也就是说,目标不是“搜索未知入口”,而是“按已知地图去下一个入口”。 + +### 8.2 动作脚本法 + +在端部动作中执行一段有结构的换沟脚本,例如: + +1. 到端停车 +2. 原地转 `90°` 到端部连接段朝向 +3. 用 IMU 保持该朝向直行一小段 +4. 用里程计累计连接段推进距离 +5. 到达下一条垄沟入口附近后再原地转 `90°` +6. 一旦两侧 VL53 重新形成新垄沟的局部几何特征,则确认入沟成功 +7. 切回局部走廊跟踪 + +如果按你描述的实际拓扑,更准确的理解是: + +- 换沟动作不是“横向平移到另一条沟” +- 而是“端部出沟后走一段连接直线,再 90° 入下一沟” +- 整体轨迹更接近规则的 S 型遍历 + +### 8.3 重新捕获法 + +下一条垄沟入口的确认,最可靠的时刻往往不是“远处看见”,而是“进入附近后重新捕获到局部走廊结构”。 + +也就是说: + +- 上层负责把车带到“应该接近下一条垄沟入口”的区域 +- 下层负责在近场把入口真正锁住 + +这比远距离直接识别入口更稳。 + +## 9. 哪些传感器在赛道级导航里应该扮演什么角色 + +### 9.1 左右 VL53L0X + +适合: + +- 垄沟内横向定位 +- 局部几何重捕获 +- 判断自己是否已经重新进入某条垄沟 + +不适合: + +- 远距离寻找下一条通道口 +- 独立承担赛道级换沟导航 + +### 9.2 IMU + +适合: + +- 转向控制 +- 端部横移/换沟时的航向保持 +- 跨局部无墙约束阶段的短时姿态维持 + +### 9.3 编码器 / 里程计 + +适合: + +- 换沟距离推进 +- 已走段长估计 +- 作为脚本动作的度量输入 + +缺点: + +- 地毯和打滑会导致累计误差 + +所以它应作为: + +- 主推进量 +- 但不是唯一最终确认依据 + +### 9.4 前后长距测距 + +当前硬件里前后测距量程远大于 VL53,理论上更适合: + +- 到端检测 +- 判断前方是否接近围栏 +- 在开阔区提供安全保护 +- 对某些段落提供事件辅助 + +它不一定直接告诉你“第二通道口在这”,但可以帮助判断: + +- 是否还在端部开阔区 +- 是否已经逼近另一侧围栏或终点边界 +- 是否应减速/停止/切换动作阶段 + +## 10. 推荐的总体方案 + +### 10.1 推荐方向:固定地图 + 拓扑状态机 + 局部闭环 + +这是我最推荐的方向。 + +其核心思想是: + +- 地图不是在线建出来的,而是事先已知 +- 机器人不需要理解“任意世界坐标” +- 机器人只需要知道自己当前位于哪个赛道段、下一步要切到哪个段 + +可以把整张赛道抽象成若干固定段: + +1. 启动区 +2. 入口对准段 +3. 垄沟 1 +4. 端部连接段 1 +5. 垄沟 2 +6. 端部连接段 2 +7. ... +8. 垄沟 6 +9. 出场段 +10. 启动区停车段 + +如果按运动学动作再细分,每一个“端部连接段”内部实际上可以拆成: + +1. 到端停车 +2. 第一次 `90°` 转向 +3. 连接直线推进 +4. 第二次 `90°` 转向 +5. 入沟重捕获 + +每个段有自己的: + +- 目标朝向 +- 目标推进方向 +- 退出条件 +- 允许使用的观测 +- 安全策略 + +### 10.2 这不是“纯全局”,而是“全局指导下的局部控制” + +这种方案的优势在于: + +- 不会把所有问题都压给近场传感器 +- 不会过度依赖里程计的绝对精度 +- 保留你当前局部走廊控制代码的大部分价值 +- 更贴合固定场地赛事的工程实际 + +## 11. 不推荐的方案 + +### 11.1 不推荐:继续纯局部反应式地扩当前逻辑 + +如果只是继续把当前“单垄沟往返”逻辑往外补,仍然不引入上层赛道状态,那么很容易遇到: + +- 转完向不知道该去第几条沟 +- 明明应该换沟,却又回到原来那条沟附近 +- 因地毯或打滑导致脚本距离错位 +- 无法稳定完成最终出场与回停 + +### 11.2 不推荐:直接上完整 SLAM / 通用全局路径规划 + +这对当前赛题来说过重,收益不一定匹配复杂度。 + +## 12. 对当前项目的直接结论 + +结合当前代码与比赛规则,可以得出以下结论: + +1. 你的顾虑成立 +- 左右 VL53 无法独立解决“数米外下一条垄沟入口识别”问题 + +2. 当前项目确实缺少赛道级导航层 +- 当前更偏向单垄沟局部验证系统 + +3. 后续必须补上固定地图下的全局段落管理 +- 否则无法可靠完成正式比赛要求的 `6` 垄沟遍历 + +4. 但不建议走完整 SLAM 路线 +- 更合适的是固定地图 + 拓扑状态机 + 局部感知闭环 + +## 13. 后续实施建议 + +如果后续开始真正改造导航系统,建议优先级如下: + +1. 先定义完整赛道拓扑和段落状态机 +2. 明确每一段的进入条件、退出条件、目标朝向和目标距离 +3. 让局部走廊控制只负责“在某条已知垄沟里跑稳” +4. 让换沟段由 IMU + 里程计 + 长距测距辅助来完成 +5. 用左右 VL53 做“重新捕获下一条垄沟”确认,而不是远距离搜寻入口 +6. 最后再考虑是否需要引入更强的全局定位增强手段 + +### 13.1 建议分 5 步走 + +结合当前项目现状,建议不要一口气重写整套导航,而是按“先把单段动作语义补完整,再把赛道级层叠上去”的顺序推进。 + +推荐拆成 `5` 步。 + +### 第 1 步:先把现有局部导航链路补到“可复用” + +这一步不是做全局导航,而是先把现有单垄沟能力整理成后续可调用的稳定基础模块。 + +优先要补或改的模块: + +1. `App/nav/segment_fsm.c/.h` +- 增加“动作语义”或“模式感知”输入 +- 区分:走廊前进、原地转向、横向换沟、退出直线 +- 解决当前 `TURN_AT_END` 可能被安全层整段按死的问题 + +2. `App/nav/nav_script.c/.h` +- 不再把它视为最终比赛脚本 +- 先把它收敛成“单段动作编排器”或“局部验证脚本” +- 明确哪些能力未来会上移到赛道级状态机 + +3. `App/preproc/corridor_msgs.h` +- 补充动作模式、段类型、重捕获结果等跨模块消息定义 +- 避免后面继续把语义塞进零散布尔量里 + +4. `App/app_tasks.c` +- 补齐导航启动前的 ready 判定 +- 明确 navTask 每周期里:局部控制输出、赛道级输出、安全层输出的优先级 + +这一阶段的目标不是“遍历 6 条垄沟”,而是: + +- 让“走廊跟踪 / 到端 / 原地转向 / 安全仲裁”这几个局部动作变成可被上层稳定调用的基础能力 + +### 第 2 步:新增赛道级拓扑状态机模块 + +这一步开始真正引入“全局导航思想”,但仍然基于固定地图,不做 SLAM。 + +建议新增模块: + +1. `App/nav/global_nav_fsm.c/.h` +- 负责赛道级阶段推进 +- 记录当前是第几条垄沟 +- 决定下一条目标垄沟编号 +- 决定下一次是左转入沟还是右转入沟 +- 决定当前处于:启动、入沟、走沟、到端、换沟、再入沟、出场、回停 的哪一阶段 + +2. `App/nav/track_map.c/.h` +- 保存固定赛道的拓扑和名义几何 +- 例如:垄沟数量、编号顺序、相邻关系、换沟方向、出口所在侧、启动区相对位置 +- 不追求通用地图系统,只做当前赛题所需的固定地图描述 + +3. `App/preproc/corridor_msgs.h` +- 增加赛道级状态输出结构 +- 例如:当前 corridor_id、target_corridor_id、segment_type、progress_state + +为什么这一步要单独拆出来: + +- 当前项目最大缺口不是局部控制,而是“不知道自己在整张赛道里进行到哪一步” +- 这个职责不能继续堆在 `nav_script.c` 里,否则会越改越像一份超长 if-else 脚本 + +### 第 3 步:新增换沟动作层模块 + +这一层负责跨出当前垄沟、去相邻垄沟入口附近、再把局部控制权交还给走廊跟踪层。 + +建议新增模块: + +1. `App/nav/lane_change_executor.c/.h` +- 输入:当前赛道级目标、目标换沟方向、目标段参数 +- 输出:本周期期望动作 `v/w` +- 内部实现典型动作序列: + - 到端停车 + - 第一次 `90°` 转向到连接段朝向 + - 维持航向直线推进 + - 按里程推进到预计下一沟入口区域 + - 第二次 `90°` 转向入沟 + - 减速搜索并等待局部结构重捕获 + +2. `App/nav/heading_hold.c/.h` 或并入 `lane_change_executor` +- 用 IMU 做连接直线阶段短时航向保持 +- 与走廊控制器解耦,避免把“无侧墙阶段”继续硬塞进 `corridor_ctrl.c` + +3. `App/nav/reacquire_detector.c/.h` +- 负责判断是否已重新进入一条有效垄沟 +- 典型判据:左右 VL53 重新同时形成合理几何、置信度恢复、持续若干拍成立 + +这一阶段的核心目标是: + +- 不依赖“远距离看到下一条垄沟入口” +- 而是“按固定地图推进到预计区域,再由局部传感器完成重捕获确认” + +### 第 4 步:补出场与回停模块 + +前 3 步完成后,系统已经具备: + +- 走一条垄沟 +- 到端 +- 换到相邻垄沟 + +但正式比赛还需要最后的: + +- 从最后一条垄沟驶离 +- 回到唯一出口 +- 停回启动区 + +建议新增模块: + +1. `App/nav/exit_planner.c/.h` +- 定义从最后有效垄沟切到出场段的固定动作逻辑 +- 决定离场时的目标朝向、推进距离、退出条件 + +2. `App/nav/start_zone_dock.c/.h` +- 负责最终回停启动区 +- 可以做成简化版固定脚本,不需要复杂路径规划 + +这一阶段不要追求炫技,重点是: + +- 流程完整 +- 可解释 +- 可调参 +- 能在赛场误差下稳定完成收尾动作 + +### 第 5 步:最后再做统一调参与验证支撑 + +当前项目已经有局部参数,但赛道级导航落地后,还需要把“段参数”和“地图参数”系统化管理。 + +建议补的模块或整理项: + +1. `App/robot_params.h` +- 补充赛道级参数 +- 例如:换沟名义距离、减速搜索距离、重捕获持续拍数、回停距离等 + +2. `App/nav/global_nav_debug.c/.h` 或临时调试结构 +- 给 CubeMonitor / 日志暴露关键内部量 +- 例如:当前 corridor_id、stage、target_heading、reacquire_flag、lane_change_progress + +3. `HANDOFF.md` / `GLOBAL_NAV_REQUIREMENT.md` +- 随代码同步更新 +- 保证后续调试时文档和实现一致 + +这一阶段的目标是: + +- 把“能跑”变成“能调、能解释、能复现” + +### 13.2 各步的交付标准 + +为了避免后续开发一直停留在“看起来写了很多模块”,建议每一步都设一个明确交付标准。 + +第 1 步交付标准: + +- 原地转向不再被安全层错误清零 +- 走廊前进 / 原地转向 / 退出直行三类动作有清晰安全语义 +- 局部导航链路在架空测试中行为稳定可解释 + +第 2 步交付标准: + +- 系统能够明确输出“当前第几条垄沟、下一条目标是哪条、当前赛道阶段是什么” +- 不再依赖单个脚本文件隐式记录全局进度 + +第 3 步交付标准: + +- 能从一条垄沟末端稳定切换到相邻垄沟入口附近 +- 能通过 VL53 重捕获确认重新入沟 + +第 4 步交付标准: + +- 能在完成全部目标垄沟后可靠离场 +- 能完成最终回停启动区 + +第 5 步交付标准: + +- 参数、日志、状态可观测性完整 +- 可以支持正式场地反复调参与问题定位 + +### 13.3 为什么是这个顺序 + +这个顺序的核心原则是: + +1. 先补“动作语义一致性”,再补“赛道级状态记忆” +2. 先解决端部动作可用性,再扩展多垄沟遍历 +3. 先做固定地图和拓扑状态机,再考虑任何更重的全局定位增强 + +如果顺序反过来,例如一开始就写完整 6 垄沟状态机,但底层转向和换沟动作还不稳定,那么上层状态再完整也只会变成“会卡在某一步的复杂脚本”。 + +因此,最合理的开发路径不是“先把全局状态机写满”,而是: + +- 第 1 步:把局部动作做成稳固积木 +- 第 2 步:加赛道级任务管理 +- 第 3 步:补跨段动作 +- 第 4 步:补最终出场与回停 +- 第 5 步:统一调参与调试支撑 + +## 14. 一句话结论 + +你的问题本质上说明:当前系统已经不能只靠“局部走廊导航”来思考了。 + +真正需要补的是“固定地图下的赛道级导航层”,而不是盲目把 VL53 当成远距离入口探测器,也不是直接上复杂 SLAM。 diff --git a/Doc/HANDOFF.md b/Doc/HANDOFF.md new file mode 100644 index 0000000..25f55c5 --- /dev/null +++ b/Doc/HANDOFF.md @@ -0,0 +1,773 @@ +# ARES 项目交接文档 + +> **最后更新**: 2025 年 +> **项目性质**: B类"马铃薯捡拾机器人竞技"走廊导航系统 +> **本文目标**: 让任何人 (人类或 AI) 能在 30 分钟内理解整个项目并开始工作 + +--- + +## 目录 + +1. [一句话概述](#1-一句话概述) +2. [比赛规则速览](#2-比赛规则速览) +3. [硬件架构](#3-硬件架构) +4. [软件架构总览](#4-软件架构总览) +5. [代码目录结构](#5-代码目录结构) +6. [数据流水线 (核心)](#6-数据流水线-核心) +7. [各模块详解](#7-各模块详解) +8. [FreeRTOS 任务一览](#8-freertos-任务一览) +9. [CAN 通信协议](#9-can-通信协议) +10. [EKF 算法详解](#10-ekf-算法详解) +11. [控制器与安全层](#11-控制器与安全层) +12. [比赛流程状态机](#12-比赛流程状态机) +13. [全部可调参数](#13-全部可调参数) +14. [已知问题与待办](#14-已知问题与待办) +15. [构建与烧录](#15-构建与烧录) +16. [实车调试流程](#16-实车调试流程) +17. [文件快速索引](#17-文件快速索引) + +--- + +## 1. 一句话概述 + +一个运行在 **STM32H743 (FreeRTOS)** 上的走廊跟踪导航系统——通过 **4 个 VL53L0X 侧向测距** 做横向/航向定位(鲁棒 EKF),**4 个前后激光** 做防撞和到端检测,PD 控制器纠偏,安全状态机兜底,最终通过 **CAN 总线** 将速度指令发给 STM32F407 底盘控制器。 + +--- + +## 2. 比赛规则速览 + +| 项目 | 规格 | +|------|------| +| 场地尺寸 | 390 cm × 300 cm | +| 垄沟(走廊)宽度 | **40 cm**(允许 ±5% 误差) | +| 田垄数量 | 5 条 | +| 垄间模式需遍历 | **6 条垄沟** | +| 机器人尺寸 | **20 cm × 20 cm**(含外壳) | +| 驱动方式 | 四轮差速 | +| 比赛时间 | 5 分钟 | +| 任务 | 在走廊中往返行驶,捡拾目标物 | + +**关键约束**: 走廊 40cm - 车体 20cm = 每边仅 **10cm 余量**。1cm 的传感器偏差就是 10% 的误差。 + +### 2.1 赛道拓扑理解(垄间模式) + +本项目当前最相关的正式比赛模式是 **垄间作业模式**。 + +#### 赛道几何 + +- 整个比赛场地尺寸为 `390cm × 300cm` +- 场地内部共有 **5 条田垄** +- 每条田垄:长 `220cm`、宽 `30cm`、高 `12cm` +- 围栏与田垄之间、以及相邻田垄之间,均形成宽 `40cm` 的可通行垄沟 +- 场地仅有 **1 个出入口**,宽 `40cm` +- 出入口外侧紧邻 **比赛启动区**,尺寸 `40cm × 100cm` + +#### 为什么是 6 条垄沟,不是 5 条 + +虽然场地内只有 **5 条田垄**,但在垄间模式下,机器人实际需要遍历的是 **6 条垄沟**: + +1. 最左侧围栏与第 1 条田垄之间的垄沟 +2. 第 1 条田垄与第 2 条田垄之间的垄沟 +3. 第 2 条田垄与第 3 条田垄之间的垄沟 +4. 第 3 条田垄与第 4 条田垄之间的垄沟 +5. 第 4 条田垄与第 5 条田垄之间的垄沟 +6. 第 5 条田垄与最右侧围栏之间的垄沟 + +也就是说: + +- **田垄数 = 5** +- **垄间可通行垄沟数 = 6** + +这是赛道理解里最容易搞错的地方。若只按“5 条走廊”建模,会与正式比赛要求不一致。 + +#### 垄间模式下的导航任务本质 + +在垄间模式下,导航任务不是“单条走廊往返”,而是: + +1. 从启动区进入场地 +2. 进入某一条垄沟 +3. 沿垄沟稳定行驶并完成作业 +4. 到达端部后完成转向和换沟 +5. 依次遍历 **全部 6 条垄沟** +6. 最终从唯一出入口驶离场地 +7. 自主停在启动区内 + +从导航角度看,赛道是一个 **6 段平行窄走廊 + 端部换沟动作 + 单出入口回停** 的组合问题。 + +#### 对导航系统的直接要求 + +- **窄走廊居中跟踪** + 走廊宽 `40cm`,若车体宽 `20cm`,理论左右余量各仅 `10cm` +- **到端检测** + 能识别走到垄沟尽头,避免撞围栏 +- **端部转向** + 在垄沟末端稳定完成姿态调整 +- **换沟** + 从当前垄沟切换到相邻垄沟,而不是原地掉头后回到同一条垄沟 +- **赛道级状态机** + 知道当前是第几条垄沟、下一条目标是哪条、何时结束遍历 +- **最终退出与停区** + 驶离场地后必须自主停在启动区,否则可能判 0 分 + +#### 当前项目与赛道要求的关系 + +当前 ARES 项目已经具备: + +- 单条走廊内的相对定位 +- 走廊跟踪控制 +- 到端检测 +- 原地转向 +- 安全停车与防撞 + +但当前脚本状态机更接近:进入一条走廊、沿走廊前进、到端后转向、再走一趟、然后退出。 + +它更像 **单垄沟闭环验证系统**,还不是完整的 **6 垄沟遍历赛道导航系统**。 + +后续若要适配正式比赛,重点不是重写 EKF,而是补上: + +- 多垄沟遍历状态机 +- 端部换沟策略 +- 最终出场与启动区停车逻辑 + +--- + +## 3. 硬件架构 + +### 3.1 双 MCU 体系 + +``` +┌─────────────────────────────────┐ CAN Bus ┌─────────────────────────┐ +│ STM32H743 (上位机/主控) │ ◄──────────────► │ STM32F407 (底盘控制器) │ +│ 480MHz Cortex-M7, DP-FPU │ 0x100 TX │ LADRC 电机控制 │ +│ FreeRTOS + 传感器 + 导航算法 │ 0x181/200 RX │ 四路编码器 + 四路电机 │ +└─────────────────────────────────┘ └─────────────────────────┘ +``` + +### 3.2 传感器清单 + +| 传感器 | 数量 | 用途 | 接口 | 量程 | +|--------|------|------|------|------| +| **VL53L0X** ToF | 4 (左前/左后/右前/右后) | 侧向墙壁测距,走廊跟踪 | I2C1 + I2C2 | 2cm ~ 2m | +| **STP-23L** 激光 | 2 (前/后) | 远距离测距,到端检测 | UART2 / UART4 (230400bps) | 7cm ~ 7.5m | +| **ATK-MS53L1M** 激光 | 2 (前/后) | 近距离补盲 (填 STP 的 7cm 盲区) | UART3 / UART6 (115200bps) | ~4m | +| **HWT101** IMU | 1 | 单轴陀螺仪 (航向角速度 wz) | UART7 | ±2000°/s | + +### 3.3 VL53L0X 接线 + +``` +左侧 (I2C2): 右侧 (I2C1): + 左前 LF: XSHUT=PB1, 地址=0x62 右前 RF: XSHUT=PD13, 地址=0x56 + 左后 LR: XSHUT=PC5, 地址=0x64 右后 RR: XSHUT=PD14, 地址=0x58 +``` + +### 3.4 其他 GPIO + +| 引脚 | 功能 | +|------|------| +| PE3 | CAN 活动 LED (100ms 翻转) | + +--- + +## 4. 软件架构总览 + +``` +┌─────────────────────────────────────────────────────────────────────────────┐ +│ FreeRTOS 任务层 │ +│ canTxTask monitorTask navTask laserTestTask vl53Task imuTask │ +│ (20ms) (100ms) (20ms) (50ms) (100ms) (10ms) │ +└──────┬──────────┬──────────┬──────────┬───────────────┬──────────┬─────────┘ + │ │ │ │ │ │ + │ CmdSlot │ │ Blackboard (全局传感器数据中心) │ + │ Pop │ │ taskENTER_CRITICAL 保护 │ + ▼ ▼ ▼ │ + ┌─────────┐ ┌────────┐ ┌───────────────────────────────────┐ │ + │CAN 0x100│ │Odom │ │ 导航流水线 (navTask, 20ms) │ │ + │→ 底盘 │ │积分 │ │ Preproc → EKF → Script │ │ + │ │ │→黑板 │ │ → Ctrl → SafetyFSM → CmdSlot │ │ + └─────────┘ └────────┘ └───────────────────────────────────┘ │ + │ + ┌───────────────────────────────────────────────────────────┘ + │ + 各传感器驱动:hwt101.c / vl53_board.c / laser_manager.c + → Blackboard_Update*() +``` + +--- + +## 5. 代码目录结构 + +``` +D:\ARES\ +├── App/ ← 【所有业务代码在这里】 +│ ├── robot_params.h ← ★ 全局参数配置中心 (唯一的调参入口) +│ ├── app_tasks.c/.h ← 所有 FreeRTOS 任务实现 + 系统初始化 +│ ├── retarget.c/.h ← printf → USB CDC 重定向 +│ │ +│ ├── Can/ +│ │ └── snc_can_app.c/.h ← CAN 协议层 (编解码/CRC8/滤波器)【已冻结,勿动】 +│ │ +│ ├── Contract/ ← 模块间数据契约 +│ │ ├── robot_blackboard.c/.h ← 全局传感器数据黑板 (线程安全) +│ │ ├── robot_odom.c/.h ← 差速里程计积分 +│ │ ├── robot_cmd_slot.c/.h ← 导航→CAN 指令传递槽 +│ │ └── chassis_can_msg.h ← CAN 帧结构体定义 +│ │ +│ ├── est/ ← 状态估计 +│ │ ├── corridor_ekf.c/.h ← ★ 鲁棒 EKF 核心 (3 状态) +│ │ └── corridor_filter.c/.h ← EKF 的兼容包装层 +│ │ +│ ├── nav/ ← 导航与控制 +│ │ ├── corridor_ctrl.c/.h ← PD 走廊控制器 +│ │ ├── segment_fsm.c/.h ← 安全状态机 (防撞/急停) +│ │ └── nav_script.c/.h ← 比赛流程编排 +│ │ +│ ├── preproc/ ← 传感器预处理 +│ │ ├── corridor_preproc.c/.h ← 数据清洗 + 互补融合 +│ │ └── corridor_msgs.h ← 所有模块间消息结构体 +│ │ +│ ├── IMU/ +│ │ └── hwt101.c/.h ← HWT101 IMU 驱动 (UART DMA) +│ │ +│ ├── laser/ +│ │ └── laser_manager.c/.h ← 前后激光驱动 (STP+ATK, UART DMA) +│ │ +│ └── VL53L0X_API/ +│ ├── platform/ +│ │ ├── vl53_board.c/.h ← 多传感器管理 + 卡尔曼滤波 +│ │ └── vl53l0x_platform.c/.h ← ST API HAL 适配 +│ └── core/ ← ST 官方 VL53L0X API (不修改) +│ +├── Core/ ← CubeMX 生成的 HAL 初始化代码 +├── Drivers/ ← STM32H7 HAL 驱动 +├── Middlewares/ ← FreeRTOS + USB +├── USB_DEVICE/ ← CDC 虚拟串口 +├── ARES.ioc ← CubeMX 工程文件 +├── CMakeLists.txt ← 构建入口 +└── STM32H743XX_FLASH.ld ← 链接脚本 +``` + +--- + +## 6. 数据流水线 (核心) + +这是整个系统的心脏,运行在 `navTask` 中,**每 20ms 执行一次**: + +``` +Step 1: Blackboard_GetSnapshot(&board) 拍摄传感器快照 (无撕裂) + │ +Step 2: CorridorPreproc_ExtractObs() 数据清洗 + │ • VL53L0X: mm→m, 范围校验 (0.02~2.0m) + │ • STP+ATK: 互补融合 (ATK 填 STP 的 7cm 盲区) + │ • 前后激光偏移补偿 (d -= PARAM_FRONT_LASER_OFFSET) + │ → 输出: CorridorObs_t {d_lf, d_lr, d_rf, d_rr, d_front, d_back, valid_mask} + │ +Step 3: CorridorFilter_Update() EKF 状态估计 + │ → Predict(odom_vx, imu_wz, dt) 预测步 (IMU wz + 里程计) + │ → Update(obs) 观测步 (VL53 侧向测距) + │ → UpdateIMUYaw(yaw_cont, ref) IMU 航向观测 (独立 1DOF 更新) + │ → 输出: CorridorState_t {e_y, e_th, s, conf} + │ +Step 4: NavScript_Update() 比赛流程编排 + │ → 决定当前阶段: 入口对准/走廊跟踪/转向/退出 + │ → 180° 转弯判定使用 IMU 连续 yaw (非 EKF e_th) + │ → 输出: NavScriptOutput_t {use_override, override_v/w, request_corridor} + │ +Step 5: CorridorCtrl_Compute() PD 控制律 (仅在走廊跟踪模式) + │ → w = kp_theta·e_th + kd_theta·(-wz) + kp_y·e_y + │ → v = v_cruise × (1 - 0.4 × |w/w_max|) + │ → 输出: RawCmd_t {v, w} + │ +Step 6: SegFsm_Update() 安全仲裁 + │ → 前方太近? → 减速/停车 + │ → 置信度太低? → 紧急停车 + │ → 输出: SegFsmOutput_t {safe_v, safe_w} + │ +Step 7: CmdSlot_Push(safe_v, safe_w) 推入指令槽 → canTxTask 取走 +``` + +--- + +## 7. 各模块详解 + +### 7.1 传感器驱动层 + +#### VL53L0X 侧向测距 (`vl53_board.c`) +- 上电时所有 XSHUT 拉低,逐个拉高分配 I2C 地址 +- 测距预算 100ms (100000μs),连续测距模式 +- 每个传感器读数经过独立的 **1D 卡尔曼滤波** (Q=10.0, R=14.1) +- 输出 `Vl53BoardSnapshot_t` → `Blackboard_UpdateVl53()` + +#### 前后激光测距 (`laser_manager.c`) +- DMA 环形缓冲区轮询,内部自有 FreeRTOS 任务 `LaserTsk` (10ms) +- **STP-23L**: 二进制协议,含校验和;3 帧中值滤波去尖刺 +- **ATK-MS53L1M**: ASCII 文本 `"d: 1234\r\n"`;3 帧中值滤波 +- 互补融合策略: + - ATK 距离 < 8cm 时无条件信任 ATK (STP 盲区) + - STP 卡在 7cm 时用 ATK + - 两者都活着取更近的 (保守防撞) + - STP 独活但在盲区 → 报失效 (宁可急停也不信假数据) + +#### IMU (`hwt101.c`) +- UART DMA 11 字节二进制帧 +- 输出: `yaw` (°)、`yaw_continuous` (°) 和 `wz` (°/s) +- `yaw`: 原始偏航角,范围 [-180°, +180°),跨界时跳变 +- `yaw_continuous`: **unwrap 后的连续偏航角**,消除 ±180° 跳变,可直接做差计算任意转角 +- 注意: **输出单位是°/s,不是 rad/s** +- `HWT101_ZeroYaw()` 会同时重置 unwrap 状态 + +### 7.2 数据契约层 + +#### 黑板 (`robot_blackboard.c`) +- 全局结构体 `g_blackboard`,所有传感器数据汇聚于此 +- 所有读写都在 `taskENTER_CRITICAL()` 临界区内 +- 消费者调用 `Blackboard_GetSnapshot()` 获取无撕裂快照 +- IMU 字段: `imu_yaw` (原始°)、`imu_yaw_continuous` (连续°)、`imu_wz` (°/s) + +#### 里程计 (`robot_odom.c`) +- 从 CAN 0x200 获取四轮编码器增量,经 **ISR 侧累加器** 汇聚后由 monitorTask 一次性取走积分 +- 消费链路(BUG-8 修复后): + ``` + CAN Rx ISR → snc_parse_odom_delta() 每帧累加到 odom_accum(不覆盖) + ↓ + monitorTask → SNC_CAN_ConsumeOdomDelta() 原子取走累计值并清零 + ↓ + Odom_Update() 仅在有新帧时调用(杜绝重复积分) + ``` +- 差速运动学: + ``` + v_left = (fl_delta + rl_delta) / 2 × (π × 0.060 / 500) / dt + v_right = (fr_delta + rr_delta) / 2 × (π × 0.060 / 500) / dt + vx = (v_left + v_right) / 2 + wz = (v_right - v_left) / 0.140 + ``` +- 3 帧连续零增量 → 强制 vx=wz=0 (静止检测) + +#### 指令槽 (`robot_cmd_slot.c`) +- 单槽无锁设计,`CmdSlot_Push()` 写入,`CmdSlot_Pop()` 读取 +- 超过 100ms 未更新 → canTxTask 自动发零速指令 (看门狗) + +### 7.3 估计层 + +详见 [第10节 EKF 算法详解](#10-ekf-算法详解)。 + +### 7.4 控制层 + +详见 [第11节 控制器与安全层](#11-控制器与安全层)。 + +### 7.5 导航层 + +详见 [第12节 比赛流程状态机](#12-比赛流程状态机)。 + +--- + +## 8. FreeRTOS 任务一览 + +| 任务名 | 周期 | 优先级 | 栈大小 | 职责 | +|--------|------|--------|--------|------| +| `canTxTask` | 20ms | AboveNormal (28) | 2048B | CAN 0x100 硬实时发送;指令槽看门狗 | +| `navTask` | 20ms | AboveNormal (28) | 4096B | 完整导航流水线 (7步) | +| `LaserTsk` (内部) | 10ms | AboveNormal (28) | 4096B | 4路 UART DMA 解析 | +| `monitorTask` | 100ms | Normal (24) | 4096B | CAN 健康监控;里程计更新 | +| `laserTestTask` | 50ms | Normal (24) | 16384B | 激光轮询 + 推送黑板 | +| `vl53Task` | 100ms | Normal (24) | 4096B | VL53L0X 读取 + 推送黑板 | +| `imuTask` | 10ms | BelowNormal (20) | 2048B | IMU 解析 + 推送黑板 | +| `defaultTask` | — | Normal (24) | 512B | USB CDC 初始化;空闲循环 | + +**全局配置**: Tick 频率 1000Hz, 堆 65536 字节, 最大优先级 56 + +--- + +## 9. CAN 通信协议 + +### 9.1 TX: H743 → F407 + +#### 0x100 — 速度指令 (每 20ms 发送) + +| 字节 | 字段 | 类型 | 编码 | +|------|------|------|------| +| 0-1 | vx | int16 LE | vx (m/s) × 1000 | +| 2-3 | wz | int16 LE | wz (rad/s) × 1000 | +| 4 | ctrl_flags | uint8 | 控制标志位 | +| 5 | reserved | uint8 | 固定 0 | +| 6 | rolling_counter | uint8 | 单调递增 | +| 7 | crc8 | uint8 | CRC8-SAE-J1850 (bytes[0..6]) | + +**硬性约束**: 必须每 ≤150ms 发一次,否则底盘进入 `SAFE_FAULT`。即使停车也要发 vx=0, wz=0。 + +#### 0x080 — 心跳 (每 20ms, DLC=0) + +### 9.2 RX: F407 → H743 + +#### 0x181 — 底盘状态 (20ms) + +| 字节 | 字段 | +|------|------| +| 0 | system_state: 0=BOOTING, 1=OPERATIONAL, 2=SAFE_FAULT | +| 1 | system_health: 0=OK, 1=WARNING, 2=FAULT | +| 2-5 | diag_bits (uint32 LE): 通信超时/CAN BUS OFF/电机堵转等 | +| 6 | cmd_age_10ms: 上次有效指令距今 (×10ms) | +| 7 | status_counter | + +#### 0x200 — 里程计增量 (~60ms) + +| 字节 | 字段 | +|------|------| +| 0-1 | fl_delta_ticks (int16 LE) — 左前轮编码器增量 | +| 2-3 | rl_delta_ticks (int16 LE) — 左后轮 | +| 4-5 | fr_delta_ticks (int16 LE) — 右前轮 | +| 6-7 | rr_delta_ticks (int16 LE) — 右后轮 | + +#### 0x184 — 通信诊断 (100ms) + +CRC 错误计数、计数器拒绝计数、CAN 丢包等统计信息。 + +--- + +## 10. EKF 算法详解 + +### 状态向量 + +``` +x = [e_y, e_th, s]ᵀ +``` + +| 状态 | 含义 | 单位 | +|------|------|------| +| `e_y` | 车体中心相对走廊中心线的横向偏差 | m (左偏为正) | +| `e_th` | 车头相对走廊方向的航向偏差 | rad (左偏为正) | +| `s` | 沿走廊行驶里程 | m | + +### 预测步 (每 20ms) + +``` +输入: odom_vx (m/s), imu_wz (rad/s), dt (s) + +e_y_new = e_y + vx × sin(e_th) × dt +e_th_new = e_th + wz × dt +s_new = s + vx × cos(e_th) × dt + +雅可比矩阵 F: + [1, vx·cos(e_th)·dt, 0] + [0, 1, 0] + [0, -vx·sin(e_th)·dt, 1] + +P_pred = F·P·Fᵀ + Q +``` + +### 观测步 + +``` +d_center = (W - Rw) / 2 + inset + = (0.40 - 0.20) / 2 + 0 = 0.10m (车居中时传感器到墙的距离) + +左侧观测: + z_ey = d_center - (d_lf + d_lr)/2 横向偏差 + z_eth_L = atan2(d_lr - d_lf, L_s) 航向偏差 + +右侧观测: + z_ey = (d_rf + d_rr)/2 - d_center 横向偏差 + z_eth_R = atan2(d_rf - d_rr, L_s) 航向偏差 + +双侧有效时: z_ey 取两侧平均 = (d_right - d_left) / 2 + → d_center 被消掉,结果只取决于左右差值 + +单侧退化时: z_ey = d_center - d_one_side + → d_center 的准确性至关重要! + +IMU 航向观测 (侧墙更新之后独立执行): + z_eth_imu = (imu_yaw_continuous - yaw_ref) × DEG2RAD + yaw_ref 在 EKF 置信度 ≥ 0.5 时首次锁定 + 使用 1DOF 标量 EKF 更新,R 值 (PARAM_EKF_R_ETH_IMU) 远大于侧墙 R + → 侧墙有效时 IMU 影响小;侧墙丢失时 IMU 提供航向约束 +``` + +### 鲁棒拒绝 + +每个观测独立做 **χ² 马氏距离检验**: +- 1 自由度门限 3.84 (95% 置信度) +- 超过门限的观测被标记为异常并跳过更新 + +### 置信度计算 + +``` +conf = f(协方差迹) × 侧面因子 × (1 - 拒绝比例 × 0.5) + 侧面因子: 双侧=1.0, 单侧=0.7 + 两侧全失效: 协方差膨胀,conf 趋向 0 → 触发 E-STOP +``` + +--- + +## 11. 控制器与安全层 + +### 11.1 PD 走廊控制器 + +``` +w_cmd = kp_theta × e_th + kd_theta × (-imu_wz) + kp_y × e_y + ─────────────── ───────────────────── ──────────── + 航向比例纠偏 航向微分阻尼(用IMU) 横向比例纠偏 + +w_cmd = clamp(w_cmd, ±1.5 rad/s) + +v_cmd = v_cruise × (1 - 0.4 × |w/w_max|) 弯道减速 +v_cmd = clamp(v_cmd, 0, 0.3 m/s) + +置信度保护: + conf < 0.3 → v × 0.3 (三折) + conf < 0.6 → v × 0.7 (七折) +``` + +**参数**: kp_theta=2.0, kd_theta=0.1, kp_y=3.0, v_cruise=0.15m/s + +### 11.2 安全状态机 (`segment_fsm.c`) + +``` + conf < 0.1 + ┌──────────────────┐ + ▼ │ + ┌──────┐ Start ┌──────────┐ │ d_front ≤ 0.25m ┌──────────┐ + │ IDLE ├────────►│ CORRIDOR ├──┴──────────────────►│ APPROACH │ + └──────┘ └────┬─────┘ ◄────────────────── └────┬─────┘ + │ d_front > 0.25m │ + │ d_front ≤ 0.08m + conf ≥ 0.5 │ + ┌────┴─────┐ ┌──────▼─────┐ + │ E-STOP │ │ STOP │ + │ v=0,w=0 │ │ v=0,w=0 │ + └──────────┘ └────────────┘ +``` + +| 状态 | 行为 | +|------|------| +| **CORRIDOR** | 放行控制器输出 | +| **APPROACH** | 线性减速: v 从 raw_v 衰减至 0.05m/s (d 从 25cm→8cm) | +| **STOP** | 强制零速 | +| **E-STOP** | 强制零速;conf ≥ 0.5 时自动恢复 | + +--- + +## 12. 比赛流程状态机 + +> 注意:以下状态机描述的是 **当前固件已实现的单垄沟往返流程**,用于验证走廊跟踪、到端检测、转向与退出链路。 +> 它 **不等价于** 正式比赛垄间模式要求的“遍历全部 6 条垄沟”的完整赛道级导航状态机。 + +``` +IDLE → ENTRY_ALIGN → CORRIDOR_FORWARD → TURN_AT_END → CORRIDOR_BACKWARD + ↓ + (pass_count ≥ 2) + ↓ + EXIT → FINISHED +``` + +| 阶段 | 触发条件 | 行为 | 退出条件 | +|------|----------|------|----------| +| **IDLE** | 初始状态 | 零速 | `NavScript_Start()` | +| **ENTRY_ALIGN** | Start() | 慢速前进 0.08m/s,等侧向雷达找到墙 | 双侧有效 + conf≥0.8;或超时 30s | +| **CORRIDOR_FWD** | 入口对准完成 | 走廊控制器跟踪 | d_front ≤ 0.10m (到端) | +| **TURN_AT_END** | 到端 | 原地转 180° (1.0 rad/s, 接近时减速);使用 IMU 连续 yaw 判定转角 | 转角 ≥ π-0.1 rad | +| **CORRIDOR_BWD** | 第1次转完 | 走廊控制器跟踪 | d_back ≤ 0.10m (到端) | +| **EXIT** | 第2次转完 | 0.5m/s 直线冲出 | 双侧 VL53 全丢 + 行驶 ≥ 2m | +| **FINISHED** | 冲出完成 | 零速停车 | 终态 | + +--- + +## 13. 全部可调参数 + +所有参数集中在 **`App/robot_params.h`** 中,修改后需重新编译烧录。 + +### P0 — 几何参数 (必须实测) + +| 参数名 | 当前值 | 单位 | 说明 | +|--------|--------|------|------| +| `PARAM_ROBOT_WIDTH` | **0.200** | m | 车体外轮廓宽度 | +| `PARAM_ROBOT_LENGTH` | **0.200** | m | 车体外轮廓长度 | +| `PARAM_WHEEL_DIAMETER` | **0.060** | m | 驱动轮外径 | +| `PARAM_WHEEL_TRACK` | **0.140** | m | 左右轮中心距 | +| `PARAM_SENSOR_BASE_LENGTH` | **0.120** | m | 同侧前后 VL53 间距 | +| `PARAM_CORRIDOR_WIDTH` | **0.40** | m | 走廊宽度 | +| `PARAM_FRONT_LASER_OFFSET` | **0.0** | m | 前激光到车头前缘的内缩距离 | +| `PARAM_REAR_LASER_OFFSET` | **0.0** | m | 后激光到车尾后缘的内缩距离 | +| `PARAM_VL53_SIDE_INSET` | **0.0** | m | 侧向 VL53 到车体外壳的内缩距离 | +| `PARAM_ENCODER_CPR` | **500** | — | 编码器每转脉冲数 | + +### P2 — EKF 滤波器 + +| 参数名 | 当前值 | 说明 | +|--------|--------|------| +| `PARAM_EKF_Q_EY` | **0.01** | 横向过程噪声 (越大越信观测) | +| `PARAM_EKF_Q_ETH` | **0.001** | 航向过程噪声 | +| `PARAM_EKF_Q_S` | **0.1** | 里程过程噪声 | +| `PARAM_EKF_R_EY` | **0.002** | 横向观测噪声 (越大越不信雷达) | +| `PARAM_EKF_R_ETH` | **0.001** | 航向观测噪声 (侧墙) | +| `PARAM_EKF_R_ETH_IMU` | **0.01** | 航向观测噪声 (IMU yaw),远大于侧墙,用于长时约束 | +| `PARAM_EKF_P0_EY` | **0.1** | e_y 初始不确定度 | +| `PARAM_EKF_P0_ETH` | **0.1** | e_th 初始不确定度 | + +### P3 — 控制器 + +| 参数名 | 当前值 | 单位 | 说明 | +|--------|--------|------|------| +| `PARAM_CTRL_KP_THETA` | **2.0** | — | 航向比例增益 | +| `PARAM_CTRL_KD_THETA` | **0.1** | — | 航向微分增益 | +| `PARAM_CTRL_KP_Y` | **3.0** | — | 横向比例增益 | +| `PARAM_CTRL_V_CRUISE` | **0.15** | m/s | 巡航速度 | +| `PARAM_CTRL_W_MAX` | **1.5** | rad/s | 最大角速度 | +| `PARAM_CTRL_V_MAX` | **0.3** | m/s | 最大线速度 | + +### P4 — 安全与脚本 + +| 参数名 | 当前值 | 单位 | 说明 | +|--------|--------|------|------| +| `PARAM_SAFE_D_FRONT_STOP` | **0.08** | m | 前向强制停车距离 | +| `PARAM_SAFE_D_FRONT_APPROACH` | **0.25** | m | 前向减速预警距离 | +| `PARAM_SAFE_APPROACH_MIN_V` | **0.05** | m/s | 减速区最低速度 | +| `PARAM_SAFE_CONF_ESTOP` | **0.10** | — | E-Stop 置信度阈值 | +| `PARAM_SCRIPT_ENTRY_TIMEOUT` | **30000** | ms | 入口对准超时 | +| `PARAM_SCRIPT_TURN_OMEGA` | **1.0** | rad/s | 转向角速度 | +| `PARAM_SCRIPT_EXIT_RUNOUT` | **2.0** | m | 退出场地后冲距离 | + +### P5 — 传感器驱动 + +| 参数名 | 当前值 | 说明 | +|--------|--------|------| +| `PARAM_VL53_TIMING_BUDGET` | **100000** | VL53L0X 测距预算 (μs) | +| `PARAM_VL53_KALMAN_Q` | **10.0** | VL53 卡尔曼过程噪声 | +| `PARAM_VL53_KALMAN_R` | **14.1** | VL53 卡尔曼观测噪声 | +| `PARAM_IMU_YAW_OFFSET` | **0.0** | IMU 零位偏置 (rad) | + +--- + +## 14. 已知问题与待办 + +### 严重 (已全部修复 ✅) + +| # | 问题 | 状态 | 修复位置 | +|---|------|------|----------| +| **BUG-1** | IMU 输出 `wz` 单位是 **°/s**,但 EKF 预测步按 **rad/s** 使用,导致航向积分放大 57.3 倍 | ✅ 已修复 | `app_tasks.c:305` — 加了 `PARAM_DEG2RAD()` 转换 | +| **BUG-2** | `corridor_filter.c` 中 EKF 的 Q/R/P0 参数全部硬编码,修改 `robot_params.h` 中的 `PARAM_EKF_*` 不生效 | ✅ 已修复 | `corridor_filter.c:40-56` — 改为读取 `PARAM_EKF_*` 宏 | +| **BUG-3** | `AppTasks_Init()` 只调用 `SegFsm_Init()`,未调用 `SegFsm_Start()`,导致安全状态机长期处于 IDLE,输出始终为零速 | ✅ 已修复 | `app_tasks.c:382` — 补加 `SegFsm_Start()` | +| **BUG-4** | `CORRIDOR_BACKWARD` 段转 180° 后正向行驶,但到端检测错误使用 `d_back`(后向雷达),应为 `d_front` | ✅ 已修复 | `nav_script.c:CORRIDOR_BACKWARD` — 改为检查 `d_front` | +| **BUG-5** | `ENTRY_ALIGN` 段超时保护硬编码了 `30000`,`entry_align_timeout` 参数实际不生效 | ✅ 已修复 | `nav_script.c:155` — 改为 `s_cfg.entry_align_timeout` | +| **BUG-6** | `EXIT` 段退出直线速度误用角速度参数 `turn_omega * 0.5f`,调转向速度会意外影响退出速度 | ✅ 已修复 | `nav_script.h` 加 `exit_v` 字段;`nav_script.c:262` 读取它;`app_tasks.c` 传入 `PARAM_SCRIPT_EXIT_V`;`robot_params.h` 加宏 | +| **BUG-7** | EKF 卡尔曼增益计算 `K = P·H^T·S⁻¹` 只乘 `S_inv` 对角项,忽略观测间相关性,增益不正确 | ✅ 已修复 | `corridor_ekf.c:576-607` — 改为完整两步矩阵乘法:先算 `PHT = P·H^T`,再算 `K = PHT·S_inv` | +| **BUG-8** | `0x200 Odom Delta` 按"状态型最新值"消费,实为"事件型增量数据":ISR 直接覆盖旧帧导致**漏积分**(60ms帧率 vs 100ms消费,必然丢帧);monitorTask 无条件调用 `Odom_Update()` 导致**重复积分**(无新帧时同一份 delta 被积分两次) | ✅ 已修复 | `snc_can_app.h` 新增 `SNC_OdomDeltaAccum_t`;`snc_can_app.c` ISR 改为累加并实现 `SNC_CAN_ConsumeOdomDelta()` 原子取走;`app_tasks.c:monitorTask` 改用新 API,仅在有新帧时调用积分 | +| **BUG-9** | IMU `yaw` 输出范围 [-180°, +180°),跨界时跳变,且项目完全未使用 `yaw`;180° 转弯判定纯依赖 EKF `e_th` (无侧墙观测时靠 wz 积分漂移) | ✅ 已修复 | `hwt101.c` 新增 yaw unwrap → `yaw_continuous`;`robot_blackboard.h` 新增 `imu_yaw_continuous`;`nav_script.c` 转弯判定改用 IMU 连续 yaw 差值;`corridor_ekf.c` 新增 `CorridorEKF_UpdateIMUYaw()` 1DOF 标量观测更新;`corridor_filter.c` 管理 yaw_ref 参考值并在侧墙更新后注入 IMU 航向观测 | + +### 需要实车标定 + +| # | 问题 | 说明 | +|---|------|------| +| **CAL-1** | `PARAM_FRONT_LASER_OFFSET = 0.0` | 如果传感器在车体内部,停车距离会比预期偏大 | +| **CAL-2** | `PARAM_REAR_LASER_OFFSET = 0.0` | 同上 | +| **CAL-3** | `PARAM_VL53_SIDE_INSET = 0.0` | 如果传感器内缩,单侧退化时会有系统偏差 | +| **CAL-4** | `PARAM_IMU_YAW_OFFSET = 0.0` | 声明了但代码中未使用 | + +### 设计风险 / 尚未处理 + +| # | 问题 | 当前影响 | 建议方向 | +|---|------|----------|----------| +| **RISK-1** | `TURN_AT_END` 原地转向阶段与 `SegFsm` 前向防撞逻辑存在潜在冲突 | `nav_script` 在到端后会输出 `v=0, w!=0` 的原地转向命令;但 `segment_fsm` 仍按“前向距离过近 → STOP”处理,可能把转向角速度也清零,导致机器人到端后想转却被安全层按住 | 后续应为安全层引入“动作语义”或“模式感知”,区分走廊前进与原地转向;转向阶段允许 `v=0` 时保留受限 `w`,而不是沿用普通前向防撞全停策略 | + +补充说明: + +- 该问题的根因不是传感器噪声,而是 **脚本层与安全层的仲裁语义不一致** +- 侧向 VL53 在端部转向时本来也会偏离正常走廊几何,因此当前已经用 IMU `yaw_continuous` 来判定转角,这部分方向是对的 +- 真正需要补的是:**转向阶段的专用安全策略**,否则后续扩展到多垄沟遍历时,端部动作会成为卡点 + +### 代码质量 (已全部修复 ✅) + +| # | 问题 | 状态 | 修复位置 | +|---|------|------|----------| +| **Q-1** | `PARAM_CTRL_SPEED_REDUCTION` 未被控制器读取,硬编码了 `0.4f` | ✅ 已修复 | `corridor_ctrl.h` 加字段 `speed_reduction_k`;`corridor_ctrl.c:59` 读取它;`app_tasks.c` 传入 `PARAM_CTRL_SPEED_REDUCTION` | +| **Q-2** | `PARAM_SCRIPT_ENTRY_V` 未被脚本读取,硬编码了 `0.08f` | ✅ 已修复 | `nav_script.h` 加字段 `entry_align_v`;`nav_script.c:146` 读取它;`app_tasks.c` 传入 `PARAM_SCRIPT_ENTRY_V` | +| **Q-3** | `PARAM_SCRIPT_EXIT_RUNOUT` 未被脚本读取,硬编码了 `2.0f` | ✅ 已修复 | `nav_script.h` 加字段 `exit_runout_m`;`nav_script.c:275` 读取它;`app_tasks.c` 传入 `PARAM_SCRIPT_EXIT_RUNOUT` | +| **Q-4** | `PARAM_VL53_TIMING_BUDGET` 未被使用,直接传字面量 `100000` | ✅ 已修复 | `app_tasks.c:222,232` 改为传 `PARAM_VL53_TIMING_BUDGET` | +| **Q-5** | `exit_start_s` 是函数内 `static` 局部变量,`NavScript_Reset()` 无法清除它 | ✅ 已修复 | 移入 `s_internal` 结构体,`memset(&s_internal, 0, ...)` 统一清零 | +| **Q-6** | 转向角度通过 EKF 的 `e_th` 差值测量,不是绝对角度。如果 EKF 发散或走廊参照丢失,转向判断可能不准 | ✅ 已修复 | `nav_script.c` — 改用 IMU `yaw_continuous` (unwrap 后的连续偏航角) 判定转角,不再依赖 EKF `e_th` | +| **Q-7** | `g_snc_can_app` 被中断写、被任务读,没有互斥保护 (中等风险) | ✅ 部分修复 | `odom_accum` 的取走/清零已通过 `taskENTER_CRITICAL` 保护(BUG-8 修复);其余字段(status/rpm/diag)仍无保护,但读写均为原子宽度或单次赋值,风险可接受 | + +--- + +## 15. 构建与烧录 + +### 构建 + +```bash +# 确保 gcc-arm-none-eabi 在 PATH 中 +cmake --preset Debug +cmake --build build/Debug +``` + +- 输出: `build/Debug/ARES.elf` +- 工具链: `cmake/gcc-arm-none-eabi.cmake` +- C 标准: C11 +- 浮点 printf: 已开启 (`-u _printf_float`) + +### 烧录 + +使用 **STM32CubeProgrammer** 或 **OpenOCD** 烧录 `.elf` 文件到 STM32H743。 + +### 注意事项 + +- `CMakeLists.txt` 第 38 行有一个大写 `.C` 后缀 (`laser_manager.C`),在大小写敏感的文件系统上可能会构建失败 +- MPU Region 1 配置了 `0x30000000` 32KB 为非缓存区,所有 DMA 缓冲区必须放在此区域 (`.dma_buffer` section) +- USB CDC 用于 `printf` 输出 (通过 `retarget.c`) + +--- + +## 16. 实车调试流程 + +### 建议顺序 + +``` +P0: 几何参数 → 用卷尺实测,填入 robot_params.h + ↓ +P1: 里程计标定 → 直线跑 10m,对比编码器累积距离 + ↓ +P2: EKF 调优 → 从保守 Q/R 开始,观察走廊跟踪稳定性 + ↓ +P3: 控制器调参 → 先调 kp_theta/kd_theta (航向),再调 kp_y (横向) + ↓ +P4: 安全阈值 → 根据实际场地微调停车/减速距离 +``` + +### 常见问题诊断 + +| 现象 | 可能原因 | 调整方法 | +|------|----------|----------| +| 车头左右摆动 | kp_theta 过大 或 kd_theta 过小 | 减小 kp_theta 或增大 kd_theta | +| 横向纠偏太慢 | kp_y 过小 | 增大 kp_y | +| 到端刹不住 | d_front_stop 过小 或 approach 区间太短 | 增大 PARAM_SAFE_D_FRONT_STOP | +| 总是急停 | EKF 置信度低,可能是 VL53 数据不稳定 | 增大 R (降低观测信任) 或检查传感器接线 | +| EKF 发散 | Q 过小 (不信观测) 或 R 过小 (过信噪声数据) | 增大 Q 或增大 R | +| 单侧靠墙走 | PARAM_VL53_SIDE_INSET 未校准 | 实测传感器内缩距离并填入 | + +--- + +## 17. 文件快速索引 + +| 你想做什么 | 去看哪个文件 | +|-----------|-------------| +| 改任何调参数值 | `App/robot_params.h` | +| 理解系统初始化 | `App/app_tasks.c` → `AppTasks_Init()` | +| 理解导航流水线 | `App/app_tasks.c` → `AppTasks_RunNavTask_Impl()` | +| 看 EKF 数学 | `App/est/corridor_ekf.c` | +| 看控制律 | `App/nav/corridor_ctrl.c` | +| 看安全逻辑 | `App/nav/segment_fsm.c` | +| 看比赛编排 | `App/nav/nav_script.c` | +| 看传感器预处理 | `App/preproc/corridor_preproc.c` | +| 看 CAN 协议 | `App/Can/snc_can_app.c` + `App/Contract/chassis_can_msg.h` | +| 看全局数据结构 | `App/Contract/robot_blackboard.c/.h` | +| 看里程计 | `App/Contract/robot_odom.c` | +| 看激光驱动 | `App/laser/laser_manager.c` | +| 看 VL53 驱动 | `App/VL53L0X_API/platform/vl53_board.c` | +| 看 IMU 驱动 | `App/IMU/hwt101.c` | +| 看消息结构定义 | `App/preproc/corridor_msgs.h` | + +--- + +> **给接手者的最后提醒**: +> 1. **先修 BUG-1** (IMU 单位转换),否则 EKF 完全不可用 +> 2. **再修 BUG-2** (EKF 参数硬编码),否则调参改了白改 +> 3. 拿到实车后第一件事:用卷尺量 CAL-1 ~ CAL-3 的三个偏移量 +> 4. CAN 协议层 (`snc_can_app.c`) 已冻结,**不要修改** +> 5. IMU `yaw_continuous` 已接入转弯判定,实车调试时对比 `wz` 积分与 `yaw` 哪个更稳,参见 `IMU_YAW_WZ_ISSUE.md` diff --git a/Doc/HYBRID_NAVIGATION_GUIDE.md b/Doc/HYBRID_NAVIGATION_GUIDE.md new file mode 100644 index 0000000..72321f8 --- /dev/null +++ b/Doc/HYBRID_NAVIGATION_GUIDE.md @@ -0,0 +1,458 @@ +# 固定地图赛道的混合导航说明 + +## 1. 文档目的 + +本文档面向后续接手项目的人,说明当前比赛场景下为什么推荐采用一种“混合导航”方案,而不是单纯依赖局部传感器闭环,也不是直接上通用 SLAM / 全局路径规划。 + +这里的“混合导航”特指: + +- 上层使用固定地图和拓扑状态机 +- 中层使用段落动作与事件切换 +- 下层使用局部传感器闭环稳定控制 + +这套思路适用于当前这类: + +- 场地结构固定 +- 任务流程固定 +- 局部几何约束很强 +- 但局部传感器看不到全局目标 + +的比赛型机器人系统。 + +## 2. 场地与任务本质 + +根据比赛规则与 `HANDOFF.md`: + +- 场地大小为 `390cm x 300cm` +- 内部有 `5` 条田垄 +- 实际需要遍历的是 `6` 条垄沟 +- 每条垄沟宽 `40cm` +- 每条田垄长 `220cm` +- 只有 `1` 个出入口 +- 出入口外有启动区 + +从导航角度,这不是自由环境中的随机移动问题,而是一个非常明确的固定任务: + +1. 从启动区进入场地 +2. 进入某一条垄沟 +3. 沿垄沟稳定前进并作业 +4. 到达端部后完成转向与换沟 +5. 依次遍历全部 `6` 条垄沟 +6. 最终从唯一出口驶离场地 +7. 自主停回启动区 + +如果把整个任务抽象出来,本质上就是一个 **S 形遍历任务**。 + +示意如下: + +```text +入口 -> 沟1 ↑ + ↓ 沟2 + ↑ 沟3 + ↓ 沟4 + ↑ 沟5 + ↓ 沟6 -> 出口 +``` + +这类问题最重要的不是“任意时刻知道自己在全局坐标中的绝对位置”,而是: + +- 知道自己当前在第几条沟 +- 知道下一条目标沟是哪一条 +- 知道当前处于入沟、走沟、到端、换沟、出场还是回停阶段 +- 在每个阶段里,用合适的传感器和控制策略去完成当前动作 + +## 3. 为什么不能只靠局部导航 + +当前项目已经具备很强的局部导航能力,尤其是在单条垄沟内: + +- 侧向测距可以支撑居中或偏置行驶 +- IMU 可以提供航向与转角信息 +- 前向测距可以做端部触发 +- 里程计可以做短时推进量估计 + +但只靠局部导航会遇到明显边界: + +### 3.1 局部导航能解决什么 + +局部导航适合解决: + +- 在窄沟内居中 +- 在窄沟内保持姿态稳定 +- 接近端部时减速或停车 +- 在局部可观测条件下闭环修正误差 + +### 3.2 局部导航解决不了什么 + +局部导航不擅长解决: + +- 我现在完成了第几条沟 +- 下一条目标沟应该是左边还是右边 +- 转完向后该走多远才能接近下一条沟入口 +- 什么时候该结束整场遍历并朝唯一出口离场 + +这些问题需要: + +- 全局任务记忆 +- 地图拓扑信息 +- 阶段状态机 +- 跨局部观测空窗的动作脚本 + +所以,仅靠“看到什么就跟什么”的局部反应式导航,不足以稳定跑完整场比赛。 + +## 4. 为什么也不建议直接上通用 SLAM + +有些人看到“局部导航不够”,第一反应会是“那就做全局 SLAM”。 + +但当前赛题并不适合直接走这条路线。 + +### 4.1 地图不是未知的 + +赛场结构高度固定: + +- 垄沟数固定 +- 相对排列固定 +- 出入口固定 +- 启动区固定 + +这意味着没有必要像服务机器人那样,在未知环境中一边探索一边建图。 + +### 4.2 场地高度对称 + +`6` 条垄沟在局部上非常相似。 + +这会让很多通用全局定位方法遇到典型问题: + +- 局部观测相似 +- 重定位歧义大 +- 小误差可能让系统把“第 2 沟”认成“第 3 沟”附近 + +### 4.3 比赛更看重稳定完赛,而不是地图美观 + +比赛规则更关心: + +- 能不能完整遍历 +- 能不能不撞边 +- 能不能顺利出场 +- 能不能停回启动区 + +不是在考察一套通用 SLAM 系统的建图效果。 + +### 4.4 通用 SLAM 工程负担大 + +如果直接上完整 SLAM,通常还要处理: + +- 更复杂的状态与数据关联 +- 更高的开发和调参成本 +- 更重的算力与调度开销 +- 更难解释的失败模式 + +这和当前项目追求的工程目标并不匹配。 + +## 5. 什么是“混合导航” + +当前场景下推荐的“混合导航”,可以概括成一句话: + +**用固定地图决定去哪,用状态机决定现在该做什么,用局部传感器闭环决定这一小段怎么稳稳地过去。** + +它不是纯局部,也不是纯全局,而是分层协作。 + +## 6. 混合导航的三层结构 + +## 6.1 上层:固定地图与拓扑状态机 + +上层负责的是“全局任务理解”。 + +它需要维护的信息包括: + +- 当前所在赛道段编号 +- 当前已经完成了第几条垄沟 +- 下一条目标垄沟是哪一条 +- 当前应该左换沟还是右换沟 +- 当前处于:启动、入场、走沟、到端、换沟、再入沟、出场、回停 的哪一阶段 + +这一层不一定关心厘米级位置,而更关心: + +- 拓扑顺序 +- 阶段推进 +- 事件触发 + +可以把整场任务拆成固定段落,例如: + +1. 启动区准备 +2. 入口对准 +3. 垄沟 1 前进 +4. 端部换沟 1 +5. 垄沟 2 返回 +6. 端部换沟 2 +7. 垄沟 3 前进 +8. ... +9. 最后一沟结束 +10. 出场 +11. 回停启动区 + +这就是“固定地图导航”的核心,不是基于任意坐标规划,而是基于已知赛道结构推进任务。 + +## 6.2 中层:段落动作与事件切换 + +中层负责把“上层目标”翻译成可执行动作。 + +例如在某个阶段,机器人可能执行: + +- 入口慢速直行,直到捕获双侧结构 +- 沿当前垄沟闭环跟踪 +- 到端后原地转 `90°` 或 `180°` +- 保持某个航向横向推进一段距离 +- 在接近预计位置后减速,并等待重新捕获新垄沟 +- 切回垄沟跟踪模式 + +这一层的本质是“段脚本 + 事件触发”。 + +它依赖: + +- IMU 姿态 +- 里程计推进量 +- 前向/后向安全距离 +- 局部结构重新捕获结果 + +这层很重要,因为许多时候机器人会暂时处于“看不到完整走廊结构”的状态,比如端部换沟阶段。 + +## 6.3 下层:局部传感器闭环 + +下层负责在小范围内把车稳稳控制住。 + +典型任务: + +- 在垄沟内居中 +- 在垄沟内偏向 1/4 宽度行驶 +- 根据 IMU 保持航向 +- 根据前向测距做减速与停车 + +这一层应当追求: + +- 高频 +- 稳定 +- 可降级 +- 不依赖复杂全局推理 + +你现在已有的大部分控制能力,都属于这一层。 + +## 7. 各类传感器在混合导航中的角色 + +## 7.1 左右 VL53L0X + +推荐职责: + +- 走廊内横向定位 +- 居中/偏置行驶 +- 近场重捕获新垄沟 + +不推荐职责: + +- 远距离识别下一条垄沟入口 +- 独立承担换沟全流程导航 + +原因很简单: + +- 它们是近场侧向传感器 +- 强项是局部几何闭环 +- 弱项是远距离赛道级感知 + +## 7.2 IMU + +推荐职责: + +- 航向估计主来源 +- 转向角度判定 +- 无侧墙约束阶段的短时姿态保持 +- 换沟阶段的朝向控制 + +IMU 在混合导航里非常关键,因为它能帮助机器人跨过“局部结构暂时缺失”的区间。 + +## 7.3 编码器 / 里程计 + +推荐职责: + +- 估算走过了多长距离 +- 在换沟动作中提供推进量 +- 与状态机结合做段落退出条件 + +限制: + +- 遇到地毯、打滑、轮胎差异时会有误差 + +因此它适合作为“推进量参考”,但不适合作为唯一定位真值。 + +## 7.4 前后长距测距 + +推荐职责: + +- 到端检测 +- 防撞保护 +- 开阔区事件辅助 +- 出场或接近边界时的安全约束 + +这类传感器不一定直接告诉你“下一沟入口就在前方”,但能帮助你判断: + +- 是否接近端部 +- 是否接近围栏 +- 是否该切换动作阶段 + +## 8. 为什么这种方案适合当前比赛 + +## 8.1 它符合固定地图的特点 + +比赛地图结构是已知的。 + +这意味着: + +- 目标垄沟不是未知搜索对象 +- 换沟不必靠“发现远处入口” +- 可以由状态机根据当前进度直接推导“下一步该去哪” + +## 8.2 它承认局部传感器的边界 + +混合导航没有让 VL53 去做它不擅长的事情。 + +它承认: + +- VL53 负责局部 +- IMU 负责短时姿态保持 +- 里程计负责推进量 +- 上层状态机负责“全局流程” + +这是符合传感器物理特性的分工。 + +## 8.3 它能兼容尺寸误差与地毯 + +规则里有两个现实问题: + +- 场地尺寸允许 `+-5%` +- 有 `2` 条垄沟会随机铺地毯 + +这意味着: + +- 不能死信地图上的绝对尺寸 +- 不能死信纯里程推进 + +混合导航的好处是: + +- 上层地图只给出大方向和段结构 +- 局部闭环用实时传感器做最终修正 + +这样既利用了先验地图,又不会被固定脚本锁死。 + +## 9. 一个典型的工作流程 + +下面给出一个典型流程,帮助理解这套导航在比赛中的运行方式。 + +### 9.1 启动与入场 + +- 上层状态机进入“入口对准”阶段 +- 机器人从启动区朝入口前进 +- 一旦左右侧传感器稳定捕获到垄沟结构,切换为垄沟跟踪模式 + +### 9.2 垄沟内前进 + +- 下层局部控制根据左右侧测距维持横向位置 +- IMU 维持航向 +- 前向测距用于到端检测 +- 状态机记录当前垄沟编号与方向 + +### 9.3 到端 + +- 前向距离达到阈值 +- 状态机判定当前垄沟已到端 +- 进入转向阶段 + +### 9.4 换沟 + +- IMU 控制转向到目标朝向 +- 编码器推进预定距离 +- 长距测距做安全约束 +- 接近预期位置后减速 +- 直到左右 VL53 再次捕获新垄沟结构 + +### 9.5 再入沟 + +- 一旦检测到新的局部走廊结构 +- 状态机确认已进入下一条垄沟 +- 切换回局部走廊跟踪 + +### 9.6 重复直到遍历完成 + +- 状态机更新“当前第几沟” +- 按 S 形顺序重复以上过程 + +### 9.7 最终离场与回停 + +- 当最后一条垄沟完成后 +- 状态机切换到出场段 +- 利用固定地图与局部感知朝唯一出口离开 +- 出场后再执行停回启动区动作 + +## 10. 与当前项目的关系 + +当前项目已经具备混合导航中的一部分基础: + +- 局部走廊控制 +- IMU 航向处理 +- 到端检测 +- 原地转向 +- 段脚本雏形 + +但当前仍偏向: + +- 单垄沟验证 +- 局部闭环主导 +- 缺少完整的赛道级段落管理 + +所以后续真正需要补的,并不是完全推翻现有控制,而是: + +- 把“局部走廊能力”封装成底层能力 +- 在其上补一个完整的固定地图状态机 +- 把换沟和出场逻辑系统化 + +## 11. 一个容易犯的错误 + +在这类项目里,最容易犯的错误是两种极端: + +### 11.1 极端一:把所有问题都交给局部传感器 + +这会导致: + +- 换沟阶段无从判断全局目标 +- 容易在端部迷失 +- 难以稳定完成多垄沟遍历 + +### 11.2 极端二:把所有问题都交给“全局定位” + +这会导致: + +- 系统复杂度暴涨 +- 对称环境下定位歧义严重 +- 与比赛需求不匹配 + +混合导航的价值就在于避开这两个极端。 + +## 12. 推荐结论 + +对于当前比赛场景,推荐的总体思路是: + +1. 用固定地图描述整条 S 形任务路线 +2. 用拓扑状态机管理“当前在哪一段、下一步去哪一段” +3. 用 IMU 和里程计支撑跨局部观测空窗的动作执行 +4. 用左右 VL53 负责局部垄沟内的高精度横向闭环与重捕获 +5. 用前后长距测距做端部识别与安全保护 + +这就是当前场景最合适的混合导航方案。 + +## 13. 一句话总结 + +这类比赛不是“靠一套万能定位算法解决全部问题”,而是“让合适的层做合适的事”: + +- 地图负责全局流程 +- 状态机负责阶段切换 +- 传感器负责局部闭环 +- 控制器负责把每一小段稳稳跑完 + +这就是混合导航的核心价值。 diff --git a/Doc/IMU_YAW_REQUIREMENT.md b/Doc/IMU_YAW_REQUIREMENT.md new file mode 100644 index 0000000..8b80974 --- /dev/null +++ b/Doc/IMU_YAW_REQUIREMENT.md @@ -0,0 +1,321 @@ +# IMU 主导航向需求说明 + +## 1. 背景 + +当前项目运行场景是小车在走廊/垄沟内行驶,依赖以下传感器进行状态估计与控制: + +- HWT101 IMU:提供 `yaw`、`yaw_continuous`、`wz` +- 左右侧 VL53 测距:提供左右前后 4 个侧向距离 +- 编码器里程计:提供线速度 `odom_vx`,并参与运动预测 + +目前系统在 `navTask` 中每 20ms 执行一次状态估计与控制,整体链路见 `HANDOFF.md`。 + +本说明文档用于明确一个新的需求方向: + +- 左右激光测距主要用于横向位置参考 +- 航向角估计希望主要依赖 IMU,而不是依赖左右激光前后差分计算得到的航向角 + +本文档只描述需求、现状和建议,不修改现有代码。 + +## 2. 当前实现现状 + +### 2.1 当前 yaw / 航向相关的数据来源 + +当前系统中的“航向”并不是单一量,而是分成两类: + +1. IMU 原始航向信息 + +- 文件:`App/IMU/hwt101.c` +- IMU 输出: + - `yaw`:原始偏航角,范围 `[-180, 180)` + - `yaw_continuous`:对原始 yaw 做 unwrap 后得到的连续角度 + - `wz`:角速度,单位 `deg/s` + +2. EKF 中的相对航向误差 `e_th` + +- 文件:`App/est/corridor_filter.c` +- 文件:`App/est/corridor_ekf.c` +- `e_th` 表示小车相对当前走廊方向的航向误差,而不是全局绝对航向角 + +### 2.2 当前 EKF 中航向的计算方式 + +当前滤波流程如下: + +1. 预测步 + +- 使用 `odom_vx` 和 `imu_wz` 做预测 +- 对应代码:`CorridorEKF_Predict(odom_vx, imu_wz, dt)` + +2. 侧墙观测更新 + +- 使用左右侧测距更新横向误差 `e_y` +- 同时也使用左右同侧前后测距差来估计航向 `e_th` + +对应观测形式: + +- 左侧航向观测:`z_eth_L = atan2(d_lr - d_lf, Ls)` +- 右侧航向观测:`z_eth_R = atan2(d_rf - d_rr, Ls)` + +相关代码位置:`App/est/corridor_ekf.c` + +3. IMU yaw 观测更新 + +- 在侧墙更新之后,再用 `imu_yaw_continuous` 做一个独立 1DOF 的航向观测更新 +- 该观测形式为: + +`z_eth_imu = imu_yaw_rad - imu_yaw_ref_rad` + +其中 `imu_yaw_ref_rad` 是在侧墙观测可信时锁定的参考值 + +相关代码位置: + +- `App/est/corridor_filter.c` +- `App/est/corridor_ekf.c` + +### 2.3 当前系统对传感器的信任关系 + +从参数和注释来看,当前系统默认策略是: + +- 侧墙激光是走廊内姿态估计的主观测来源 +- IMU yaw 是辅助观测,用于长时约束和侧墙观测缺失时兜底 + +相关参数位于:`App/robot_params.h` + +当前默认值: + +- `PARAM_EKF_R_EY = 0.002f` +- `PARAM_EKF_R_ETH = 0.001f` +- `PARAM_EKF_R_ETH_IMU = 0.01f` + +含义: + +- 侧墙航向观测噪声更小,表示当前更信任侧墙推导出的航向角 +- IMU yaw 观测噪声更大,表示当前 IMU 在 EKF 中主要是弱约束 + +### 2.4 当前导航脚本对 IMU yaw 的使用 + +虽然走廊跟踪阶段的 `e_th` 主要是由 EKF 输出,但 180 度原地转向判定已经直接使用了 IMU 的 `yaw_continuous`。 + +相关代码位置:`App/nav/nav_script.c` + +这说明项目里已经承认一个事实: + +- 在“累计转角判定”这类任务上,IMU 连续 yaw 比 EKF 的 `e_th` 更适合做主依据 + +## 3. 当前方案存在的问题 + +### 3.1 左右激光更适合测位置,不适合主导航向 + +用户当前判断是: + +- 左右激光测距误差大约在 `+-2cm` +- 这个误差水平对于横向位置参考仍然有价值 +- 但对于航向角计算不够稳定,难以直接采纳为主观测 + +这是一个合理判断。 + +原因在于,侧墙航向观测本质上来自“同侧前后两个距离的差分”: + +- 左侧:`d_lr - d_lf` +- 右侧:`d_rf - d_rr` + +差分量本身会放大噪声影响,尤其是在以下条件下: + +- 单个传感器误差较大 +- 前后基线长度有限 +- 墙面不完全平整 +- 传感器安装误差存在偏角或偏移 + +因此,虽然左右激光仍然适合估计: + +- 小车是否居中 +- 小车偏左还是偏右 +- 小车是否位于沟宽的四分之一等目标横向位置 + +但未必适合继续承担“主航向来源”的角色。 + +### 3.2 当前结构下,侧墙观测对 e_th 的影响仍然偏强 + +当前 EKF 的侧墙更新同时包含: + +- `e_y` 观测 +- `e_th_L` / `e_th_R` 观测 + +所以只要侧墙数据有效,系统就会直接利用左右前后差分结果去修正航向。 + +如果侧墙前后差分噪声较大,就可能带来以下问题: + +- `e_th` 抖动 +- 控制输出 `w` 抖动 +- 走廊直行时出现不必要的左右摆动 +- IMU 已经给出较平滑航向,但被激光差分估计不断拉扯 + +## 4. 目标需求 + +### 4.1 总体需求 + +希望重新明确传感器分工: + +- IMU 主要负责航向角估计 +- 左右激光主要负责横向位置参考 + +更具体地说: + +1. 走廊内横向控制 + +- 左右激光用于判断小车在走廊中的横向位置 +- 支持居中行驶 +- 支持偏向左/右四分之一位置行驶等策略 + +2. 走廊内航向控制 + +- 航向估计应主要依赖 IMU +- 侧墙测距不应继续作为航向主观测来源 + +3. 转向阶段 + +- 继续使用 IMU 连续 yaw 作为转角判定主依据 + +### 4.2 需求表达上的准确表述 + +如果用更工程化的语言描述该需求,可以表述为: + +- “侧墙激光参与横向位置估计,不参与或仅弱参与航向角估计。” +- “航向角 `e_th` 的主来源改为 IMU `wz + yaw_continuous`。” +- “侧墙前后差分得到的航向观测仅作为弱约束、校验项,或直接关闭。” + +## 5. 对现有系统的理解结论 + +基于当前代码实现,可以得出以下判断: + +### 5.1 用户的想法与当前实现不一致 + +当前实现里: + +- 左右激光不仅参与横向位置 `e_y` +- 还直接参与航向 `e_th` + +而用户期望的是: + +- 左右激光只负责横向位置参考 +- 航向主要信任 IMU + +因此,这不是简单调一个小参数就完全等价的需求,而是状态估计设计思路上的调整。 + +### 5.2 用户的想法在当前场景下是成立的 + +若侧墙测距误差确实约为 `+-2cm`,则: + +- 用其估计横向偏移仍有意义 +- 用其做前后差分计算航向角则很容易噪声偏大 + +从传感器特性匹配上看,更合理的做法就是: + +- 激光负责位置 +- IMU 负责航向 + +### 5.3 需要区分“横向位置”和“航向角”两个子问题 + +本需求的关键不是“全面抛弃激光”,而是要区分: + +- `e_y`:仍可继续信任侧墙测距 +- `e_th`:应改为主要信任 IMU + +这是本需求最核心的设计点。 + +## 6. 后续可选改造方向 + +本节只记录可能的改造方向,不在本次工作中实施。 + +### 6.1 方向 A:仅通过参数调权,弱化侧墙航向观测 + +思路: + +- 保留现有 EKF 结构不变 +- 仅通过增大 `PARAM_EKF_R_ETH`、减小 `PARAM_EKF_R_ETH_IMU` 来让航向估计更偏向 IMU + +优点: + +- 修改最小 +- 风险相对可控 +- 可以快速实车验证 + +缺点: + +- 侧墙航向观测仍然存在于主更新流程中 +- 只是“变弱”,不是“彻底不参与” + +### 6.2 方向 B:结构性调整,侧墙只更新 e_y + +思路: + +- 修改 EKF 观测模型 +- 侧墙测距只用于更新 `e_y` +- `e_th` 仅由 `imu_wz` 预测和 `imu_yaw` 观测约束 + +优点: + +- 最符合本需求原意 +- 传感器职责边界清晰 + +缺点: + +- 改动比参数调权大 +- 需要重新验证滤波稳定性和控制效果 + +### 6.3 方向 C:侧墙航向只做低频校验或异常检测 + +思路: + +- 不再把 `z_eth_L/z_eth_R` 作为主 EKF 观测 +- 改成仅在长直段、双侧稳定、连续多帧一致时,低频微量校正 IMU 航向 +- 或只用于诊断告警,不直接参与状态更新 + +优点: + +- 兼顾 IMU 主导与环境约束 +- 有助于抑制纯 IMU 长时漂移 + +缺点: + +- 逻辑更复杂 +- 需要额外设计稳定判据 + +## 7. 推荐结论 + +如果以当前用户需求为准,推荐设计原则如下: + +1. 左右激光负责横向位置,不再主导航向 +2. IMU 负责航向主估计 +3. 转弯角度继续使用 IMU 连续 yaw 判定 +4. 如需保留侧墙航向,也应降为弱约束或校验项,而不是主观测 + +换句话说,后续如果要正式调整系统,应优先朝这个方向收敛: + +- `e_y` 由侧墙激光主导 +- `e_th` 由 IMU 主导 + +## 8. 涉及模块清单 + +本需求后续若要实施,主要会影响以下模块: + +- `App/IMU/hwt101.c` + - IMU yaw / yaw_continuous / wz 来源 +- `App/est/corridor_filter.c` + - IMU yaw 参考值与更新调用逻辑 +- `App/est/corridor_ekf.c` + - 侧墙航向观测 `z_eth_L/z_eth_R` 的使用方式 +- `App/robot_params.h` + - 观测噪声参数调权 +- `App/nav/nav_script.c` + - 转弯阶段的 IMU yaw 使用逻辑 + +## 9. 本文档结论摘要 + +本文档确认以下几点: + +- 当前系统现状:侧墙激光不仅用于横向位置,也参与航向角估计 +- 用户需求:侧墙激光只作为位置参考,航向主要信任 IMU +- 该需求与当前实现存在结构性差异 +- 从传感器误差特性看,这一需求是合理的 +- 后续建议将“位置”和“航向”两个估计任务明确拆分,各自交给更适合的传感器主导 diff --git a/Doc/can通讯协议.md b/Doc/can通讯协议.md new file mode 100644 index 0000000..01243aa --- /dev/null +++ b/Doc/can通讯协议.md @@ -0,0 +1,23 @@ +FDR-Core 上 位 机 CAN 协 议 说 明 书 ( 当 前 固 件 实 装 版 ) ⽂ 档 状 态 : Internal / Current 适 ⽤ 固 件 : 当 前 上 传 的 f4_can_app.c 实 现 说 明 依 据 : 以 .c 代 码 ⾏ 为为 准 1. ⽬ 标 与 范 围 本 ⽂ 档 定 义上 位 机 与 底 盘 控 制 器 之 间 的 CAN 通 信 协 议 , 覆 盖 以 下 内 容 : 上 位 机 向 底 盘 下 发 速 度 命 令 底 盘 向 上 位 机 上 报 状 态 、 轮 速 、 ⾥ 程 和 通 信 诊 断 命 令 安 全 机 制 : CRC 、 rolling counter 、 命 令 超 时 故 障 / 警 告 状 态 的 上 报 规 则 2. 总 线 与 编 码 约 定 CAN 类 型 : 标 准 帧 ( 11-bit ID ) 帧 类 型 : 数 据 帧 ( RTR=0 ) 字 节 序 : ⼩ 端 缩 放 规 则 : vx 、 wz : int16 = 物理量 * 1000 轮 速 : RPM 直 接按 int16 发 送 ⾥ 程 : 增 量 ticks , 按 int16 发 送 CRC : CRC8-SAE J1850 poly = 0x1D init = 0xFF xorout = 0xFF ⾮ 反 射 当 前 固 件 在 0x100 控 制 帧 上 , 对 前 7 个 字 节 计 算 CRC , 再 放 ⼊ Byte7 。 + +3. 帧 ID 总 览 ⽅ 向 ID 名 称 实 际 周 期 说 明 Rx 0x080 Heartbeat 上 位 机 ⾃ 定 仅 表 ⽰ 链 路 活 着 , 不 刷 新 运 动 看 ⻔ 狗 Rx 0x100 Velocity Command 建 议 20ms 速 度 控 制 命 令 , 必 须 持 续 发 送 Tx 0x181 Status 20ms 状 态 机 / 健 康 等 级 / 诊 断 位 Tx 0x182 Actual RPM 轮 询 , 约 60ms 实 际 轮 速 Tx 0x183 Target RPM 轮 询 , 约 60ms ⽬ 标 轮 速 Tx 0x184 Comm Diag 100ms 通 信 统 计 Tx 0x200 Odom Delta 轮 询 , 约 60ms 四 轮 ⾥ 程 增 量 当 前 固 件 在 CAN_Send_Telemetry_20ms() 中 采 ⽤ 如 下 节 拍 : 0x181 : 每 个 20ms 周 期 都 发 0x182 / 0x183 / 0x200 : 通过 s_telem_slot 三 选 ⼀ 轮 询 发 送 0x184 : 每 5 个 20ms 周 期 发 ⼀ 次 , 即 100ms ⼀ 次 4. 上 位 机 -> 底 盘 4.1 0x080 ⼼ 跳 帧 ⽤ 途 : 仅 表 ⽰ “ 链 路 上 仍 然 有 ⼈ 在 说话 ” + +⾏ 为 : 不 会 刷 新 运 动 看 ⻔ 狗 不 会 延 续 旧 速 度 命 令 当 前 固 件 不 解 析 其 载 荷 内 容 , 也不 使 ⽤ DLC 内 容 建 议 : 可发可 不 发 若 发 , DLC 可 统 ⼀ 为 0 或 8 4.2 0x100 速 度 控 制 帧 ID : 0x100 DLC : 8 数 据 定 义 Byte 类 型 字 段 说 明 0~1 int16 LE vx_x1000 线 速 度 , 单 位 m/s * 1000 2~3 int16 LE wz_x1000 ⻆ 速 度 , 单 位 rad/s * 1000 4 uint8 ctrl_flags 控 制 标 志 位 , 当 前 仅 保 存 , 不 参 与 控 制决 策 5 uint8 reserved 预 留 , 固 定 填 0 6 uint8 rolling_counter 滚 动 计 数 器 7 uint8 crc8 对 Byte0~6 做 CRC8-SAE J1850 固 件 接 收 后 会 把 vx 、 wz 恢 复 成 浮 点 值 , 分别 写 ⼊ : g_robot_ctrl.target_vx g_robot_ctrl.target_wz + +并 保 存 ctrl_flags 与 rolling counter 。 接 收 判 定 规 则 1. DLC 必 须 等 于 8 2. CRC 必 须 正 确 3. rolling counter 必 须 满 ⾜ 下 列 规 则 : 若 尚 未 同 步 , 或 当 前 不 在 SYSTEM_OPERATIONAL , 则 ⾸ 帧 直 接接 受 正 常 运 ⾏ 时 , 新 counter 相 对 上 ⼀ 帧差 值 必 须 在 1..3 之 间 否 则 拒 收 发 送 建 议 推 荐 周 期 : 20ms ( 50Hz ) 最 低 要 求 : 不 要 超 过 150ms 不 发 送 合 法 0x100 即 使你 想 停 ⻋ , 也 建 议 继续 周 期 发 送 : vx = 0 wz = 0 的 合 法 命 令 帧 因 为 当 前 固 件 只 ⽤ “ 合 法 且 新 鲜 ” 的 0x100 喂 命 令 看 ⻔ 狗 , 超 时 阈 值 是 150ms 。 5. 底 盘 -> 上 位 机 5.1 0x181 状 态 帧 ID : 0x181 周 期 : 20ms DLC : 8 Byte 类 型 字 段 说 明 0 uint8 system_state 0=BOOTING , 1=OPERATIONAL , 2=SAFE_FAULT 1 uint8 system_health 0=OK , 1=WARNING , 2=FAULT + +Byte 类 型 字 段 说 明 2~5 uint32 LE diag_bits 当 前 诊 断 位 图 6 uint8 cmd_age_10ms 距 最 近 ⼀ 次 合 法 0x100 已 过 去 多 少 个 10ms tick 7 uint8 status_counter 状 态 帧 发 送 计 数 器 5.2 0x182 实 际 轮 速 帧 ID : 0x182 周 期 : 轮 询 , 约 60ms DLC : 8 Byte 类 型 字 段 0~1 int16 LE FL 实 际 RPM 2~3 int16 LE RL 实 际 RPM 4~5 int16 LE FR 实 际 RPM 6~7 int16 LE RR 实 际 RPM 5.3 0x183 ⽬ 标 轮 速 帧 ID : 0x183 周 期 : 轮 询 , 约 60ms DLC : 8 Byte 类 型 字 段 0~1 int16 LE FL ⽬ 标 RPM 2~3 int16 LE RL ⽬ 标 RPM + +Byte 类 型 字 段 4~5 int16 LE FR ⽬ 标 RPM 6~7 int16 LE RR ⽬ 标 RPM 5.4 0x184 通 信 诊 断 帧 ID : 0x184 周 期 : 100ms DLC : 8 Byte 字 段 说 明 0 valid_cmd_total_lsb 合 法 命 令 累 计 低 8 位 1 crc_error_total_lsb CRC 错 误 累 计 低 8 位 2 counter_reject_total_lsb rolling counter 拒 收 累 计 低 8 位 3 can_tx_drop_total_lsb CAN 发 送 丢 帧 累 计 低 8 位 4 busoff_total_lsb Bus-Off 累 计 低 8 位 5 rx_overrun_total_lsb FIFO overrun 累 计 低 8 位 6 last_accepted_counter 最 近 ⼀ 次 接 受 的 rolling counter 7 err_nibbles ⾼ 4 位 = 连 续 counter 错 误 数 ; 低 4 位 = 连 续 CRC 错 误 数 ; 均 饱 和 到 15 5.5 0x200 ⾥ 程 增 量 帧 ID : 0x200 周 期 : 轮 询 , 约 60ms DLC : 8 + +Byte 类 型 字 段 0~1 int16 LE FL delta ticks 2~3 int16 LE RL delta ticks 4~5 int16 LE FR delta ticks 6~7 int16 LE RR delta ticks 说 明 : 这 是 时 间 窗 内 增 量 不 是 累 计 总 值 上 位 机 如 需 总 ⾥ 程 / 总 编 码 器 计 数 , 需 要 ⾃ ⾏ 累 加 积 分 6. 系 统 状 态 与 健 康 等 级 6.1 system_state 值 名 称 含 义 0 SYSTEM_BOOTING 上 电 后 尚 未 收 到 第 ⼀ 帧 合 法 速 度 命 令 1 SYSTEM_OPERATIONAL 正 常 ⼯ 作 2 SYSTEM_SAFE_FAULT 安 全 保 护 , ⽬ 标 速 度已 强 制 清 零 6.2 system_health 值 名 称 含 义 0 SYSTEM_HEALTH_OK ⽆ 活 动 中 的 警 告 / 故 障 1 SYSTEM_HEALTH_WARNING 有 警 告 , 但仍 可 ⼯ 作 2 SYSTEM_HEALTH_FAULT 有 明 确 故 障 , 通 常已 经 或 应 进 ⼊ 保 护 + +7. diag_bits 诊 断 位 图 定 义 diag_bits 是 ⼀ 个 32 位 ⼩ 端 位 图 , ⽬ 前 定 义 如 下 : bit 宏 名 级 别 含 义 0 DIAG_COMM_TIMEOUT Fatal 速 度 控 制 帧 超 时 1 DIAG_CAN_BUS_OFF Fatal CAN Bus-Off 2 DIAG_CMD_CRC_STORM Fatal 连 续 CRC 错 误 过 多 3 DIAG_CMD_CNT_STORM Fatal 连 续 rolling counter 错 误 过 多 4 DIAG_MOTOR_FL_STALL Fatal 左 前 轮 堵 转 / 失 效 趋 势 5 DIAG_MOTOR_RL_STALL Fatal 左 后 轮 堵 转 / 失 效 趋 势 6 DIAG_MOTOR_FR_STALL Fatal 右 前 轮 堵 转 / 失 效 趋 势 7 DIAG_MOTOR_RR_STALL Fatal 右后 轮 堵 转 / 失 效 趋 势 8 DIAG_CONTROL_SATURATION Warning 控 制 输 出 ⻓ 时 间 顶 满 建 议 上 位 机 把 : bit0 ~ bit7 视 为 故 障 类 bit8 视 为 警 告 类 8. 安 全 策 略 与 故 障 触 发 条 件 8.1 命 令 超 时 命 令 看 ⻔ 狗 超 时 阈 值 : 150ms 只 有 合 法 且 新 鲜 的 0x100 才 会 刷 新 0x080 ⼼ 跳 不 会 刷 新 超 时 后 : 进 ⼊ SAFE_FAULT + +置 位 DIAG_COMM_TIMEOUT 8.2 CRC 错 误 ⻛ 暴 若 连 续 CRC 错 误 计 数 达 到 5 进 ⼊ SAFE_FAULT 置 位 DIAG_CMD_CRC_STORM 8.3 Counter 错 误 ⻛ 暴 若 连 续 counter 错 误 计 数 达 到 5 进 ⼊ SAFE_FAULT 置 位 DIAG_CMD_CNT_STORM 8.4 CAN Bus-Off 若 发 ⽣ Bus-Off 计 数 累 加 进 ⼊ SAFE_FAULT 置 位 DIAG_CAN_BUS_OFF 8.5 电 机 堵 转 固 件 每 10ms 做 ⼀ 次 电 机 堵 转 诊 断 。 若 某 轮 持 续 满 ⾜ 以 下 条 件 : ⽬ 标 RPM >= 40 实 际 RPM <= 8 控 制 输 出 绝 对 值 >= 850 并 持 续 50 个 10ms tick ( 即 500ms ) , 则 : 置 对 应 轮 ⼦ 的 stall 位 + +进 ⼊ SAFE_FAULT 8.6 控 制 饱 和 若 存 在 任 ⼀ 轮 持 续 满 ⾜ : ⽬ 标 RPM >= 30 控 制 输 出 绝 对 值 >= 980 并 持 续 20 个 10ms tick ( 即 200ms ) , 则 : 置 位 DIAG_CONTROL_SATURATION 该 项 属 于 Warning , 不 单 独 强 制 进 ⼊ SAFE_FAULT 。 9. 上 位 机 实 现 建 议 9.1 速 度 命 令 发 送 建 议 上 位 机 按 如 下 ⽅ 式 实 现 : 周 期 : 20ms ID : 0x100 rolling counter : 每 帧 ⾃ 增 1 , uint8 ⾃ 然 回 绕 CRC : 每 次 发 送 前 重 新 计 算 Byte0~6 的 CRC8-SAE J1850 停 ⻋ 时 不 要 停 ⽌ 发命 令 , 继续 发 : vx = 0 wz = 0 推 荐 发 送 频 率 推 荐 : 50Hz ( 20ms ) 可 接 受 : 100Hz ( 10ms ) 不 建 议 低 于 10Hz 绝 不 能 超 过 150ms 不 发合 法 0x100 + +9.2 ⼼ 跳 发 送 ID : 0x080 可 选 仅 ⽤ 于上 位 机 链 路 监 控 不 要 依 赖 它 维 持 运 动 9.3 状 态 接 收 建 议 重 点 订 阅 : 0x181 : 状 态 / 健 康 / 故 障 0x184 : 通 信 统 计 以 及 按 需 订 阅 : 0x182 : 实 际 轮 速 0x183 : ⽬ 标 轮 速 0x200 : ⾥ 程 增 量 建 议 上 位 机 ⾄ 少 显 ⽰ : system_state system_health diag_bits cmd_age_10ms crc_error_total_lsb counter_reject_total_lsb busoff_total_lsb 四 轮 实 际 RPM 四 轮 ⽬ 标 RPM 四 轮 增 量 ticks + +10. 0x100 组 帧 参 考 伪代 码 counter = (counter + 1) & 0xFF vx_i16 = round(vx_mps * 1000) wz_i16 = round(wz_radps * 1000) data[0] = vx_i16 & 0xFF data[1] = (vx_i16 >> 8) & 0xFF data[2] = wz_i16 & 0xFF data[3] = (wz_i16 >> 8) & 0xFF data[4] = ctrl_flags data[5] = 0 data[6] = counter data[7] = crc8_j1850(data[0:7]) send(id=0x100, dlc=8, data=data) \ No newline at end of file diff --git a/Doc/map.md b/Doc/map.md new file mode 100644 index 0000000..b5b0055 --- /dev/null +++ b/Doc/map.md @@ -0,0 +1,61 @@ +```地图 +比例尺: 1字符 = 10cm x 10cm +物理尺寸: X轴(横向)净宽 300cm, Y轴(纵向)净深 390cm + +图例说明: +[#] : 赛场实体围栏 (外部边界) +[.] : 垄沟/平地通道 (左侧40cm, 右侧40cm, 垄间40cm) +[=] : 垄背凸起 (长220cm, 宽30cm) +[S] : 比赛启动区 (宽40cm, 深100cm,紧邻左侧通道) + + X: 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 + Y: ------------------------------------------------------------------ + 0 | # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # + 1 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 2 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 3 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 4 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 5 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 6 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 7 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 8 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 9 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 10 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 11 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 12 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 13 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 14 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 15 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 16 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 17 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 18 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 19 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 20 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 21 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 22 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 23 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 24 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 25 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 26 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 27 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 28 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 29 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 30 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 31 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 32 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 33 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 34 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 35 | # . . . . = = = = = = = = = = = = = = = = = = = = = = . . . . # + 36 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 37 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 38 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 39 | # . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . # + 40 | # S S S S # # # # # # # # # # # # # # # # # # # # # # # # # # # + 41 S S S S + 42 S S S S + 43 S S S S <-- 启动区长度 100cm (共10格深) + 44 S S S S + 45 . . . . +``` + + diff --git a/Doc/大体方案.md b/Doc/大体方案.md new file mode 100644 index 0000000..8c28fd0 --- /dev/null +++ b/Doc/大体方案.md @@ -0,0 +1,507 @@ +# ASER 平台 B 方案走廊相对定位实现与模块化解耦技术报告 + +**执行摘要**:本报告围绕你选择的 **B 方案(走廊相对定位 Corridor-relative Estimation)**,在不破坏现有 ASER 工程结构与 **STM32H743(上位机)↔ STM32F407(底盘)既有 CAN 协议**的前提下,给出一套可落地、可扩展、可“先跑通再变强”的实现路线。核心思想是:不把比赛当作“绝对坐标 SLAM”,而把赛场 40 cm 窄通道视为拓扑段落序列,实时估计 **横向偏差 e_y、航向误差 e_θ、沿通道进度 s**,并用侧向测距闭环实现“居中/偏置行走 + 对齐”,以对抗 **赛场尺寸 ±5% 误差、地毯导致的轮滑、测距偶发失效**(比赛规则明确存在地毯模拟松软路面、且尺寸允许误差 ±5%)。同时,将 **0x100 速度指令 20 ms 周期硬实时发送**作为最高优先级工程约束,任何导航/融合/日志都不得影响其节拍(否则底盘可能进入 SAFE_FAULT)。赛场层面,规则要求 **5 分钟限时**且未完全驶出与未停在启动区内可判 0 分,因此系统优先级必须是 **安全与完赛闭环 > 定位美观 > 路径最优**。(赛事通道/出入口 40 cm、启动区、5 分钟限制、尺寸误差 ±5%:见《附件6…比赛规则》1–3 页与 14 页;上位机 CAN 协议关键帧:见《通讯协议》2–4 页、8–10 页;ASER 工程任务/协议层约束:见《aser》1–5 页。) + +## 系统约束与现状梳理 + +### 赛场与任务约束对算法与工程的“硬约束” +比赛场地为 **390 cm × 300 cm**,共有 5 条田垄;围栏与田垄之间、以及相邻田垄之间均为 **40 cm 通道(垄沟)**,出入口宽 **40 cm**,出入口外侧紧邻 **40 cm × 100 cm 启动区**;比赛 **限时 5 分钟**,且规则强调必须驶离场地并停在启动区,否则可能判 0 分;尺寸允许误差 **±5%**(意味着通道宽可能约 38–42 cm,任何“贴边”策略都必须考虑裕量)。这些约束直接决定控制目标应是“别蹭边、别失控、能跑完”,而非追求全局米级地图的一致性。(《附件6…比赛规则》1–3 页、14 页) + +### 现有硬件与软件约束 +以下为你给定的固定约束(本报告按此设计): + +- 车体:**20×20 cm**,轮厚 **3 cm**;**差速四轮结构**(四电机)。 +- 控制器三块: + - **STM32F407(底盘)**:已实现四轮 **LADRC**,通过 CAN 与上位机通信。 + - **STM32H743(主控/上位机)**:传感器融合、底盘与机械臂控制(现状上位机)。 + - **K230(视觉中枢)**:用于视觉语义/目标等(本报告将其作为增强/降级输入,不进入硬实时链路)。 +- ASER 工程形态(来自你上传的 ASER 文档):基于 STM32CubeMX + FreeRTOS(CMSIS-V2),已建立 **20 ms canTxTask** 与 **100 ms monitorTask**;CAN 协议层在 `App/Can/snc_can_app.c/.h`,并明确要求保持既有协议/中断接收链路,新增功能优先放到 `App/` 目录以避免再生成覆盖;FDCAN 接收链路保持 IRQ→回调→协议解析的单路径。(《aser》1–5 页) + +### 既有 CAN 协议是“不可破坏”的硬边界 +你已确认 H7↔F4 通信协议“已经制定好”,因此本文不再“重新设计协议”,而是把协议当作 **契约(contract)**: +- 0x100 为速度命令,**DLC=8**,包含 `vx_x1000`、`wz_x1000`、rolling counter、CRC8;要求 **建议 20 ms** 周期持续发送,且 **不得超过 150 ms 不发送合法 0x100**,否则底盘进入 SAFE_FAULT;心跳帧 0x080 **不刷新运动看门狗**。(《通讯协议》2–4 页、8–10 页) +这些要求决定:**所有算法模块必须围绕“20 ms 严格出 v/ω”来组织调度与解耦**。 + +## 传感器清单、性能与可观测性分析 + +### 传感器清单(按你给定配置) +- **4 电机编码器**:提供四轮增量/速度,可构造差速里程计,并可用于同侧前后轮差异的 **轮滑检测**(工程上很关键)。 +- **高精度单轴 IMU(ω_z 或 θ)**:你给定“短时漂移可忽略”。这对 B 方案非常有利:可把“短段航向保持/原地转向闭环”做得很稳,同时简化滤波状态维度(但仍需讨论风险与退路,见后文)。 +- **8 个测距模块**:前后左右各 2 个: + - 左右侧向:**VL53L0X V2**(最远 2 m)。ST 官方产品页说明 VL53L0X 为 ToF 测距,最大可到 **2 m**。citeturn2search3 + 同时其官方数据手册给出典型“Range profile”:High speed 20 ms、Long range 33 ms、High accuracy 200 ms 等 timing budget 配置(对你做“关键动作更稳、巡航更快”的动态配置非常实用)。citeturn2search41 + - 前后向(每端 2 个):**STP-23L(7 cm–7.5 m)** + **ATK‑MS53L1M(4 m)**。其中 4 m 量程模块工程上高度可能基于 VL53L1X 类 ToF:ST 官方 VL53L1X 产品页给出“up to 4 m、up to 50 Hz”能力,可作为你对 4 m 级传感器的性能参考上限。citeturn0search0 +- 结构:**差速四轮** → 上位机输出 (v, ω) 即可驱动底盘;底盘闭环已由 F407 LADRC 负责。 + +### B 方案的可观测性:为什么侧向双点能同时观测 e_y 与 e_θ +走廊相对定位的关键是:**只关心“相对墙/垄侧”的横向与航向误差**,不强求全局 (x,y)。只要左右两侧各有前后两个测距点(你是每侧 2 个 VL53L0X),就可以构造两个稳定的派生量测: + +- **航向误差 e_θ(相对走廊方向)**:利用同侧前后距离差与传感器纵向基线 \(L_s\),可用 + \[ + e_{\theta,L} \approx \arctan\left(\frac{d_{Lf}-d_{Lr}}{L_s}\right),\quad + e_{\theta,R} \approx \arctan\left(\frac{d_{Rf}-d_{Rr}}{L_s}\right) + \] + 该构造与你上传的《大体方案》对 B 方案与派生量测的定义一致(《大体方案》4–5 页)。 +- **横向误差 e_y(相对中心线/偏置线)**:用左右平均间隙差得到 + \[ + e_y \approx \frac{1}{2}( \bar d_L - \bar d_R) - y_{\text{offset}} + \] + 其中 \(y_{\text{offset}}\) 是你可以显式引入的“偏置行走”目标(例如机械臂在右侧外凸时令车辆略偏左,降低擦碰风险)。同样与《大体方案》对 B 方案的描述一致(《大体方案》4–5 页)。 + +前后向测距(STP-23L / 4 m 模块)主要用于:**到端触发(段落切换)**、安全制动、以及对沿程 \(s\) 的事件校正(见后文)。 + +## 走廊相对定位与融合算法设计 + +### 问题建模与坐标系 +定义走廊(或垄沟)局部坐标系 \(\{C\}\): +- \(x_C\):沿走廊前进方向; +- \(y_C\):走廊横向(向左为正); +- 车辆车体坐标 \(\{B\}\):\(x_B\) 前、\(y_B\) 左。 + +B 方案输出状态: +\[ +\mathbf{x}_c = [e_y,\ e_\theta,\ s]^T +\] +其中: +- \(e_y\):车辆参考点(建议用车体几何中心或“控制点”)相对走廊目标线(中心线或偏置线)的横向偏差; +- \(e_\theta\):车辆航向相对走廊方向的误差; +- \(s\):沿走廊进度(m),用于段落终止触发/动作编排,不作为“强闭环精确位姿”。 + +### 传感器融合总体策略:分层、分频、强约束 +建议采用“三层融合与控制”: + +- **层 A(硬实时输出层,20 ms)**:必须产出 (v_cmd, ω_cmd) 并发送 CAN 0x100。无论任何模块异常,这层都不能停摆(最多把速度降到 0 并持续发送合法 0x100)。这是由底盘运动看门狗与超时机制决定的:0x080 心跳不刷新看门狗,只有合法 0x100 刷新;超时阈值 150 ms。 (《通讯协议》2–4 页、8–10 页) +- **层 B(相对定位与走廊闭环,建议 50–100 Hz)**:估计 \(e_y,e_\theta,s\),并形成走廊跟随控制律;允许降级(只用单侧、只用 IMU 航向保持等),但必须在可控范围内给出指令。 +- **层 C(段落状态机/任务决策,10–20 Hz)**:执行段脚本(Segment List)、处理到端触发、重定位行为(扫描/后退重试/停车保护)、以及与机械臂/视觉的协同。 + +这样做的目的:**把“安全与完赛”从定位精度中解耦**。 + +### 状态估计实现方案对比:从“极简互补”到“鲁棒 EKF/UKF” +你明确提出希望覆盖 EKF/UKF/粒子滤波。结合 STM32H743 算力与工程风险,本报告建议按阶段实现: + +#### 极简方案:互补滤波 + 鲁棒观测融合(优先推荐做 P0) +利用你给定“短时 IMU 漂移可忽略”,可以先不引入复杂滤波矩阵,直接做: + +- 航向误差 \(e_\theta\): + - 预测:\(e_{\theta,k|k-1}=e_{\theta,k-1} + \omega_z \Delta t\) + - 校正:用侧向差分观测 \(e_{\theta,L}, e_{\theta,R}\) 做加权融合(按健康度/置信度权重),再与预测做互补融合: + \[ + e_\theta \leftarrow \alpha(e_\theta + \omega_z\Delta t) + (1-\alpha)\cdot e_{\theta,\text{meas}} + \] +- 横向误差 \(e_y\): + - 直接由 \(\frac{1}{2}(\bar d_L-\bar d_R)-y_{\text{offset}}\) 给出,并做一阶低通(根据 VL53L0X timing budget 动态调整滤波带宽;20 ms 档噪声较大、200 ms 档更稳但延迟更大,可从数据手册的 profile 及误差差异得到工程依据)。citeturn2search41 +- 沿程 \(s\): + - 用编码器里程计积分为主(来自 CAN 0x200 的轮增量 ticks,你需要在 H743 侧累加积分)。 (《通讯协议》5–7 页) + - 用前向测距做“事件校正”:当 \(d_\text{front}\) 小于阈值(接近端部围栏)触发段切换,并把 \(s\) 校正到“段长 - d_front - 安装偏置”。 + +优点:实现快、数值稳定、适合先把整车跑通;缺点:难以严格输出协方差,也不便于统一做马氏门限。 + +#### 鲁棒 EKF(推荐做 P1) +若你希望更系统地融合并获得一致的健康度/协方差,则做小维 EKF: + +- 状态:\(\mathbf{x}=[e_y,e_\theta,s]^T\) 或扩展为 \([e_y,e_\theta,s,b_g,k_s]\)(陀螺零偏、轮滑比例因子)以吸收轮滑/地毯误差(《大体方案》4 页提到类似扩展思路)。 +- 预测模型(简化差速运动学在走廊局部系下的表达): + \[ + \begin{aligned} + e_{y,k+1} &\approx e_{y,k} + v_k\sin(e_{\theta,k})\Delta t \\ + e_{\theta,k+1} &\approx e_{\theta,k} + (\omega_{z,k}-b_{g,k})\Delta t \\ + s_{k+1} &\approx s_k + v_k\cos(e_{\theta,k})\Delta t + \end{aligned} + \] + 其中 \(v_k\) 来自里程计估计或上一周期命令(两者在轮滑情况下要区别对待)。 +- 量测模型: + - \(z_{e_y}=\frac{1}{2}(\bar d_L-\bar d_R)-y_{\text{offset}}\) + - \(z_{e_\theta}\):由左/右侧差分观测(可单侧/双侧) + - \(z_s\):端部事件约束(触发式更新) +- **异常值剔除(创新门限/χ²)**: + 用马氏距离(innovation 的归一化残差)做门限,d² 超限则拒绝该测距更新、降低该传感器健康度,并触发降级/重定位动作。创新卡方检验型鲁棒 EKF 在导航融合领域是成熟手段;例如武汉大学学报给出“基于创新卡方检验的扩展鲁棒卡尔曼滤波”并说明可有效抑制观测粗差、提高稳定性。citeturn5search1 + 同时马氏距离平方在高斯假设下与 χ² 分布的关系,可作为你选择阈值的理论依据。citeturn5search0 + +#### UKF(备选 P1/P2) +UKF 的优势是减少雅可比推导错误风险,对非线性更稳健;其系统性论述可参考 Julier & Uhlmann 的综述文章(Proceedings of the IEEE, 2004)。citeturn4search8 +但对 MCU 工程而言,UKF 的实现细节(sigma 点、数值稳定、协方差正定维护)仍需严格测试。建议在 EKF 稳定后再引入 UKF,或仅在仿真/离线回放中验证。 + +#### 粒子滤波(不建议作为主线) +粒子滤波更适合多峰分布或强非线性/非高斯,但你这里的走廊状态空间维度小、观测约束强、且 MCU 实时性要求更硬,粒子滤波的收益通常不如鲁棒 EKF/UKF 明显。建议仅在“视觉地标 + 多段拓扑歧义”场景出现时再考虑。 + +### 控制律:走廊闭环优先,轨迹跟踪为辅 +走廊段推荐直接闭环 \(e_y,e_\theta\) 输出角速度: +\[ +\omega_\text{cmd}=k_\theta e_\theta + k_y e_y +\] +线速度: +\[ +v_\text{cmd}=\min(v_\text{ref},\ v_\text{safety}) +\] +其中 \(v_\text{safety}\) 由安全层根据前向距离与最小侧向间隙硬约束裁剪(见下节)。 + +对于“入场对准、退出与停回启动区”等非典型走廊段,可以上层用段脚本触发“短距离轨迹跟踪”(如 Pure Pursuit),但其输出仍应统一进入 **命令仲裁器**,最终被安全层裁剪后送给 CAN 0x100。 + +### 安全层、异常检测与重定位策略 +这是 B 方案能否“比赛不判零”的关键(规则对失控/冲出场地会强制罚下,且未驶出/未停在启动区可能 0 分)。《附件6…比赛规则》1、8–9 页 + +#### 传感器健康度与一致性检查 +建议对每个测距传感器维护 `health_score∈[0,1]` 与 `state∈{OK,SUSPECT,FAIL}`,并用以下规则更新(工程可解释、易调参): + +- **有效性**:超量程/无数据/固定值卡死 → 直接 FAIL(可加 N 次确认)。 +- **跳变**:\(|d_k-d_{k-1}|>\Delta d_\text{max}\) 且与冗余传感器不一致 → SUSPECT。 +- **走廊一致性**: + - 左右平均距离差过大(\(e_y\) 过大)接近阈值 → 触发降速/停车; + - 左右和与走廊宽度模型严重不符(考虑 ±5% 尺寸误差)→ 可能进入入口/出口开阔区或测距误读,切换“入口/开阔区模式”。 + +#### 轮滑检测(地毯场景必须做) +规则明确会在垄沟中随机铺设地毯模拟松软路面(《附件6…比赛规则》2–3 页),强烈建议把轮滑检测当作“安全与融合共同输入”: +- 同侧前后轮编码器差异过大(四轮提供更多冗余) +- \(|\Delta\theta_\text{enc} - \Delta\theta_\text{imu}|\) 超阈值(IMU 短时漂移可忽略时,这个检测更可靠) + +轮滑触发后动作: +- 降低 \(v_\text{max}\)、限制加速度; +- 融合层增大过程噪声 \(Q\) 或降低对里程计的信任; +- 控制层更依赖侧向闭环(\(e_y,e_\theta\)),减少对 \(s\) 的硬依赖。 + +#### 重定位/恢复动作链(建议用段脚本固化) +当“走廊观测不可用”或“误差超过安全阈值”时,不要让系统继续前冲;建议固化为可重复执行的恢复链: + +1. **低速前进 + 侧向对齐**:尝试恢复 \(e_\theta\) 可观测(左右/单侧)。 +2. **原地旋转扫描**:转动寻找两侧墙面,使 \(e_y/e_\theta\) 可观测。 +3. **后退重试或停车保护**:连续失败 N 次后退出(比赛是否允许等待/重试由你们策略决定,但从“避免失控罚下”角度,停车保护是最后底线)。 + +这类恢复链在你上传的《大体方案》中已有雏形(《大体方案》13 页),建议工程化为状态机(NORMAL/DEGRADED/RECOVERY/STOP_SAFE)。 + +### “IMU 短时漂移可忽略”的简化与风险 +你给定该条件,可以显著简化实现(例如可不立刻估计 \(b_g\)),但必须明确风险边界: + +- 风险来源:温漂、振动、饱和、安装误差、长时间累计偏置。短时可忽略 ≠ 全程可忽略。 +- 工程缓解: + - 开机静止校零(估计陀螺零偏); + - 在走廊段用侧向差分观测周期性校正 \(e_\theta\)(即使不用 EKF,也做互补融合); + - 若引入 EKF/UKF,建议把 \(b_g\) 作为可选状态并在“长段/高温漂”时开启。 + +## 通讯协议与硬实时调度约束 + +### CAN 报文契约(按现有协议原样遵守) +你上传的《通讯协议》给出了当前固件实装版协议要点(标准帧 11-bit、DLC、字节序、缩放、CRC8 等),这里整理为“实现必须满足的契约”: + +- **0x100 Velocity Command(H743→F407)** + - DLC=8;`vx,wz` 按 `int16 = 物理量 × 1000`(小端);包含 `rolling_counter` 与 `CRC8-SAE J1850`(对 Byte0~6 计算,放 Byte7)。 + - 推荐周期 **20 ms**;**绝不能超过 150 ms 不发送合法 0x100**(即使停车也继续发 vx=0,wz=0 的合法帧);rolling counter 在正常运行时要求与上一帧差值在 1..3,否则拒收。 + (《通讯协议》2–4 页、8–10 页) + +- **0x080 Heartbeat(H743→F407)**:仅表示链路活着,**不刷新运动看门狗**,不能替代 0x100。 (《通讯协议》2–3 页、8–10 页) +- **0x181 Status(F407→H743,20 ms)**:包含 `system_state、system_health、diag_bits、cmd_age_10ms` 等,用于安全降级决策。 (《通讯协议》4–5 页) +- **0x184 Comm Diag(F407→H743,100 ms)**:统计 CRC 错误、counter 拒收、bus-off 等,必须纳入诊断与回放。 (《通讯协议》6 页) +- **0x200 Odom Delta(F407→H743,轮询约 60 ms)**:四轮增量 ticks;上位机需自行累积。 (《通讯协议》5–7 页) + +> 说明:你已表示协议既有且固定,因此本报告不建议在 H7↔F4 CAN 上新增“破坏兼容”的帧。若未来要加扩展帧,建议在不影响现有 ID/节拍/接收逻辑的前提下做“可选附加 ID”,并通过版本位/能力位协商(但这属于后续扩展,不是当前 P0 必需)。 + +### 优先级、周期与超时处理(工程实现建议) +- **最高优先级**:`can_tx_0x100_task`(20 ms,硬实时,禁止被日志/融合阻塞)。 + ASER 工程现有结构已采用 20 ms 的 canTxTask 且强调绝对节拍(osDelayUntil)与协议层保持(《aser》1、5 页)。 +- **第二优先级**:CAN Rx 中断回调(接收 0x181/0x184/0x200),以“快照/无锁或短临界区”方式写入共享上下文,避免长时间占用 ISR。 +- **第三优先级**:控制/估计(50–100 Hz),必须保证“在下一个 0x100 截止前产出最新命令”,但即便估计超时,也要有“上一帧命令 + 安全裁剪”的保底。 +- **监控任务(100 ms)**:读取 `cmd_age_10ms、diag_bits、comm diag`,若发现异常趋势(例如 DIAG_COMM_TIMEOUT、bus-off、连续 CRC 错误风暴)立即触发上位机 STOP_SAFE 模式并把 (v,ω) 置零,但仍持续发合法 0x100。 (《通讯协议》8–10 页) + +为实现稳定周期,建议使用 FreeRTOS 的 `vTaskDelayUntil()`(按绝对时间唤醒,适合固定频率周期任务)。citeturn3search34 +在 ISR→任务的事件通知上,任务通知(`vTaskNotifyGiveFromISR`)通常比信号量更轻,FreeRTOS 手册亦将其描述为更快的替代机制。citeturn2search42 + +### 关键消息帧示例(十六进制 + 结构体) +下面给出 **0x100** 的一个可复现实例(示例:vx=0.30 m/s,wz=0.80 rad/s,ctrl_flags=0x01,counter=0x10;CRC8=SAE J1850,对 Byte0~6 计算): + +- `vx_x1000 = 300 = 0x012C`(小端:2C 01) +- `wz_x1000 = 800 = 0x0320`(小端:20 03) +- 组合 Byte0~6:`2C 01 20 03 01 00 10` +- 计算得到 `CRC8 = 0xA1` +- 最终 8 字节: + **`2C 01 20 03 01 00 10 A1`** + +对应 C 结构体(注意小端序与打包): + +```c +#pragma pack(push,1) +typedef struct { + int16_t vx_x1000; // Byte0-1, m/s * 1000 + int16_t wz_x1000; // Byte2-3, rad/s * 1000 + uint8_t ctrl_flags; // Byte4 + uint8_t reserved; // Byte5, fixed 0 + uint8_t rolling_counter; // Byte6 + uint8_t crc8; // Byte7, CRC8-SAE J1850 over Byte0..6 +} CanCmdVel_0x100_t; +#pragma pack(pop) +``` + +(0x100 字段定义、CRC 规则、rolling counter 规则、150 ms 超时:见《通讯协议》2–4 页、8–10 页。) + +## 软件模块化与解耦方案 + +### 解耦目标与原则 +在 ASER 现有工程约束下(协议层/中断链路/任务框架尽量不动),解耦的关键是把系统切成三类模块: + +1. **硬实时链路模块**:唯一职责是“稳定发 0x100”,只从一个“命令槽(Command Slot)”读取最新的 (v,ω);不做复杂计算、不打印日志。 +2. **可实时模块**:估计、控制、预处理,允许在极端情况下掉周期,但必须提供保底输出与超时策略。 +3. **非实时模块**:日志、回放、仿真接口、参数调试、统计;永不阻塞硬实时。 + +ASER 文档明确:CAN 协议层位置固定,并建议新功能放 App/ 目录,且 canTxTask/monitorTask 已存在。(《aser》1–5 页) + +### 数据流总览(mermaid) +```mermaid +flowchart LR + subgraph S[传感器/底盘输入] + VL53[VL53L0X x4 侧向测距] + FRONT[前向测距: STP-23L + 4m模块] + BACK[后向测距: STP-23L + 4m模块] + IMU[单轴IMU ωz/θ] + CANRX[CAN Rx IRQ: 0x181/0x184/0x200] + end + + subgraph P[预处理与健康度] + PRE[时间戳对齐/滤波/有效性检测/健康度] + OBS[派生观测构造: e_y_meas, e_theta_meas, d_front, d_back] + end + + subgraph E[估计与控制] + EST[走廊相对定位滤波器\n(x=[e_y,e_θ,s] 或扩展)] + SEG[段脚本解释器 + 拓扑状态机] + CTRL[走廊控制器/原地转向/入口对准] + SAFE[安全监督器/降级状态机/命令仲裁] + end + + subgraph R[硬实时输出] + CANTX[CAN Tx Task\n0x100 @20ms] + end + + subgraph L[工具链] + LOG[日志记录/回放/故障注入] + SIM[仿真/传感器注入接口] + end + + VL53 --> PRE + FRONT --> PRE + BACK --> PRE + IMU --> PRE + CANRX --> PRE + + PRE --> OBS --> EST + CANRX --> EST + + EST --> CTRL + SEG --> CTRL + CTRL --> SAFE --> CANTX + + CANRX --> SAFE + SAFE --> LOG + OBS --> LOG + EST --> LOG + SIM --> PRE +``` + +### 模块清单、接口消息、周期与最大延迟(必须表格) +下表给出“建议模块化拆分”,并明确每个模块 I/O、周期与延迟预算。**注意:开发语言、CPU 负载预算未指定**;下表的资源估计按 STM32H743 “小维滤波 + 50–100 Hz 控制”属于轻量任务的常见工程经验给出,最终应以运行时 profile 校准。STM32H743 的 480 MHz Cortex‑M7 与双精度 FPU、TCM RAM 能力,为小维滤波提供了硬件基础。citeturn1search1 + +| 模块 | 职责 | 输入(消息/接口) | 输出(消息/接口) | 典型周期 | 最大延迟(建议) | 资源估计(H743) | +|---|---|---|---|---|---|---| +| CAN协议适配层(既有) | 按既有协议收发、CRC、上下文维护(禁止破坏兼容) | FDCAN IRQ | `ChassisStatus(0x181)`、`CommDiag(0x184)`、`OdomDelta(0x200)` | IRQ/20ms/轮询 | <2 ms 解析写入 | 低;保持原样 | +| CAN Tx 0x100 硬实时任务 | 固定 20 ms 发送合法 0x100,任何情况下不断流 | `CmdSlot(v,w,flags)` | CAN 0x100 | **20 ms** | **<1 ms 抖动** | 极低;最高优先级 | +| 编码器里程计模块 | ticks 累加、四轮→差速等效、轮滑检测特征 | `OdomDelta(0x200)` | `OdomEst{ds, v, yaw_enc}`、`SlipFeat` | 50–100 Hz(或随0x200) | <20 ms | 低 | +| IMU采集模块 | 采集 ωz/θ、时间戳、静止校零 | SPI/I2C/串口(未指定) | `ImuZ{wz, dt}` | 200–500 Hz(建议) | <5 ms | 低 | +| VL53侧向驱动 | 4 个 VL53L0X 轮询/异步读取、模式切换(20/33/200ms) | I2C | `RangeSideRaw` | 20–50 Hz(视 timing budget) | <40 ms | 低到中(I2C占用) | +| 前后测距驱动 | STP-23L 与 4m 模块读取、冗余校验 | UART/I2C(未指定) | `RangeFrontBackRaw` | 20–50 Hz | <50 ms | 低到中 | +| 预处理与健康度 | 对齐时间戳、滤波、有效性、跳变检测、一致性/走廊模式识别 | Raw ranges、IMU、Odom | `CorridorObs{e_y_meas,e_th_meas,d_front,d_back,valid}`、`SensorHealth` | 50–100 Hz | <20 ms | 低 | +| 走廊相对定位滤波 | 互补/EKF/UKF 输出 e_y/e_θ/s 与置信度 | `CorridorObs`、`ImuZ`、`OdomEst` | `CorridorState{e_y,e_th,s,cov/conf}` | 50–100 Hz | <20–40 ms | 低(小维) | +| 段脚本解释器 | Segment List 执行:走廊段/原地转向/退出停车/失败恢复 | `CorridorState`、`SensorHealth` | `SegmentCmd{mode,v_ref,y_offset,end_trigger}` | 10–20 Hz | <100 ms | 低 | +| 控制器集合 | 走廊闭环、原地转向、入口对准等 | `SegmentCmd`、`CorridorState` | `RawCmd{v,w}` | 50–100 Hz | <20 ms | 低 | +| 安全监督器/仲裁 | 急停/限速/降级/模式切换;融合底盘 diag_bits/cmd_age | `RawCmd`、0x181/0x184、ranges | `CmdSlot(v,w,flags)`、`SafetyState` | 50–100 Hz | **<20 ms**(到0x100) | 低 | +| 日志与回放 | 记录观测/状态/命令/故障;支持离线回放复现实验 | 全部关键消息 | log文件/串口输出 | 5–20 Hz(批量写) | 不得阻塞实时链路 | 中(取决于介质) | +| 测试仿真/注入接口 | PC 仿真或回放注入 ranges/odom/imu;用于HIL | 离线数据/串口/USB | 注入到 PRE | 非实时 | 不影响0x100 | 低 | + +**接口命名建议**:把“CAN 帧”与“内部消息”严格区分,例如 `CanCmdVel_0x100_t` 与 `CmdSlot`,避免上层直接依赖 CAN 打包细节,从而实现解耦与可测试性。 + +## 实现步骤与里程碑 + +### 分阶段实施步骤清单(可操作) +由于赛期时间表“未指定”,下面以“无特定期限”的工程顺序给出建议;若你们有明确赛期,可按周压缩/并行。 + +**阶段 P0:跑通闭环(目标:能稳定走通道、不撞、不中断 0x100)** +1. 固化 **0x100 20 ms** 发送硬实时:把 canTxTask 设为最高优先级,只从 `CmdSlot` 取值;加 watchdog/统计,任何异常也持续发送 vx=0,wz=0 的合法帧。(《通讯协议》2–4 页、8–10 页;《aser》1、5 页) +2. 接入 CAN Rx:0x181/0x184/0x200 解析快照写入上下文,monitorTask 先只做可视化打印与超时报警。(《通讯协议》4–7 页;《aser》1–5 页) +3. 侧向 VL53L0X 驱动:先用固定 profile(例如 33 ms 或 30 ms 档),跑出稳定的 `d_Lf,d_Lr,d_Rf,d_Rr`;必要时在关键动作切换到 200 ms 高精度档(官方数据手册给出 profile 与 timing budget)。citeturn2search41 +4. 前后测距驱动:至少保证一个“前向安全距离”可用,先实现安全限速/急停。 +5. 实现派生观测 \(e_y,e_\theta\) 并闭环:先用互补滤波/低通 + 走廊控制律,让车在 40 cm 通道内稳定跑直线与到端停车。 +6. 段脚本最小集:CorridorFollow / TurnInPlace / ExitAndStop(动作少但可跑完全程)。 + +**阶段 P1:鲁棒性与可调参** +1. 加入健康度、异常检测、降级状态机:单侧可用时切“单侧贴边 + IMU 航向约束”;双侧不可用时低速+停车保护。 +2. 加入轮滑检测与自适应策略(地毯段必需):轮速差与 IMU/里程计不一致触发降速与融合降权。(地毯存在:见《附件6…比赛规则》2–3 页) +3. 引入鲁棒 EKF(或对互补滤波加入创新门限):用 χ²/马氏距离拒绝异常测距,参考创新卡方检验鲁棒 EKF 的工程化做法。citeturn5search1turn5search0 +4. 完善日志与回放:把“每次撞/每次抖动”都能离线复现,支撑快速迭代。 + +**阶段 P2:增强与赛场集成** +1. K230 输出“结构化低带宽特征”作为增强/降级输入:例如走廊中心偏差、地标识别结果;K230 的多核 RISC‑V 与 KPU 能力适合做推理后输出特征量,而不承担 20 ms 硬实时闭环。citeturn6search3 +2. 若需要局部绕障(比赛道具/土块干扰可能导致异常行为),可做“小范围 DWA 风格速度采样”,但务必以安全层为前提;DWA 原始思想是“在速度空间搜索可停、避障、前进最优的 (v,ω)”。citeturn4search0 + +### 仿真工具与场景建议 +未指定你们必须使用 ROS/某仿真器,因此给出三档可选: + +- **轻量快速(推荐 P0/P1)**:Python/Matlab 自建 2D 走廊仿真(差速模型 + 墙面 ToF 测距模型 + 噪声/丢包/跳变),用于调 \(k_y,k_\theta\)、异常门限、降级策略;优点是迭代极快、与 B 方案高度匹配。 +- **中等复杂(可选)**:Webots/Gazebo 的差速车模型 + 简化距离传感器,验证入口/转向等几何行为。 +- **硬件在环 HIL(推荐 P1/P2)**: + - H743 跑真实控制栈; + - 通过“仿真注入接口”把 ranges/imu/odom 注入 PRE 模块(测试编译开关),同时真实发送 CAN 0x100 给 F4,看 F4 是否稳定接受、是否出现 counter/CRC 风暴、cmd_age 是否异常。(《通讯协议》8–10 页) + +### 里程碑甘特图(示例:无特定期限,按 6 周节奏展示) +```mermaid +gantt + title ASER B方案(走廊相对定位)里程碑示例(无特定期限) + dateFormat YYYY-MM-DD + axisFormat %m-%d + + section P0 跑通(先安全后精度) + 0x100 20ms硬实时不掉帧 + 基础安全层 :a1, 2026-03-18, 7d + CAN Rx接入(0x181/0x184/0x200)+里程计 :a2, after a1, 7d + VL53侧向+前后测距驱动 + e_y/e_θ观测 :a3, after a2, 10d + 走廊控制器 + 最小段脚本(走廊/转向/退出) :a4, after a3, 10d + + section P1 稳定与容错 + 健康度/异常检测/降级状态机 :b1, after a4, 7d + 轮滑检测与自适应降速/融合降权 :b2, after b1, 7d + 鲁棒EKF/互补+χ²门限(可选) :b3, after b2, 7d + + section 集成与验证 + 日志回放/自动化测试/故障注入 :c1, after a3, 14d + HIL联调 + 赛场流程演练 + 参数冻结 :c2, after b3, 14d +``` + +## 性能指标与验证方法 + +### 建议性能指标(赛前可再定阈值) +结合 40 cm 通道与车辆 20 cm 外形,工程上建议把“安全裕量”明确成指标: + +- **走廊横向控制**: + - \(e_y\) RMS(直通道匀速 0.2–0.4 m/s):建议目标 < 10–20 mm(取决于传感器安装与轮滑程度); + - \(e_y\) 峰值:不得触发“最小侧向间隙”保护线。 +- **航向对齐**:\(e_\theta\) RMS < 1–2°(入口/转向后重新进入走廊的恢复时间也应记录)。 +- **端到端延迟**:从侧向测距采样到 0x100 生效的闭环延迟建议 < 40 ms(两周期);0x100 发送抖动应远小于 20 ms 周期。 +- **鲁棒性**:单侧 VL53 临时失效(例如 0.5–1 s)仍能保持不碰撞;前向测距失效时必须降速并可安全停车。 +- **完赛相关**:在 5 分钟限制下完成“驶出场地 + 停在启动区”动作(规则强调未完成可 0 分)。 (《附件6…比赛规则》1 页) + +### 数据采集需求(支撑可复现实验) +建议每条日志至少包含: +- 时间戳(单调时钟)、段 ID、模式(NORMAL/DEGRADED/RECOVERY/STOP_SAFE) +- 原始测距(8 路)、有效标志、健康度 +- 派生观测 \(e_y,e_\theta,d_\text{front},d_\text{back}\) +- 估计状态(\(e_y,e_\theta,s\) 与协方差/置信度) +- 输出命令(RawCmd 与最终 CmdSlot)、0x100 counter/CRC 统计 +- 底盘状态(0x181 system_state/health/diag_bits/cmd_age)与 0x184 通信统计 +(这些字段在协议中均可获得:见《通讯协议》4–7 页。) + +### 单元测试与整车测试用例示例 +**单元测试(Host 或 MCU 上跑,推荐“输入→输出可验算”)** +- UT-EST-001:给定理想走廊、已知 \(L_s\)、固定 \(e_\theta\),构造 \(d_{Lf},d_{Lr}\) 并验证 \(e_{\theta,L}\) 反解误差 < 阈值。 +- UT-GATE-001:给定 EKF 创新与协方差,构造离群点,验证 χ² 门限拒绝逻辑;门限选择可参考创新卡方检验鲁棒 EKF 文献。citeturn5search1 +- UT-CAN-001:0x100 打包:vx/wz 缩放、小端序、CRC8-J1850 校验与 rolling counter 递增规则;确保 counter 跳变策略不会触发底盘拒收。(《通讯协议》2–4 页) +- UT-SAFE-001:前向距离 < d_stop → v=0;cmd_age_10ms 超阈值或 diag_bits 出现致命位 → STOP_SAFE 并持续发 0x100=0。(《通讯协议》4–5 页、8–10 页) + +**整车测试(建议可回归)** +- IT-COR-001(入场对准):启动区→40 cm 出入口→进入第一通道;指标:不触碰、最大横向误差、耗时。(赛场尺寸:见《附件6…比赛规则》2 页) +- IT-COR-002(走廊直行):匀速 0.2/0.3/0.4 m/s,统计 \(e_y\) RMS/峰值、\(e_\theta\) RMS。 +- IT-END-001(到端触发):接近端部围栏,验证触发准确率与停车距离一致性。 +- IT-SLIP-001(地毯轮滑):在地毯段运行,验证轮滑检测触发率、降速策略与不碰撞。(地毯:见《附件6…比赛规则》2–3 页) +- IT-DROP-001(侧向遮挡):遮挡一只 VL53 或一侧两只,验证降级切换时间与稳定性。 +- IT-CAN-FAULT-001(CAN 抖动/延迟注入):验证即使系统负载上升也不会超过 150 ms 不发合法 0x100。(《通讯协议》8–10 页) + +## 风险与替代方案 + +### 主要风险点与缓解 +- **通道极窄 + 尺寸误差 ±5%**:通道宽可能缩到约 38 cm,若车辆外廓/轮子外露估计不足,居中也可能刮擦。缓解:把“最小侧向间隙”作为硬安全约束,并支持按段设置 \(y_\text{offset}\)。 (尺寸误差:见《附件6…比赛规则》14 页) +- **测距盲区/遮挡/高反射干扰**:VL53L0X 在高速档噪声更大;缓解:关键动作切高精度 timing budget(200 ms)并降低速度;按 datasheet profile 做“模式-噪声-速度”联动。citeturn2search41 +- **前后测距冗余冲突**:两种前向传感器可能在某些目标材质/角度下给不同值;缓解:做一致性选择(例如取更保守的近距离值)+ 门限剔除。 +- **地毯轮滑导致里程计失真**:规则明确存在地毯(《附件6…比赛规则》2–3 页)。缓解:轮滑检测触发后降低对里程计的信任、降速并强化侧向闭环。 +- **CAN 带宽与实时性**:若日志/调试占用 CPU 或关中断过久,可能导致 0x100 抖动/丢帧;缓解:日志异步队列+独立低优先级 logger task;0x100 发送任务最高优先级,且即使停车也持续发合法帧。(0x100 硬约束:见《通讯协议》2–4 页、8–10 页) +- **计算资源不足**:若引入过重的规划(全局优化/TEB 等),会侵蚀硬实时;缓解:主线坚持 B 方案小维估计+简单控制;局部避障仅做轻量 DWA 风格采样,且可选。citeturn4search0 + +### 替代/增强方案 +- **A 方案度量定位 EKF/UKF 作为评估与恢复辅助**:在不依赖其做走廊闭环的前提下输出 (x,y,θ) 与协方差,用于段落切换一致性检查与日志评估(《大体方案》4 页)。 +- **K230 视觉作为测距降级备份**:K230 的双核 RISC‑V + KPU 适合推理后输出结构化特征,作为走廊偏差/地标观测源之一。citeturn6search3 +- **局部避障(可选)**:若赛场土块/障碍导致必须绕行,可引入 DWA 思想做速度空间采样;其原始工作在 IEEE Robotics and Automation Magazine 1997 年文章中系统阐述。citeturn4search0 + +## 代码生成与 AI 协作建议 + +### 为什么必须“接口契约优先” +你明确提到多数代码将由 AI 生成。要让 AI 代码可控,必须先把系统拆成“可替换模块 + 明确消息契约 + 可回归测试”。否则 AI 很容易在“看似能跑,但破坏实时性/破坏协议/破坏并发安全”的地方踩雷。 + +ASER 文档中已经明确:协议层与接收链路不要随意改动,新逻辑应放 App/ 并遵守现有任务框架。(《aser》1–5 页) + +### 建议的仓库结构与代码模板(示例) +建议在 `App/` 下新增(不动协议层): + +- `App/sensors/`:`vl53_driver.c/.h`、`stp23l_driver.c/.h`、`ms53_driver.c/.h`、`imu_z.c/.h` +- `App/preproc/`:`corridor_obs.c/.h`、`health_monitor.c/.h` +- `App/est/`:`corridor_filter.c/.h`(互补/EKF/UKF 可切换) +- `App/nav/`:`segment_fsm.c/.h`、`corridor_ctrl.c/.h`、`safety_supervisor.c/.h` +- `App/log/`:`logger_task.c/.h`、`replay.c/.h` +- `App/test/`:host 可编译的纯 C 测试(或 Unity/Ceedling/CppUTest) + +**接口契约头文件(强制先写)**:例如 `corridor_msgs.h` + +```c +#pragma pack(push,1) +typedef struct { + uint32_t t_ms; + float d_lf, d_lr, d_rf, d_rr; // meters + float d_front, d_back; // meters + uint8_t valid_mask; // bitfield +} CorridorObs_t; + +typedef struct { + uint32_t t_ms; + float e_y; // meters + float e_th; // radians + float s; // meters + float conf; // 0..1 or covariance proxy +} CorridorState_t; + +typedef struct { + uint32_t t_ms; + float v; // m/s + float w; // rad/s + uint8_t flags; +} RawCmd_t; +#pragma pack(pop) +``` + +### 单元测试规范(让 AI 代码“可验收”) +- **每个模块至少 3 类测试**:正常、边界、异常(离群/丢包/超时)。 +- **所有纯算法模块必须可在 Host 编译运行**(不依赖 HAL),把硬件依赖封装成接口(如 `read_range()` 函数指针或 mock)。 +- **协议相关测试必须比对字节级输出**:0x100 的 CRC/rolling counter/小端序是典型“AI 容易写错但编译不过不报错”的点。(《通讯协议》2–4 页) + +### 自动化生成与审查流程建议 +- 先由你/团队写“模块接口契约 + 时序约束表 + 禁止事项”(如“0x100 发送任务不得阻塞”),再让 AI 生成实现。 +- CI 至少包含: + 1) Host 单元测试; + 2) 静态检查(clang-tidy/cppcheck 任选); + 3) 构建固件; + 4) (可选)HIL 脚本:注入传感器回放数据,检查 0x100 发送间隔最大值与 counter 连续性。 +- Code review checklist(必须人工看): + - 是否出现长时间关中断/在高优先级任务里打印; + - 是否对共享上下文无保护读写导致撕裂; + - 是否更改了 `snc_can_app` 协议定义/接收链路(ASER 文档明确不建议破坏)。 (《aser》1–5 页) + +--- + +**参考资料(你上传的原始文档)** +- 《附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则》:赛场尺寸、40 cm 通道/出入口、地毯、5 分钟限时、尺寸误差 ±5%(1–3 页、14 页)。 +- 《通讯协议》:现有 H7↔F4 CAN 协议、0x100 20 ms/150 ms 超时、CRC8/rolling counter、0x181/0x184/0x200 定义与诊断位(2–10 页)。 +- 《aser》:ASER 工程结构、FreeRTOS 任务(20 ms/100 ms)、协议层位置与“不要破坏接收链路/协议层”的约束(1–5 页)。 +- 《大体方案》:B 方案状态与派生量测构造、走廊闭环思想、降级/恢复链与实施计划(4–5 页、13–16 页)。 + +**参考资料(官方/原始文档与论文)** +- ST VL53L0X 产品页(最大 2 m):citeturn2search3 +- ST VL53L0X 数据手册(timing budget 与 profile:20 ms/33 ms/200 ms 等):citeturn2search41 +- ST VL53L1X 产品页(up to 4 m、up to 50 Hz):citeturn0search0 +- STM32H743(480 MHz Cortex‑M7、双精度 FPU、TCM 等特性):citeturn1search1 +- FreeRTOS `vTaskDelayUntil()`(固定频率周期任务的绝对时间阻塞):citeturn3search34 +- FreeRTOS `vTaskNotifyGiveFromISR()`(ISR→任务通知):citeturn2search42 +- 创新 χ² 检验鲁棒 EKF(武汉大学学报):citeturn5search1 +- 马氏距离与 χ² 门限关系、鲁棒策略示例:citeturn5search0 +- UKF(Julier & Uhlmann 综述条目):citeturn4search8 +- DWA 原始工作(Fox/Burgard/Thrun 1997):citeturn4search0 +- K230 官方文档(CPU0 Linux/CPU1 RTOS、KPU INT8/INT16 等):citeturn6search3 \ No newline at end of file diff --git a/Doc/附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md b/Doc/附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md new file mode 100644 index 0000000..15c67bc --- /dev/null +++ b/Doc/附件6:B类“马铃薯捡拾机器人竞技”比赛及评审规则.md @@ -0,0 +1,27 @@ +- 1 - “奥凯杯”第十一届国际大学生智能农业装备创新大赛 B 类“马铃薯捡拾机器人竞技”比赛及评审规则 一、比赛规则要点 1 、 马铃薯捡拾机器人可采用垄间作业或跨垄作业模式。 垄间作业模式, 机器人在比赛过程中需遍历所有 6 条垄沟;跨垄作业模式,机器人作业幅宽 只允许跨一个垄背,且比赛过程中需遍历所有 5 个垄背。 2 、比赛需要作业,每支队伍有两次机会,成绩取最优者。参赛机器人需 进行马铃薯捡拾作业,以作业速度和作业效果进行综合成绩评判。比赛中无 作业动作的参赛机器人,比赛成绩以 0 分计。 3 、比赛限时 5 分钟(含违章加罚比赛用时)。从 100 秒预备时间已到 之后,评委发出“起跑”命令后,机器人开始跨越起跑线开始计时,到参赛 机器人所有部位都离开比赛场地出入口终止计时。 在限定时间内未完成比赛 者,比赛成绩以 0 分计。 4 、 比赛结束后, 参赛机器人须驶离场地, 任何部位不得停留在场地内, 否则视为未完成比赛。离开场地后需要自主停在比赛启动区,未自主停止的 视为未完成比赛,自主停止但未完全停在比赛启动区的视为连续超界。 5 、各参赛单位可以派出多支参赛队。但每支参赛队都必须根据比赛要 求,自行设计(或组装)、制作各自的参赛机器人。限定每支参赛队只能有 1 台机器人参赛。 6 、比赛分专本组和硕博组两类,以队伍中学历最高者为分类依据。 + +- 2 - 二、比赛场地及作业要求 1 、 比赛场地 如图 1 所示。比赛场地为 390cm × 300cm 的区域,共有 5 条田垄。 场地四周用高 12cm 的围栏围住,只留有一个宽 40cm 的出入口,围栏 与田垄之间留有宽 40cm 的通道(垄沟),垄长 220cm 、垄宽 30cm 、垄 高 12cm ,相邻田垄之间也留有宽 40cm 的通道(垄沟)。出入口外侧紧 邻比赛场地的 40cm × 100cm 的区域为比赛启动区,尺寸如图 1 所示: 图 1 比赛场地简图 围栏和田垄可采用钢质或木制材料制作, 田垄为灰色, 围栏为黑色; 地面采用爬行垫铺设,爬行垫标准( 1. 颜色:灰色; 2. 材质: PE ; 3. 尺 + +- 3 - 寸:采用 60cm*60cm 标准尺寸进行拼接)。现场比赛时会从 6 条垄 沟中随机抽取两条垄沟,在其中放置宽 40cm 、长 300cm (即与垄沟等 长)的卡其色地毯,以模拟松软路面,地毯材质为丙纶,底部为防滑网 格底,厚度约 5.5mm ,所有场地毛毯布置均相同。如图 2 所示。 图 2 爬行垫及地毯 2 、马铃薯 马铃薯用榉木实心仿真鸽子蛋代替,有棕色和绿色 2 种,分别用 奶黄色和青绿色油漆喷涂,尺寸规格为外径 30mm ,长度 42mm ,重 量约 14g 。具体规格和形状如图 3 所示。 + +- 4 - 图 3 马铃薯示意图(单位 mm ) 3 、土块 土块使用黄色原积木代替, 因现实中有各种颜色土块, 为使比赛 更接近现实,故允许土块有色差,尺寸为 1.5cm 的立方体,具体如 图 4 。 + +- 5 - 图 4 土块 4 、 作业要求 参赛机器人需自行设计马铃薯载运装置,比赛时需将马铃薯从 田垄上捡拾起来放到小车上,比赛结束时将其运到比赛启动区,期 间马铃薯不能掉落。 5 、比赛场地布置 每条田垄放置若干颗马铃薯和若干颗土块, 在靠近出入口侧的田垄 长度中心线上每隔 20cm 做标记点,马铃薯在标记点处放置,方向为其 处长度方向与田垄长度中心线 45 °范围内任一方向;土块围绕马铃薯 随机放置,放置范围为以标记点为中心点,长 70mm 、高 75mm 的矩形 区域内随机放置。具体如下: ①专本组 : 每条田垄放置 2 颗棕色马铃薯、 每颗马铃薯附近随机放 置 4 颗土块,同一级别比赛马铃薯放置标记点位置相同。 + +- 6 - ②硕博组: 每条田垄放置 2 颗棕色马铃薯、 1 颗绿色马铃薯,绿色 马铃薯为干扰组,不得捡拾,每颗马铃薯附近随机放置 4 颗土块,同一 级别比赛马铃薯放置标记点位置相同,角度在规定范围内随机。 赛前组委会会设计 5 种硕博组场地布置方案并进行密封处理,决 赛现场由裁判或参赛队员现场随机抽取 1 种方案进行布置;其中专本 组绿色马铃薯位置不做任何布置,棕色马铃薯放置标记点位置与硕博 组相同。 三、比赛规则 比赛根据参赛队员中最高学历者设置专本组和硕博组 2 个级别, 分开比赛和统计成绩。每支队伍都有两次机会。 1. 比赛规则 ①根据参赛队伍情况, 设置多块比赛场地。 比赛前组委会会随机为 各参赛队分配一块场地, 各比赛场地内的参赛队抽签确定比赛顺序, 同 一队伍两次机会结束后, 下一队伍开始比赛。 各场地同时进行比赛。 同 一级别比赛的每块比赛场地毛毯、马铃薯的放置位置均相同。 ②比赛成绩根据参赛机器人“作业得分” “走过的通道数” “能 否驶出场地”“能否停在启动区”和“比赛用时”等进行评比。 ③限时 5 分钟内(含违章加罚比赛用时)未完全驶出场地的比 赛成绩为 0 分; ④驶出场地但所有部位都未停止在比赛启动区内(不含启动区 标线)的成绩为 0 分; + +- 7 - 2. 相关概念界定 ● 有效作业: 参赛机器人发现某个须捡拾马铃薯,控制作业装置对 其进行作业, 将马铃薯放置到小车上, 且过程中不掉落, 则视为一次有 效作业。 ● 无效作业: 参赛机器人发现某个须捡拾马铃薯,控制作业装置对 其进行作业, 但未将马铃薯放置到小车上, 或者放到小车上但比赛过程 中掉落,则视为一次无效作业。 ● 漏 捡: 参赛机器人在作业过程中未对某个须捡拾马铃薯进行捡拾 作业,则视为一次漏施。 ● 误捡: 参赛机器人在比赛过程中对绿色马铃薯进行作业,致其发 生位移或捡拾成功,则视为一次误捡。 ● 损伤 马铃薯 : 参赛机器人或作业装置的任何动作导致某个马铃薯 上产生划痕(长度≥ 1cm )等肉眼可见损伤 ,视为损伤。 ● 损伤、 损坏 2 颗及以内马铃薯等情况从已得作业分数中扣相应 分数; ● 损坏 马铃薯 : 参赛机器人或作业装置的任何动作导致使马铃薯发 生结构断裂、或使其形状发生严重变形等,视为损坏。 ● 损伤、损坏 3 颗及以上马铃薯,取消比赛成绩,直接罚下。 ● 违章 :在比赛过程中,如果机器人或作业装置的任何部分超出了 围栏边界,触碰到了围栏、垄测,则判为违章。违章次数为超界次数和 触碰次数之和,比赛时由工作人员现场判别并统计。 ● 驶离比赛场地 :在完成作业后,参赛机器人需要从出入口离开比 赛场地, 参赛机器人的任何部位不得停留在场地内 (按照俯视投影方法 判断),否则视为未完成比赛,成绩为 0 分。 + +- 8 - ● 停在比赛启动区 : 参赛机器人从比赛出口驶出后需要停在比赛启 动区内, 未主动停止的视为未完成比赛, 主动停止但未完全停在比赛启 动区的视为 1 次连续超界,按 2 次违章计算惩罚加时 。 ④比赛过程中不允许使用任何形式的遥控装置,如被裁判发现 或被举报查实,立即取消参赛资格。 ⑤如果机器人或作业装置在比赛过程中出现冲出场地、 失控、 部 件损坏、损坏场地(不含马铃薯、土块)等危险情况,则该参赛机器 人将被立即强制罚下,取消所有比赛成绩。 ⑥比赛开始后, 参赛人员不得以任何理由申请重试, 如因机器人 或作业装置故障而无法在规定时间内完成比赛的,本次比赛以失败 论处。 ⑦如果参赛人员不遵守裁判和工作人员的指示、 指令或警告, 或 做出任何有悖于公平竞争精神的行为,裁判有权直接取消该参赛队 的参赛资格。 3 、比赛过程 ①签到: 所有参赛队都必须在规定时间内到赛场签到, 由评委检 查参赛机器人及其作业装置是否符合比赛要求。检查通过后,关闭 参赛机器人电源,并由工作人员将参赛机器人统一放置在备赛区对 应号位。参赛选手之后不得再进行任何调试,违反者以作弊论处, 取消比赛资格。 ②铺设毛毯: 比赛前由裁判随机抽取确定。 同级别赛场的播种板 位置、毛毯铺设位置和铺设方式完全相同。 ③预备: 评委宣布 “ XX 号机器人进行比赛” 后, 工作人员将 XX 号参赛机器人从备赛区取出,放到比赛启动区。评委宣布“预备” + +- 9 - 后,开始预备计时。选手将参赛机器人放到起跑位置,可以给参赛 机器人上电,但参赛机器人的任何部位都不允许超出起跑线。选手 做好起跑准备后告知评委“已就位”。预备时间最长 100 秒。 ④起跑: 评委在参赛选手告知“已就位”之后,评委发出“起 跑”命令后,从小车跨越起始线开始计时;或 100 秒预备时间已到 之后,评委发出“起跑”命令时,开始计时。 参赛选手给参赛机器 人上电(也可提前上电),参赛机器人从比赛启动区出发进入比赛 场地。如在评委发出“起跑”命令之前参赛机器人或其作业装置就 已跨越起跑线则视为抢跑,评委给予警告,并重新起跑。抢跑两次 则比赛以失败论处,计 0 分。 ⑤比赛: 比赛过程中, 由工作人员记录机器人走过的通道数、 作 业得分、违章次数和比赛用时,由裁判确认是否驶出场地和停在启 动区。参赛机器人一旦从出入口驶出,则本次比赛结束。比赛时间 为 5 分钟,参赛机器人超时仍未完成比赛的,比赛也即刻中止。如 果发生机器人冲出场地、部件损坏、损坏场地等情况,裁判有权终 止比赛,且参赛机器人的比赛以失败论处。 ⑥统计和确认成绩: 工作人员统计参赛机器人是否驶出比赛场 地、走过的垄沟 / 垄背数、比赛用时、作业得分 ,参赛选手确认并签 字。如有异议,回放录像确认。 ⑦各参赛队都有两次比赛机会,比赛成绩取最高者。 4 、评分标准 ( 1 )作业得分计分规则 专本组评分标准 + +- 10 - 马铃薯颜色 马铃薯 数量 每颗 分值 评分 标准 棕色马铃薯 10 颗 10 有效作业得 10 分 硕博组评分标准 马铃薯颜色 马铃薯 数量 每颗 分值 评分 标准 棕色马铃薯 10 颗 10 有效作业得 10 分 绿色马铃薯 5 颗 20 绿色为干扰组,不得捡 拾,使其发生位移每颗 扣 5 分,捡拾成功每颗 扣 20 分 土块误捡扣分标准 土块误拾扣分标准 ( 最终误捡土块数量占总土块比例) 0% ≤误捡≤ 10% 10% <误捡≤ 30% 30% 误捡≤ 50% 50% <误捡 不扣分 扣最终作业得分 20 分 扣最终作业得分 40 分 最终作业得分 0 分 ①无效作业、漏捡:不得分也不扣分。 ②误捡: 捡拾成功(将绿色马铃薯捡拾到小车上)每颗扣 20 分 且次数累加,直至最终作业得分 0 分为止。绿色马铃薯发生位移按 5 分 / 颗,从已得作业分中扣除,直至最终作业得分 0 分为止。 ③ 损伤、损坏 2 颗及以内马铃薯 ,按 20 分 / 颗,从已得作业分中 扣除相应分数,直至最终作业得分 0 分为止 。 ④ 损伤、损坏 3 颗 及以上 马铃薯 ,取消比赛成绩,直接罚下。 ⑤ 超出围栏边界或触碰围栏、垄侧,按 10 秒 / 次,加罚比赛用 时。连续刮擦、推行或触碰,都按两次违章计算( 20 秒 / 次)。 ⑥ 触碰垄背不加罚比赛用时。 + +- 11 - ⑦如果连续超出围栏边界按 20 秒 / 边计算加罚比赛用时。 ( 2 )比赛成绩 比赛成绩综合考虑作业用时和作业得分,由两者经归一化处理 后相加得到。选手作业用时为 a ,作业得分为 b ,比赛成绩 S 为: S= max min max min max min 100 0.4 100 0.6 a a b b a a b b − − × × + × × − − 式中: 𝑎𝑎 𝑚𝑚𝑚𝑚𝑚𝑚 —— 所有选手中,作业用时的最大值; 𝑎𝑎 𝑚𝑚𝑖𝑖𝑖𝑖 —— 所有选手中,作业用时的最小值; 𝑏𝑏 𝑚𝑚𝑚𝑚𝑚𝑚 —— 所有选手中,作业得分的最大值; 𝑏𝑏 𝑚𝑚 𝑖𝑖𝑖𝑖 —— 所有选手中,作业得分的最小值。 ( 3 )获奖比例 决赛期间,大赛委员会根据当年参数规模情况决定各档次获奖 作品的数量。 四、参赛要求 1 、参赛机器人 ①参赛机器人应具有自主行走、 垄间穿行、 识别马铃薯和作业的 能力。 ②作业装置可背负在机器人上, 也可由机器人牵引。 机器人和作 业装置的大小和重量不限,但应尽量小巧,以提高作业灵活性。 ③在整个作业过程中,机器人和作业装置的任何部分都不允许 超出围栏边界,也不允许触碰围栏、垄,更不允许破坏比赛场地。 ④比赛场地周围环境无特殊设置,参赛机器人应能承受周围环 境的光线、噪音和电磁干扰。 ⑤同一参赛单位的任意两台参赛机器人都不可以雷同。如被裁 + +- 12 - 判质疑雷同,则对该参赛单位的所有类同参赛机器人的队长进行问 辩测试。如被裁判判定为雷同,则取消所有类同参赛机器人的参赛 资格,并判定成绩无效。 2 、参赛团队 ①参赛队员必须为 2025 年 9 月前(含 9 月)正式注册的全日制 非成人教育的普通高等学校和高职高专院校的在校学生,包括专科 生、本科生、硕博研究生。 ②本科及以上院校每个参赛单位最多可派出 8 支参赛队(承办 单位可以多派 5 支队伍),职业院校每个参赛单位最多可派出 5 支 参赛队伍。每位指导教师最多只能指导一支参赛队。 ③每支参赛队都必须根据比赛要求, 自行设计、 制作各自的参赛 机器人。限定每支参赛队只能有 1 台机器人参赛。 ④参赛队员由 2 ~ 5 名学生组成,须为在校专科生、本科生和硕 博研究生,不限学科专业,并指定学历最高者为队长。 ⑤允许最多 2 名队员在准备区内调试机器人。 五、比赛事宜 1 、 比赛过程 ( 1 )比赛开始前,各队有 100 秒的准备时间,将机器人置于比 赛区域的入口(启动区),并进行必要的调整,机器人可以加电,但 不得运动; ( 2 )比赛开始,机器人从启动区启动。如在指令前启动机器人 则判为抢跑,给予警告,第二次抢跑的机器人将被罚下; ( 3 )比赛过程中冲出场地的机器人将直接被罚下,不得重新进 场比赛, 比赛过程中, 如果出现机器人分离, 该机器人被强制罚下。 + +- 13 - 2 、 重试及断电 ( 1 )比赛开始后,任何机器人不得申请重试,如因故障而不能 运动,则自动退出比赛,为了机器人的安全和保护场地,裁判有权 将机器人断电并拿出场外; ( 2 )如机器人在场上出现故障或失控,裁判有权根据现场情况 要求该机器人断电并拿出场地。 3 、 取消比赛资格 参赛队的下列行为会被取消比赛资格。 ( 1 ) 机器人做出危险动作, 危及场上操作手或裁判、 观众安全; ( 2 )故意损坏比赛场地、道具; ( 3 )不遵守裁判发出的命令和警告; ( 4 )做出任何有悖公平竞争精神的行为。 六、比赛安全 安全是机器人比赛持续发展的最重要问题。 因此, 每位参赛者应 特别重视并有义务按照本节的规定在充分采取安全措施的前提下研 制机器人。 第一,所有机器人的制作不应给队员、裁判、工作人员、观众、 设备和比赛场地造成伤害。如果现场裁判认为机器人的行为对人员 或设备有潜在危险,可以禁止该机器人参赛或随时终止比赛。 第二,机器人的结构设计应该考虑到赛前机器人安全检查的方 便性。 第三,禁止使用燃油驱动的发动机、爆炸物、高压气体(超过 0.8MPa )等。 第四, 在参赛任何时段, 队员都必须充分注意安全问题。 指导教 + +- 14 - 师或教练应该负起安全指导和监督的责任。参赛期间必须考虑工作 人员和场馆内观众的安全。 七、比赛其它事项 第一, 裁判有权对本规则没有规定的任何行为做出裁决。 在有争 议的情况下,裁判长有权做出最终裁决。 第二,比赛场地及道具尺寸的允许误差为 ±5% 。 第三,重要通知和相关附录后续在官方网站发布。 第四, 比赛将根据报名情况确定赛制, 赛制将在比赛前在官方网 站上发布。 第五, 规则如有更新, 比赛将在官方网站上发布, 以比赛开始前 最后发布的规则为准。 第六,鼓励参赛队在规则允许的范围内以自己的方式装饰机器 人。 第七, 比赛过程中不得使用通讯装置操控机器人, 一旦发现, 以 作弊论处。 第八,如果有需要,比赛将在合适的时间要求各参赛队提交机 器人相关资料、进度报告和录像。 第九,规则的最终解释说明权归大赛委员会所有。 第十一届国际大学生智能农业装备创新大赛委员会 2025 年 9 月 10 日 \ No newline at end of file

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