CN109778942A - A kind of opencut power shovel centering control system and method - Google Patents
A kind of opencut power shovel centering control system and method Download PDFInfo
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- CN109778942A CN109778942A CN201910183473.2A CN201910183473A CN109778942A CN 109778942 A CN109778942 A CN 109778942A CN 201910183473 A CN201910183473 A CN 201910183473A CN 109778942 A CN109778942 A CN 109778942A
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Abstract
A kind of opencut power shovel centering control system and method, system include truck vehicle cab recognition unit, truck parking position Projection surveying unit, power shovel scraper bowl space orientation unit and host computer；Truck vehicle cab recognition unit includes vehicle cab recognition camera, establishing in host computer has truck model data library, embedded with deep learning program, truck parking position Projection surveying unit includes projector and projector position adjustment frame, and power shovel scraper bowl space orientation unit includes the double CCD cameras of three-dimensional imaging.Method are as follows: scraper bowl moves to feeding zone；Truck drives into feeding zone, obtains wagon box contour images by vehicle cab recognition camera, obtains wagon box pattern by images match；Projector and scraper bowl distance are adjusted, line and truck rear wheel location position line are leaned on by projector projects card release roof, stops truck by line；Truck and scraper bowl are subjected to centering；Space orientation is carried out to scraper bowl by three-dimensional imaging double CCD cameras, material heap contour line is identified by deep learning training process, guarantees that loading efficiency maximizes.
Description
Technical field
The invention belongs to opencast mining technical fields, more particularly to a kind of opencut power shovel centering control system and side
Method.
Background technique
For the large surface mine using shovel-truck techmologv, power shovel is main production equipments, the height of efficiency power shovel
It is low, it not only influences to adopt to dress up this, while also will affect the production cost of drilling and blasting, transport and casting link.And influence efficiency power shovel
Factor it is numerous, and there is also influencing each other between some factors and factor, main influence factor includes the matching of vehicle shovel, entrucking
Mode, parameters of mining face, management system etc..
When power shovel loads a pipeful of circulation time including excavating time, heavily loaded gyration time, discharge time and unloaded revolution
Between.Practice have shown that discharge time accounts for power shovel and loads total time specific gravity all very no matter entering mode of changing using which kind of entrucking and truck
Greatly, even 2-3 truck is needed to enter to change sometimes.
Currently, some surface mines are try to realize truck location using brand new technical, these new technologies include base
Truck location is carried out in photoelectric sensor or light reflection principle, truck location, laser scanning and ranging technology are carried out using GPS technology
Truck location etc..
But truck location is carried out using above-mentioned several new technologies, accurate positionin, truck offset can not be effectively solved always
The problems such as, also just it can not really instruct power shovel suspender fast and accurately to be operated.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of opencut power shovel centering control system and method, energy
Enough the problems such as effectively solving accurate positionin, truck offset, power shovel suspender can be instructed fast and accurately to be operated, to greatest extent
Performance excavator and truck service efficiency, reduce the nonproductive residence time, have great significance to increasing economic efficiency.
To achieve the goals above, the present invention adopts the following technical scheme: a kind of opencut power shovel centering control system, packet
Include truck vehicle cab recognition unit, truck parking position Projection surveying unit, power shovel scraper bowl space orientation unit and host computer；It is described
Truck vehicle cab recognition unit includes vehicle cab recognition camera, and the vehicle cab recognition camera is located above power shovel scraper bowl, is known by vehicle
Other camera obtains the contour images of truck wagon box；Establishing in the host computer has truck model data library, the vehicle
Type identifies that the truck wagon box contour images that camera obtains are used to carry out images match with truck model data library, passes through images match
Process obtains the practical pattern of truck wagon box；The truck parking position Projection surveying unit includes projector and projector position
Adjustment frame, the projector position adjustment frame are mounted on power shovel cantilever, and the projector is mounted on projector position adjustment frame
On, it projects truck on the ground by projector and abuts against line and truck rear wheel location position line, truck driver is abutted against with truck
Line and truck rear wheel location position line are that foundation is adjusted truck position；The power shovel scraper bowl space orientation unit includes three
Double CCD cameras are imaged in dimension, and the double CCD cameras of the three-dimensional imaging are mounted below the head sheave of power shovel cantilever top, by three-dimensional at
As double CCD cameras position the spatial position of power shovel scraper bowl in real time；It is embedded with deep learning program in the host computer, leads to
The training process for crossing deep learning program identifies the material heap contour line in truck wagon box, utilizes current material heap contour line
The blanking position of power shovel scraper bowl is judged with the relative positional relationship of truck wagon box, power shovel driver controls power shovel according to judging result
Scraper bowl is moved；Display screen, the Image Real-time Transmission that the double CCD cameras of the three-dimensional imaging obtain are equipped in power shovel driver's cabin
To display screen, pass through the real time position of display screen real-time display power shovel scraper bowl and truck.
A kind of opencut power shovel centering control method, using the opencut power shovel centering control system, including such as
Lower step:
Step 1: control power shovel scraper bowl completion is shoveled coal movement, then the shovel coal power shovel scraper bowl of movement of completion is moved to blanking
Area；
Step 2: driving into feeding zone for truck, is obtained by contour images of the vehicle cab recognition camera to truck wagon box,
The truck wagon box contour images that will acquire again and truck model data library carry out images match, the reality until obtaining truck wagon box
Pattern；
Step 3: adjust automatically projector projects truck at a distance from power shovel scraper bowl, then through projector on the ground
Line and truck rear wheel location position line are abutted against, and truck driver is guided to stop truck by line；
Step 4: during stopping truck by line, truck driver needs constantly adjustment truck position, until truck
The axis of rotation of center line and power shovel scraper bowl keeps centering；
Step 5: the spatial position of power shovel scraper bowl is positioned in real time by three-dimensional imaging double CCD cameras, to guarantee electricity
Coal charge in shovel scraper bowl can be fallen on the center line of truck；
Step 6: identifying the material heap contour line in truck wagon box by the training process of deep learning program, using working as
The relative positional relationship of preceding material heap contour line and truck wagon box judges the blanking position of power shovel scraper bowl, and power shovel driver is according to sentencing
Disconnected result control power shovel scraper bowl is moved, to guarantee the maximization of loading efficiency；
Step 7: after power shovel scraper bowl completes discharging, truck is driven out to feeding zone.
Beneficial effects of the present invention:
Opencut power shovel centering control system of the invention and method can effectively solve the problem that accurate positionin, truck offset etc.
Problem can instruct power shovel suspender fast and accurately to be operated, and play the service efficiency of excavator and truck to greatest extent,
The nonproductive residence time is reduced, is had great significance to increasing economic efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of opencut power shovel centering control system of the invention；
In figure, 1-power shovel scraper bowl, 2-truck wagon boxes, 3-projectors, 4-power shovel cantilevers, the double CCD phases of 5-three-dimensional imagings
Machine, 6-head sheaves.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of opencut power shovel centering control system, including truck vehicle cab recognition unit, truck parking stall
Set Projection surveying unit, power shovel scraper bowl space orientation unit and host computer；The truck vehicle cab recognition unit includes vehicle cab recognition
Camera, the vehicle cab recognition camera is located at 1 top of power shovel scraper bowl, by vehicle cab recognition camera to the contour images of truck wagon box 2
It is obtained；Establishing in the host computer has truck model data library, and the truck wagon box 2 that the vehicle cab recognition camera obtains is taken turns
Wide image is used to carry out images match with truck model data library, obtains the practical sample of truck wagon box 2 by images match process
Formula；The truck parking position Projection surveying unit includes projector 3 and projector position adjustment frame, the projector position tune
Whole frame is mounted on power shovel cantilever 4, and the projector 3 is mounted on projector position adjustment frame, on the ground by projector 3
It projects truck and abuts against line and truck rear wheel location position line, truck driver abuts against line and truck rear wheel location position line with truck
Truck position is adjusted for foundation；The power shovel scraper bowl space orientation unit includes the double CCD cameras 5 of three-dimensional imaging, described
The double CCD cameras 5 of three-dimensional imaging are mounted on 6 lower section of head sheave at 4 top of power shovel cantilever, by the double CCD cameras 5 of three-dimensional imaging to power shovel
The spatial position of scraper bowl 1 is positioned in real time；It is embedded with deep learning program in the host computer, passes through deep learning program
Training process identifies the material heap contour line in truck wagon box 2, utilizes the phase of current material heap contour line and truck wagon box 2
The blanking position of power shovel scraper bowl 1 is judged positional relationship, and power shovel driver controls power shovel scraper bowl 1 according to judging result and moves
It is dynamic；It is equipped with display screen in power shovel driver's cabin, the Image Real-time Transmission that the double CCD cameras 5 of the three-dimensional imaging obtain to display screen,
Pass through the real time position of display screen real-time display power shovel scraper bowl 1 and truck.
A kind of opencut power shovel centering control method, using the opencut power shovel centering control system, including such as
Lower step:
Step 1: the control completion of power shovel scraper bowl 1 is shoveled coal movement, then the shovel coal power shovel scraper bowl 1 of movement of completion is moved to and is fallen
Expect area；
Step 2: driving into feeding zone for truck, is obtained by contour images of the vehicle cab recognition camera to truck wagon box 2
It takes, then 2 contour images of truck wagon box that will acquire and truck model data library carry out images match, until obtaining truck wagon box 2
Practical pattern；
Step 3: adjust automatically projector 3 projects card release at a distance from power shovel scraper bowl 1, then through projector 3 on the ground
Roof leans on line and truck rear wheel location position line, and truck driver is guided to stop truck by line；
Step 4: during stopping truck by line, truck driver needs constantly adjustment truck position, until truck
The axis of rotation of center line and power shovel scraper bowl 1 keeps centering；
Step 5: the spatial position of power shovel scraper bowl 1 is positioned in real time by three-dimensional imaging double CCD cameras 5, to guarantee
Coal charge in power shovel scraper bowl 1 can be fallen on the center line of truck；In order to allow coal charge fallen on the center line of truck as far as possible,
It can establish a coordinate system, the position of truck center line judged by the coordinate system of foundation, because in 1 discharging of power shovel scraper bowl
In the process, the center line Shaft alignment state of the axis of rotation of power shovel scraper bowl 1 and truck is to maintain constant, therefore can be by electric shovel
The axis of rotation of bucket 1 as benchmark and establishes a space coordinates, so that 2 center of truck wagon box can easily be determined
The position of all the points on line in the space coordinates；
Step 6: identifying the material heap contour line in truck wagon box 2 by the training process of deep learning program, using working as
The relative positional relationship of preceding material heap contour line and truck wagon box 2 judges the blanking position of power shovel scraper bowl 1, power shovel driver according to
Judging result control power shovel scraper bowl 1 is moved, to guarantee the maximization of loading efficiency；
Step 7: after power shovel scraper bowl 1 completes discharging, truck is driven out to feeding zone.
The scope of patent protection that scheme in embodiment is not intended to limit the invention, it is all without departing from carried out by the present invention etc.
Effect implements or change, is both contained in the scope of the patents of this case.
Claims (2)
1. a kind of opencut power shovel centering control system, it is characterised in that: including truck vehicle cab recognition unit, truck parking position
Projection surveying unit, power shovel scraper bowl space orientation unit and host computer；The truck vehicle cab recognition unit includes vehicle cab recognition phase
Machine, the vehicle cab recognition camera are located above power shovel scraper bowl, are carried out by contour images of the vehicle cab recognition camera to truck wagon box
It obtains；Establishing in the host computer has truck model data library, the truck wagon box profile diagram that the vehicle cab recognition camera obtains
As obtaining the practical pattern of truck wagon box by images match process for carrying out images match with truck model data library；Institute
Stating truck parking position Projection surveying unit includes projector and projector position adjustment frame, the projector position adjustment frame peace
On power shovel cantilever, the projector is mounted on projector position adjustment frame, projects card release on the ground by projector
Roof leans on line and truck rear wheel location position line, and truck driver abuts against line with truck and truck rear wheel location position line is according to right
Truck position is adjusted；The power shovel scraper bowl space orientation unit includes the double CCD cameras of three-dimensional imaging, and the three-dimensional imaging is double
CCD camera is mounted below the head sheave of power shovel cantilever top, by the double CCD cameras of three-dimensional imaging to the spatial position of power shovel scraper bowl
It is positioned in real time；Deep learning program is embedded in the host computer, by the training process of deep learning program to truck
Material heap contour line in wagon box is identified that the relative positional relationship using current material heap contour line and truck wagon box judges electricity
The blanking position of scraper bowl is shoveled, power shovel driver controls power shovel scraper bowl according to judging result and moves；It is set in power shovel driver's cabin
There is display screen, the Image Real-time Transmission that the double CCD cameras of the three-dimensional imaging obtain to display screen passes through display screen real-time display electricity
Shovel the real time position of scraper bowl and truck.
2. a kind of opencut power shovel centering control method uses opencut power shovel centering control system described in claim 1,
It is characterized by comprising following steps:
Step 1: control power shovel scraper bowl completion is shoveled coal movement, then the shovel coal power shovel scraper bowl of movement of completion is moved to feeding zone；
Step 2: driving into feeding zone for truck, is obtained by contour images of the vehicle cab recognition camera to truck wagon box, then will
The truck wagon box contour images of acquisition and truck model data library carry out images match, the practical sample until obtaining truck wagon box
Formula；
Step 3: adjust automatically projector is at a distance from power shovel scraper bowl, then projects truck on the ground by projector and abut against
Line and truck rear wheel location position line, and truck driver is guided to stop truck by line；
Step 4: during stopping truck by line, truck driver needs constantly adjustment truck position, until the center of truck
The axis of rotation of line and power shovel scraper bowl keeps centering；
Step 5: the spatial position of power shovel scraper bowl is positioned in real time by three-dimensional imaging double CCD cameras, to guarantee electric shovel
Coal charge in bucket can be fallen on the center line of truck；
Step 6: identifying the material heap contour line in truck wagon box by the training process of deep learning program, using current
The relative positional relationship of material heap contour line and truck wagon box judges the blanking position of power shovel scraper bowl, and power shovel driver ties according to judgement
Fruit control power shovel scraper bowl is moved, to guarantee the maximization of loading efficiency；
Step 7: after power shovel scraper bowl completes discharging, truck is driven out to feeding zone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910183473.2A CN109778942B (en) | 2019-03-12 | 2019-03-12 | Strip mine electric shovel centering control system and method |
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|---|---|---|---|
| CN201910183473.2A CN109778942B (en) | 2019-03-12 | 2019-03-12 | Strip mine electric shovel centering control system and method |
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| CN109778942B CN109778942B (en) | 2023-05-16 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110909599A (en) * | 2019-10-16 | 2020-03-24 | 北京文安智能技术股份有限公司 | Detection method, device and system for covering of muck truck |
| CN111188617A (en) * | 2020-01-16 | 2020-05-22 | 鞍钢集团矿业有限公司 | Automatic open pit electric shovel loading counting method based on double positioning modules |
| CN112942459A (en) * | 2021-03-22 | 2021-06-11 | 北京航空航天大学 | Intelligent electric shovel unmanned unloading and loading system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112942459A (en) * | 2021-03-22 | 2021-06-11 | 北京航空航天大学 | Intelligent electric shovel unmanned unloading and loading system and method |
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| CN109778942B (en) | 2023-05-16 |
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