CN111399494B - Unmanned loading guiding method, device and system - Google Patents
Unmanned loading guiding method, device and system Download PDFInfo
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- CN111399494B CN111399494B CN201910002679.0A CN201910002679A CN111399494B CN 111399494 B CN111399494 B CN 111399494B CN 201910002679 A CN201910002679 A CN 201910002679A CN 111399494 B CN111399494 B CN 111399494B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The embodiment of the invention discloses an unmanned loading guiding method, device and system, wherein the method comprises the following steps: acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction; determining a working area corresponding to a hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area; and sending the loading point coordinate information corresponding to the target loading point to a target carrier vehicle.
Description
Technical Field
The embodiment of the invention relates to the field of automatic driving, in particular to an unmanned loading guiding method, device and system.
Background
In recent years, with the rapid development of artificial intelligence, unmanned technology is continually making new breakthroughs in environmental awareness, decision planning and vehicle control. In view of the characteristics of severe working environment, remote location and sealing of mining areas, no humanized demand is urgent.
Mining area operation is divided into four links of blasting, excavating, loading and transporting, and after the blasting of the mining area is realized, the mining area truck is loaded with ore by an excavator to realize the transportation and unloading. In the loading process, the problems of mine looseness, air quality deterioration, low visibility and the like caused by blasting cause the loading process of the truck to be difficult and heavy.
Disclosure of Invention
In order to solve the existing technical problems, the embodiment of the invention provides an unmanned loading guiding method, device and system with high loading efficiency.
In order to achieve the above object, the technical solution of the embodiment of the present invention is as follows:
the embodiment of the invention provides an unmanned loading guiding method, which is applied to an excavator and comprises the following steps: acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction; determining a working area corresponding to a hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area; and sending the loading point coordinate information corresponding to the target loading point to a target carrier vehicle.
Before sending the loading point coordinate information corresponding to the target loading point to the target carrier vehicle, the method comprises the following steps: acquiring a second angle value of the carrier vehicle relative to the reference direction and a second coordinate of the current position of the carrier vehicle; and determining the carrier vehicle running towards the position where the excavator is located as a target carrier vehicle according to the relative change information between the first angle and the second angle and between the first coordinate and the second coordinate.
Wherein, according to the relative change information between the first angle and the second angle, and between the first coordinate and the second coordinate, determining that the driving direction is towards the target carrier vehicle at the position of the excavator comprises: determining a difference between the first angle and a second angle, and a distance change value between the first coordinate and the second coordinate; and determining that the carrier vehicle with the difference value within a first threshold range and the distance change value within a second threshold range is a target carrier vehicle with the running direction facing the position of the excavator.
Wherein determining a working area corresponding to the hopper according to the first coordinate, the first angle and a distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area comprises: determining a working area corresponding to one side of the tail of the excavator by the hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator hopper and the first coordinate; and determining the carriage center point coordinates of the carrier vehicle according to the working area, and determining the target loading point of the carrier vehicle according to the carriage center point coordinates and the size of the carrier vehicle.
Wherein after the loading point coordinate information corresponding to the target loading point is sent to the target carrier vehicle, the method further comprises: when receiving ready information which is sent by the target carrying vehicle and reaches the working area, acquiring a third coordinate of the current position of the target carrying vehicle and a third angle of the target carrying vehicle relative to the set reference direction; and adjusting a target loading point corresponding to the target carrier vehicle according to the third coordinate, the third angle and the size relation corresponding to the target carrier vehicle.
Wherein, still include: and controlling the hopper to act according to the loading point coordinate information so as to realize loading of the hopper at the target loading point.
And when receiving the full-load information sent by the target carrier vehicle, controlling the hopper to stop.
The embodiment of the invention also provides an unmanned loading guiding method which is applied to a carrier vehicle and comprises the following steps: receiving loading point coordinate information corresponding to a target loading point sent by an excavator; the target loading point is determined according to a first coordinate of the current position of the excavator, a first angle of the excavator relative to a reference direction and a working area corresponding to the excavator hopper, wherein the working area corresponds to the working area; acquiring a second coordinate of the current position of the carrier vehicle; obtaining a navigation path according to the loading point coordinate information and the second coordinate; and controlling the carrier vehicle to enter the target loading point according to the navigation path.
Before receiving the loading point coordinate information corresponding to the target loading point sent by the excavator, the method further comprises: periodically acquiring a second angle value of the carrier vehicle relative to the reference direction and a second coordinate of the current position of the carrier vehicle; and sending the second angle value and the second coordinate to the excavator.
When the carrier vehicle enters the working area, the carrier vehicle sends ready information of the carrier vehicle entering the working area to the excavator.
Wherein the method further comprises: and detecting the loading capacity of the carrier vehicle when the carrier vehicle is loaded by the excavator, and sending full load information to the excavator when the loading capacity of the carrier vehicle reaches a fourth threshold value.
The embodiment of the invention also provides an unmanned loading guide device which is applied to an excavator and comprises a first positioning module, a first processing module and a first communication module, wherein the first positioning module and the first communication module are respectively and electrically connected with the first processing module; the first positioning module is used for acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction; the first processing module is used for determining a working area corresponding to the hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area; the first communication module is used for sending the loading point coordinate information corresponding to the target loading point to a target carrier vehicle.
The embodiment of the invention also provides an unmanned loading guide device which is applied to a carrier vehicle and comprises a second positioning module, a second processing module, a second control module and a second communication module; the second positioning module, the second control module and the second communication module are respectively and electrically connected with the second processing module; the second positioning module is used for acquiring a second coordinate of the current position of the carrier vehicle; the second communication module is used for receiving loading point coordinate information corresponding to a target loading point sent by the excavator; the loading point is determined according to a first coordinate of the current position of the excavator, a first angle of the excavator relative to a reference direction and a working area corresponding to the hopper, wherein the working area is determined according to a distance between a first reference point on the excavator hopper and the first coordinate; the second processing module is used for obtaining a navigation path according to the loading point coordinate information and the second coordinates; the second control module is used for controlling the carrier vehicle to enter the target loading point according to the navigation path.
The embodiment of the invention also provides an unmanned loading guide system, which comprises the unmanned loading guide device applied to the carrier vehicle and the unmanned loading guide device applied to the excavator.
In the embodiment of the invention, the specific position and orientation of the excavator are determined by acquiring the first coordinate of the current position of the excavator and the first angle of the excavator relative to the set reference direction; according to the first coordinate, the first angle and the distance between a first reference point on the excavator bucket and the first coordinate, determining a working area corresponding to the bucket, and determining a target loading point of a carrier vehicle according to the working area, wherein the range of the area where the bucket can move can be further determined, the coordinate information of the loading point corresponding to the target loading point is sent to the target carrier vehicle, and the target carrier vehicle is guided to enter the loading point for efficient loading.
Drawings
Fig. 1 is a schematic flow chart of an unmanned loading guidance method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 5 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 6 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 7 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 8 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 9 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 10 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
fig. 11 is a schematic structural view of an unmanned loading guide device according to an embodiment of the present invention;
FIG. 12 is a schematic view of another unmanned loading guide according to an embodiment of the present invention;
fig. 13 is a schematic structural view of an unmanned loading guidance system according to an embodiment of the present invention;
FIG. 14 is a flow chart of another method for guiding unmanned loading according to an embodiment of the present invention;
FIG. 15 is a schematic illustration of a calculated body size according to an embodiment of the present invention;
FIG. 16 is a schematic diagram of a positional relationship according to an embodiment of the present invention;
fig. 17 is a flow chart of another unmanned loading guidance method according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of an unmanned loading guidance method provided by an embodiment of the invention is applied to an excavator, and includes:
the excavator comprises a tail part and a head part, when the excavator performs excavation work, the excavator can stop and perform excavation after the direction of the excavator is adjusted, and at the moment, the head part of the excavator is just the point to be excavated. The first coordinate of the current position may be a position coordinate of a certain reference point on the excavator after the excavator is parked, for example, a coordinate of a certain point on a rotation axis of a cab; the set reference direction may be any direction, for example, may be a north direction; the first angle may be an angle between a direction of an axis of a vehicle body passing through the tail portion and the head portion of the excavator and the set reference direction. Typically, the reference direction of the arrangement refers to the direction of the excavator relative to the location of the mine site.
The first coordinates can be obtained through a GPS positioning module, and longitude and latitude coordinates obtained through the GPS positioning module are converted into geodetic coordinates in real time, so that coordinate calculation in a three-dimensional or two-dimensional scene is facilitated. In this embodiment, the conversion between the longitude and latitude coordinates and the geodetic coordinates obtained by the positioning module may use a method of mueller projection, mercator projection, transverse-axis mercator projection, gaussian-g-lu projection, lambert equiangular secant cone projection. The first angle can be obtained by a direction sensor; since the vehicle is in a stationary state, the first angle may also be obtained directly by the GPS, for example, by determining the positional relationship between the coordinate positions of the GPS master and slave antennas and the reference direction, without introducing a direction sensor.
here, the excavator hopper is mounted on an excavating arm which rotates based on a base point on the excavator, and the excavator hopper follows the excavating arm to perform a loading operation. After the excavator is parked, the basic point of rotation of the excavating arm on the excavator is fixed relative to the parked position of the excavator. After the first coordinate is determined, that is, after the parking position of the excavator is determined, the position of a base point at which the excavating arm of the excavator rotates is also determined, and the motion of the excavating arm has a chain with a known size, so that the range of an area which can be reached by telescoping relative to the base point when the excavating arm of the excavator moves is fixed, that is, the relative position relation between the position which can be reached by the first reference point and the first coordinate is fixed, after the position of the base point is determined, the motion area of the first reference point is also determined, and the motion area of the first reference point is the working area corresponding to the hopper.
Here, the excavating arm of the excavator is provided with a hopper which can be rotated by 360 degrees and can be extended and contracted, and thus, the hopper can be moved within a certain range along with the rotation and the extension and contraction of the excavating arm. The first reference point may be any location on the hopper, such as the location of the hopper mouth edge. The distance between the first reference point on the excavator hopper and the first coordinate can be calculated based on the matching size of each component of the excavator body, a positioning module can be directly arranged at the position of the first reference point on the hopper, coordinate information is obtained through the positioning module, and the distance is obtained based on the coordinate information of the position of the first reference point and the first coordinate. The area that the hopper can reach is the work area that the excavator can load, and is also the target loading point that the carrier vehicle needs to reach.
And step 13, transmitting the loading point coordinate information corresponding to the target loading point to the target carrier vehicle.
After knowing the first coordinate, the first angle and the distance between the first reference point and the first coordinate, the processing module on the excavator can acquire the loading point coordinate information corresponding to the target loading point through three-dimensional or two-dimensional coordinate calculation. The processing module also stores the loading point coordinate information after acquiring the loading point coordinate information. The sending of the loading point coordinate information to the target carrier vehicle may be in a broadcast or unicast manner.
In the embodiment of the invention, the specific position and orientation of the excavator are determined by acquiring the first coordinate of the current position of the excavator and the first angle of the excavator relative to the set reference direction; according to the first coordinate, the first angle and the distance between a first reference point on the excavator hopper and the first coordinate, a working area corresponding to the hopper is determined, and a target loading point of a carrier vehicle is determined according to the working area, so that the range of the area where the hopper can move can be further determined, the loading point coordinate information corresponding to the target loading point is sent to the target carrier vehicle, and the target carrier vehicle is guided to enter the loading point for efficient loading.
Referring to fig. 2, a flow chart of another unmanned loading guidance method provided by an embodiment of the present invention is shown, in the step 13, before sending loading point coordinate information corresponding to the target loading point to a target carrier vehicle, the method includes:
the second angle value may be an angle value of the traveling direction of the carrier vehicle from the reference direction; the second coordinate of the current position of the carrier vehicle may be a coordinate of any reference position on the vehicle body of the carrier vehicle, for example, a coordinate of the center of the vehicle cabin.
The second coordinates can be obtained through a GPS positioning module on the carrier vehicle and sent to the excavator, and longitude and latitude coordinates obtained through the GPS positioning module can be converted into geodetic coordinates in real time so as to facilitate coordinate calculation in a three-dimensional or two-dimensional scene. The conversion between longitude and latitude coordinates and geodetic coordinates in this embodiment may employ a mueller projection, a mercator projection, a transverse-axis mercator projection, a gaussian-g-lu projection, a Lambert equiangular secant cone projection method. The second angle may be acquired and transmitted to the excavator using a direction sensor on the carrier vehicle. The excavator obtains the second angle and the second coordinate by receiving the second angle and the second coordinate. Since the carrier vehicle is currently in motion, the second angle can also be obtained directly from the GPS without the need for additional direction sensors and slave antennas.
And step 22, determining the carrier vehicle running towards the position where the excavator is located as a target carrier vehicle according to the relative change information between the first angle and the second angle and between the first coordinate and the second coordinate.
The excavator is convenient to make a decision, and the loading point coordinate information is determined to be sent to which vehicles, so that the loading efficiency is improved.
Referring to fig. 3, a flow chart of another unmanned loading guidance method according to an embodiment of the present invention is shown, in the step 22, the determining, according to the relative change information between the first angle and the second angle and between the first coordinate and the second coordinate, that the driving direction is toward the target carrier vehicle at the location of the excavator includes:
the magnitude of the difference between the first angle and the second angle characterizes whether the carrier vehicle is traveling in a direction proximate to where the excavator is parked; a distance change value between the first coordinate and the second coordinate characterizes whether the carrier vehicle is traveling toward a parking point of the excavator. The second angle and the second coordinate may be acquired a plurality of times in succession, and the difference and the distance change value averaged.
And step 32, determining that the carrier vehicle with the difference value within a first threshold range and the distance variation value within a second threshold range is a target carrier vehicle with the running direction facing the position of the excavator.
The first threshold value and the second threshold value can be flexibly set according to the topography of the excavation site and the overall vehicle condition; the difference a is within a first threshold range, e.g., 0< a <20 °, then the carrier vehicle is traveling in a direction approaching the excavator; the distance change value S is within a second threshold range, e.g. S >0, the carrier vehicle is approaching the excavator.
Referring to fig. 4, a flow chart of another unmanned loading guidance method provided by the embodiment of the present invention is shown, in the step 12, determining a working area corresponding to a hopper according to the first coordinate, the first angle, and a distance between a first reference point on the hopper of the excavator and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area includes:
Here, the excavator hopper is mounted on an excavating arm which rotates based on a base point on the excavator, and the excavator hopper follows the excavating arm to perform a loading operation. After the excavator is parked, the basic point of rotation of the excavating arm on the excavator is fixed relative to the parked position of the excavator. After the first coordinate is determined, that is, after the parking position of the excavator is determined, the position of a base point where the excavating arm of the excavator rotates is also determined, and the motion of the excavating arm has a chain with a known size, so that the range of an area which can be reached by telescoping the excavating arm of the excavator on one side of the tail of the excavator relative to the base point is fixed, that is, the relative position relation between the position which can be reached by the first reference point on one side of the tail of the excavator and the first coordinate is fixed, after the position of the base point is determined, the motion area of the first reference point on one side of the tail of the excavator is also determined, and the motion area of the first reference point on one side of the tail of the excavator is the working area corresponding to the hopper. Because the excavator is advanced from the head side in the excavating process, one side area of the tail of the excavator is a preferable loading area in various excavating application scenes.
And step 42, determining the carriage center point coordinates of the carrier vehicle according to the working area, and determining the target loading point of the carrier vehicle according to the carriage center point coordinates and the size of the carrier vehicle.
Based on the carriage center point coordinates and the size of the carrier vehicle, a target loading point of the carrier vehicle can be determined, i.e., a virtual parking space is obtained at the tail of the excavator.
As one embodiment, the working area is a rectangle, an intersection point of diagonal lines of the rectangle is determined as a cabin center point coordinate of the carrier vehicle, and after the cabin center point coordinate is determined, the target loading point of the carrier vehicle can be obtained based on cabin dimensions of the carrier vehicle, such as length, width and height dimensions of the cabin. Thus, when the carrier vehicle enters a rectangular working area, the actual carriage center point of the carrier vehicle coincides with the carriage center point coordinate, and then automatic loading can be performed based on the target loading point.
Referring to fig. 5, a flow chart of another unmanned loading guidance method according to an embodiment of the invention is shown, and after the step 13, the method further includes:
the ready information is the seating information transmitted from the target carrier vehicle reaching the loading point, and the excavator is informed of loading by transmitting the seating information to the excavator.
And step 52, adjusting a target loading point corresponding to the target carrier vehicle according to the third coordinate, the third angle and the size relation corresponding to the target carrier vehicle.
The third coordinates can be obtained through a GPS positioning module on the carrier vehicle and sent to the excavator, and longitude and latitude coordinates obtained through the GPS positioning module can be converted into geodetic coordinates in real time so as to facilitate coordinate calculation in a three-dimensional or two-dimensional scene. The conversion between longitude and latitude coordinates and geodetic coordinates in this embodiment may employ a mueller projection, a mercator projection, a transverse-axis mercator projection, a gaussian-g-lu projection, a Lambert equiangular secant cone projection method. The third angle may be acquired and transmitted to the excavator using a direction sensor on the carrier vehicle. The excavator obtains the third angle and the third coordinate by receiving the third angle and the third coordinate.
After the target carrier vehicle navigates into the working area, the specific position and the specific direction of the target carrier vehicle in the working area are uncertain, the specific position and the specific direction of the target carrier vehicle in the working area can be further determined through the third coordinate and the third angle, and the position of the target loading point corresponding to the target carrier vehicle can be more specifically positioned according to the third coordinate, the third angle and the size relation corresponding to the target carrier vehicle, which is equivalent to further fine tuning. Therefore, the loading of the excavator can be more accurate by adjusting the target loading point corresponding to the target carrying vehicle through the third coordinate and the third angle.
Referring to fig. 6, a flow chart of another unmanned loading guidance method according to an embodiment of the invention is shown, and after the step 13, the method further includes:
and step 61, controlling the hopper to act according to the loading point coordinate information so as to realize loading of the hopper at the target loading point.
And controlling the hopper to act as a control mechanism of the excavator to control an actuating mechanism to act according to the loading point coordinate information, and driving the hopper to load.
Referring to fig. 7, a flow chart of another unmanned loading guidance method according to an embodiment of the invention is shown, and after the step 61, the method includes:
and step 71, when receiving the full-load information sent by the target carrier vehicle, controlling the hopper to stop. This can avoid overload of the target carrier vehicle.
The embodiment of the invention also provides an unmanned loading guiding method, which is applied to a carrier vehicle, please refer to fig. 8, and is a flow diagram of another unmanned loading guiding method provided by the embodiment of the invention, comprising:
and step 83, controlling the carrier vehicle to enter the target loading point according to the navigation path.
Whether the carrier vehicle enters the target loading point can be determined by judging the coordinates of a positioning module arranged on the carrier vehicle. According to the embodiment of the application, the navigation path can be determined based on the loading point coordinate information sent by the excavator and the current position coordinate of the loading point coordinate information, so that the carrier vehicle is guided to the target loading point.
Before receiving the loading point coordinate information corresponding to the target loading point sent by the excavator, the method further comprises: periodically acquiring a second angle value of the carrier vehicle relative to the reference direction and a second coordinate of the current position of the carrier vehicle; and sending the second angle value and the second coordinate to the excavator. This enables the excavator to acquire information of the carrier vehicle in real time.
Wherein the method further comprises: before receiving the loading point coordinate information corresponding to the target loading point sent by the excavator, when the distance from the second coordinate of the current position of the carrier vehicle to the first coordinate is smaller than a third threshold value and the loading point coordinate information corresponding to the loading point is not received, controlling the carrier vehicle to stop.
In this embodiment, when the distance is smaller than the third threshold and the loading point coordinate information corresponding to the loading point is not received, if the vehicle continues to travel, a multi-vehicle collision accident may be caused, and the vehicle is controlled to stop so as to avoid the collision accident.
When the distance from the second coordinate to the first coordinate of the current position of the carrier vehicle is smaller than a third threshold and the loading point coordinate information corresponding to the loading point is not received, the method further comprises: and sending the information which does not receive the loading point coordinate information to a server. The method can prompt a background maintainer to maintain in time, remove faults in time and avoid accidents.
Referring to fig. 9, a flowchart of another unmanned loading guidance method according to an embodiment of the invention further includes, after the step 83:
The sending of the ready information in this embodiment can remind the excavator that the target carrier vehicle is in place, loading can be performed, and a loading process of the excavator can be started.
Referring to fig. 10, a flowchart of another unmanned loading guidance method according to an embodiment of the invention further includes, after the step 91:
and 101, detecting the loading capacity of the carrier vehicle when the carrier vehicle is loaded by the excavator, and sending full load information to the excavator when the loading capacity of the carrier vehicle reaches a fourth threshold value. The embodiment of the invention can avoid overload of the carrier vehicle.
The embodiment of the invention also provides an unmanned loading guide device, which is applied to an excavator, please refer to fig. 11, and is a schematic structural diagram of the unmanned loading guide device provided by the embodiment of the invention, and the unmanned loading guide device comprises a first positioning module 111, a first processing module 112 and a first communication module 113, wherein the first positioning module 111 and the first communication module 113 are respectively and electrically connected with the first processing module 112; wherein, the liquid crystal display device comprises a liquid crystal display device,
the first positioning module 111 is configured to obtain a first coordinate of a current position of the excavator and a first angle of the excavator relative to a set reference direction;
the first processing module 112 is configured to determine a working area corresponding to the hopper according to the first coordinate, the first angle, and a distance between a first reference point on the excavator bucket and the first coordinate, and determine a target loading point of the carrier vehicle according to the working area;
the first communication module 113 is configured to send the loading point coordinate information corresponding to the target loading point to a target carrier vehicle.
The embodiment of the invention also provides an unmanned loading guide device, which is applied to an excavator, please refer to fig. 12, and is a schematic structural diagram of another unmanned loading guide device provided by the embodiment of the invention, and the unmanned loading guide device comprises a second positioning module 121, a second processing module 122, a second control module 124 and a second communication module 123; the second positioning module 121, the second control module 124 and the second communication module 123 are electrically connected to the second processing module 122, respectively; wherein, the liquid crystal display device comprises a liquid crystal display device,
The second positioning module 121 is configured to obtain a second coordinate of a current position of the carrier vehicle;
the second communication module 123 is configured to receive loading point coordinate information corresponding to a target loading point sent by the excavator; the loading point is determined according to a first coordinate of the current position of the excavator, a first angle of the excavator relative to a reference direction and a working area corresponding to the hopper, wherein the working area is determined according to a distance between a first reference point on the excavator hopper and the first coordinate;
the second processing module 122 is configured to obtain a navigation path according to the loading point coordinate information and the second coordinates;
the second control module 124 is configured to control the carrier vehicle to enter the target loading point according to the navigation path.
The embodiment of the invention also provides an unmanned loading guide system, please refer to fig. 13, which is a schematic structural diagram of the unmanned loading guide system provided by the embodiment of the invention, wherein the system comprises the unmanned loading guide device on the side of the carrier vehicle according to any embodiment of the invention and the unmanned loading guide device on the side of the excavator according to any embodiment of the invention.
In order to further facilitate understanding of the implementation flow of the unmanned loading guidance method provided by the embodiment of the present invention, the following further describes the implementation flow of the unmanned loading guidance method by using 2 optional specific embodiments respectively:
example 1:
the working scene of the embodiment is as follows: the method comprises the steps that the excavator is parked before an excavating point, the head of the excavator faces the excavating point, the ground area on one side of the tail of the excavator is a flat ground without barriers, a rectangular area right in front of one side of the tail of the excavator and parallel to the excavator is determined to be a working area, the center line of the rectangular area coincides with the center line of the parked excavator (or the center line of the excavator projected on the bottom surface), and a target carrying vehicle is guided into the rectangular area for loading.
Referring to fig. 14, a flow chart of another unmanned loading guidance method provided by an embodiment of the present invention is shown, where the method corresponding to the embodiment is applied to an excavator side, and the method includes:
step a1, stopping the excavator;
step a2, acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction;
Step a3, the first coordinates and the first angle are sent to a server;
step a4, transmitting the first coordinates and the first angle to a nearby carrier vehicle;
step a5, judging whether a carrier vehicle approaches in a preset distance threshold range; a6 is sometimes performed, and a2 is sometimes performed;
step a6, determining a working area corresponding to one side of the tail of the excavator by the hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator hopper and the first coordinate; determining a carriage center point coordinate of a carrier vehicle according to the working area, and determining a target loading point of the carrier vehicle according to the carriage center point coordinate and the size of the carrier vehicle;
specifically, the present embodiment provides a method for calculating a target loading point, please refer to fig. 15: in order to calculate the target loading point, the first angle is acquired, the first angle is set to η, the first angle is defined as a reference angle with respect to the north direction, and η=0 is set here. And acquiring longitude and latitude coordinates of the excavator, converting the longitude and latitude coordinates of the excavator into large ground plane coordinates through Miller projection, and setting the first coordinates (x 0, y 0) corresponding to the large ground plane coordinates. And setting a point on the upper hopper of the excavating arm as the first reference point. Here, the GPS positioning module of the excavator is mounted at the upper end of the cab/operator cabin (in order to simplify the flow, the excavator antenna is mounted at the top of the center of rotation of the cab, the center of rotation of the cab is the rotation base point of the excavator arm), based on the first angle and the first coordinates, the excavator arm rotates and stretches with the base point as a reference point, a rectangular area is drawn on the front side of the rear, and a rectangular area parallel to the excavator right in front of the rear side is determined as a working area, wherein the center line of the rectangular area coincides with the center line of the excavator after parking (or the center line of projection of the excavator on the bottom surface). The method comprises the steps that a situation that a target carrying vehicle is guided into a rectangular area to be loaded is preset, the coordinates of a carriage center point are diagonal intersection points of the rectangle, after the target carrying vehicle enters the rectangular area, the middle point of the carriage of the target carrying vehicle coincides with the coordinates of the carriage center point, the length of an antenna of the target carrying vehicle from the head of the antenna is len0, the length of a GPS positioning module on an excavator from the edge of the head of the excavator is len1, the lengths of the target carrying vehicle and the excavator are len2 and len3 respectively, and the distance of the carriage center point of the target carrying vehicle from the tail of the target carrying vehicle is len4; when the excavator works, when the tail end of the excavating arm is just positioned at the coordinates of the central point of the carriage, the distance from the tail end of the excavating arm to the tail of the excavator is len 5. At this time, the excavator tail distance truck GPS antenna distance len6 should be:
len6＝len5+(len2-len0-len4)；
The distance len7 between the position point of the GPS antenna of the excavator and the tail of the excavator is as follows:
len7＝len3-len1；
the distance between the carrier vehicle and the excavator GPS positioning module should be:
distance＝len6+len7；
after calculating the distance between the carrying vehicle and the excavator GPS positioning module, the earth coordinates (x 1, y 1) of the optimal loading point can be calculated through the excavator coordinates, eta and distance, namely the first reference point coordinates on the tail end of the excavating arm:
x1＝x0+distance*cosη；
y1＝y0+distance*sinη；
based on the coordinates of the optimal loading point, a target loading point coordinate (x 2, y 2) range is obtained according to the length-width dimension of the carriage:
x0+distance*cosη-a/2<x2<x0+distance*cosη+a/2；
y0+distance*sinη-b/2<y2<y0+distance*sinη+b/2；
wherein a is the length of the target vehicle and b is the width of the target vehicle. For making the positional relationships clearer, referring to fig. 16, the front area of the excavator 001 is a working area 002, a cabin center point coordinate 005 is provided in the working area 002, the cabin center point of the target carrier vehicle 003 entering the working area 002 coincides with the cabin center point coordinate 005 through navigation, and the coordinate area 004 of the target loading point can be obtained based on the cabin center point coordinate 005 and the vehicle size.
Step a7, transmitting the loading point coordinate information corresponding to the target loading point to a target carrier vehicle;
Step a8, judging whether the ready information reaching the working area sent by the target carrying vehicle is received or not; executing a9 when received and executing a6 when not received;
step a9, controlling the hopper to act according to the loading point coordinate information so as to realize loading of the hopper at the target loading point;
step a10, judging whether full-load information sent by the target carrier vehicle is received or not; executing a11 when received, and executing a9 when not received;
and a step a11, controlling the stopping action of the hopper.
The method provided by the embodiment of the invention can accurately obtain the target loading point and improve the loading efficiency of the target carrier vehicle.
Example 2:
referring to fig. 17, a flow chart of another unmanned loading guidance method provided by an embodiment of the present invention is shown, where the method corresponding to the embodiment is applied to a carrier vehicle side, and the method includes:
step b1, approaching the excavator;
step b2, receiving loading point coordinate information corresponding to a target loading point sent by the excavator;
step b3, obtaining a second coordinate of the current position of the carrier vehicle and sending the second coordinate to a server and an excavator;
step b4, judging whether the distance from the second coordinate to the first coordinate is smaller than a third threshold value; if yes, executing b6, and if not, executing b5;
Step b5, judging whether the loading point coordinate information corresponding to the loading point is received or not; if yes, executing b8, and if not, executing b2;
step b6, stopping;
step b7, the information which does not receive the loading point coordinate information is sent to a server;
step b8, controlling the throttle, the brake and the gear by PID; longitudinal control can be achieved here by using PID (proportional-integral-derivative) controllers;
step b9, LQR controls the steering wheel; the lateral controller may be implemented here by employing an LQR (linear quadratic regulator) controller;
step b10, acquiring current position information of the vehicle;
step b11, judging whether the carrier vehicle enters a working area or not; if yes, executing b12, and if not, executing b8;
step b12, sending ready information of the carrier vehicle entering the working area to the excavator and a server;
step b13, stopping;
step b14, detecting whether the carrier vehicle is fully loaded; if yes, executing b15, and if not, executing b14;
step b15, sending full-load information to the excavator and the server;
step b16, driving away the vehicle.
The method provided by the embodiment of the invention can accurately reach the target loading point, improve the loading efficiency of the target carrier vehicle and avoid collision accidents.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and scope of the present invention are included in the protection scope of the present invention.
Claims (13)
1. An unmanned loading guidance method applied to an excavator, comprising:
acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction;
determining a working area corresponding to a hopper according to the first coordinate, the first angle and the distance between a first reference point on the hopper of the excavator and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area;
transmitting the loading point coordinate information corresponding to the target loading point to a target carrier vehicle;
wherein after the loading point coordinate information corresponding to the target loading point is sent to the target carrier vehicle, the method further comprises: when receiving ready information which is sent by the target carrying vehicle and reaches the working area, acquiring a third coordinate of the current position of the target carrying vehicle and a third angle of the target carrying vehicle relative to the set reference direction; and adjusting a target loading point corresponding to the target carrier vehicle according to the third coordinate, the third angle and the size relation corresponding to the target carrier vehicle.
2. The unmanned loading guidance method according to claim 1, wherein before transmitting the loading point coordinate information corresponding to the target loading point to the target carrier vehicle, comprising:
acquiring a second angle value of the carrier vehicle relative to the reference direction and a second coordinate of the current position of the carrier vehicle;
and determining the carrier vehicle running towards the position where the excavator is located as a target carrier vehicle according to the relative change information between the first angle and the second angle and between the first coordinate and the second coordinate.
3. The unmanned loading guidance method according to claim 2, wherein the determining that the traveling direction is toward the target carrier vehicle at the location of the excavator based on the relative change information between the first angle and the second angle, and between the first coordinate and the second coordinate, comprises:
determining a difference between the first angle and a second angle, and a distance change value between the first coordinate and the second coordinate;
and determining that the carrier vehicle with the difference value within a first threshold range and the distance change value within a second threshold range is a target carrier vehicle with the running direction facing the position of the excavator.
4. The unmanned loading guidance method of claim 1, wherein determining a work area corresponding to the hopper based on the first coordinate, the first angle, and a distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle based on the work area, comprises:
determining a working area corresponding to one side of the tail of the excavator by the hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator hopper and the first coordinate;
and determining the carriage center point coordinates of the carrier vehicle according to the working area, and determining the target loading point of the carrier vehicle according to the carriage center point coordinates and the size of the carrier vehicle.
5. The unmanned loading guidance method according to any of claims 1 to 4, further comprising:
and controlling the hopper to act according to the loading point coordinate information so as to realize loading of the hopper at the target loading point.
6. The unmanned loading guidance method according to claim 5, wherein the hopper stop operation is controlled when full load information transmitted from the target carrier vehicle is received.
7. An unmanned loading guidance method is applied to a carrier vehicle and comprises the following steps:
receiving loading point coordinate information corresponding to a target loading point sent by an excavator; the target loading point is determined according to a first coordinate of the current position of the excavator, a first angle of the excavator relative to a reference direction and a working area corresponding to the excavator hopper, wherein the working area corresponds to the working area;
acquiring a second coordinate of the current position of the carrier vehicle; obtaining a navigation path according to the loading point coordinate information and the second coordinate;
controlling the carrier vehicle to enter the target loading point according to the navigation path;
the method further comprises the steps of:
transmitting ready information to the excavator to the work area, and transmitting a third coordinate of a current position and a third angle with respect to the reference direction to the excavator; and the third coordinate, the third angle and the corresponding size relation of the carrier vehicle are used for adjusting the target loading point by the excavator.
8. The unmanned loading guidance method according to claim 7, wherein before receiving the loading point coordinate information corresponding to the target loading point transmitted by the excavator, further comprising:
Periodically acquiring a second angle value of the carrier vehicle relative to the reference direction and a second coordinate of the current position of the carrier vehicle;
and sending the second angle value and the second coordinate to the excavator.
9. The unmanned loading guidance method of claim 7, further comprising: when the carrier vehicle enters the working area, the carrier vehicle sends ready information of the carrier vehicle entering the working area to the excavator.
10. The unmanned loading guidance method of claim 7, further comprising:
and detecting the loading capacity of the carrier vehicle when the carrier vehicle is loaded by the excavator, and sending full load information to the excavator when the loading capacity of the carrier vehicle reaches a fourth threshold value.
11. The unmanned loading guide device is applied to an excavator and is characterized by comprising a first positioning module, a first processing module and a first communication module, wherein the first positioning module and the first communication module are respectively and electrically connected with the first processing module; wherein, the liquid crystal display device comprises a liquid crystal display device,
the first positioning module is used for acquiring a first coordinate of the current position of the excavator and a first angle of the excavator relative to a set reference direction;
The first processing module is used for determining a working area corresponding to the hopper according to the first coordinate, the first angle and the distance between a first reference point on the excavator bucket and the first coordinate, and determining a target loading point of a carrier vehicle according to the working area;
the first communication module is used for sending the loading point coordinate information corresponding to the target loading point to a target carrier vehicle;
the first communication module is further configured to obtain a third coordinate of a current position of the target carrier vehicle and a third angle of the target carrier vehicle relative to the set reference direction when receiving ready information sent by the target carrier vehicle to reach the working area;
the first processing module is further configured to adjust a target loading point corresponding to the target carrier vehicle according to the third coordinate, the third angle, and a dimensional relationship corresponding to the target carrier vehicle.
12. An unmanned loading guiding device is applied to a carrier vehicle and is characterized by comprising a second positioning module, a second processing module, a second control module and a second communication module; the second positioning module, the second control module and the second communication module are respectively and electrically connected with the second processing module; wherein, the liquid crystal display device comprises a liquid crystal display device,
The second positioning module is used for acquiring a second coordinate of the current position of the carrier vehicle;
the second communication module is used for receiving loading point coordinate information corresponding to a target loading point sent by the excavator; the loading point is determined according to a first coordinate of the current position of the excavator, a first angle of the excavator relative to a reference direction and a working area corresponding to the hopper, wherein the working area is determined according to a distance between a first reference point on the excavator hopper and the first coordinate;
the second processing module is used for obtaining a navigation path according to the loading point coordinate information and the second coordinates;
the second control module is used for controlling the carrier vehicle to enter the target loading point according to the navigation path;
the second communication module is further configured to send ready information reaching the working area to the excavator, and send a third coordinate of a current position and a third angle relative to the reference direction to the excavator; and the third coordinate, the third angle and the corresponding size relation of the carrier vehicle are used for adjusting the target loading point by the excavator.
13. An unmanned loading guide system comprising an unmanned loading guide as claimed in claim 11 and an unmanned loading guide as claimed in claim 12.
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| CN114489041A (en) * | 2021-12-23 | 2022-05-13 | 中煤科工集团信息技术有限公司 | Method and system for specifying loading point position of unmanned vehicle in mining area |
| CN115328171B (en) * | 2022-10-11 | 2023-02-10 | 青岛慧拓智能机器有限公司 | Method, device, chip, terminal, equipment and medium for generating position of loading point |
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