CN111733904A - Automatic shovel loading system and method for loader and loader - Google Patents

Automatic shovel loading system and method for loader and loader Download PDF

Info

Publication number
CN111733904A
CN111733904A CN202010747913.5A CN202010747913A CN111733904A CN 111733904 A CN111733904 A CN 111733904A CN 202010747913 A CN202010747913 A CN 202010747913A CN 111733904 A CN111733904 A CN 111733904A
Authority
CN
China
Prior art keywords
loader
controller
image
information database
processed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010747913.5A
Other languages
Chinese (zh)
Inventor
李冰
温超
徐武彬
何锐波
梁蔓安
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangxi University of Science and Technology
Original Assignee
Guangxi University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangxi University of Science and Technology filed Critical Guangxi University of Science and Technology
Priority to CN202010747913.5A priority Critical patent/CN111733904A/en
Publication of CN111733904A publication Critical patent/CN111733904A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/24—Querying

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Computational Linguistics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an automatic shoveling system, a shoveling method and a loader of the loader, wherein the shoveling system comprises: the system comprises a central control box, a material information database, an image acquisition module and a loader control device, wherein the material information database is connected with the central control box, the image acquisition module is connected with the material information database, and the loader control device is connected with the central control box through a first output interface; the invention establishes the material library of the materials shoveled by the loader, provides material information for better developing the shoveling operation of the loader and reduces the fatigue of a driver.

Description

Automatic shovel loading system and method for loader and loader
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an automatic shoveling and loading system and method for a loader and the loader.
Background
At present, a loader is an earth and stone engineering construction machine widely used in road, railway, mine, building, water and electricity, harbor and other engineering, and the operation objects of the loader are mainly various soils, sand and stone materials, ash materials and other construction bulk materials, and the loader mainly completes the operations of shoveling, loading, transporting, unloading and the like.
However, the working site environment of the loader is severe, and the labor intensity of operators is high; the shoveling operation of the loader needs to be manually realized by an operator, and the following defects mainly exist: (1) at present, the technology only realizes remote control driving on engineering machinery, such as remote image real-time viewing and signal feedback rear operation room, and does not have a similar intelligent identification shovel loading method; (2) at present, the method is used in safer places, and is still in an exploration stage under special environments such as engineering machinery and the like; (3) the tool based on machine vision recognition is not combined with the loader material shoveling resistance parameter; (4) at present, a loader only identifies material types, outlines and the like based on machine vision, and the shoveling function is not further realized.
Therefore, it is an urgent need to solve the above-mentioned problems by those skilled in the art to provide an automatic shovel loading system, a shovel loading method and a loader.
Disclosure of Invention
In view of the above, the invention provides an automatic shoveling system of a loader, a shoveling method and the loader, which establish a material warehouse of shoveled materials by the loader, provide material information for better development of shoveling operation of the loader, reduce fatigue of a driver, reduce danger coefficient of an operating environment of the driver under special conditions, achieve an effect of intelligently shoveling the materials by the loader, and provide a new idea for intelligent shoveling of the loader.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic shovel loading system of a loader, comprising:
a central control box;
the material information database is connected with the central control box and pre-stores the characteristics of a plurality of material types;
the image acquisition module is connected with the material information database and is used for acquiring image information of the material and sending the image information to the material information database;
and the loader control device is connected with the central control box through a first output interface and is used for controlling the lifting height of the shovel loader.
Preferably, the image acquisition module includes:
the image acquisition sensor is used for acquiring image information of the material;
the image processor is connected with the image acquisition sensor and is used for processing the image information;
the input end of the first controller is connected with the image processor, the output end of the first controller is connected with the material information database, and the first controller is used for receiving image data obtained after the image processor processes and sending the image data to the material information database for matching.
Preferably, the loader control device includes:
the second controller is connected with the central control box;
the electro-hydraulic controller is connected with the second controller and is used for controlling the lifting height of the loader;
a transmission controller connected to the second controller, the transmission controller for controlling a gear of an engine.
Preferably, the method further comprises the following steps: and the remote server is connected with the central control box and is used for storing the characteristics and the type data of the materials to be processed.
A loader comprises the automatic shovel loading system of the loader.
An automatic shoveling method of a loader comprises the following steps:
s1: acquiring image information of a material to be processed by using the image acquisition module, processing the image information to obtain repose angle data of the material to be processed, and sending the processed image information to the material information database;
s2: the material information database compares the received image information with the characteristics of the pre-stored material types to obtain the types and the characteristics of the materials to be processed, and sends the types and the characteristics to the central control box;
s3: and the central control box sends a control instruction to the loader control device according to the type and the characteristics of the material to be processed.
Preferably, in step S3, the image acquisition module is used to obtain distance data between the material to be processed and the loader in real time, and adjust the position of the loader at any time according to the distance information.
According to the technical scheme, compared with the prior art, the automatic shoveling system, the shoveling method and the loader of the loader are provided, the material library of the shoveled materials of the loader is established, material information is provided for better developing shoveling operation of the loader, fatigue of a driver is relieved, the danger coefficient of the operating environment of the driver under special conditions is reduced, the effect of intelligently shoveling the materials of the loader can be achieved, and a new idea is provided for intelligent shoveling of the loader.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic block diagram of an automatic shovel loading system of a loader according to the present invention;
FIG. 2 is a schematic block diagram of an image acquisition module according to the present invention;
FIG. 3 is a schematic block diagram of a loader control apparatus according to the present invention;
in fig. 1-3:
1-a central control box, 2-a material information database, 3-an image acquisition module, 4-a loader control device, 31-an image acquisition sensor, 32-an image processor, 33-a first controller, 41-a second controller, 42-an electro-hydraulic controller, 43-a transmission controller and 5-a remote server.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, an embodiment 1 of the present invention discloses an automatic shovel loading system of a loader, which is characterized by including:
a central control box 1;
the material information database 2 is connected with the central control box 1, and the material information database 2 stores the characteristics of a plurality of material types in advance;
the image acquisition module 3 is connected with the material information database 2, and the image acquisition module 3 is used for acquiring the image information of the material and sending the image information to the material information database 2;
and the loader control device 4 is connected with the central control box 1 through a first output interface, and the loader control device 4 is used for controlling the lifting height of the shovel loader.
In a particular embodiment, the image acquisition module 2 comprises:
the image acquisition sensor 31 is used for acquiring image information of the material;
an image processor 32, wherein the image processor 32 is connected with the image acquisition sensor 31, and the image processor 32 is used for processing image information;
the input end of the first controller 33 is connected with the image processor 32, the output end of the first controller 33 is connected with the material information database 2, and the first controller 33 is used for receiving image data obtained after processing by the image processor 32 and sending the image data to the material information database 2 for matching.
In a particular embodiment, the loader control 4 comprises:
a second controller 41, the second controller 41 being connected to the central control box 1;
the electro-hydraulic controller 42, the electro-hydraulic controller 42 is connected with the second controller 41, the electro-hydraulic controller 42 is used for controlling the lifting height of the loader;
and a transmission controller 43, wherein the transmission controller 43 is connected with the second controller 41, and the transmission controller 43 is used for controlling the gear of the engine.
Specifically, the shovel loader can further comprise a power cutter, wherein the power cutter is connected with the second controller 41, and power supply is cut off through the power cutter after the shovel loading operation is finished.
In a specific embodiment, the method further comprises the following steps: the remote server 5 is connected with the central control box 1, and the remote server 5 is used for storing the characteristics and the type data of the materials to be processed.
A loader comprising the loader autollading system of any one of embodiments 1.
Example 2
The embodiment 2 of the invention provides an automatic shoveling method for a loader, which specifically comprises the following steps:
s1: the image acquisition module 3 is used for acquiring image information of the material to be processed, processing the image information to obtain the repose angle data of the material to be processed, and sending the processed image information to the material information database 2;
s2: the material information database 2 compares the received image information with the characteristics of the pre-stored material types to obtain the types and characteristics of the materials to be processed, and sends the types and characteristics to the central control box 1;
s3: the central control box 1 sends control instructions to the loader control 4 according to the type and characteristics of the material to be processed.
In a specific embodiment, in step S3, the image capturing module 3 is used to obtain the shoveling distance data between the material to be processed and the loader and the particle size of the material in real time, and adjust the position of the loader at any time according to the distance information.
Specifically, the remote server 6 may temporarily store the relevant data of the material identification, and simultaneously send the data back to the material information database 2 through the central control box 1, so as to achieve the purpose of updating the database.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. An automatic shovel loading system of a loader, comprising:
a central control box (1);
the material information database (2), the material information database (2) is connected with the central control box (1), and the material information database (2) stores the characteristics of a plurality of material types in advance;
the image acquisition module (3) is connected with the material information database (2), and the image acquisition module (3) is used for acquiring image information of materials and sending the image information to the material information database (2);
the loader control device (4) is connected with the central control box (1) through a first output interface, and the loader control device (4) is used for controlling the lifting height of the shovel loader.
2. The automatic shovel system of a loader as claimed in claim 1, characterized in that said image acquisition module (2) comprises:
the device comprises an image acquisition sensor (31), wherein the image acquisition sensor (31) is used for acquiring image information of the material;
an image processor (32), said image processor (32) being connected to said image acquisition sensor (31), said image processor (32) being configured to process said image information;
the input end of the first controller (33) is connected with the image processor (32), the output end of the first controller (33) is connected with the material information database (2), and the first controller (33) is used for receiving image data obtained after the image processor (32) processes and sending the image data to the material information database (2) for matching.
3. The automatic shovel system of a loader as claimed in claim 2, characterized in that the loader control means (4) comprise:
a second controller (41), wherein the second controller (41) is connected with the central control box (1);
the electro-hydraulic controller (42), the electro-hydraulic controller (42) is connected with the second controller (41), and the electro-hydraulic controller (42) is used for controlling the lifting height of the loader;
a transmission controller (43), the transmission controller (43) being connected to the second controller (41), the transmission controller (43) being configured to control a gear of an engine.
4. The automatic shovel system of a loader according to any one of claims 1 to 3, further comprising: the remote server (5), the remote server (5) with central control case (1) is connected, remote server (5) are used for storing this time the characteristic and the kind data of material to be processed.
5. A loader comprising the automatic shovel system of a loader according to any one of claims 1 to 3.
6. An automatic shoveling method of a loader is characterized by comprising the following steps:
s1: acquiring image information of the material to be processed by using the image acquisition module (3), processing the image information to obtain the repose angle data of the material to be processed, and sending the processed image information to the material information database (2);
s2: the material information database (2) compares the received image information with the characteristics of the pre-stored material types to obtain the types and the characteristics of the materials to be processed, and sends the types and the characteristics of the materials to be processed to the central control box (1);
s3: and the central control box (1) sends a control instruction to the loader control device (4) according to the type and the characteristics of the material to be processed, and shovels the goods.
7. The method for automatically scooping up a loader according to claim 6, wherein in step S3, the image acquisition module (3) is used to obtain the distance data between the material to be processed and the loader in real time, and the position of the loader is adjusted at any time according to the distance information.
CN202010747913.5A 2020-07-30 2020-07-30 Automatic shovel loading system and method for loader and loader Pending CN111733904A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010747913.5A CN111733904A (en) 2020-07-30 2020-07-30 Automatic shovel loading system and method for loader and loader

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010747913.5A CN111733904A (en) 2020-07-30 2020-07-30 Automatic shovel loading system and method for loader and loader

Publications (1)

Publication Number Publication Date
CN111733904A true CN111733904A (en) 2020-10-02

Family

ID=72656547

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010747913.5A Pending CN111733904A (en) 2020-07-30 2020-07-30 Automatic shovel loading system and method for loader and loader

Country Status (1)

Country Link
CN (1) CN111733904A (en)

Similar Documents

Publication Publication Date Title
US11378964B2 (en) Systems and methods for autonomous movement of material
US10519631B2 (en) Work tool vision system
AU2018211264B2 (en) System and method for controlling earthmoving machines
US20070129869A1 (en) System for autonomous cooperative control of multiple machines
US6085583A (en) System and method for estimating volume of material swept into the bucket of a digging machine
AU2020275694B2 (en) Ground engaging tool monitoring system
US11401684B2 (en) Perception-based alignment system and method for a loading machine
US11466984B2 (en) Bucket get monitoring system
CN102803618A (en) Definition of control data for automatic control of mobile mining machine
JP2013515885A (en) System and method for controlling instruments to maximize machine productivity and maintain final slope
US20160082954A1 (en) Method for controlling operations of multiple machines
DE112019000962T5 (en) SYSTEM AND METHOD FOR CONTROLLING A WORKING MACHINE
US20160196749A1 (en) Method for assisting hauling trucks at worksite
DE112019000845T5 (en) SYSTEM AND METHOD FOR CONTROLLING A WORKING MACHINE
CN114599840A (en) System and method for confirming availability of machines at a work site
CA3230135A1 (en) Method and apparatus for coordinating loading of haul vehicles
CN111733904A (en) Automatic shovel loading system and method for loader and loader
CN213358718U (en) Automatic shovel loading system of loader and loader
CN111434861B (en) Optimizing loading of payload carriers of a machine
JP2024045658A (en) automatic loading system
US20210394785A1 (en) Remote manual and autonomous work machine control
AU2020200064B2 (en) Optimizing loading of a payload carrier of a machine
JPH11350534A (en) Scanning sensor equipment for earthmoving machine
US20160040396A1 (en) Machine and bucket combination determination
US20220064902A1 (en) Method of controlling the working scheme of an autonomous working machine at a worksite

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination