CN111829491A - Automatic loading position calibration method and device, electronic equipment and medium - Google Patents
Automatic loading position calibration method and device, electronic equipment and medium Download PDFInfo
- Publication number
- CN111829491A CN111829491A CN202010689084.XA CN202010689084A CN111829491A CN 111829491 A CN111829491 A CN 111829491A CN 202010689084 A CN202010689084 A CN 202010689084A CN 111829491 A CN111829491 A CN 111829491A
- Authority
- CN
- China
- Prior art keywords
- loading position
- excavator
- longitude
- latitude coordinates
- current
- 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.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A loading position automatic calibration method, a loading position automatic calibration device, electronic equipment and a medium are provided, and the method comprises the following steps: calculating the orientation of the next loading position relative to the excavator according to the longitude and latitude coordinates and the course angle of the current loading position and the longitude and latitude coordinates of the current excavator; acquiring operation data of the current loading position excavator; and calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data. According to the method, the longitude and latitude coordinates of the next loading position can be automatically and accurately calculated according to the position data, the operation data and the current loading position data of the excavator, so that the mine card can automatically drive to the corresponding loading position for loading after identifying the loading position.
Description
Technical Field
The present disclosure relates to the field of unmanned driving, and in particular, to a method and an apparatus for automatically calibrating a loading position, an electronic device, and a medium.
Background
With the development of scientific technology, the unmanned technology of the surface mine is gradually developed and applied by people. In an earth mining field of a mine, a hydraulic excavator (called an excavator for short) loads excavated sandy soil on a self-discharging mine card, and the mine card is driven to an earth discharge field to discharge the earth. In the traditional technology, the mine card is manually driven, a driver drives the mine card to a loading position, an excavator starts to load soil, after one unloading is completed, the next loading position is judged manually according to the position of the excavator, and the mine card is driven to the loading position. This kind of mode efficiency is lower, and has increased the human cost.
Disclosure of Invention
Technical problem to be solved
In view of the above technical problems, the present disclosure provides a method, an apparatus, an electronic device and a medium for automatically calibrating a loading position, which are used to at least partially solve the above technical problems.
(II) technical scheme
According to a first aspect of the present disclosure, there is provided a method for automatically calibrating a loading position, including: calculating the orientation of the next loading position relative to the excavator according to the longitude and latitude coordinates and the course angle of the current loading position and the longitude and latitude coordinates of the current excavator; acquiring operation data of the current loading position excavator; and calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data.
Optionally, the operational data includes an operational angle range of a bucket of the excavator; calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data comprises the following steps: obtaining the soil-loading angle range of the excavator during the next loading according to the course angle, the direction and the operation angle range; calculating the maximum radius of the operation of the bucket of the excavator according to the length of a movable arm of the excavator, the length of a bucket rod and a distance coefficient; and obtaining the longitude and latitude coordinates of the next loading position according to the angle range and the maximum radius of the earth-holding position and the boundary line of the position of the excavator.
Optionally, obtaining longitude and latitude coordinates of a next loading position according to the angle range capable of loading soil, the maximum radius and the boundary line of the position where the excavator is located, includes: taking longitude and latitude coordinates of the excavator as a starting point, respectively making two straight lines with the length as the maximum radius along the starting angle direction and the ending angle direction of the earth-holding angle range, taking end points of the two straight lines as a first positioning point and a second positioning point, and taking an intersection point of the two straight lines and a boundary line as a third positioning point and a fourth positioning point; connecting the first positioning point, the second positioning point, the third positioning point and the fourth positioning point to obtain a first geometric figure; and (3) retracting the first geometric figure by a preset length to obtain a second geometric figure, and taking a point, closest to an intersection point of a straight line and a boundary line along the initial angle direction of the soil-loading angle range, on the second geometric figure as a longitude and latitude coordinate of the next loading position.
Optionally, calculating the orientation of the next loading position relative to the excavator according to the longitude and latitude coordinates of the current loading position, the heading angle and the longitude and latitude coordinates of the current excavator, including: extending a preset distance along the direction of the course angle by taking the longitude and latitude coordinates of the current excavator as a starting point to obtain a fifth positioning point; calculating a floating point numerical value according to the longitude and latitude coordinates of the current loading position, the longitude and latitude coordinates of the current excavator and the longitude and latitude coordinates of the fifth positioning point; and obtaining the orientation of the next loading position relative to the excavator according to the floating point numerical value.
Optionally, the floating-point number is calculated by:
v＝(x2-x1)*(y0-y1)-(y2-y1)*(x0-x1)
where v is a floating point number, (x)1，y1) (x) as latitude and longitude coordinates of the current loading position2，y2) Latitude and longitude coordinates of the current excavator, (x)3，y3) And the longitude and latitude coordinates of the fifth positioning point.
Optionally, calculating a maximum radius of operation of the excavator bucket based on the boom length, stick length and distance coefficient of the excavator comprises: and summing the length of the maneuvering arm of the excavator, the length of the bucket rod and the distance coefficient to obtain the maximum radius.
Optionally, the first loading position is calibrated manually.
According to a second aspect of the present disclosure, there is provided a loading position automatic calibration apparatus, including: the first calculation module is used for calculating the position of the next loading position relative to the excavator according to the longitude and latitude coordinates of the current loading position, the course angle and the longitude and latitude coordinates of the current excavator; the acquisition module is used for acquiring the operation data of the current loading position excavator; and the second calculation module is used for calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data.
According to a third aspect of the present disclosure, there is provided an electronic device comprising: one or more processors; a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method for automatic load bit calibration described above.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium storing computer-executable instructions for implementing the method for automatic calibration of a load bit described above when executed.
(III) advantageous effects
The utility model provides a loading position automatic calibration method, device, electronic equipment and medium, beneficial effect is: the longitude and latitude coordinates of the next loading position can be automatically and accurately calculated according to the position data, the operation data and the current loading position data of the excavator, so that the mine card can automatically drive to the corresponding loading position for loading after identifying the loading position, and the defects that the loading position needs to be manually judged and manually driven in the traditional technology are overcome.
Drawings
For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description serve to explain the principles of the disclosure. Wherein:
FIG. 1 schematically illustrates a flow chart of a method for automatic calibration of a load site according to an embodiment of the disclosure;
FIG. 2 schematically illustrates a block diagram of a manual calibration loading position according to an embodiment of the disclosure;
FIG. 3 schematically illustrates a loader loading angle range diagram according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates a first geometry block diagram in accordance with an embodiment of the disclosure;
FIG. 5 schematically illustrates a position diagram of a new load bit generated in accordance with an embodiment of the disclosure;
FIG. 6 schematically illustrates a block diagram of a load site auto-calibration apparatus according to an embodiment of the present disclosure;
fig. 7 schematically shows a block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
Fig. 1 schematically shows a flow chart of a method for automatic calibration of a load bit according to an embodiment of the present disclosure.
As shown in fig. 1, the method for automatically calibrating a loading position according to the embodiment of the present disclosure may include operations S101 to S103, for example.
In operation S101, the orientation of the next loading position with respect to the excavator is calculated according to the longitude and latitude coordinates of the current loading position, the heading angle, and the longitude and latitude coordinates of the current excavator.
In this embodiment, the first loading position may be calibrated manually, as shown in fig. 2, P1(x1，y1) Latitude and longitude coordinates, P, representing the current loading position2(x2，y2) And (4) representing longitude and latitude coordinates of the current excavator, and A representing a loading position course angle.
In an embodiment of the present disclosure, one way to calculate the orientation of the next loading bay with respect to the shovel (the loading bay is on the left or right side of the shovel) may be as follows:
firstly, the longitude and latitude coordinates P of the current excavator are used2As a starting point, extending a preset distance along the direction of the course angle A to obtain a fifth positioning point P3(x3，y3) The preset distance may be determined according to the actual working condition of the excavator, and the disclosure is not limited, for example, 6m may be selected.
Then according to the formula:
v＝(x2-x1)*(y0-y1)-(y2-y1)*(x0-x1)
and calculating a floating point value v, wherein if v is larger than 0.0D, the loading position is positioned at the left side of the excavator, and if v is smaller than 0.0D, the loading position is positioned at the right side of the excavator. The obtained data of the excavator and the loading position and the calculated data can be stored in a cloud server through a network.
And S102, acquiring the operation data of the current loading position excavator.
In the implementation of the disclosure, after the manual calibration of the first loading position is completed, the excavator can request the ore card to enter the manually calibrated loading position through the terminal monitoring module, after the ore card enters the loading position, the excavator starts to operate and records the operation data of the excavator, after the loading of the excavator is completed, the excavator firstly requests the ore card to leave the loading position through the terminal interaction module, and the cloud server stops recording the operation record of the excavator. The job data may also be stored in the cloud server. Wherein, the operation data can be the operation angle range (a) of the bucket of the excavator from loading start to loading finish1，a2，a3，a4，a5，ai-1，ai)。
And S103, calculating the longitude and latitude coordinates of the next loading position according to the course angle, the position of the next loading position relative to the excavator and the operation data.
In the embodiment of the present disclosure, one possible calculation manner is:
first, the heading angle A and the working angle range (a) are determined according to the orientation of the loading position relative to the excavator1，a2，a3，a4，a5，ai-1，ai) The range of angles at which the excavator can load soil at the next loading is obtained as shown in FIG. 3, where AbIndicating the starting direction angle of the angular range, AeIndicating the ending directional angle of the angular range.
Secondly, according to the length L of the excavator movable arm of the excavator1(big arm), bucket arm length L2(Small)Arm), distance coefficient Dis, calculating the maximum radius of operation of the excavator bucket. In a feasible mode of the embodiment, the length L of the mobile arm of the excavator can be adjusted1Length L of bucket arm2And the distance coefficient Dis are summed to obtain the maximum radius, namely Rmax＝L1+L2+Dis。
And finally, obtaining the longitude and latitude coordinates of the next loading position according to the angle range and the maximum radius of the earth-holding position and the boundary line of the position of the excavator. As shown in fig. 4, in this embodiment, a specific way of obtaining the longitude and latitude coordinates of the next loading position according to the angle range where earth can be loaded, the maximum radius, and the boundary line of the position where the excavator is located may be:
firstly, the longitude and latitude coordinates P of the excavator are taken as a starting point, and the starting angle direction A along the soil-loading angle range is adoptedbAnd end angle direction AeRespectively as the maximum radius RmaxThe end points of the two straight lines are taken as the first fixed point CPbAnd a second anchor point CPeTaking the intersection point of the two straight lines and the boundary line boundary as a third positioning point CIbAnd a fourth positioning point CIe。
Then, the first fixed site CPbA second positioning point CPeAnd a third positioning point CIbAnd a fourth positioning point CIeConnected to form a first geometry, geo.
Finally, the first geometric figure geos is integrally contracted by a preset length to obtain a second geometric figure geos buffer, and as shown in fig. 5, an intersection point (a third positioning point CI shown in fig. 4) of a straight line on the second geometric figure geos buffer and a boundary line along the initial angle direction of the soil-loadable angle range is formed (the intersection point is formed by the third positioning point CI shown in fig. 4)b) The nearest point is taken as the longitude and latitude coordinate (point C in fig. 5) of the next loading position, and the longitude and latitude coordinate is the loading position generating point, namely the central point of the rear axle of the mine card. Based on the point C, a polygon with a preset length and width is generated as a frame of the loading position (shown as a general rectangular frame in fig. 5). Wherein, the preset length of the internal contraction can be adjusted according to the actual working requirement, for example, 2m can be selected, and the preset length and width can also be adjusted according to the actual working requirement or the size of the mine card, for example, the length is 8.85m, width 3.45 m.
Therefore, the automatic calibration of the next loading position is completed, and the generated data of the loading position can be stored in the cloud server so that the mine card can be automatically identified and automatically run to the loading position corresponding to the loading position data. After the first manual calibration of the loading position is completed, the operation process can be repeatedly executed subsequently, and continuous automatic calibration of the loading position can be realized.
It should be understood that the specific calculation method in operations S101 and S103 is only one possible method, and does not cover all possible methods, and the specific method for calculating the longitude and latitude coordinates of the next loading position based on the heading angle, the orientation of the next loading position relative to the excavator, and the operation data is within the scope of the present disclosure.
In summary, the present embodiment provides an automatic calibration method for a loading position, which automatically and accurately calculates longitude and latitude coordinates of a next loading position according to position data of an excavator, operation data and currently loaded position data, and stores the longitude and latitude coordinates in a cloud server, so that a mine card automatically travels to a corresponding loading position to load after automatically identifying the loading position according to the data in the cloud server, and the defects that the loading position needs to be manually judged and manually driven in the conventional technology are overcome.
Fig. 6 schematically illustrates a block diagram of a load-site automatic calibration apparatus according to an embodiment of the present disclosure. The device can execute the automatic calibration method of the loading position, and realizes the automatic calibration of the loading position of the stope in the unmanned scene of the surface mine.
As shown in fig. 6, the automatic loading position calibration apparatus 600 according to the embodiment of the disclosure may include, for example, a first calculating module 610, an obtaining module 620, and a second calculating module 630.
The first calculating module 610 is used for calculating the orientation of the next loading position relative to the excavator according to the longitude and latitude coordinates of the current loading position, the course angle and the longitude and latitude coordinates of the current excavator.
And an obtaining module 620, configured to obtain operation data of the current loading position excavator.
The second calculating module 630 is used for calculating the longitude and latitude coordinates of the next loading position according to the heading angle, the direction and the operation data.
It should be noted that the embodiment of the apparatus portion is similar to the embodiment of the method portion, and the achieved technical effects are also similar, and for specific details, reference is made to the embodiment of the method described above, and details are not repeated here.
Any of the modules according to embodiments of the present disclosure, or at least part of the functionality of any of them, may be implemented in one module. Any one or more of the modules according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules according to the embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging the circuit, or in any one of three implementations, or in any suitable combination of any of the software, hardware, and firmware. Alternatively, one or more of the modules according to embodiments of the disclosure may be implemented at least partly as computer program modules which, when executed, may perform corresponding functions.
For example, any number of the first computing module 610, the obtaining module 620, and the second computing module 630 may be combined and implemented in one module, or any one of them may be split into a plurality of modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of the other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the first computing module 610, the obtaining module 620, and the second computing module 630 may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented by hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or implemented by any one of three implementations of software, hardware, and firmware, or any suitable combination of any of the three. Alternatively, at least one of the first computing module 610, the obtaining module 620 and the second computing module 630 may be at least partially implemented as a computer program module, which when executed, may perform a corresponding function.
Fig. 7 schematically shows a block diagram of an electronic device according to an embodiment of the disclosure. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, electronic device 700 includes a processor 710, a computer-readable storage medium 720. The electronic device 700 may perform a method according to an embodiment of the present disclosure.
In particular, processor 710 may comprise, for example, a general purpose microprocessor, an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 710 may also include on-board memory for caching purposes. Processor 710 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure.
Computer-readable storage medium 720, for example, may be a non-volatile computer-readable storage medium, specific examples including, but not limited to: magnetic storage systems, such as magnetic tape or Hard Disk Drives (HDDs); optical storage systems, such as compact discs (CD-ROMs); memory such as Random Access Memory (RAM) or flash memory, etc.
The computer-readable storage medium 720 may include a computer program 721, which computer program 721 may include code/computer-executable instructions that, when executed by the processor 710, cause the processor 710 to perform a method according to an embodiment of the disclosure, or any variation thereof.
The computer program 721 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 721 may include one or more program modules, including 721A, modules 721B, … …, for example. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, so that the processor 710 may execute the method according to the embodiment of the present disclosure or any variation thereof when the program modules are executed by the processor 710.
At least one of the first computing module 610, the obtaining module 620, and the second computing module 630 according to embodiments of the present disclosure may be implemented as a computer program module described with reference to fig. 7, which, when executed by the processor 710, may implement the respective operations described above.
The present disclosure also provides a computer-readable storage medium, which may be included in the device/system described in the above embodiments, or may exist separately without being assembled into the device/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be understood by those skilled in the art that while the present disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A method for automatically calibrating a loading position is characterized by comprising the following steps:
calculating the orientation of the next loading position relative to the excavator according to the longitude and latitude coordinates and the course angle of the current loading position and the longitude and latitude coordinates of the current excavator;
acquiring operation data of the current loading position excavator;
and calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data.
2. The method for automatically calibrating a loading position according to claim 1, wherein the operation data includes an operation angle range of a bucket of the excavator;
the step of calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data comprises the following steps:
obtaining the angle range of the excavator capable of loading soil during the next loading according to the course angle, the direction and the operation angle range;
calculating the maximum radius of the operation of the bucket of the excavator according to the length of the movable arm of the excavator, the length of the bucket rod and the distance coefficient;
and obtaining the longitude and latitude coordinates of the next loading position according to the angle range capable of loading soil, the maximum radius and the boundary line of the position where the excavator is located.
3. The method for automatically calibrating the loading position according to claim 2, wherein the obtaining of the longitude and latitude coordinates of the next loading position according to the earthed angle range, the maximum radius and the boundary line of the position of the excavator comprises:
taking longitude and latitude coordinates of the excavator as a starting point, respectively making two straight lines with the length being the maximum radius along the starting angle direction and the ending angle direction of the earth-holding angle range, taking the end points of the two straight lines as a first positioning point and a second positioning point, and taking the intersection point of the two straight lines and the boundary line as a third positioning point and a fourth positioning point;
connecting the first positioning point, the second positioning point, the third positioning point and the fourth positioning point to obtain a first geometric figure;
and integrally retracting the first geometric figure by a preset length to obtain a second geometric figure, and taking a point on the second geometric figure, which is closest to an intersection point of a straight line along the initial angle direction of the earth-loadable angle range and a boundary line, as a longitude and latitude coordinate of the next loading position.
4. The method for automatically calibrating the loading position according to claim 1, wherein the calculating the position of the next loading position relative to the excavator according to the longitude and latitude coordinates of the current loading position, the heading angle and the longitude and latitude coordinates of the current excavator comprises:
extending a preset distance along the direction of the course angle by taking the longitude and latitude coordinates of the current excavator as a starting point to obtain a fifth positioning point;
calculating a floating point numerical value according to the longitude and latitude coordinates of the current loading position, the longitude and latitude coordinates of the current excavator and the longitude and latitude coordinates of the fifth positioning point;
and obtaining the orientation of the next loading position relative to the excavator according to the floating point numerical value.
5. The method for automatically calibrating the load bits according to claim 4, wherein the floating-point number is calculated by:
v＝(x2-x1)*(y0-y1)-(y2-y1)*(x0-x1)
wherein v is the floating-point number, (x)1，y1) (x) is the latitude and longitude coordinate of the current loading position2，y2) Longitude and latitude coordinates (x) of the current excavator3，y3) And the longitude and latitude coordinates of the fifth positioning point.
6. The method for automatically calibrating the loading position according to claim 2, wherein the step of calculating the maximum radius of the excavator bucket operation according to the length of the movable arm of the excavator, the length of the arm and the distance coefficient comprises the following steps:
and summing the length of the maneuvering arm of the excavator, the length of the bucket rod and the distance coefficient to obtain the maximum radius.
7. The automatic calibration method for the loading positions according to any one of claims 1 to 6, characterized in that the first loading position is calibrated manually.
8. An automatic calibration device for a loading position is characterized by comprising:
the first calculation module is used for calculating the position of the next loading position relative to the excavator according to the longitude and latitude coordinates of the current loading position, the course angle and the longitude and latitude coordinates of the current excavator;
the acquisition module is used for acquiring the operation data of the current loading position excavator;
and the second calculation module is used for calculating the longitude and latitude coordinates of the next loading position according to the course angle, the direction and the operation data.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7.
10. A computer-readable storage medium storing computer-executable instructions for implementing the method of any one of claims 1 to 7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689084.XA CN111829491B (en) | 2020-07-16 | 2020-07-16 | Automatic loading position calibration method and device, electronic equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689084.XA CN111829491B (en) | 2020-07-16 | 2020-07-16 | Automatic loading position calibration method and device, electronic equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111829491A true CN111829491A (en) | 2020-10-27 |
| CN111829491B CN111829491B (en) | 2022-03-18 |
Family
ID=72924417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010689084.XA Active CN111829491B (en) | 2020-07-16 | 2020-07-16 | Automatic loading position calibration method and device, electronic equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111829491B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112965042A (en) * | 2021-03-01 | 2021-06-15 | 沃行科技(南京)有限公司 | Unmanned mine truck driving positioning method based on overhead contact network |
| CN113127800A (en) * | 2021-03-17 | 2021-07-16 | 北京易控智驾科技有限公司 | Method and device for generating loading position of unmanned mine vehicle to be loaded |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007147588A (en) * | 2005-11-01 | 2007-06-14 | Hitachi Constr Mach Co Ltd | Position measuring system for working machine |
| US20090108562A1 (en) * | 2007-10-26 | 2009-04-30 | Hagenbuch Leroy G | Method and apparatus for transitioning a heavy equipment hauling rear loading trailer between transport and loading positions |
| CN102852524A (en) * | 2012-10-09 | 2013-01-02 | 中国铝业股份有限公司 | Method for utilizing hydraulic support to improve bauxite recovery rate |
| US20140261152A1 (en) * | 2011-10-17 | 2014-09-18 | Hitachi Construction Machinery Co., Ltd. | System for Indicating Parking Position and Direction of Dump Truck and Hauling System |
| CN106462166A (en) * | 2016-04-28 | 2017-02-22 | 株式会社小松制作所 | Management device for construction machinery |
| CN111174778A (en) * | 2019-11-26 | 2020-05-19 | 广东小天才科技有限公司 | Building entrance determining method and device based on pedestrian dead reckoning |
| 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 |
-
2020
- 2020-07-16 CN CN202010689084.XA patent/CN111829491B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007147588A (en) * | 2005-11-01 | 2007-06-14 | Hitachi Constr Mach Co Ltd | Position measuring system for working machine |
| US20090108562A1 (en) * | 2007-10-26 | 2009-04-30 | Hagenbuch Leroy G | Method and apparatus for transitioning a heavy equipment hauling rear loading trailer between transport and loading positions |
| US20140261152A1 (en) * | 2011-10-17 | 2014-09-18 | Hitachi Construction Machinery Co., Ltd. | System for Indicating Parking Position and Direction of Dump Truck and Hauling System |
| CN102852524A (en) * | 2012-10-09 | 2013-01-02 | 中国铝业股份有限公司 | Method for utilizing hydraulic support to improve bauxite recovery rate |
| CN106462166A (en) * | 2016-04-28 | 2017-02-22 | 株式会社小松制作所 | Management device for construction machinery |
| CN111174778A (en) * | 2019-11-26 | 2020-05-19 | 广东小天才科技有限公司 | Building entrance determining method and device based on pedestrian dead reckoning |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 靳海军: "大型挖掘机斗齿定位监测系统研究", 《工程机械》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112965042A (en) * | 2021-03-01 | 2021-06-15 | 沃行科技(南京)有限公司 | Unmanned mine truck driving positioning method based on overhead contact network |
| CN112965042B (en) * | 2021-03-01 | 2022-04-26 | 沃行科技(南京)有限公司 | Unmanned mine truck driving positioning method based on overhead contact network |
| CN113127800A (en) * | 2021-03-17 | 2021-07-16 | 北京易控智驾科技有限公司 | Method and device for generating loading position of unmanned mine vehicle to be loaded |
| CN113127800B (en) * | 2021-03-17 | 2023-09-12 | 北京易控智驾科技有限公司 | Method and device for generating loading position of vehicle to be loaded for mine unmanned operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111829491B (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109816778B (en) | Three-dimensional reconstruction method and device for material pile, electronic equipment and computer readable medium | |
| US12091840B2 (en) | Work machine | |
| CN111829491B (en) | Automatic loading position calibration method and device, electronic equipment and medium | |
| CN110462139B (en) | Working machine | |
| US10101740B2 (en) | Travel control device for work vehicle, and work vehicle | |
| JP6315696B2 (en) | Transportation vehicle stop position calculation device | |
| CN107905275A (en) | A kind of excavator digitlization auxiliary construction system and its auxiliary construction method | |
| JP2019200462A (en) | Vehicle control system | |
| US11795658B2 (en) | System and method for controlling work machine | |
| US11802391B2 (en) | System and method for controlling work machine | |
| JPH1088625A (en) | Automatic excavation machine and method, and automatic loading method | |
| WO2020044845A1 (en) | Control device and control method for work machine | |
| US20240117598A1 (en) | Autonomous Control Of On-Site Movement Of Powered Earth-Moving Construction Or Mining Vehicles | |
| US20210110488A1 (en) | Construction site management device, output device, and construction site management method | |
| CN115375866B (en) | Method, device, equipment and medium for updating three-dimensional geological model of mining area | |
| US11933017B2 (en) | Work machine | |
| JP2022155719A (en) | Collision avoidance device, collision avoidance method, and program | |
| CN115170005B (en) | Energy consumption determination method, device, equipment and medium | |
| CN115775117A (en) | Information processing method and device for mining area operation, electronic equipment and storage medium | |
| AU2022442100A1 (en) | Method and apparatus for generating dumping positions, electronic device and storage medium | |
| CN115183716A (en) | Earth measurement method and system based on intelligent navigation robot | |
| US10815644B2 (en) | Tire size calibration and control system | |
| CN114675904B (en) | Equipment processing method and device | |
| US11521246B2 (en) | Mobile mapping system-related information processing device, fee calculation system, and program stop device | |
| CN114739402B (en) | Fusion positioning method, medium and electronic equipment |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230105 Address after: Room 3F301-19, Building 1, No. 800 Naxian Road, China (Shanghai) Pilot Free Trade Zone, Pudong New Area, Shanghai, 201210 Patentee after: Shanghai Yi'ao Technology Co.,Ltd. Address before: Unit 701b, 7th floor, block AB, Dongsheng building, 8 Zhongguancun East Road, Haidian District, Beijing 100083 Patentee before: Beijing Easy Controlled Intelligent Driving Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |