CN112942459B - Intelligent electric shovel unmanned unloading and loading system and method - Google Patents
Intelligent electric shovel unmanned unloading and loading system and method Download PDFInfo
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- 238000009434 installation Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 7
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- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
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- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
- E02F3/407—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with ejecting or other unloading device
- E02F3/4075—Dump doors; Control thereof
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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Abstract
The invention discloses an intelligent electric shovel unmanned unloading and loading system and method. When the electric shovel rotates to unload and load, whether the bucket needs to stop descending is judged according to the distance value read by the laser distance meter; the controller extracts characteristic points in the first camera image, matches the characteristic points with a dumper template image, detects whether a dumper appears in the image, identifies markers in the image acquired by the first camera, and acquires the number, size and central position of the markers; meanwhile, the controller identifies the carriage edge of the dump truck by using the second camera, and when the two side edges of the carriage are identified simultaneously, the pushing motor stops pushing the bucket rod; the automatic intelligent unloading and loading system has the advantages that the finished loading times are combined, the loading operation control signal is output, the automatic intelligent unloading and loading are realized, the recognition rate is high, the control is accurate, the intelligent degree is high, the working efficiency is high, and the safety and the reliability are realized.
Description
Technical Field
The invention relates to the technical field of intelligent excavators, in particular to an intelligent electric shovel unmanned unloading and loading system and method.
Background
The electric shovel is huge in size, complex in structure of a working device, severe in working environment and low in visibility, so that an operator in a cab is limited in visual field and is easily interfered. In the actual loading operation process, an operator needs to repeatedly observe the surrounding environment and the relative position of the excavator and the dump truck to finish the loading operation. In the process, the difficulty of operating the excavator by an operator is increased, and higher requirements are provided for the operating level of the excavator. If the bucket can not be aligned with the carriage of the dump truck, the ore loaded on the truck is easily scattered out of the carriage, and other parts of the dump truck are more likely to be damaged, so that the operation efficiency is influenced, and potential safety hazards are buried.
At present, any intelligent loading system and method special for the electric shovel are not disclosed or reported so as to solve the problem that the electric shovel cannot be used for loading quickly and accurately due to limited visual field of an operator.
Therefore, how to provide an intelligent electric shovel unmanned unloading and loading system and method is a problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the invention provides an intelligent electric shovel unmanned unloading and loading system and method, and the intelligent electric shovel unmanned unloading and loading system and method have the advantages of high recognition rate, accurate control, high intelligent degree, high working efficiency, safety, reliability and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an unmanned unloading loading system of intelligence electric shovel, includes electric shovel and tipper, the electric shovel includes scraper bowl, dipper, jib loading boom, bulldozes the motor, promotes motor, swing motor and controller, still includes: the system comprises a first camera, a second camera and a laser range finder, wherein the first camera, the second camera and the laser range finder are all connected with a controller;
the first camera is arranged on the cargo boom, the installation height is the height of the top of the dump truck, and the first camera is used for detecting the dump truck and the identification marker so as to determine the relative position of the bucket and the carriage of the dump truck in the X-axis direction;
the second camera is arranged at the top of the cargo boom and used for identifying the edge of the carriage of the dump truck so as to determine the relative position of the bucket and the carriage of the dump truck in the Y-axis direction;
the laser range finder is arranged on the bucket rod and used for determining the relative distance between the bucket and the carriage of the dump truck in the Z-axis direction;
the top of the carriage of the dump truck is provided with three markers.
Preferably, the three markers are arranged in a manner that the length of the middle marker is shorter than that of the markers at two ends, and the markers at two ends are symmetrically arranged.
An intelligent electric shovel unmanned unloading and loading method comprises the following steps:
s1: taking the example that a dump truck stops at the left side of an electric shovel for loading operation in a reversing mode, after excavation is finished, the electric shovel starts to rotate leftwards through a rotary motor, meanwhile, a bucket descends through a lifting motor, a controller reads the distance read by a laser range finder in real time, whether the bucket needs to stop descending is judged in the Z-axis direction, and the electric shovel stops when a preset value is reached;
s2: meanwhile, the controller extracts characteristic points in an image acquired by the first camera, matches the characteristic points with a template image of the dump truck, detects whether the dump truck appears in the image, and outputs a driving signal to the rotary motor to enable the electric shovel to continuously rotate leftwards if the dump truck is not detected by the first camera;
after the first camera captures the dump truck, the controller identifies markers in an image acquired by the first camera, and acquires the number, size and central position of the markers so as to determine the relative position of the bucket and a carriage of the dump truck in the X-axis direction;
s3: the controller reads an image acquired by the second camera, and by extracting the linear characteristics of the dump truck and utilizing a characteristic selection algorithm, target characteristics are screened from all the linear characteristics to finish the calibration of the carriage edge of the dump truck: when only the right side edge of the carriage of the dump truck is identified, the pushing motor continues to push the hopper rod, when only the left side edge of the two sides of the carriage of the dump truck is identified, the pushing motor rotates reversely to retract the hopper rod to a proper position, and when the edges of the two sides of the carriage of the dump truck are identified simultaneously, the pushing motor stops pushing the hopper rod to enable the bucket to stay at the proper position in the Y-axis direction;
s4: and when the dump truck is determined to finish the unloading work after being aligned with the electric shovel, judging whether the dump truck is loaded for n-1 times by the controller, wherein n represents the number of the electric shovels corresponding to the full-loaded carriage of the dump truck, if the loading times are not reached, repeating the steps from S1 to S3 to align the middle part of the carriage of the dump truck in the X-axis direction, if the loading times are reached to n-1 times, repeating the steps, aligning the tail part of the carriage of the dump truck in the X-axis direction, finishing the unloading and finishing the loading of the dump truck.
Preferably, the marker recognition algorithm includes, but is not limited to, an image color recognition technology, and the dump truck recognition algorithm includes, but is not limited to, a SIFT feature point extraction algorithm.
Preferably, the image color recognition technology comprises selection of HSV color space and position perception of the bucket and the dump truck carriage.
Preferably, the position sensing of the bucket and the carriage of the dump truck comprises the following specific steps:
(1) retrieving the marker images by using a connected domain segmentation algorithm, and obtaining the number of the markers in the images after the markers are processed by a controller;
(2) calculating the number of pixel points in each marker region and the area of the marker, and solving a region center coordinate value according to the pixel point coordinate value;
(3) judging the relative position of the bucket and the carriage of the dump truck, and controlling the rotary motor to drive the electric shovel to rotate left if the controller does not retrieve a marker area in the drawing or retrieves only one marker area in the drawing, which indicates that the bucket is not aligned with the dump truck; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a large number of pixel points, and the area of the marker is large, the scraper bucket is deviated to the left at the moment, namely the scraper bucket is deviated to the head of the dump truck, and the rotary motor is controlled to drive the electric shovel to rotate to the right; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a small number of pixel points, and the area of the marker is small, the bucket is inclined to the right and the tail of the dump truck at the moment, and if the loading frequency is less than n-1 times at the moment, the rotary motor is controlled to drive the electric shovel to rotate left; if the controller retrieves that there are three markers in the image from the first camera, it is indicated that the bucket is aligned with the middle of the dump truck.
(4) Considering that the structure of the carriage of the dump truck is in a slope shape and is combined with the loading habit of an operator, if the number of loaded times is less than n-1 times, the controller controls the rotary motor to drive the electric shovel to rotate, so that the electric shovel is aligned to the middle part for loading operation, and if the number of loaded times is equal to n-1 times, the electric shovel is aligned to the tail part of the carriage of the dump truck for loading operation.
Compared with the prior art, the intelligent electric shovel unmanned unloading and loading system and method have the following advantages:
(1) the intelligent electric shovel unmanned unloading and loading system and method are adopted, and the computer vision technology is adopted to realize high recognition rate and high intelligent degree on the dump truck and the markers thereof;
(2) according to the intelligent electric shovel unmanned unloading and loading system and method, the controller can output correct loading operation control signals by simply and logically judging key information such as the number, size, central position, loading times and the like of the combined markers in the loading operation process, and the specific implementation mode is simple and the loading efficiency is high;
(3) the intelligent electric shovel unmanned unloading and loading system and method reduce the difficulty of operating the electric shovel by an operator, and are safe and reliable in loading operation process.
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 block diagram of the intelligent electric shovel of the present invention;
FIG. 2 is a partial top view of the intelligent electric shovel and dump truck for unloading and loading of the present invention;
FIG. 3 is a schematic view of the construction of the dump truck and its markers of the present invention;
FIG. 4 is a flow chart of the intelligent electric shovel unmanned unloading and loading method of the invention;
FIG. 5 is a schematic diagram of the present invention using a 4-neighborhood connected domain partitioning algorithm.
In the figure, 1-electric shovel, 2-first camera, 3-self-dumping truck, 4-bucket, 5-laser range finder, 6-bucket rod, 7-lifting arm, 8-lifting rope, 9-pushing motor, 10-controller, 11-lifting motor, 12-rotating motor, 13-A-shaped frame, 14-head sheave, 15-guy rope, 16-carriage, 17-marker, 18-second camera.
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.
The embodiment of the invention discloses an intelligent electric shovel unmanned unloading and loading system, which comprises an electric shovel 1 and a dump truck 3, wherein the electric shovel 1 further comprises a first camera 2, a bucket 4, a laser range finder 5, a bucket rod 6, a crane boom 7, a lifting rope 8, a pushing motor 9, a controller 10, a lifting motor 11, a rotary motor 12, an A-shaped frame 13, a head sheave 14, a guy rope 15 and a second camera 18; the top of the carriage of the dumper 16 is provided with three markers 17 which are arranged in a mode of short middle and long two ends, and the two ends are symmetrically arranged; the first camera 2 is horizontally arranged on the crane arm, the installation height is the height of the top of the dump truck, and the first camera is used for detecting the dump truck and the identification marker so as to determine the relative position of the bucket and the carriage of the dump truck in the X-axis direction; the second camera 18 is vertically arranged at the top of the crane arm and is used for identifying the carriage edge of the dump truck so as to determine the relative position of the bucket and the carriage of the dump truck in the Y-axis direction; the laser range finder 5 is vertically arranged on the bucket rod to determine the distance between the bucket and the carriage of the dump truck in the Z-axis direction.
In the embodiment, the capacity of the carriage of the dump truck is matched with that of the electric shovel, and the dump truck is filled by approximately 3-5 buckets. In this embodiment, 4 buckets are set to be full, considering that the structure of the carriage of the dump truck is slope-shaped, the loading mode is that the bucket is aligned with the middle part of the carriage of the dump truck, 3 buckets are loaded, and finally, the tail part of the carriage is aligned, and one bucket is loaded, as shown in fig. 4, the specific steps are as follows:
(1) when the electric shovel rotates to unload materials, the dump truck can stop at the left side of the electric shovel in a reversing mode, the electric shovel starts to rotate leftwards while descending the bucket, the controller reads the distance read by the laser range finder in real time, judges whether the bucket needs to stop descending in the Z-axis direction and stops when the distance reaches a preset value;
(2) meanwhile, the controller extracts feature points in the image acquired by the first camera through an SIFT feature point extraction algorithm, matches the feature points with a dumper template image, detects whether a dumper appears in the image, and if the first camera does not detect the dumper, the controller continuously outputs a driving signal to the rotary motor to enable the electric shovel to continuously rotate leftwards;
after the first camera captures the dump truck, utilizing an image color recognition technology to recognize the markers in the image acquired by the first camera, and acquiring key information such as the number, the size, the central position and the like of the markers to determine the relative position of the bucket of the electric shovel and the carriage of the dump truck, wherein the middle part of the carriage of the dump truck is aligned in the process of unloading for the first time to n-1 times, and the tail part of the carriage of the dump truck is aligned in the process of unloading for the nth time;
(3) the controller collects images of the second camera, linear features of the dump truck are extracted through cumulative probability Hough transformation, a feature selection algorithm is utilized, target features are screened out from all the linear features, the calibration of the edge of the carriage of the dump truck is completed, when only the right edge of the carriage of the dump truck is identified, the pushing motor continues to push the hopper rod, when only the left side of the edges of the two sides of the carriage of the dump truck is identified, the pushing motor rotates reversely, the hopper rod is retracted to a proper position, when the edges of the two sides of the carriage of the dump truck are identified simultaneously, the pushing motor stops pushing the hopper rod, and the bucket is enabled to stay at the proper position in the Y-axis direction;
(4) when the dump truck is determined to finish the unloading work after being aligned with the electric shovel, the controller judges whether the dump truck is loaded for 3 times, if the loading times do not reach 3 times, the steps are repeated, namely the dump truck is aligned to the middle part of the carriage in the X-axis direction, the Y-axis direction and the Z-axis direction reach proper distances, the bottom of the hopper is opened, and the unloading and loading work is finished;
(5) and if the loading times reach 3 times, the operation is repeated by aiming at the tail part of the carriage of the dump truck, and after the loading times reach 4 times, the carriage of the dump truck is filled, and loading is finished.
The controller has the functions of receiving the sensor information of the state of the electric shovel, sending driving signals of the lifting motor, the rotating motor and the pushing motor, and further has an image processing function.
The image processing function comprises dumper identification and marker identification, wherein the algorithm of dumper identification comprises but is not limited to SIFT feature point extraction algorithm, and the algorithm of marker identification comprises but is not limited to image color identification technology.
The image color identification technology comprises selection of HSV color space and position perception of a bucket and a carriage of the dump truck.
The position perception of the bucket and the carriage of the dump truck comprises the following specific steps: as shown in fig. 5, firstly, preferably, a 4-neighborhood connected domain segmentation algorithm is used to search the marker image, and the number of the markers in the image is obtained after the controller processes the marker image; calculating the number of pixel points in each marker region and the area of the marker, and obtaining a region center coordinate value according to the pixel point coordinate value; judging the relative position of the bucket and the carriage of the dump truck, and controlling the rotary motor to drive the electric shovel to rotate left if the controller does not retrieve a marker area in the drawing or retrieves only one marker area in the drawing, which indicates that the bucket is not aligned with the dump truck; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a large number of pixel points, and the area of the marker is large, the shovel is deviated to the left at the moment, namely the shovel is deviated to the head of the dump truck, and the rotary motor is controlled to drive the electric shovel to rotate to the right; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a small number of pixel points, the area of the marker is small, the bucket is inclined to the right, the bucket is inclined to the tail of the dump truck, and if the loading frequency is less than n-1 times, the rotary motor is controlled to drive the electric shovel to rotate left; if the controller retrieves that there are three markers in the image from the first camera, it is indicated that the bucket is aligned with the middle of the dump truck. Considering that the structure of the carriage of the dump truck is in a slope shape and is combined with the loading habit of an operator, if the number of times of loading is less than n-1 times, the controller controls the rotary motor to drive the electric shovel to rotate, the electric shovel is aligned to the middle part to carry out loading operation, and if the number of times of loading is equal to n-1 times, the electric shovel is aligned to the tail part of the carriage of the dump truck to carry out loading operation.
Similarly, it should be noted that, if the dump truck is parked at the right side of the electric shovel in a reversing manner, the step of adjusting leftward is changed into the step of adjusting rightward when the corresponding steps are adjusted, the step of adjusting rightward is adjusted leftward, and the rest steps are the same.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
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 (4)
1. The utility model provides an unmanned unloading loading method of intelligent electric shovel, this method is based on unmanned unloading loading system realization of intelligent electric shovel, and this system includes electric shovel and tipper, the electric shovel includes scraper bowl, dipper, jib loading boom, bulldozes motor, lift motor, rotating electrical machines and controller, its characterized in that still includes: the system comprises a first camera, a second camera and a laser range finder, wherein the first camera, the second camera and the laser range finder are all connected with a controller;
the first camera is arranged on the cargo boom, the installation height is the height of the top of the dump truck, and the first camera is used for detecting the dump truck and the identification marker so as to determine the relative position of the bucket and the carriage of the dump truck in the X-axis direction;
the second camera is arranged at the top of the cargo boom and used for identifying the edge of the carriage of the dump truck so as to determine the relative position of the bucket and the carriage of the dump truck in the Y-axis direction;
the laser range finder is arranged on the bucket rod and used for determining the relative distance between the bucket and the carriage of the dump truck in the Z-axis direction;
the top of the carriage of the dump truck is provided with three markers; the method is characterized by comprising the following steps:
s1: taking the example that a dump truck stops at the left side of an electric shovel for loading operation in a reversing mode, after excavation is finished, the electric shovel starts to rotate leftwards through a rotary motor, meanwhile, a bucket is lowered through a lifting motor, a controller reads the distance read by a laser range finder in real time, whether the bucket needs to be stopped to be lowered or not is judged in the Z-axis direction, and the electric shovel can be stopped when a preset value is reached;
s2: meanwhile, the controller extracts characteristic points in an image acquired by the first camera, matches the characteristic points with a template image of the dump truck, detects whether the dump truck appears in the image, and outputs a driving signal to the rotary motor to enable the electric shovel to continuously rotate leftwards if the dump truck is not detected by the first camera;
after the first camera captures the dump truck, the controller identifies markers in an image acquired by the first camera, and acquires the number, the size and the central position of the markers so as to determine the relative position of the bucket and the carriage of the dump truck in the X-axis direction;
s3: the controller reads an image acquired by the second camera, and by extracting the linear characteristics of the dump truck and utilizing a characteristic selection algorithm, target characteristics are screened from all the linear characteristics to finish the calibration of the carriage edge of the dump truck: when only the right side edge of the carriage of the dump truck is identified, the pushing motor continues to push the hopper rod, when only the left side edge of the two sides of the carriage of the dump truck is identified, the pushing motor rotates reversely to retract the hopper rod to a proper position, and when the edges of the two sides of the carriage of the dump truck are identified simultaneously, the pushing motor stops pushing the hopper rod to enable the bucket to stay at the proper position in the Y-axis direction;
s4: and when the dump truck is determined to finish the unloading work after being aligned with the electric shovel, judging whether the dump truck is loaded for n-1 times by the controller, wherein n represents the number of the electric shovels corresponding to the full-loaded carriage of the dump truck, if the loading times are not reached, repeating the steps from S1 to S3 to align the middle part of the carriage of the dump truck in the X-axis direction, if the loading times are reached to n-1 times, repeating the steps, aligning the tail part of the carriage of the dump truck in the X-axis direction, finishing the unloading and finishing the loading of the dump truck.
2. The intelligent electric shovel unmanned unloading and loading method as claimed in claim 1, wherein the controller functions include functions of receiving sensor information of the state of the electric shovel itself, sending driving signals of a lifting motor, a rotating motor and a pushing motor, and image processing functions including dumper recognition and marker recognition, wherein algorithms for dumper recognition include, but are not limited to, SIFT feature point extraction algorithms, and algorithms for marker recognition include, but are not limited to, image color recognition technology.
3. The intelligent electric shovel unmanned unloading and loading method according to claim 2, wherein the image color recognition technology comprises selection of HSV color space and position sensing of a bucket and a carriage of a dump truck.
4. The intelligent electric shovel unmanned unloading and loading method according to claim 3, wherein the position sensing of the bucket and the carriage of the dump truck comprises the following specific steps:
(1) retrieving the marker images by using a connected domain segmentation algorithm, and obtaining the number of the markers in the images after the markers are processed by a controller;
(2) calculating the number of pixel points in each marker region and the area of the marker, and solving a region center coordinate value according to the pixel point coordinate value;
(3) judging the relative position of the bucket and the carriage of the dump truck, and controlling the rotary motor to drive the electric shovel to rotate left if the controller does not retrieve a marker area in the drawing or retrieves only one marker area in the drawing, which indicates that the bucket is not aligned with the dump truck; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a large number of pixel points, and the area of the marker is large, the scraper bucket is deviated to the left at the moment, namely the scraper bucket is deviated to the head of the dump truck, and the rotary motor is controlled to drive the electric shovel to rotate to the right; if two marker areas are searched in the graph, wherein the area with a small abscissa value of the central coordinate value of the area has a small number of pixel points, and the area of the marker is small, the bucket is inclined to the right and the tail of the dump truck at the moment, and if the loading frequency is less than n-1 times at the moment, the rotary motor is controlled to drive the electric shovel to rotate left; if the controller searches that the image in the first camera has three markers, the bucket is aligned to the middle of the dump truck;
(4) considering that the structure of the carriage of the dump truck is in a slope shape and is combined with the loading habit of an operator, if the number of loaded times is less than n-1 times, the controller controls the rotary motor to drive the electric shovel to rotate, so that the electric shovel is aligned to the middle part for loading operation, and if the number of loaded times is equal to n-1 times, the electric shovel is aligned to the tail part of the carriage of the dump truck for loading operation.
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| AU2005227398B1 (en) * | 2005-10-28 | 2006-04-27 | Leica Geosystems Ag | Method and apparatus for determining the loading of a bucket |
| JP5781978B2 (en) * | 2012-05-22 | 2015-09-24 | 株式会社小松製作所 | Dump truck |
| CN109778942B (en) * | 2019-03-12 | 2023-05-16 | 辽宁工程技术大学 | Strip mine electric shovel centering control system and method |
| CN112193850B (en) * | 2020-10-15 | 2024-04-30 | 大连宇通科技有限公司 | Step-by-step unmanned loading system |
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