CN113463719A - Loader autonomous operation control system and method - Google Patents
Loader autonomous operation control system and method Download PDFInfo
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- CN113463719A CN113463719A CN202110734805.9A CN202110734805A CN113463719A CN 113463719 A CN113463719 A CN 113463719A CN 202110734805 A CN202110734805 A CN 202110734805A CN 113463719 A CN113463719 A CN 113463719A
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- 101100480512 Caenorhabditis elegans tag-51 gene Proteins 0.000 description 6
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- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to a shoveling technology of a loader, aiming at solving the problem that the existing loader needs to operate on a machine; the system comprises a loader provided with a UWB tag and at least three UWB base stations for determining a UWB base station plane coordinate system, wherein a data processing module sends a control instruction to a whole vehicle control unit according to the complete machine position in the UWB base station plane coordinate system and a running route between a material pile and an unloading platform, so that the loader runs according to the running route and executes corresponding operation actions at corresponding positions. The invention determines the position through the UWB label and the UWB base station, and sends a control instruction to the whole vehicle control unit based on the position of the whole vehicle and the driving route, thereby realizing the unmanned self-operation of the loader.
Description
Technical Field
The invention relates to a loading shovel technology, in particular to an autonomous operation control system and method of a loader.
Background
As is known, a loader is a widely used engineering machine, and is mainly used for shoveling and loading materials. The machine has great jolt and vibration in the operation process, driving comfort is poor, and the completion of single circulation shovel dress operation needs the driver frequently to operate the control lever to control equipment, often needs work several hours a day, and the damage to the joint that gets off for long-time work is very serious.
The shovel loading operation of the loader has the characteristic of severe operation environment and has higher requirement on the technical level of a driver, which inevitably causes the difficulty of recruitment and the increase of labor cost. With the increasing labor cost and the development of intelligent technology, the problem of unmanned autonomous operation is urgently needed to be solved.
Disclosure of Invention
The invention provides an autonomous operation control system and method of a loader, aiming at the problem that the existing loader needs to operate on a machine, so that the loader can realize unmanned shovel loading operation.
The technical scheme for realizing the purpose of the invention is as follows: provided is a loader autonomous operation control system, including a loader including a pose sensor for detecting a pose state of the loader; it is characterized in that the system further comprises:
at least three UWB base stations are arranged on the operation field of the loader, wherein at least three UWB base stations are positioned on the same horizontal plane to determine a UWB base station plane coordinate system;
the loader is provided with a data processing module, two vehicle-mounted positioning UWB tags which are arranged at different positions and perform unilateral two-way communication ranging with a UWB base station, and a whole vehicle control unit for controlling the loader according to a control instruction;
the data processing module is used for determining the complete machine position of the external projection outline of the loader in a UWB base station plane coordinate system through the ranging information of the vehicle-mounted positioning UWB tag, the external dimension and the pose state of the loader, and sending a control command to the complete vehicle control unit according to the complete machine position and the running route between the material pile and the unloading platform to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions.
The coordinate system is determined through a plurality of UWB base stations, the complete machine position of the loader is determined through UWB tags, control instructions are sent to a complete machine control unit based on the complete machine position and a running route to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions, for example, the material pile position is used for completing shoveling actions to shovel materials into a bucket, the unloading platform is used for unloading materials, and the like, so that unmanned self-operation of the loader is achieved.
In the autonomous operation control system of the loader, the number of the UWB base stations is four, wherein three UWB base stations are arranged in a right triangle to form an X axis and a Y axis of a plane coordinate system of the UWB base stations, the fourth UWB base station is arranged in a non-coplanar manner with the other three UWB base stations, and the distance between the UWB base stations is known. By arranging a plurality of UWB base stations which are not all coplanar, the UWB tag ranging is more accurate.
In the autonomous operation control system of the loader, an inertial navigation module used for calculating the navigation and positioning information of the loader based on the initial position in the operation process is also arranged on the loader, and the inertial navigation module and a vehicle-mounted positioning UWB tag on the loader are arranged at the same position; and the data processing module calculates the complete machine position of the contour projection profile of the loader in the plane coordinate system of the UWB base station according to the ranging information of the vehicle-mounted positioning UWB tag and the navigation positioning information of the inertial navigation module. The position of the loader is positioned by combining the positioning of the inertial navigation module and the ranging and positioning of the UWB tag, so that the positioning precision of the loader is improved.
In the autonomous operation control system of the loader, the control system further comprises an [ A1] pile profile calibration device for calibrating the position of the pile profile in a UWB base station plane coordinate system; the loader is provided with a first wireless data receiving and transmitting module connected with the data processing module; and the material pile profile calibration device is provided with a material pile positioning UWB tag for performing unilateral two-way communication ranging with a UWB base station and a second wireless data transceiver module for transmitting the ranging information of the material pile positioning UWB tag in wireless communication with the first wireless data transceiver module. The material pile positioning UWB tag and the UWB base station are communicated for ranging to determine the position of the material pile outline calibration device in the UWB base station plane coordinate system, then the material pile outline calibration device moves along the outline of the material pile to be shoveled, and the position of the material pile outline to be shoveled in the UWB base station plane coordinate system is determined by calibrating the positions of a plurality of points on the material pile outline to be shoveled.
In the autonomous operation control system of the loader, the control system further comprises an unloading platform calibration device for calibrating the position of the unloading platform in a UWB base station plane coordinate system, wherein the unloading platform calibration device comprises two unloading positioning UWB tags which are installed at different positions and carry out unilateral two-way communication ranging with a UWB base station, and a third wireless data transceiver module which is connected with the unloading positioning UWB tags and transmits the ranging information of the unloading positioning UWB tags in a wireless communication mode with the first wireless data transceiver module. The distance between two points on the unloading platform and each UWB base station can be obtained by using two unloading positioning UWB tags, and the position of the contour of the loader in a plane coordinate system of the UWB base station, including the orientation of the loader, can be determined by detecting the steering angle of the loader by combining the self geometric shape and the pose sensor of the loader.
In the autonomous operation control system of the loader, the loader is provided with a laser radar for scanning the ground flatness of the driving route and/or an inertial navigation module for detecting acceleration information of the loader in the vertical direction when the loader drives on the driving route, and the data processing module respectively transmits a driving speed limit control instruction of the loader when the loader drives on the driving route to the whole vehicle control unit according to the acceleration information or/and the ground flatness. The driving route can be segmented, for example, the driving route comprises a shoveling route and a transporting route, the laser radar is used for scanning the ground flatness of the transporting route, the inertial navigation module is used for detecting the acceleration information of the loader in the vertical direction when the loader drives on the shoveling route, and the data processing module transmits the driving speed limit control instruction of the loader when the loader drives on the shoveling route and the transporting route to the vehicle control unit according to the acceleration information and the ground flatness.
The technical scheme for realizing the purpose of the invention is as follows: the method for controlling the autonomous operation of the loader is characterized by comprising the following steps:
determining a UWB base station plane coordinate system by utilizing at least three UWB base stations arranged on a working site;
planning a driving route between the material pile and the discharging platform when the loader operates autonomously according to the positions of the material pile and the discharging platform in the UWB base station plane coordinate system;
determining the complete machine position of the external projection profile of the loader in a UWB base station plane coordinate system through the ranging information of the vehicle-mounted positioning UWB tag and each UWB base station on the loader, the external dimension of the loader and the pose state;
and sending a control command to the whole vehicle control unit according to the position of the whole vehicle and the running route to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions.
In the invention, the whole machine position of the loader in a UWB base station plane coordinate system is determined through the distance measurement information of the vehicle-mounted positioning UWB tag and each UWB base station on the loader, and further the relative position relation between the loader and the material pile and the unloading platform is determined, so that the loader is controlled according to a program to complete the shoveling operation and the related actions of transportation according to a preset route, and the unmanned operation is realized.
According to the loader autonomous operation control method, whether the bucket contacts with the materials or not is identified according to the relative position of the material pile and the complete machine in the UWB base station plane coordinate system and the loader working parameters, when the loader is in a loading ready state according to the loader working parameters, and the front end of the profile projection profile of the loader in the UWB base station plane coordinate system is intersected with the profile of the material pile within a preset time or the distance is smaller than a preset value, the loader is identified to contact with the materials, and a loading action command is sent to the complete vehicle control unit. When the loader shovels materials, after a bucket is inserted into the materials, the loader needs to perform actions of collecting the bucket and lifting a movable arm so as to complete actions of shoveling and loading the materials into the bucket. When the bucket is inserted into the material and starts to collect and lift the movable arm, the machine is very critical, and the working efficiency and the full bucket rate of the loader are influenced. According to the invention, whether the bucket contacts with the material is identified through the relative position between the front end of the external projection profile of the loader and the profile of the material pile and the working parameters of the loader, and the bucket is retracted and the movable arm is lifted automatically at a proper time, so that the working efficiency and the full bucket rate are ensured.
In the autonomous operation control method of the loader, acceleration information and/or ground flatness information in the vertical direction when the loader runs on a running route between a material pile and an unloading platform are detected; and sending a running speed limit value instruction of the loader on the running route in each subsequent operation cycle to the whole vehicle control unit according to the acceleration information and/or the ground flatness information. The method has the advantages that the bumping degree of the loader on the driving route is determined by detecting the acceleration information and/or the ground flatness information, the reasonable driving speed is determined, the phenomenon that the loader bumps excessively due to the fact that the driving speed is too high is avoided, material scattering and machine damage are seriously caused, meanwhile, the speed is kept as high as possible, and the operation efficiency is guaranteed. Further, the driving route comprises a shoveling route and a transporting route; detecting acceleration information in the vertical direction when the loader runs on a shoveling route in each operation cycle, and sending a running speed limit value instruction of the loader on the shoveling route in the next operation cycle to the whole vehicle control unit according to the acceleration information; and acquiring the ground flatness information of the material conveying route, sending a running speed limit value instruction of the loader on the material conveying route in each subsequent operation cycle to the whole vehicle control unit according to the ground flatness information, or detecting the ground flatness of the material conveying route after each predetermined number of operation cycles and determining the material conveying running speed limit value of the loader on the material conveying route in the subsequent operation cycle according to the acquired ground flatness. The shoveling route is close to the material pile, the road surface is inconvenient to scan, the bumping degree of the loader can be represented by detecting acceleration information in the vertical direction, when shoveling is carried out at each time, the loader idles due to shoveling resistance of a front wheel, a new pit is cut on the ground or the depth of the pit is deepened, the acceleration information is detected in the vertical direction when the loader is driven on the shoveling route in each operation cycle, and the driving speed limit value of the loader on the shoveling route in the next operation cycle is determined according to the acceleration information. On the material conveying route, the road surface condition is not changed greatly, so the ground flatness can be detected once again after each time of operation, the driving speed limit value of the loader on the material conveying route in a plurality of operation cycles can be determined according to the flatness detection, the ground flatness can also be detected in each operation cycle, and the driving speed limit value of the loader on the material conveying route in the next operation cycle can be determined according to the ground flatness. The ground flatness detection can be realized by scanning the ground by using a laser radar, calculating the average value of the height difference of two adjacent scanning points in sequence to represent the ground flatness, detecting the acceleration information of the loader in the vertical direction by using an inertial navigation module, and representing the ground flatness by calculating the average value of the acceleration.
Compared with the prior art, the invention determines a coordinate system through a plurality of UWB base stations, determines the complete machine position of the loader through a UWB tag, sends a control command to the complete machine control unit based on the complete machine position and a running route to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions, for example, completing a shoveling action at a material pile to shovel materials into a bucket, and unloading at an unloading platform, so that unmanned autonomous operation of the loader is realized.
Drawings
Fig. 1 is a schematic view of an operational scenario of the loader of the present invention.
Fig. 2 is a schematic diagram of a UWB base station coordinate system.
Fig. 3 is a schematic diagram of communication between a UWB base station and a UWB tag.
Fig. 4 is a schematic view of the installation of the lidar on a loader.
Part names and serial numbers in the figure:
the system comprises a UWB base station 1, a loader 2, a data processing and displaying module 21, a vehicle-mounted positioning UWB tag 22, an inertial navigation module 23, a vehicle control unit 24, a wireless data transceiver module 25, a material pile 3, an unloading platform 4, an unloading positioning UWB tag 41, a wireless data transceiver module 42, a material pile outline calibration device 5, a material pile positioning UWB tag 51, a wireless data transceiver module 52 and a laser radar 7.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
The autonomous operation control system of the loader comprises four UWB base stations 1, the loader 2 and a material pile outline calibration device 5.
As shown in fig. 1, UWB base stations 1 are disposed around a loader work site, and three UWB base stations are located on the same horizontal plane, and form an X-axis and a Y-axis of the work site, forming a UWB base station plane coordinate system. The other UWB base station is disposed non-coplanar with the other three UWB base stations, and the mutual distance between each UWB base station is known. The operation site is provided with a material pile 3 to be shoveled, a discharging platform 4 and the like.
The loader has a front frame and a rear frame which are relatively rotatable, and the loader is steered by the relative rotation of the front frame and the rear frame.
The loader is provided with two UWB tags which perform two-way communication ranging with a UWB base station, the two UWB tags are vehicle-mounted positioning UWB tags 22, the two vehicle-mounted positioning UWB tags are mounted at two different positions (the projections on the working surface are at different positions) of the loader, and a certain distance is reserved between the two UWB tags. The vehicle-mounted positioning UWB tag 22 performs two-way communication ranging with UWB base stations to acquire ranging information between two vehicle-mounted positioning UWB tags and each UWB base station, and the distance and orientation of the loader 2 with respect to each UWB base station 1 can be calculated from the ranging information at two points (vehicle-mounted positioning UWB tag installation positions) of the loader.
As shown in fig. 3, the loader 2 is further provided with a data processing and displaying module 21 (formed by integrating the data processing module and the displaying module), an inertial navigation module 23, a wireless data transceiver module 25, a pose sensor (not shown in the figure), and a vehicle control unit 24. The vehicle-mounted positioning UWB tag 22, the inertial navigation module 23, the wireless data transceiver module 25 and the vehicle-mounted control unit 24 are connected with the data processing and display module 21, and the data processing and display module 21 acquires the detection data of the pose sensor.
The inertial navigation module 23 is installed at the same position as one of the two vehicle-mounted positioning UWB tags 22, and is used for reckoning the track and heading of the loader based on the initial position during the operation. The inertial navigation module 23 and the vehicle-mounted positioning UWB tag 22 perform combined positioning on the loader, and the positioning data of the inertial navigation module 23 and the vehicle-mounted positioning UWB tag 22 are subjected to data fusion by the data processing and display module 21 according to a certain mode to obtain the specific position of the loader in the UWB base station coordinate system.
The position and posture sensor comprises a steering angle sensor for detecting the relative rotation angle of the front frame and the rear frame of the loader, a movable arm sensor for detecting the rotation angle of a movable arm and a bucket rotating sensor for detecting the rotation angle of a bucket.
As shown in fig. 3, the material pile profile calibrating apparatus 5 in this embodiment is used for positioning the material pile profile, and is a remote control device, such as a remote control drone or a remote control car, on which a wireless data transceiver module 52 and a UWB tag for performing bidirectional communication ranging with a UWB base station are disposed, and the UWB tag is a material pile positioning UWB tag 51.
The material pile positioning UWB tag 51 is connected with the wireless data transceiver module 52, the material pile profile calibration device 5 is remotely controlled by a remote controller, the material pile positioning UWB tag 51 and the UWB base station 1 can be remotely controlled by the remote controller to carry out unilateral two-way communication ranging, ranging information is sent to the wireless data transceiver module 25 on the loader through the wireless data transceiver module 52 and then further transmitted to the data processing and display module 21 on the loader, and the position of the material pile positioning UWB tag 51 is calculated by the data processing and display module 21.
The data processing and displaying module 21 is used for collecting the distance measuring information including the stockpile positioning UWB tag 51 and the vehicle-mounted positioning UWB tag 22, the positioning information of the inertial navigation module 23, the data of the pose sensor, and the operating parameters of the loader, processing the collected data, calculating the positions and projection profiles of the loader 2 and the stockpile 3 in the UWB base station plane coordinate system, and graphically displaying the projection profiles of the positioning object in the x-axis and y-axis coordinate planes in a certain proportion by using the lower left corner of the displaying module as a coordinate origin.
The method comprises the steps of positioning the outline of a stockpile before the beginning of shoveling operation, remotely controlling a stockpile outline calibration device 5 to reach the upper part of the edge of the stockpile through a remote controller, remotely controlling a stockpile positioning UWB tag to sequentially send ranging requests to all UWB base stations, transmitting ranging information to a data processing and displaying module 21 through a wireless data transceiving module 52 on the stockpile outline calibration device after the stockpile positioning UWB tag obtains the ranging information through unilateral two-way ranging, resolving the distance between the stockpile positioning UWB tag and each UWB base station through the data processing and displaying module 21, and then resolving the position of the stockpile positioning UWB tag according to the distance between the stockpile positioning UWB tag and each UWB base station and storing the position. After positioning of one positioning point is completed, an indicator light or a display text prompt is given on the remote controller, data of the completed positioning points can be canceled one by one through a cancel button on the remote controller, and meanwhile the number of the current effective positioning points can be displayed on the remote controller. After finishing single point positioning, sequentially positioning a plurality of points around the stockpile, connecting the positions of the plurality of positioning points in a UWB base station plane coordinate system into a closed interval to approximately represent the outline of the stockpile, and displaying the outline on a data processing and display module according to a certain display proportion.
As shown in fig. 3, the unloading platform 4 may be a freight truck, and the loader is operated autonomously to carry the material shoveled from the material pile 3 to the unloading platform 4 for unloading, and then to unload the material into the freight truck. The discharging platform 4 is provided with a wireless data transceiver module 42 and two UWB tags for performing two-way communication ranging with the UWB base station, and the UWB tags position the UWB tags 41 for discharging. The two discharging positioning UWB tags 41 are installed at different positions, a certain distance is reserved between the two discharging positioning UWB tags 41, the discharging positioning UWB tags 41 are connected with the wireless data transceiver module 42, the distance and the orientation of discharging [ A2] relative to each UWB base station 1 can be calculated according to the distance measuring information of two points (the installation positions of the discharging positioning UWB tags) on the discharging platform, and therefore the position of the discharging platform in a UWB base station plane coordinate system is determined.
As shown in fig. 4, a laser radar 7 is provided at the rear of the loader, and the laser radar 7 detects the flatness of the ground as a ground flatness detecting device. And the data processing module controls the laser radar to scan the ground, processes the data of the laser radar, represents the flatness of the running road surface by the mean value of the height difference of two adjacent scanning points in the running direction, and stores the flatness.
The operating parameters of the loader 2 include, but are not limited to, the rotational speed of the engine or motor powering the loader, the gear, etc., by which the direction of travel of the loader can be determined.
In the invention, a loader drives to a material pile, in the identification process of judging whether a bucket contacts materials, a combined positioning is carried out on the loader 2 through a vehicle-mounted positioning UWB tag 22 and an inertial navigation module 23, the position of the loader is detected through a position sensor, then data are collected to a data processing and displaying module 21 in a wireless or wired mode, the data processing and displaying module 21 calculates the outline projection outline of the loader in a UWB base station plane coordinate system by combining positioning data, position data and outline size of the loader and the installation position of the vehicle-mounted positioning UWB tag, and the outline projection outline is approximately represented by two rectangular frames of a front frame and a rear frame.
In the operation process of the loader, the vehicle-mounted positioning UWB tags periodically and sequentially send ranging requests to all UWB base stations, ranging information is obtained through unilateral two-way ranging, and then the positions of all the vehicle-mounted positioning UWB tags are calculated through the data processing and display module. Meanwhile, the inertial navigation module calculates the track and course of the loader in real time, the position of the loader can be positioned by combining initial position and track course information, the data processing and displaying module performs data fusion on the positioning data of the vehicle-mounted positioning UWB tag and the positioning data of the inertial navigation module according to a certain mode to obtain a final positioning position, and then two rectangular frames of the front frame and the rear frame approximately represent the projection outline of the loader in a UWB base station plane coordinate system according to the installation position of the vehicle-mounted positioning UWB tag, the position and the attitude (relative rotation angle of the front frame and the rear frame) and the outline dimension of the loader, as shown in FIG. 2.
An autonomous operation control program is arranged in a whole vehicle control unit of the loader, various working parameters of the loader and the position of the loader are obtained through various sensors, the loader is controlled to run according to a running route, and shoveling is automatically completed. The method for controlling the running speed of the loader comprises the following steps:
depending on the stockpile, the discharge platform and the work site situation, a first route 62 of the loader from the stopping point to the stockpile and a second route of the stockpile to the discharge platform are planned. The planning of the driving route can be manually planned on an upper computer, the planned driving route is downloaded to a loader, and the planning can also be automatically and intelligently planned by a data processing module of the loader.
A dividing point A is arranged on the second route, the route from the dividing point A to the material pile on the second route is a shoveling route 63, and the route from the dividing point A to the discharging platform is a conveying route 64. The scooping path 63 coincides with a portion of the first path 62 that is close to the pile 3. The distance between the dividing point a and the stockpile is usually a predetermined value, for example, when the front end of the loader has a distance of one body from the edge of the stockpile profile, the position of the laser radar 7 is the dividing point, that is, the distance between the dividing point and the stockpile profile is the distance of the length of two loader bodies.
The whole vehicle control unit controls the loader to drive to the material pile 3 from a stop point 61 according to a first route 62, a first operation cycle is started, the loader drives to the discharging platform 4 according to a second route after the material shoveling at the material pile is finished, the loader drives to the material pile from the discharging platform according to a second route 64 after the discharging is finished, and the loader returns to a boundary point A to finish the first operation cycle. The subsequent operation cycle comprises the steps that the loader drives to the material pile to shovel the materials from the boundary point A according to the shoveling route 63, after shoveling is finished, the loader moves back to the unloading platform according to the shoveling route 63 and passes through the boundary point A according to the transporting route 64 (firstly moves back and then drives forwards to the unloading platform), after unloading is finished, the loader moves back and reverses to the material pile, and when the boundary point is reached, a subsequent operation cycle is completed. And repeating the subsequent work cycle until the work is stopped or the route is changed.
In the first operation cycle, the whole vehicle control unit controls the loader to drive on the material shoveling route according to the material shoveling speed set value Vcs as the upper limit target speed, and controls the loader to drive on the material transporting route according to the material transporting speed set value Vts as the upper limit target speed. The shoveling speed set value Vcs may be a fixed value or may be set to different values according to different positions of the loader on the route. Similarly, the material conveying speed set-point Vts may be a fixed value, or may be set to different values according to different positions of the loader on the route.
When the loader performs the first operation cycle, the loader drives to the stockpile to shovel materials (a shoveling and removing process) on the shoveling route from the boundary point, and returns to the boundary point (a shoveling and removing return process) according to the shoveling route 63 after shoveling materials. In the first operation cycle, the whole vehicle control unit controls the speed of the loader according to the shoveling speed set value Vcs as the upper limit target speed. The inertial navigation module 23 measures the acceleration of the loader in the vertical direction on the shoveling material going trip and the shoveling material returning trip, represents the bumpiness degree of the road surface of the road section according to the average value of the acceleration, and stores the bumpiness degree. The acceleration of the loader in the vertical direction is measured, and the acceleration can be measured only in the shoveling material going process, can also be detected in the shoveling material return process, or can be detected in both the shoveling material going process and the shoveling material return process.
After the material shoveling of the loader is finished, the loader runs across a boundary point (does not stop at the boundary point) according to the shoveling route and drives to the unloading platform (material transporting and removing distance) according to the material transporting route 64, and after the unloading is finished, the loader runs to the boundary point (material transporting and returning distance) according to the material transporting route by the unloading platform. In the first working cycle, the whole vehicle control unit controls the loader to run by taking the material conveying speed set value Vts as an upper limit target speed.
And scanning the flatness of the ground of the material conveying route by using a laser radar on the material conveying going distance and the material conveying return distance. The data processing module controls the laser radar to scan the ground, collects scanning data of the laser radar to process, represents the flatness of the running road surface by the mean value of the height difference of two adjacent scanning points in the running direction, and stores the flatness.
The ground flatness on the material conveying route is scanned, and the ground flatness can be scanned only in the process of the material conveying process, can also be scanned in the process of the material conveying return stroke, or can be scanned in the processes of the material conveying process and the material conveying return stroke. When the distance between the material pile and the discharging platform is short, namely the conveying route is short, the route of the conveying journey and the route of the conveying return journey are basically overlapped, and the scanning can be carried out only once in the conveying journey or the conveying return journey. If the material conveying route is long, the routes of the material conveying journey and the material conveying return journey may only partially coincide, and ground scanning can be carried out on the material conveying journey and the material conveying return journey to obtain the complete material conveying route condition. After the laser radar scans the material conveying route, the data processing module determines a material conveying speed adjusting value Vtr according to the average value of the height difference, and the Vtr is in direct proportion to the average value of the height difference.
And after the first operation cycle is finished, in the next operation cycle, determining the shoveling travel speed limit value of the loader on the shoveling route in the next operation cycle according to the acceleration information detected at the previous time. The shoveling running speed limit value Vc is Vcs-Vcr, wherein Vcs is a shoveling speed set value, Vcr is a shoveling speed regulating value, and Vcr is in direct proportion to the acceleration average value detected at the previous time. And detecting the acceleration in the vertical direction in each working cycle of the loader, and taking the acceleration information of the previous time as a determination basis for determining the material shoveling running speed limit value in the next working cycle.
Detecting acceleration information of the loader in the vertical direction when the loader runs on a shoveling route, and determining a shoveling running speed limit value of the loader on the shoveling route in the next operation cycle according to the detected acceleration information; detecting the ground flatness of the material conveying route when the loader firstly runs on the material conveying route, and determining the material conveying running speed limit value of the loader on the material conveying route in the subsequent operation cycle according to the detected ground flatness; and the material conveying running speed limit value Vt is Vts-Vtr, wherein Vts is a material conveying speed set value, Vtr is a material conveying speed adjusting value, the ground flatness detection of the material conveying route comprises the steps of acquiring the height difference of two adjacent scanning points in the running direction on the material conveying route and calculating the average value of the height difference of the height differences, and the Vtr is in direct proportion to the average value of the height difference.
And the whole loader control unit controls the loader to run by taking the shoveling running speed limit value and the conveying running speed limit value as upper limit target speeds of the loader running on the shoveling route and the conveying route respectively.
After the loader finishes a plurality of operation cycles, when the loader runs on the material conveying route again, the laser radar scans the ground of the material conveying route again, calculates the average value of the height difference of two adjacent scanning points, and determines the material conveying speed adjusting value Vtr in a plurality of subsequent operation cycles according to the average value so as to determine the material conveying running speed limit value in the plurality of subsequent operation cycles, and in the plurality of subsequent operation cycles, the whole vehicle control unit controls the loader to run on the material conveying route by taking the newly determined material conveying running speed limit value as the upper limit target speed.
In the invention, when the loader operates autonomously, when the loader drives to a material pile, the distance measurement information of two vehicle-mounted positioning UWB tags 22 on the loader and each UWB base station, the shape size and the pose state of the loader on a data processing module of the loader determine the position of the shape projection outline of the loader 2 in a UWB base station plane coordinate system; when the distance between the loader and the material pile is smaller than a preset value, a whole vehicle control unit of the loader controls the action device to act, so that the bucket is flatly placed in a clinging manner, and the preparation action of shoveling and loading is well performed.
When the bucket is inserted into the material, the loader stops advancing under the resistance of the material. When the working device of the loader is in a shovel preparing state, namely the rotating speed of an engine or a motor which is used for providing power for the loader is not zero, the loader is in a forward state (the gear of the loader is a forward gear), when the data processing and displaying module detects that the front end of a rectangular frame of a front frame of the outline projection of the loader is intersected with the outline projection of the material pile or the distance between the front end and the outline projection of the material pile is smaller than a certain value and the continuous positioning positions of the loader are not obviously changed, the situation that the bucket of the loader is inserted into the material is judged, and then the data processing and displaying module sends a control command to a control unit on the loader to control the loader to complete a preset shovel action, namely the actions of collecting the bucket and lifting a movable arm are completed. When the working device of the loader is in a ready-to-load state, the data processing and displaying module detects the postures of the movable arm and the bucket through the posture sensor, and when the bucket is in a flat state in a ground-attached state, the working device of the loader is in the ready-to-load state.
The whole vehicle control unit controls the loader to carry out bucket collection and boom lifting actions, so that the shoveling and loading actions of the materials are completed, the bucket is in a complete bucket collection state, and a certain gap is reserved from the ground, so that the materials can be conveniently transported.
And after the shoveling is finished, the whole vehicle control unit controls the loader to drive to the unloading platform according to the planned driving route, and when the distance between the loader and the unloading platform is smaller than a preset value, the whole vehicle control unit controls the working device to lift the movable arm to prepare for unloading.
When the distance between the loader and the unloading platform is smaller than a preset value, the whole vehicle control unit controls the working device to carry out bucket unloading and unloading actions, and after unloading, the loader is controlled to retreat and the movable arm is lowered, so that the loader is adjusted to a running state and driven to the material pile according to a planned running route, and the next operation cycle is executed.
Claims (10)
1. An autonomous operation control system of a loader comprises the loader, wherein the loader comprises a position and posture sensor for detecting the position and posture state of the loader; it is characterized in that the system further comprises:
at least three UWB base stations are arranged on the operation field of the loader, wherein at least three UWB base stations are positioned on the same horizontal plane to determine a UWB base station plane coordinate system;
the loader is provided with a data processing module, two vehicle-mounted positioning UWB tags which are arranged at different positions and perform unilateral two-way communication ranging with a UWB base station, and a whole vehicle control unit for controlling the loader according to a control instruction;
the data processing module is used for determining the complete machine position of the external projection outline of the loader in a UWB base station plane coordinate system through the ranging information of the vehicle-mounted positioning UWB tag, the external dimension and the pose state of the loader, and sending a control instruction to the complete machine control unit according to the complete machine position, the traveling route planned between the material pile and the unloading platform to enable the loader to travel according to the traveling route and execute corresponding operation actions at corresponding positions.
2. The autonomous working control system of a loader of claim 1, wherein the UWB base stations are four, three of the UWB base stations are arranged in a right triangle to form an X axis and a Y axis of a planar coordinate system of the UWB base stations, a fourth UWB base station is arranged non-coplanar with the other three UWB base stations, and a distance between the UWB base stations is known.
3. The autonomous operation control system of a loader of claim 1, wherein the loader is further provided with an inertial navigation module for calculating the loader navigation positioning information based on the initial position during the operation, and the inertial navigation module is installed at the same position as an onboard positioning UWB tag on the loader; and the data processing module calculates the complete machine position of the contour projection profile of the loader in the plane coordinate system of the UWB base station according to the ranging information of the vehicle-mounted positioning UWB tag and the navigation positioning information of the inertial navigation module.
4. The autonomous operation control system of a loader of claim 1, characterized in that the control system further comprises a pile profile calibration means for calibrating the position of the pile profile in the UWB base station plane coordinate system; the loader is provided with a first wireless data receiving and transmitting module connected with the data processing module; and the material pile profile calibration device is provided with a material pile positioning UWB tag for performing unilateral two-way communication ranging with a UWB base station and a second wireless data transceiver module for transmitting the ranging information of the material pile positioning UWB tag in wireless communication with the first wireless data transceiver module.
5. The autonomous operation control system of a loader of claim 1, further comprising a discharging platform calibration device for calibrating the position of the discharging platform in the plane coordinate system of the UWB base station, wherein the discharging platform calibration device comprises two discharging positioning UWB tags installed at different positions to perform unilateral two-way communication ranging with the UWB base station, and a third wireless data transceiver module connected to the discharging positioning UWB tags and wirelessly communicating with the first wireless data transceiver module to transmit the ranging information of the discharging positioning UWB tags.
6. The autonomous operation control system of a loader according to claim 1, wherein the loader is provided with a lidar for scanning the ground flatness of the travel route and/or an inertial navigation module for detecting acceleration information in the vertical direction when the loader travels on the travel route, and the data processing module transmits a travel speed limit control command when the loader travels on the travel route to the vehicle control unit according to the acceleration information or/and the ground flatness, respectively.
7. A control method for the autonomous operation of a loader is characterized by comprising the following steps:
determining a UWB base station plane coordinate system by utilizing at least three UWB base stations arranged on a working site;
planning a driving route between the material pile and the discharging platform when the loader operates autonomously according to the positions of the material pile and the discharging platform in the UWB base station plane coordinate system;
determining the complete machine position of the external projection profile of the loader in a UWB base station plane coordinate system through the ranging information of the vehicle-mounted positioning UWB tag and each UWB base station on the loader, the external dimension of the loader and the pose state;
and sending a control command to the whole vehicle control unit according to the position of the whole vehicle and the running route to enable the loader to run according to the running route and execute corresponding operation actions at corresponding positions.
8. The autonomous operation control method of a loader according to claim 7, wherein whether the bucket contacts the material is identified according to the relative position of the material pile and the whole loader in the UWB base station plane coordinate system and the loader operating parameters, and when it is estimated that the loader is in a loading ready state according to the loader operating parameters and the front end of the profile projection profile of the loader intersects with the profile of the material pile in the UWB base station plane coordinate system within a predetermined time or the distance is smaller than a predetermined value, it is identified that the bucket contacts the material and sends a loading operation command to the whole loader control unit.
9. The autonomous operation control method of a loader according to claim 7, characterized by detecting acceleration information and/or ground flatness information in a vertical direction while the loader is traveling on a traveling route between the stockpile and the unloading platform; and sending a running speed limit value instruction of the loader on the running route in each subsequent operation cycle to the whole vehicle control unit according to the acceleration information and/or the ground flatness information.
10. The loader autonomous operation control method according to claim 9, characterized in that the travel route includes a scooping route and a carrying route; detecting acceleration information in the vertical direction when the loader runs on a shoveling route in each operation cycle, and sending a running speed limit value instruction of the loader on the shoveling route in the next operation cycle to the whole vehicle control unit according to the acceleration information; and acquiring the ground flatness information of the material conveying route, sending a running speed limit value instruction of the loader on the material conveying route in each subsequent operation cycle to the whole vehicle control unit according to the ground flatness information, or detecting the ground flatness of the material conveying route after each predetermined number of operation cycles and determining the material conveying running speed limit value of the loader on the material conveying route in the subsequent operation cycle according to the acquired ground flatness.
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