CN113463720A - System and method for identifying contact material of loader bucket - Google Patents
System and method for identifying contact material of loader bucket Download PDFInfo
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- CN113463720A CN113463720A CN202110734890.9A CN202110734890A CN113463720A CN 113463720 A CN113463720 A CN 113463720A CN 202110734890 A CN202110734890 A CN 202110734890A CN 113463720 A CN113463720 A CN 113463720A
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- base station
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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
- 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
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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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
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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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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- 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
Abstract
The invention relates to a shoveling technology of a loader, aiming at solving the problem that the existing bucket contact material identification technology cannot well meet the autonomous operation of the loader; the system comprises a loader provided with a UWB tag, at least three UWB base stations for determining a UWB base station plane coordinate system, a material pile profile calibration device for calibrating the profile of a material pile to be shoveled, and a data processing module for identifying whether the bucket contacts the material according to the relative position of the profile of the material pile to be shoveled and the external projection profile of the loader in the UWB base station plane coordinate system and the working parameters of the loader. According to the invention, whether the bucket contacts the material is judged by comparing the position of the loader with the position of the material pile, and the judgment is not related to the property of the material to be shoveled, so that misjudgment is not easy to generate.
Description
Technical Field
The present invention relates to loader shoveling technology, and more particularly, to a loader shovel contact material identification system and method.
Background
With the increasing labor cost and the development of intelligent technology, the unmanned autonomous operation of the loader will become a future development trend.
The autonomous working process of the loader still needs to solve a number of problems, among which how to recognize the contact of the bucket with the material and to correctly activate the shoveling action, which requires a series of effective judgment and processing mechanisms.
The contact of the bucket with the material means that the bucket is inserted into the material to a certain depth, and then the shoveling actions of taking the bucket and lifting the movable arm so as to put the material into the bucket can be performed. At present, the non-autonomous operation loader adopts oil cylinder pressure, speed and the like as judgment conditions for shovel loading action starting, but still cannot well meet the requirement of unmanned autonomous operation of the loader, and a more effective judgment and processing method needs to be explored and adopted to meet the development requirement of automatic and unmanned shovel loading operation.
Disclosure of Invention
The invention aims to solve the technical problem that the existing bucket contact material identification technology cannot well meet the requirement of autonomous operation of a loader, and provides a system and a method for identifying a loader bucket contact material, so that the loader can better identify the bucket contact material to trigger shoveling action during unmanned operation.
The technical scheme for realizing the purpose of the invention is as follows: the identification system for the contact material of the loader bucket comprises a 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 and a vehicle-mounted positioning UWB tag which performs unilateral and bidirectional communication ranging with a UWB base station;
the material pile profile calibration device is used for calibrating a plurality of points on the material pile profile to be shoveled and transmitting the points to the data processing module;
the data processing module determines the position of the contour projection contour of the loader in a UWB base station plane coordinate system through the ranging information of the vehicle-mounted positioning UWB tag, the contour size of the loader and the pose state, and calculates the position of the contour of the material pile to be shoveled in the UWB base station plane coordinate system through a plurality of point position information on the contour of the material pile to be shoveled;
and the data processing module identifies whether the bucket contacts the materials according to the relative position of the profile of the material pile to be shoveled in the UWB base station plane coordinate system and the external projection profile of the loader and the working parameters of the loader.
In the invention, a coordinate system is determined through a plurality of UWB base stations, the position of a loader and the position of a material pile are determined through UWB tags, and whether a bucket contacts the material or not is judged through comparing the positions of the loader and the material pile and combining working parameters of a machine. According to the invention, whether the bucket contacts the material is judged by comparing the position of the loader with the position of the material pile, and the judgment is not related to the property of the material to be shoveled, so that misjudgment is not easy to generate.
In the identification system for the contact materials of the loader bucket, the number of the UWB base stations is four, wherein three UWB base stations are arranged in a right-angled triangle to form an X axis and a Y axis of a UWB base station plane coordinate system, the fourth UWB base station and the other three UWB base stations are arranged in a non-coplanar mode, 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 identification system for the loader bucket to contact the material, the position and posture sensor comprises a gyroscope used for determining the orientation of the loader in a coordinate system or the number of the vehicle-mounted positioning UWB tags is at least two, and the vehicle-mounted positioning UWB tags are arranged at different positions on the loader. The distance between two points on the loader and each UWB base station can be obtained by using two vehicle-mounted 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. Or the position of a point on the loader in the UWB base station plane coordinate system is obtained through a UWB tag, the orientation of the loader relative to the ground is measured through an orientation sensor such as a gyroscope, the orientation of the UWB base station plane coordinate system relative to the ground is measured in advance, and the orientation of the loader in the UWB base station plane coordinate system is determined after coordinate conversion.
In the identification system for the contact of the loader bucket with the materials, an inertial navigation module used for calculating the track and course of the loader based on the initial position in the operation process is further installed on the loader, and the inertial navigation module and a vehicle-mounted positioning UWB tag on the loader are installed at the same position; the data processing module calculates the position of the contour projection profile of the loader in a UWB base station plane coordinate system according to the distance measurement information of the vehicle-mounted positioning UWB tag and the navigation positioning information of the inertial navigation module, and positions the position of the loader by combining the positioning of the inertial navigation module and the distance measurement and positioning of the UWB tag, so that the positioning precision of the loader is improved.
In the identification system for the contact material of the loader bucket, a first wireless data transceiver module connected with the data processing module is arranged on the loader; 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. The material pile outline calibration device can also be positioned above the material pile to be shoveled, the outline of the material pile to be shoveled and the angle relative to the ground are obtained through means of camera shooting, laser radar scanning and the like, and the position of the material pile to be shoveled in the UWB base station plane coordinate system is determined by converting the determined relation of the UWB base station plane coordinate system relative to the ground.
In the identification system for the contact of the loader bucket with the materials, the loader is provided with a display module for displaying the UWB base station plane coordinate system, the profile of the material pile to be shoveled in the base station plane coordinate system and the profile of the external projection of the loader.
In the identification system for the contact material of the loader bucket, the loader is an articulated loader, and the vehicle-mounted positioning UWB tag is fixedly installed and arranged relative to the rear frame.
In the above identifying system that the loader bucket contacts the material, the attitude sensor includes: the loader comprises a steering angle sensor for detecting the relative rotation angle of a front frame and a 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.
The technical scheme for realizing the purpose of the invention is as follows: the method for identifying the contact material of the loader bucket 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;
measuring the profile of the material pile to be shoveled and calculating the position of the profile of the material pile to be shoveled in a UWB base station plane coordinate system;
determining the position of the contour 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 contour size of the loader and the pose state;
whether the bucket contacts with the materials is identified according to the relative position of the profile of the material pile to be shoveled in the UWB base station plane coordinate system and the profile of the projection of the loader profile and the working parameters of the loader, and when the loader is in a shoveling preparation state according to the working parameters of the loader and the front end of the profile of the projection of the loader profile in the UWB base station plane coordinate system intersects with the profile of the material pile to be shoveled in a preset time or the distance is smaller than a preset value, the bucket is identified to contact with the materials.
In the identification method for the contact material of the loader bucket, when the profile of the material pile to be shoveled is measured, the distance between a plurality of points on the profile of the material pile to be shoveled and each UWB base station is measured through a material pile profile calibration device with a UWB tag for performing unilateral two-way communication ranging with the UWB base station, and the position of the profile of the material pile to be shoveled in a UWB base station plane coordinate system is calculated through the distance between the plurality of points on the profile of the material pile to be shoveled and each UWB base station.
Compared with the prior art, the invention determines a coordinate system through a plurality of UWB base stations, determines the position of the loader and the position of the material pile through the UWB tags, compares the positions of the loader and the material pile and judges whether the bucket contacts the material by combining the working parameters of the machine. According to the invention, whether the bucket contacts the material is judged by comparing the position of the loader with the position of the material pile, and the judgment is not related to the property of the material to be shoveled, so that misjudgment is not easy to generate.
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 among a UWB base station, a pile profile calibration device, and 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, a material pile outline calibration device 5, a material pile positioning UWB tag 51 and a wireless data transceiver module 52.
Detailed Description
The following description of the embodiments refers to the accompanying drawings.
The identification system for the contact material of the loader bucket comprises four UWB base stations 1, a loader 2 and a material pile profile 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 through the control unit.
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 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.
The method for judging whether the bucket contacts the material by the identification system of the loader bucket contacting the material is as follows:
determining a UWB base station plane coordinate system by utilizing four UWB base stations 1 arranged on a working site;
measuring the profile of the material pile to be shoveled and calculating the position of the profile of the material pile to be shoveled in a UWB base station plane coordinate system;
determining the position of the contour projection outline of the loader 2 in a UWB base station plane coordinate system through the ranging information of two vehicle-mounted positioning UWB tags 22 on the loader and each UWB base station, the contour size of the loader and the pose state;
whether the bucket contacts the materials is identified according to the relative position of the profile of the material pile to be shoveled in the UWB base station plane coordinate system and the profile of the projection of the loader profile and the working parameters of the loader, and when the loader is in a shoveling preparation state according to the working parameters of the loader and the front end of the profile of the projection of the loader profile in the UWB base station plane coordinate system intersects with the profile of the material pile to be shoveled in a preset time or the distance is smaller than a preset value, the bucket is identified to contact the material pile to be shoveled.
When the profile of the material pile to be shoveled is determined, the distance between a plurality of points on the profile of the material pile to be shoveled and each UWB base station is determined through a material pile profile calibration device with a UWB tag for performing unilateral two-way communication ranging with the UWB base station, and the position of the profile of the material pile to be shoveled in a UWB base station plane coordinate system is calculated through the distance between the plurality of points on the profile of the material pile to be shoveled and each UWB base station.
In the method for identifying whether the bucket contacts with materials, the loader 2 is combined and positioned through the vehicle-mounted positioning UWB tag 22 and the inertial navigation module 23, the position and the attitude of the loader are detected through the position and attitude sensor, then the data are collected to the data processing and displaying module in a wireless or wired mode, the data processing and displaying module calculates the outline projection outline of the loader in a UWB base station plane coordinate system by combining the positioning data, the position and the outline size of the loader and the mounting 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. The method comprises the steps of positioning a plurality of points on the edge of a material pile through a remote control material pile outline calibration device, wirelessly transmitting and storing positioning data to a data processing and displaying module, calculating the positions of a plurality of positioning points by the data processing and displaying module in combination with the positioning data of the material pile outline calibration device, and connecting the projections of the plurality of positioning points in a UWB base station plane coordinate system into an enclosed area to approximately represent the outline of the material pile.
The method comprises the steps of positioning the outline of a stockpile before the beginning of shovel loading operation, remotely controlling a stockpile outline calibration device 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 through a wireless data receiving and transmitting module 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 firstly according to the ranging information of the stockpile positioning UWB tag, and 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.
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.
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, when the data processing and displaying module detects that the front end of a front frame rectangular frame of the outline projection of the loader is intersected with the outline projection of the stockpile or the distance between the front end and the outline projection of the loader is smaller than a certain value and the continuous positioning positions of the loader are not obviously changed for multiple times, the situation that the bucket of the loader is inserted into a 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.
Claims (10)
1. A system for identifying contact of a loader bucket with a material comprises a 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 and a vehicle-mounted positioning UWB tag which performs unilateral and bidirectional communication ranging with a UWB base station;
the material pile profile calibration device is used for calibrating a plurality of points on the material pile profile to be shoveled and transmitting the points to the data processing module;
the data processing module determines the position of an 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 calculates the position of the outline of the material pile to be shoveled in the UWB base station plane coordinate system through a plurality of point position information on the outline of the material pile to be shoveled;
and the data processing module identifies whether the bucket contacts the materials according to the relative position of the profile of the material pile to be shoveled in the UWB base station plane coordinate system and the external projection profile of the loader and the working parameters of the loader.
2. The system of claim 1, wherein the UWB base stations are four UWB base stations, 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, the 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. An identification system of a loader bucket in contact with material according to claim 1 characterized in that the pose sensor comprises at least two gyroscopes for determining the orientation of the loader in a coordinate system or the on-board position UWB tags are mounted at different positions on the loader.
4. The system for identifying contact materials of the loader bucket with the loader bucket as claimed in claim 1, wherein the loader is further provided with an inertial navigation module for calculating navigation and positioning information of the loader based on an initial position during operation, and the inertial navigation module is installed at the same position as an on-board positioning UWB tag on the loader; and the data processing module calculates the 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.
5. An identification system of a loader bucket contact material according to claim 1 where the loader is provided with a first wireless data transceiver module connected to 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.
6. An identification system of a loader bucket contact material according to claim 1, characterized in that the loader is provided with a display module for displaying UWB base station plane coordinate system, contour of the material stack to be shoveled in UWB base station plane coordinate system and contour of the external projection of the loader.
7. An identification system of a loader bucket contact material according to any one of claims 1 to 6 where the loader is an articulated loader and the on-board positioning UWB tag is fixedly mounted in an arrangement relative to the rear frame.
8. The identification system of a loader bucket in contact with material of claim 7, characterized in that the pose sensor comprises: the loader comprises a steering angle sensor for detecting the relative rotation angle of a front frame and a 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.
9. A method for identifying a contact material of a loader bucket 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;
measuring the profile of the material pile to be shoveled and calculating the position of the profile of the material pile to be shoveled in a UWB base station plane coordinate system;
determining the position of the contour 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 contour size of the loader and the pose state;
whether the bucket contacts with the materials is identified according to the relative position of the profile of the material pile to be shoveled in the UWB base station plane coordinate system and the profile of the projection of the loader profile and the working parameters of the loader, and when the loader is in a shoveling preparation state according to the working parameters of the loader and the front end of the profile of the projection of the loader profile in the UWB base station plane coordinate system intersects with the profile of the material pile to be shoveled in a preset time or the distance is smaller than a preset value, the bucket is identified to contact with the materials.
10. The method for identifying the contact material of the loader bucket according to claim 9, wherein when the profile of the material pile to be shoveled is measured, the distance between a plurality of points on the profile of the material pile to be shoveled and each UWB base station is measured by a material pile profile calibration device with a UWB tag which performs unilateral two-way communication ranging with the UWB base station, and the position of the profile of the material pile to be shoveled in the plane coordinate system of the UWB base station is calculated by the distance between the plurality of points on the profile of the material pile to be shoveled and each UWB base station.
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| CN202110734890.9A CN113463720B (en) | 2021-06-30 | 2021-06-30 | System and method for identifying contact material of loader bucket |
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| CN202110734890.9A CN113463720B (en) | 2021-06-30 | 2021-06-30 | System and method for identifying contact material of loader bucket |
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| CN113463720B CN113463720B (en) | 2023-02-17 |
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