CN114164877B - Method, controller and excavating equipment for loading materials - Google Patents
Method, controller and excavating equipment for loading materials Download PDFInfo
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- CN114164877B CN114164877B CN202111319134.6A CN202111319134A CN114164877B CN 114164877 B CN114164877 B CN 114164877B CN 202111319134 A CN202111319134 A CN 202111319134A CN 114164877 B CN114164877 B CN 114164877B
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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
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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
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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
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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
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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
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
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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
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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
- E02F9/261—Surveying the work-site to be treated
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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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a method for loading materials, a controller and excavating equipment. The method comprises the following steps: establishing an environment map containing excavating equipment, a material pile and loading equipment; respectively establishing three-dimensional models of the material pile and the loading area and carrying out gridding treatment to obtain a gridded material pile and a gridded loading area; determining spatial position coordinates of each grid central point in the gridding material pile and the gridding loading area based on the environment map; planning a working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of the central point of each grid; and controlling the bucket to carry out loading action and unloading action according to the working path. According to the invention, through automatic loading of the excavating equipment, personal safety of workers is guaranteed in a complex and severe working environment, and after cluster cooperative unmanned construction is realized, mine construction efficiency is improved and safety risks are reduced.
Description
Technical Field
The invention relates to the technical field of excavating equipment control, in particular to a method for loading materials, a controller and excavating equipment.
Background
With the proposal of the concept of 'unmanned mines', the method obtains wide attention and participation of society. The research on the automatic driving of the excavating equipment (such as an excavator) of the main force of mine construction also makes great progress. In mine construction, most used are loading equipment (such as mine trucks) and excavating equipment. Mine construction has several characteristics: the environment is severe, the potential safety hazard is large, the working scene is relatively fixed, and the working task is relatively single and the like. With the increasing level of autopilot of mine loading equipment, the loading equipment in many mine sites has been largely unmanned. However, the automatic driving of the excavating equipment is mainly in the aspects of simulating automatic driving and obstacle avoidance performed by an automobile at present, the automatic operation of the excavating equipment is also in an auxiliary and semi-automatic stage, the personal safety of workers cannot be guaranteed in a complex and severe working environment, and the construction efficiency depends on the environment and the technical basis of the workers. Therefore, the mine construction efficiency is low and the danger is large in the prior art.
Disclosure of Invention
The invention aims to provide a method, a controller and excavating equipment for loading materials, which are used for solving the problems of low mine construction efficiency and high danger in the prior art.
In order to achieve the above object, a first aspect of embodiments of the present invention provides a method for loading material, applied to a dredging arrangement for transporting material of a pile to a loading area of a loading arrangement, the method comprising:
establishing an environment map containing excavating equipment, a material pile and loading equipment;
respectively establishing three-dimensional models of the material pile and the loading area and carrying out gridding treatment to obtain a gridded material pile and a gridded loading area;
determining spatial position coordinates of each grid central point in the grid material pile and the grid loading area based on the environment map;
planning a working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of the central point of each grid;
and controlling the bucket to carry out loading action and unloading action according to the working path.
In the embodiment of the invention, the excavating equipment comprises a laser radar, a positioning device and an image acquisition device, and the establishment of the environment map containing the excavating equipment, the stockpile and the loading equipment comprises the following steps:
determining the position information of the excavating equipment through a positioning device;
respectively determining distance information of the material pile, the loading equipment and the excavating equipment through a laser radar;
acquiring image information of the material pile and the loading equipment through an image acquisition device;
and establishing an environment map containing the excavating equipment, the material pile and the loading equipment according to the position information, the distance information and the image information of the material pile and the loading equipment.
In the embodiment of the invention, the establishing of three-dimensional models of the stockpile and the loading area and the gridding treatment to obtain a gridded stockpile and a gridded loading area respectively comprises the following steps:
respectively establishing three-dimensional models of a material pile and a loading area;
and carrying out gridding treatment on the three-dimensional models of the material pile and the loading area according to preset precision to obtain a gridded material pile and a gridded loading area which are formed by a plurality of grids with the same precision.
In an embodiment of the present invention, planning the working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of the center point of each grid comprises:
determining the number of grids covered by the bucket according to the size of the bucket;
and determining the space coordinate position of the bucket reaching the material pile and the loading area each time according to the number of grids covered by the bucket so as to determine the working path of the bucket.
In an embodiment of the present invention, determining the space coordinate position of the material pile and the loading area each time the bucket reaches according to the number of grids covered by the bucket to determine the working path of the bucket includes:
taking the number of grids covered by the bucket as a single delivery amount;
dividing the gridding material pile into a plurality of loading positions according to single conveying amount;
dividing the gridding loading area into a plurality of unloading positions according to single conveying capacity;
determining a space position coordinate corresponding to a target position of the bucket;
determining an order in which a target position of the bucket reaches a plurality of loading positions and a plurality of unloading positions;
the target position of the bucket is determined to arrive in sequence at the spatial coordinate position of each loading position and each unloading position.
In the embodiment of the invention, the excavating equipment comprises a sensor, the sensor is arranged on an attitude acquisition part of the excavating equipment, and the step of controlling the bucket to carry out loading action and unloading action according to the working path comprises the following steps:
acquiring a working path of the bucket;
acquiring the current posture of the excavating equipment through a sensor;
controlling the bucket to reach a target loading position or a target unloading position according to the current posture and the working path of the excavating equipment;
and controlling the bucket to carry out a charging action at the target charging position or carry out a discharging action at the target discharging position.
In an embodiment of the present invention, the method further includes:
judging whether the weight of the material in the loading area reaches the preset full load weight or not;
and under the condition that the weight of the materials reaches the preset full load weight, finishing loading the materials.
In the embodiment of the present invention, the determining whether the weight of the material in the loading area reaches the preset full load weight includes:
scanning the materials in the loading area in real time through a laser radar;
establishing a three-dimensional model according to the materials in the loading area;
determining the volume corresponding to the three-dimensional model of the material in the loading area;
determining the weight of the material in the loading area according to the density data and the volume of the material;
and judging whether the weight of the material reaches the preset full load weight.
In an embodiment of the present invention, the method further includes:
and controlling the excavating equipment to move to the target working point.
A second aspect of an embodiment of the present invention provides a controller configured to execute the method for loading material described above.
A third aspect of an embodiment of the present invention provides an excavation apparatus, including:
the laser radar is arranged on the outer wall of the excavating equipment and used for acquiring environmental information of the excavating equipment;
the positioning device is arranged on the excavating equipment and used for acquiring the position information of the excavating equipment;
the image acquisition device is arranged on the outer wall of the excavating equipment and used for acquiring an environment image of the excavating equipment;
the sensor is arranged at the attitude acquisition part of the excavating equipment and used for acquiring attitude information of the excavating equipment;
the controller is described above.
In an embodiment of the invention, the plurality of sensors comprises at least one of:
the device comprises a movable arm inclination angle sensor, a bucket rod inclination angle sensor, a bucket angle sensor and a boarding rotary encoder.
A fourth aspect of an embodiment of the present invention provides a system for loading material, the system including:
a loading device comprising a loading area for loading material of a pile;
the excavation apparatus described above is for transporting material from a pile to a loading area of a loading apparatus.
According to the technical scheme, the environment map comprising the excavating equipment, the material pile and the loading equipment is established, the three-dimensional models of the material pile and the loading area are subjected to gridding treatment, the working path of the bucket of the excavating equipment is planned based on the environment map and the gridded material pile and loading area, the bucket is further controlled to perform loading action and unloading action according to the working path, so that the automatic loading of the excavating equipment is realized, the personal safety of workers is guaranteed in the complicated and severe working environment, the mine construction efficiency is improved and the safety risk is reduced after the cluster is cooperated with unmanned construction.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of an excavating apparatus to which a method for loading material according to an embodiment of the present invention may be applied;
FIG. 2 is a schematic flow chart of a method for loading material according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a system for loading material according to an embodiment of the present invention;
FIG. 4 is a schematic view of a work path of a bucket provided by an embodiment of the present disclosure;
fig. 5 is a block diagram of a controller according to an embodiment of the present invention.
Description of the reference numerals
1. Chassis device 2 boarding and slewing device
3. Working device 4 arm support
5. Bucket 6 bucket angle sensor
7. Bucket rod tilt sensor 8 movable arm tilt sensor
9. Image acquisition device 10 lidar
11. Positioning device 12 autopilot controller
13. Excavation machine controller 310 stockpile
320. Loader 330 excavating equipment
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an excavating equipment to which a method for loading material provided by an embodiment of the present invention can be applied. As shown in fig. 1, the excavation equipment may include an all-electrically controlled excavation portion, an attitude detection portion, an environmental awareness system, a control system, and a human-machine interaction portion.
The fully electrically controlled excavating part may comprise a chassis arrangement 1, a superstructure and turning arrangement 2 and a working arrangement 3. The chassis device 1 consists of four wheels, a belt, a walking motor and the like, and is used for walking of the whole machine; the boarding and slewing device 2 comprises a slewing part, a boarding structural part, an engine, a hydraulic system, an electric system and other structures; the work implement 3 includes a boom, an arm, a bucket, and the like. To implement complex control strategies, the operational and control inputs to the excavating equipment may be electrical or electro-hydraulic signals.
The working device 3 of the excavating equipment may comprise an arm 4 and a bucket 5. The attitude detecting section includes a bucket angle sensor 6 provided on the bucket 5, an arm tilt sensor 7 provided on the arm of the boom 4, and a boom tilt sensor 8 and a boarding rotary encoder (not shown in the figure) provided on the boom of the boom 4. Using positive kinematics, the current attitude information of the work device 3 can be obtained. In any coordinate in space, the lengths of three cylinders, namely a movable arm, an arm and a bucket, can be obtained by performing inverse kinematics calculation through four sensors, so that the attitude control of the working device 3 can be performed.
The environment sensing system may be composed of an image acquisition device 9, a lidar 10, and a positioning device 11. The image acquisition device 9 is arranged on the outer wall of the excavating equipment and used for acquiring an environment image of the excavating equipment as an aid and supplement for drawing by the laser radar 10; the laser radar 10 is arranged on the outer wall of the excavating equipment and used for acquiring environment information of the excavating equipment so as to establish an environment map and a three-dimensional model of a working object; the positioning device 11 may include a Global Navigation Satellite System (GNSS) or other device for positioning, and the positioning device 11 is used to obtain high-precision positioning information of the excavating equipment.
The control system of the excavating equipment may comprise two parts. The first part is a work control system mainly composed of an automatic driving controller 12 (upper computer) and used for receiving and processing environmental perception system data and establishing an automatic work control strategy. The other part is an excavating equipment control system consisting of an excavating equipment controller 13 and accessories thereof, and the excavating equipment control system is used for receiving and transmitting sensor signals of the excavating equipment and controlling each execution unit of the excavating equipment. The control system of the excavating equipment (collectively referred to as a controller in the embodiment of the present invention) is not limited to the above-described configuration, and may be another configuration capable of controlling the excavating equipment.
The human-computer interaction part can be composed of a mining equipment terminal display system and an automatic driving control platform display system (not shown in the figure), and the state information of the mining equipment can be displayed in real time through the human-computer interaction part.
Fig. 2 is a schematic flow chart of a method for loading materials according to an embodiment of the present invention. As shown in fig. 2, an embodiment of the present invention provides a method for loading material for use with a dredging arrangement that can be used to transport material from a pile to a loading area of a loading arrangement, which method can comprise the following steps.
In step S21, an environment map including the excavation equipment, the stockpile, and the loading equipment is created.
In embodiments of the present invention, the excavation equipment may include, but is not limited to, an excavator. The loading device may include, but is not limited to, a loading vehicle, such as a mine card or the like. The excavating equipment is used to transport material of the pile to a loading area of the loading equipment. The environment map refers to the expression of generating and maintaining the distribution, the trend, the connection relation, the attribute and the position and the posture of the obstacle in the environment. Typical map representation methods are scale maps, topological maps and hybrid maps. The scale maps are further divided into grid maps and aggregate feature maps. In the embodiment of the invention, the controller of the excavating equipment can establish the two-dimensional grid map with the positioning information through the laser radar and the positioning device so as to place the stockpile, the loading equipment and the excavating equipment on corresponding positions of the two-dimensional grid map. Because the stockpile and the loading equipment are not provided with positioning devices, the distance information of the stockpile and the loading equipment can be obtained through the laser radar, and the position information of the stockpile and the loading equipment can be obtained by combining the position information determined by the positioning device of the excavating device, so that an environment map is established.
In step S22, three-dimensional models of the stockpile and the loading area are respectively created and gridded to obtain a gridded stockpile and a gridded loading area.
In the embodiment of the invention, the controller can also respectively establish three-dimensional models of the material pile and the loading area. A three-dimensional model is a polygonal representation of an object. The controller can acquire an environment image through the image acquisition device, then process the environment image, and identify the outlines of the stockpile and the loading area, so that three-dimensional modeling is performed on the stockpile and the loading area. In the embodiment of the invention, in order to facilitate the excavating equipment to accurately convey the material of the material pile to the loading area, the material pile and the loading area need to be subjected to gridding treatment so as to obtain a gridded material pile and a gridded loading area. In one example, the three-dimensional models of the stockpile and the loading area may be subjected to a gridding process according to a preset precision, so as to obtain a gridded stockpile and a gridded loading area which are composed of a plurality of grids with the same precision. The preset precision can be the minimum precision of the model, so that the automatic loading precision of the excavating equipment is improved.
In step S23, the spatial position coordinates of each grid center point in the gridded pile and the gridded loading area are determined based on the environment map.
In an embodiment of the present invention, the spatial position coordinates of each point may be determined based on an environment map. After the controller carries out gridding processing on the material pile and the loading area, a plurality of grids are obtained, and the spatial position coordinate of the central point of each grid is determined based on the environment map, so that the specific position of each grid in the environment map can be determined. So that the bucket of the excavating equipment performs work according to the spatial coordinate position of the grid.
In step S24, a working path of the bucket is planned according to the size of the bucket of the excavating equipment and the spatial position coordinates of the center point of each mesh.
In an embodiment of the invention, the number of grids that each bucket of the bucket can carry can be determined from the number of grids that the bucket of the excavating equipment occupies. For example, if the bucket is standing on a 4 grid number, it may be determined that each bucket may carry 4 grids of material. The position at which the bucket loads the pile at a time and unloads the material at a loading area at a time can be controlled in a preset sequence based on the amount of material that can be carried by each bucket. In one example, the number of grids covered by the bucket may be used as a single delivery amount, the grid material pile is divided into a plurality of loading positions according to the single delivery amount, the grid loading area is divided into a plurality of unloading positions according to the single delivery amount, and the spatial position coordinates corresponding to the target position (such as the leftmost bucket tip) of the bucket are determined. The sequence that the target position of the bucket reaches a plurality of loading positions and a plurality of unloading positions is determined according to user requirements, and then the target position of the bucket reaches the space coordinate position of each loading position and each unloading position in sequence based on the environment map. For example, the spatial position coordinates of the upper left corner of each loading position and each discharge position are determined based on an environment map so that the leftmost bucket tip of the bucket reaches the leftmost side of the loading position and the discharge position each time a job is performed. Wherein the order of determining the target position of the bucket to reach the plurality of loading positions and the plurality of discharge positions may be set according to the following principles: efficiency, difficulty, or vibration, etc. Therefore, the excavating equipment can determine the working path according to the sequence of reaching each grid, the mode of determining the working path is simplified, and the automatic loading efficiency is improved.
In step S25, the bucket is controlled to perform the loading operation and the unloading operation according to the operation path.
In an embodiment of the present invention, after the controller determines the working path of the bucket of the excavating equipment, the current attitude of the excavating equipment can be acquired through a sensor provided on the excavating equipment. Among these, sensors may include, but are not limited to: a movable arm inclination angle sensor and a bucket rod inclination angle sensor which are arranged on the arm support, a bucket angle sensor which is arranged on the bucket, a getting-on rotary encoder and the like. The current attitude of the excavating equipment can be obtained by using positive kinematics.
Further, the bucket can be controlled to reach a target loading position or a target unloading position according to the current posture and the working path of the excavating equipment, so that the bucket is controlled to carry out loading action at the target loading position or carry out unloading action at the target unloading position. The controller can obtain the lengths of the three oil cylinders of the movable arm, the bucket rod and the bucket through inverse kinematics, and can control the excavating equipment according to the set working path, so that the bucket tip reaches a target loading position or a target unloading position.
According to the technical scheme, the environment map comprising the excavating equipment, the material pile and the loading equipment is established, the three-dimensional models of the material pile and the loading area are subjected to gridding treatment, the working path of the bucket of the excavating equipment is planned based on the environment map and the gridded material pile and loading area, the bucket is further controlled to perform loading action and unloading action according to the working path, so that the automatic loading of the excavating equipment is realized, the personal safety of workers is guaranteed in the complicated and severe working environment, the mine construction efficiency is improved and the safety risk is reduced after the cluster is cooperated with unmanned construction.
In an embodiment of the present invention, the excavating equipment may include a laser radar, a positioning device, and an image collecting device, and the step S21 of establishing the environment map including the excavating equipment, the stockpile, and the loading equipment may include:
determining the position information of the excavating equipment through a positioning device;
respectively determining distance information of the material pile, the loading equipment and the excavating equipment through a laser radar;
acquiring image information of the material pile and the loading equipment through an image acquisition device;
and establishing an environment map containing the excavating equipment, the stockpile and the loading equipment according to the position information, the distance information and the image information of the stockpile and the loading equipment.
Specifically, the controller of the excavating equipment can establish a two-dimensional grid map with positioning information through the laser radar and the positioning device so as to place the stockpile, the loading equipment and the excavating equipment on corresponding positions of the two-dimensional grid map. Because the stockpile and the loading equipment are not provided with positioning devices, distance information of the stockpile and the loading equipment can be obtained through the laser radar, and the position information of the stockpile and the loading equipment can be obtained by combining the position information determined by the positioning device of the excavating device, so that an environment map is established. The controller can also acquire an environment image through the image acquisition device, process the environment image, and identify the outlines of the stockpile and the loading area to be used as the assistance and supplement of the three-dimensional sketch. Therefore, in the embodiment of the invention, the environment map comprising the excavating equipment, the material pile and the loading equipment can be established through the laser radar, the positioning device and the image acquisition device.
In this embodiment of the present invention, the step S22 of respectively establishing three-dimensional models of the stockpile and the loading area and performing a gridding process to obtain a gridded stockpile and a gridded loading area may include:
respectively establishing three-dimensional models of a material pile and a loading area;
and gridding the three-dimensional models of the stockpile and the loading area according to preset precision to obtain a gridded stockpile and a gridded loading area which are formed by a plurality of grids with the same precision.
In particular, the system may also build three-dimensional models of the stockpile and the loading area, respectively. The controller can acquire an environment image through the image acquisition device, process the environment image and identify the outlines of the stockpile and the loading area, so that three-dimensional modeling is performed on the stockpile and the loading area. In the embodiment of the invention, in order to facilitate the excavating equipment to accurately convey the material of the material pile to the loading area, the material pile and the loading area need to be subjected to gridding treatment so as to obtain a gridded material pile and a gridded loading area. According to the embodiment of the invention, the gridding treatment can be carried out on the three-dimensional models of the stockpile and the loading area according to the preset precision, so that a gridded stockpile and a gridded loading area which are formed by a plurality of grids with the same precision can be obtained. The preset precision can be the minimum precision of the model, so that the automatic loading precision of the excavating equipment is improved.
In an embodiment of the present invention, the step S24 of planning the working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of each grid center point may include:
determining the number of grids covered by the bucket according to the size of the bucket;
and determining the space coordinate position of the bucket reaching the material pile and the loading area each time according to the number of grids covered by the bucket so as to determine the working path of the bucket.
Specifically, the controller may acquire the size of the preset accuracy, i.e., the size of each grid. The size of the excavating equipment bucket is then obtained to determine the number of grids covered by the bucket. The number of occupied grids, i.e., the number of grids that each bucket of the bucket can carry. For example, if the bucket is standing on a 4 grid number, it may be determined that each bucket may carry 4 grids of material. Based on the amount of material that can be carried by the bucket per bucket, a target loading position and a target discharge position that the bucket needs to reach at each time can be determined, so that the controller controls the position of the bucket to load the material pile at each time and discharge the material pile at each time in the loading area according to a preset sequence.
In one example, determining the spatial coordinate position of the windrow and the loading area each time the bucket reaches according to the number of grids covered by the bucket to determine the working path of the bucket may include:
taking the number of grids covered by the bucket as a single conveying amount;
dividing the gridding material pile into a plurality of loading positions according to single conveying amount;
dividing the gridding loading area into a plurality of unloading positions according to single conveying amount;
determining a space position coordinate corresponding to a target position of the bucket;
determining an order in which a target position of the bucket reaches a plurality of loading positions and a plurality of unloading positions;
the target position of the bucket is determined to arrive at the spatial coordinate position of each loading position and each unloading position in sequence.
Specifically, based on the number of meshes covered by the bucket, that is, the single delivery amount, the meshed stockpile is divided into a plurality of loading positions according to the single delivery amount, and the meshed loading area is divided into a plurality of unloading positions. The loading positions of the material pile are marked as 1, 3 and 5 \8230Nin sequence, the loading areas are marked as 2, 4 and 6 \8230N +1 in sequence, and the working path of the bucket can be determined according to the sequence of 1, 2 and 3 \8230Nand N + 1. Based on the environment map, the space coordinate position of the bucket, the space position information of the target loading position and the space position information of the target unloading position can be obtained, the space position information is sequentially corresponded according to the marks, and the space position coordinate of the bucket reaching the target position every time can be determined.
Fig. 3 is a schematic structural diagram of a system for loading materials according to an embodiment of the present invention. As shown in fig. 3, the system may include a loading apparatus 320 and an excavating apparatus 330. Wherein the loading device 320 comprises a loading area for loading the material of the stockpile 310; an excavating device 330 for transporting the material of the pile 310 to a loading area of the loading device 330. The controller meshes the material pile 310 and the excavating equipment 330 to obtain a plurality of meshes with the same preset precision, and then the number of the meshes occupied by the bucket can be determined according to the size of the bucket of the excavating equipment 330. For example, the bucket of fig. 3 occupies 4 grids.
FIG. 4 is a schematic view of a work path of a bucket provided by an embodiment of the present invention. As shown in fig. 4, the controller may divide the number of meshes covered by the bucket as a single delivery amount, the meshed stockpile into a plurality of loading positions according to the single delivery amount, and the meshed loading area into a plurality of unloading positions according to the single delivery amount. For example, taking a rule from left to right and from top to bottom as an example, the stockpile and the loading area may be divided into a plurality of planes according to the number of grids occupied by the bucket, and each plane is operated in the order of left to right. FIG. 4 shows a top view of a gridded loading area and a gridded windrow. In each plane, 4 meshes are taken as a unit as a single transportation amount. Therefore, the first loading position is a first loading position consisting of four grids at the upper left corner of the stockpile, and the bucket tip for first loading is positioned at the upper left corner of the first loading position; the first unloading position is a first unloading position formed by four grids at the lower left corner of the loading area, and the bucket tip position is at the lower left corner of the first unloading position during the first unloading position; the second charging position is a second charging position consisting of four adjacent grids on the right of the first charging position, and the bucket tip position for the second charging is the upper left corner of the second charging position; and so on.
After the order of the loading position and the unloading position is determined, the spatial position coordinates of each target loading position, target unloading position and bucket target position can be determined according to the environment map. In one example, the leftmost bucket tip of the bucket may be determined as the target position, and spatial position coordinates corresponding to the leftmost bucket tip may be obtained. The sequence that the target position of the bucket reaches a plurality of loading positions and a plurality of unloading positions is determined according to user requirements, and then the target position of the bucket reaches the space coordinate position of each loading position and each unloading position in sequence based on the environment map. For example, the spatial position coordinates of the upper left corner of each loading position and each discharge position are determined based on an environment map so that the leftmost bucket tip of the bucket reaches the leftmost side of the loading position and discharge position each time a job is performed. The order of determining that the target position of the bucket reaches the plurality of loading positions and the plurality of discharging positions can be set according to the following principle: efficiency, difficulty, or vibration, etc. Therefore, the excavating equipment can determine the working path according to the sequence of reaching each grid, the mode of determining the working path is simplified, and the automatic loading efficiency is improved.
In the embodiment of the invention, because the material of the material pile is in an irregular shape, after the material pile on the first plane is filled, the controller can control the laser radar to scan the material pile for the second time, plan the grid again and fill the second plane according to the set sequence.
In an embodiment of the present invention, the excavating equipment may include a sensor, the sensor is disposed on an attitude acquisition portion of the excavating equipment, and the step S25 of controlling the bucket to perform the loading motion and the unloading motion according to the working path includes:
acquiring a working path of the bucket;
acquiring the current posture of the excavating equipment through a sensor;
controlling the bucket to reach a target loading position or a target unloading position according to the current posture and the working path of the excavating equipment;
and controlling the bucket to carry out a charging action at the target charging position or carry out a discharging action at the target discharging position.
Specifically, after the controller determines the working path of the bucket of the excavating equipment, the current attitude of the excavating equipment can be acquired through a sensor arranged on the excavating equipment. Among others, sensors may include, but are not limited to: a movable arm inclination angle sensor and a bucket rod inclination angle sensor which are arranged on the arm frame, a bucket angle sensor which is arranged on the bucket, a getting-on rotary encoder and the like. The current attitude of the excavating equipment can be obtained by using positive kinematics. Further, the bucket can be controlled to reach a target loading position or a target unloading position according to the current posture and the working path of the excavating equipment, so that the bucket is controlled to carry out loading action at the target loading position or carry out unloading action at the target unloading position. The controller can obtain the lengths of the three oil cylinders of the movable arm, the bucket rod and the bucket through inverse kinematics, and can control the excavating equipment according to the set working path, so that the bucket tip of the bucket reaches a target loading position or a target unloading position.
As shown in fig. 4, the controller may calculate positions of three cylinders of a boom, an arm, and a bucket of the excavating equipment and a boarding rotation using inverse kinematics, and perform automatic control so that a bucket tip reaches a designated position. For example, an automatic charging action is performed in the first charging position. The automatic charging action is a fixed repeated action, and can be realized by learning the action of a skilled manipulator by a machine self-learning method or manually setting the action time sequence of three oil cylinders. When the bucket reaches the first charging position, the bucket is controlled to perform a first charging operation. And then, unloading for the first time, and controlling the bucket to carry out the unloading action for the first time under the condition that the bucket reaches the first unloading position. And after the first discharging action is finished, the bucket returns to the material pile, the bucket reaches a second loading position, and the second loading position is a position close to the first loading position. And then the second cycle of loading and unloading is carried out until the entire loading plane is completely filled according to the preset sequence. And after the first plane is finished, the controller scans the stockpile for the second time through the laser radar, replans the network, and fills the next plane according to the sequence. The discharging action and the loading action are the same in principle, and the difference is that after the discharging action is finished on the first plane, the stock pile in the loading area does not need to be re-modeled and the discharging gridding algorithm does not need to be specified, and the discharging operation is carried out again only according to the sequence of the first discharging plane. Through the automatic loading and automatic unloading actions of the excavating equipment, the automatic work of the excavating equipment can be realized, and the work efficiency of conveying and loading materials is improved.
In the embodiment of the present invention, the method may further include:
judging whether the weight of the material in the loading area reaches the preset full load weight or not;
and under the condition that the weight of the materials reaches the preset full load weight, finishing loading the materials.
Specifically, before the excavating equipment works, a worker sets load weight data of the loading equipment, and when the material in the loading area reaches the preset full load weight, the controller finishes loading the material, the loading equipment finishes a loading task and starts to transport the material.
In an embodiment of the present invention, determining whether the weight of the material in the loading area reaches the preset full load weight may include:
scanning the materials in the loading area in real time through a laser radar;
establishing a three-dimensional model according to the materials in the loading area;
determining the volume corresponding to the three-dimensional model of the material in the loading area;
determining the weight of the material in the loading area according to the density data and the volume of the material;
and judging whether the weight of the material reaches the preset full load weight.
Specifically, during the loading process, the laser radar of the excavating equipment can scan the materials in the loading area in real time, establish a three-dimensional model of the materials in the loading area, and calculate the volume of the materials. The weight of the material in the loading area can be determined according to the density data and the volume of the material in the loading area, so that whether the weight of the material reaches the preset full load weight or not is judged. Under the condition that the weight of the materials reaches the preset full load weight, finishing loading the materials; and under the condition that the end of the material does not reach the preset full load weight, continuing to operate.
In the embodiment of the present invention, the method may further include:
and controlling the excavating equipment to move to the target working point.
Specifically, before the excavation equipment is controlled to work, in order to improve the working efficiency of the excavation equipment, the optimal point of automatic loading of the excavation equipment, namely the point which has the shortest moving distance and the highest efficiency of the bucket during loading and can cover the area of the maximum stockpile, can be determined according to the positions and postures of the stockpile and the loading equipment. In one example, assuming that the distance between the material pile and the excavating equipment is D1, the farthest distance between the loading equipment and the excavating equipment is D2, the height of the loading area of the loading equipment is H, and the optimal point can be set to a position where the moving radius of the arm of the excavating equipment is larger than D1 and D2, and the working height of the bucket is larger than H. Thus, the working efficiency of the excavating equipment during automatic loading can be improved.
Fig. 5 is a block diagram of a controller according to an embodiment of the present invention. As shown in fig. 5, an embodiment of the present invention provides a controller that may be configured to perform the above-described method for loading material. In an embodiment of the present invention, the controller may include a processor 510 and a memory 520. The memory 520 may store instructions that, when executed by the processor 510, may cause the processor 510 to perform the method for loading material described in the previous embodiments.
Specifically, in an embodiment of the present invention, processor 510 is configured to:
establishing an environment map containing excavating equipment, a material pile and loading equipment;
respectively establishing three-dimensional models of the material pile and the loading area and carrying out gridding treatment to obtain a gridded material pile and a gridded loading area;
determining spatial position coordinates of each grid central point in the grid material pile and the grid loading area based on the environment map;
planning a working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of the central point of each grid;
and controlling the bucket to carry out loading action and unloading action according to the working path.
Further, processor 510 is also configured to:
establishing an environment map containing excavating equipment, stockpiles and loading equipment comprises the following steps:
determining the position information of the excavating equipment through a positioning device;
respectively determining distance information of the material pile, the loading equipment and the excavating equipment through a laser radar;
acquiring image information of the material pile and the loading equipment through an image acquisition device;
and establishing an environment map containing the excavating equipment, the material pile and the loading equipment according to the position information, the distance information and the image information of the material pile and the loading equipment.
Further, processor 510 is also configured to:
respectively establishing three-dimensional models of the stockpile and the loading area and carrying out gridding treatment to obtain a gridded stockpile and a gridded loading area, wherein the gridding stockpile and the gridding loading area comprise the following steps:
respectively establishing three-dimensional models of a material pile and a loading area;
and gridding the three-dimensional models of the stockpile and the loading area according to preset precision to obtain a gridded stockpile and a gridded loading area which are formed by a plurality of grids with the same precision.
Further, processor 510 is also configured to:
the step of planning the working path of the bucket according to the size of the bucket of the excavating equipment and the space position coordinate of the central point of each grid comprises the following steps:
determining the number of grids covered by the bucket according to the size of the bucket;
and determining the space coordinate position of the bucket reaching the material pile and the loading area each time according to the number of grids covered by the bucket so as to determine the working path of the bucket.
Further, processor 510 is also configured to:
determining the space coordinate position of the material pile and the loading area which are reached by the bucket each time according to the number of grids covered by the bucket so as to determine the working path of the bucket comprises the following steps:
taking the number of grids covered by the bucket as a single delivery amount;
dividing the gridding material pile into a plurality of loading positions according to single conveying amount;
dividing the gridding loading area into a plurality of unloading positions according to single conveying amount;
determining a space position coordinate corresponding to a target position of the bucket;
determining an order in which a target position of the bucket reaches a plurality of loading positions and a plurality of unloading positions;
the target position of the bucket is determined to arrive in sequence at the spatial coordinate position of each loading position and each unloading position.
Further, processor 510 is also configured to:
controlling the bucket to perform loading and unloading actions according to the working path comprises the following steps:
acquiring a working path of the bucket;
acquiring the current attitude of excavating equipment through a sensor;
controlling the bucket to reach a target loading position or a target unloading position according to the current posture and the working path of the excavating equipment;
and controlling the bucket to carry out loading action at the target loading position or carry out unloading action at the target unloading position.
Further, processor 510 is also configured to:
judging whether the weight of the material in the loading area reaches the preset full load weight or not;
and under the condition that the weight of the materials reaches the preset full load weight, finishing loading the materials.
Further, processor 510 is also configured to:
judging whether the weight of the material in the loading area reaches the preset full load weight comprises the following steps:
scanning the materials in the loading area in real time through a laser radar;
establishing a three-dimensional model according to the materials in the loading area;
determining the volume corresponding to the three-dimensional model of the material in the loading area;
determining the weight of the material in the loading area according to the density data and the volume of the material;
and judging whether the weight of the material reaches the preset full load weight.
Further, processor 510 is also configured to:
and controlling the excavating equipment to move to the target working point.
According to the technical scheme, the environment map comprising the excavating equipment, the material pile and the loading equipment is established, the three-dimensional models of the material pile and the loading area are subjected to gridding processing, the working path of the bucket of the excavating equipment is planned based on the environment map and the gridded material pile and loading area, and the bucket is further controlled to carry out loading action and unloading action according to the working path, so that the automatic loading of the excavating equipment is realized, the personal safety of workers is guaranteed in a complex and severe working environment, after cluster collaborative unmanned construction is realized, the mine construction efficiency is improved, and the safety risk is reduced.
As shown in fig. 1, an embodiment of the present invention provides an excavating apparatus, which may include:
the laser radar 10 is arranged on the outer wall of the excavating equipment and used for acquiring environmental information of the excavating equipment;
the positioning device 11 is arranged on the excavating equipment and used for acquiring the position information of the excavating equipment;
the image acquisition device 9 is arranged on the outer wall of the excavating equipment and used for acquiring an environment image of the excavating equipment;
the sensor is arranged at the attitude acquisition part of the excavating equipment and used for acquiring attitude information of the excavating equipment;
the controller is described above.
In an embodiment of the present invention, the plurality of sensors may include at least one of:
a boom tilt sensor 8, an arm tilt sensor 7, a bucket angle sensor 6, and a boarding rotation encoder.
Specifically, the excavation equipment can include a fully electrically controlled excavation portion, an attitude detection portion, an environmental awareness system, a control system, and a human-machine interaction portion.
The fully electrically controlled digging part may comprise a chassis arrangement 1, a boarding and slewing arrangement 2 and a working arrangement 3. The chassis device 1 consists of four wheels, a belt, a walking motor and the like, and is used for walking of the whole machine; the boarding and slewing device 2 comprises a slewing part, a boarding structural part, an engine, a hydraulic system, an electric system and the like; the work implement 3 includes a boom, an arm, a bucket, and the like. To implement complex control strategies, the operational and control inputs to the excavating equipment may be electrical or electro-hydraulic signals.
The working device 3 of the excavating equipment may comprise an arm 4 and a bucket 5. The attitude detecting section includes a bucket angle sensor 6 provided on the bucket 5, an arm tilt sensor 7 provided on the arm of the boom 4, and a boom tilt sensor 8 and a boarding rotary encoder (not shown in the figure) provided on the boom of the boom 4. With positive kinematics, the current attitude information of the work device 3 can be obtained. In any coordinate in space, the lengths of three cylinders, namely a movable arm, an arm and a bucket, can be obtained by performing inverse kinematics calculation through four sensors, so that the attitude control of the working device 3 can be performed.
The environment sensing system may be composed of an image acquisition device 9, a lidar 10, and a positioning device 11. The image acquisition device 9 is arranged on the outer wall of the excavating equipment and used for acquiring an environment image of the excavating equipment as an aid and supplement for drawing by the laser radar 10; the laser radar 10 is arranged on the outer wall of the excavating equipment and used for acquiring environment information of the excavating equipment so as to establish an environment map and a three-dimensional model of a working object; the positioning device 11 may include a Global Navigation Satellite System (GNSS) or other device for positioning, and the positioning device 11 is used to obtain high-precision positioning information of the excavating equipment.
The control system of the excavating equipment may comprise two parts. The first part is a job control system mainly composed of an automatic driving controller 12 (upper computer) and used for receiving and processing environment sensing system data and establishing an automatic job control strategy. The other part is an excavating equipment control system consisting of an excavating equipment controller 13 and accessories thereof, and the excavating equipment control system is used for receiving and transmitting sensor signals of the excavating equipment and controlling each execution unit of the excavating equipment. The control system of the excavating equipment (collectively referred to as a controller in the embodiment of the present invention) is not limited to the above-described configuration, and may be another configuration capable of controlling the excavating equipment.
The man-machine interaction part can be composed of an excavating equipment terminal display system and an automatic driving control platform display system (not shown in the figure), and the state information of excavating equipment can be displayed in real time through the man-machine interaction part.
As shown in fig. 3, an embodiment of the present invention provides a system for loading materials, which may include:
a loading device 320 comprising a loading area for loading the material of the pile 310;
the excavating equipment 330 described above is used to transport the material of the stockpile 310 to the loading area of the loading equipment 320.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications all fall within the protection scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (11)
1. A method for loading material for use with an excavating equipment for transporting material from a pile to a loading area of a loading equipment, the method comprising:
establishing an environment map containing the excavating equipment, the stockpile and the loading equipment;
respectively establishing three-dimensional models of the material pile and the loading area and carrying out gridding treatment to obtain a gridded material pile and a gridded loading area;
determining spatial position coordinates of each grid central point in the gridded material pile and the gridded loading area based on the environment map;
planning a working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of the central point of each grid;
controlling the bucket to carry out loading action and unloading action according to the working path;
wherein planning a working path of the bucket according to the size of the bucket of the excavating equipment and the spatial position coordinates of each grid center point comprises:
determining the number of grids covered by the bucket according to the size of the bucket;
taking the number of meshes covered by the bucket as a single delivery amount;
dividing the gridding material pile into a plurality of loading positions according to the single conveying amount;
dividing the gridding loading area into a plurality of unloading positions according to the single conveying amount;
determining space position coordinates corresponding to the target position of the bucket;
determining an order in which a target position of the dipper reaches the plurality of loading positions and the plurality of discharge positions;
and determining the spatial coordinate position of the target position of the bucket to reach each loading position and each unloading position according to the sequence.
2. The method of claim 1, wherein the excavation equipment comprises a lidar, a positioning device, and an image acquisition device, and wherein establishing an environmental map that includes the excavation equipment, the stockpile, and the loading equipment comprises:
determining, by the positioning device, location information of the excavating equipment;
respectively determining distance information of the stockpile and the loading equipment and the excavating equipment through the laser radar;
acquiring image information of the material pile and the loading equipment through an image acquisition device;
and establishing an environment map containing the excavating equipment, the stockpile and the loading equipment according to the position information, the distance information and the image information of the stockpile and the loading equipment.
3. The method of claim 1, wherein the establishing three-dimensional models of the stockpile and the loading area and the gridding to obtain a gridded stockpile and a gridded loading area respectively comprises:
respectively establishing three-dimensional models of the material pile and the loading area;
and carrying out gridding treatment on the three-dimensional models of the stockpile and the loading area according to preset precision to obtain a gridded stockpile and a gridded loading area which are formed by a plurality of grids with the same precision.
4. The method of claim 1, wherein the excavating equipment includes a sensor disposed on an attitude capture location of the excavating equipment, and wherein controlling the bucket to perform loading and unloading motions according to the work path comprises:
acquiring a working path of the bucket;
acquiring the current attitude of the excavating equipment through the sensor;
controlling the bucket to reach a target loading position or a target unloading position according to the current posture of the excavating equipment and the working path;
and controlling the bucket to perform a charging action at the target charging position or perform a discharging action at the target discharging position.
5. The method of claim 2, further comprising:
judging whether the weight of the material in the loading area reaches a preset full load weight or not;
and under the condition that the weight of the materials reaches the preset full load weight, finishing loading the materials.
6. The method of claim 5, wherein the determining whether the weight of the material in the loading zone reaches a preset full load weight comprises:
scanning the materials in the loading area in real time through the laser radar;
establishing a three-dimensional model according to the materials in the loading area;
determining the volume corresponding to the three-dimensional model of the material in the loading area;
determining a weight of the material in the loading area from the density data of the material and the volume;
and judging whether the weight of the material reaches the preset full load weight.
7. The method of claim 1, further comprising:
and controlling the excavating equipment to move to the target working point.
8. A controller configured to perform the method for loading material according to any one of claims 1 to 7.
9. An excavating apparatus, characterized in that the excavating apparatus comprises:
the laser radar is arranged on the outer wall of the excavating equipment and used for acquiring environmental information of the excavating equipment;
the positioning device is arranged on the excavating equipment and used for acquiring the position information of the excavating equipment;
the image acquisition device is arranged on the outer wall of the excavating equipment and used for acquiring an environment image of the excavating equipment;
the sensor is arranged at the attitude acquisition part of the excavating equipment and used for acquiring attitude information of the excavating equipment;
the controller of claim 8.
10. The excavation apparatus of claim 9, wherein the sensor comprises at least one of:
the device comprises a movable arm inclination angle sensor, a bucket rod inclination angle sensor, a bucket angle sensor and a boarding rotary encoder.
11. A system for loading material, the system comprising:
a loading device comprising a loading area for loading material of a pile;
dredging apparatus according to claim 9 or 10, for transporting the material of the pile to a loading area of the loading apparatus.
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| CN115492188B (en) * | 2022-10-21 | 2024-03-26 | 四川鼎鸿智电装备科技有限公司 | Perception follow-up control device and control method for excavator and excavator |
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| CN107740448A (en) * | 2017-11-30 | 2018-02-27 | 南京工业大学 | Unmanned automatic excavator intelligent construction system |
| CN109902857B (en) * | 2019-01-22 | 2020-11-10 | 江苏徐工工程机械研究院有限公司 | Automatic planning method and system for loading point of transport vehicle |
| CN109814559A (en) * | 2019-01-25 | 2019-05-28 | 北京百度网讯科技有限公司 | Method and apparatus for controlling excavator excavation |
| CN111275753B (en) * | 2020-01-17 | 2023-03-24 | 中国建筑第八工程局有限公司 | Method for measuring volume of sand and stone in carriage |
| CN113605483B (en) * | 2021-07-19 | 2022-07-19 | 江苏徐工工程机械研究院有限公司 | Automatic operation control method and device for excavator |
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