CN114489041A - Method and system for specifying loading point position of unmanned vehicle in mining area - Google Patents
Method and system for specifying loading point position of unmanned vehicle in mining area Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention provides a method and a system for specifying the position of a loading point of an unmanned vehicle in a mining area. The unmanned vehicle in the mining area is matched with an excavator to execute a loading process, the excavator comprises an automobile body, a bucket and a shovel arm, and the specifying method comprises the following steps: controlling the excavator to be in a to-be-loaded state; acquiring coordinate information of a vehicle body and orientation angle information of a bucket; acquiring a preset arm spread length of the shovel arm; calculating coordinate information of the bucket based on the coordinate information of the vehicle body, the orientation angle information of the bucket, and the predetermined spread length; a loading point location is designated to the unmanned vehicle in the mine based on the coordinate information of the bucket.
Description
Technical Field
The invention relates to the field of surface mining, in particular to a method and a system for specifying the position of a loading point of an unmanned vehicle in a mining area.
Background
Along with the national popularization of the intelligent construction of mines and the vigorous development of unmanned technologies, the introduction of unmanned vehicles gradually becomes the mainstream, but in the process of carrying out loading by matching with a car shovel, how to enable a driver of an excavator to freely and randomly designate the position of a loading point, and ensure that unmanned vehicles in a mining area can be accurately parked according to the designated position, which becomes a difficult point.
In a conventional work flow, the excavator driver is required to raise the bucket in advance and park it in a position ready for loading, indicating that the mine truck driver is parked in that position.
Disclosure of Invention
The invention aims to provide a loading point position specifying method and a loading point position specifying system which are simple, convenient and feasible, have strong universality and high degree of freedom, and can reduce the installation cost of hardware equipment and improve the implementation efficiency.
According to an aspect of the present invention, there is provided a method of specifying a loading point position of a mine unmanned vehicle which performs a loading process in cooperation with an excavator including a vehicle body, a bucket, and a shovel arm, the method comprising: controlling the excavator to be in a to-be-loaded state; acquiring coordinate information of a vehicle body and orientation angle information of a bucket; acquiring a preset arm spread length of the shovel arm; calculating coordinate information of the bucket based on the coordinate information of the vehicle body, the orientation angle information of the bucket, and the predetermined spread length; and assigning a load point location to the unmanned vehicle in the mine based on the coordinate information of the bucket.
Optionally, the coordinate information of the vehicle body is GPS coordinate information of the vehicle body.
Optionally, the orientation angle information of the bucket is an angle of the orientation of the bucket relative to a true north direction.
Alternatively, the predetermined spread length is specified in advance by simulation test or modeling or a look-up table about the predetermined spread length is formed.
Optionally, the coordinate information of the bucket is calculated according to the following formula:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)
Wherein x and y are respectively the abscissa and the ordinate of the vehicle body; theta is the orientation angle information of the bucket; h is the predetermined spread length.
Alternatively, the loading point position is obtained by position conversion of the coordinate information of the bucket.
Optionally, the position conversion comprises obtaining a corresponding position offset of the unmanned vehicle in the mine and compensating the position offset to the coordinate information of the bucket.
Optionally, the method further comprises sending the loading point location to the mine driverless vehicle to guide the mine driverless vehicle to and park at the loading point location.
Optionally, the mine driverless vehicle is a driverless mine truck and is mounted with the locating device.
According to another aspect of the present invention, there is provided a system for specifying a loading point position of a mine unmanned vehicle for performing a loading process in cooperation with an excavator, the excavator including a vehicle body, a bucket, and a shovel arm, the system comprising: a positioning device for acquiring coordinate information of a vehicle body and orientation angle information of a bucket; a storage device for storing a predetermined spread length of the shovel arm; a calculation device that calculates coordinate information of the bucket based on the position information of the vehicle body, the orientation angle information of the bucket, and the predetermined spread length; the human-computer interaction device is used for performing human-computer interaction operation with a driver of the excavator; and a communication device that specifies a loading point position to the mine unmanned vehicle based on the coordinate information of the bucket.
Optionally, the positioning device comprises a positioning antenna for receiving satellite positioning signals and a directional antenna for obtaining orientation angle information of the bucket.
Alternatively, the satellite positioning signal is a GPS signal, and the acquired coordinate information of the vehicle body is GPS coordinate information of the vehicle body.
Optionally, the orientation angle information of the bucket is an included angle between a connecting line of an end of the positioning antenna and an end of the directional antenna of the excavator and the due north direction.
Alternatively, the predetermined spread length may be pre-specified or a look-up table of predetermined spread lengths may be formed by simulation testing or modeling.
Optionally, the coordinate information of the bucket is calculated according to the following formula:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)
Wherein x and y are respectively the abscissa and the ordinate of the vehicle body; theta is the orientation angle information of the bucket; h is the predetermined spread length.
Alternatively, the loading point position is obtained by position conversion of the coordinate information of the bucket.
Optionally, the position conversion comprises obtaining a corresponding position offset of the unmanned vehicle in the mine and compensating the position offset to the coordinate information of the bucket.
Optionally, the communication device further sends the loading point location to the mine driverless vehicle to guide the mine driverless vehicle to travel to and park at the loading point location.
Optionally, the mine driverless vehicle is a driverless mine truck and is mounted with the locating device.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the invention. Wherein:
FIG. 1 is a schematic illustration of an excavator according to an embodiment of the present invention;
FIG. 2A is an enlarged view of portion P of FIG. 1 according to an embodiment of the present invention;
FIG. 2B is a diagram for displaying an orientation angle of a bucket according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an unmanned mine truck according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a designation system according to an embodiment of the invention;
FIG. 5 is a flow chart of a method for specifying a load point location according to an embodiment of the present invention.
Detailed Description
To more clearly illustrate the objects, technical solutions and advantages of the present invention, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the following description of the embodiments is intended to illustrate and explain the present general inventive concept and should not be taken as limiting the present invention. In the specification and drawings, the same or similar reference numerals refer to the same or similar parts or components. The figures are not necessarily to scale and certain well-known components and structures may be omitted from the figures for clarity.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and the like, herein does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "a" or "an" does not exclude a plurality. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", "top" or "bottom", etc. are used merely to indicate relative positional relationships, which may change when the absolute position of the object being described changes. When an element such as a layer, film, region, or substrate is referred to as being "on" or "under" another element, it can be "directly on" or "under" the other element or intervening elements may be present.
As shown in fig. 1-4, an excavator 100 may include a body 1, a shovel arm 2, and a bucket 3. The designation system 200 may be applied to the excavator 100 for designating loading point locations to mine unmanned vehicles. For example, the mine driverless vehicle may be a driverless mine truck 300. A locating device 60 for locating the unmanned mine truck 300 is mounted thereon. The designation system 200 may include a positioning device 10, a storage device 20, a computing device 30, a human interaction device 40, and a communication device 50. In preparation for the loading process, in order to facilitate the unmanned mine truck 300 (hereinafter simply referred to as "mine truck") to be parked at the loading point position and the excavator to the mine truck to more smoothly cooperate to complete the loading work, it is common for the excavator driver to move the excavator to a suitable location for loading and to adjust the orientation of the bucket, and then to extend the shovel arm to lift the bucket to a standard loading height or an optimal comfortable loading height, thereby waiting for the loading process to proceed. At this time, the excavator is in a state to be loaded.
In an embodiment of the invention, the position information of the bucket may be derived via calculation based on some information of the excavator itself in a state to be loaded, the loading point position for specifying the mine truck is obtained based on the position information of the bucket, and the loading point position is transmitted to the mine truck to drive and guide the mine truck accordingly for the loading work. Some information of the excavator itself includes, among others, position information of the excavator body, orientation angle information of the bucket, and extension length information of the shovel arm. Further, the designation system 200 for designating the location of the loading point may be installed on the excavator for use, or may be installed on other equipment remote from the excavator for remote use, or some of the devices in the designation system 200 may be installed on the excavator while another part of the devices is installed on the remote equipment. For example, the remote device may be located in the cloud and communicate with a field excavator and/or control center over a cloud network.
Fig. 2A is an enlarged view of a portion P in fig. 1 according to an embodiment of the present invention. When the excavator 100 is controlled and adjusted to be in a state to be loaded in preparation for a loading work, the position information of the vehicle body 1 and the orientation angle information of the bucket 3 can be acquired by specifying the positioning device 10 in the system 200. As shown in fig. 2A, in an embodiment of the present invention, the positioning device 10 may be disposed at a top center position of the cab of the excavator 100, as shown at position (r) in fig. 1, but embodiments of the present invention are not limited thereto. Also, the positioning device 10 may include a positioning antenna 101 for measuring position coordinates and a directional antenna 102 for measuring an orientation angle. The positioning device may for example be a GNSS positioning device. Alternatively, the positioning device 10 may also employ any alternative device known in the art or that may be suitable.
The positioning antenna 101 is mainly used for receiving satellite positioning signals, and the positioning apparatus 10 measures and acquires coordinate position information based on the received signals. According to an embodiment of the present invention, a Global Positioning System (GPS) signal is preferred, however it is not limited to GPS and other types of satellite positioning signals, such as the beidou satellite signal, may also be used. In the case of the GPS signal, the positioning device 10 can measure and acquire GPS coordinate information, and can use it as GPS coordinate information of the vehicle body 1 of the shovel 100, that is, position information of the vehicle body 1. As is well known to those skilled in the art, GPS coordinates are position information relative to a selected coordinate system and may be represented by (x, y), where x is the abscissa of the GPS coordinate and y is the ordinate of the GPS coordinate. Wherein the selected coordinate system may include, but is not limited to, the WGS-84 coordinate system, the 1954 beijing coordinate system, etc.
When the positioning device 10 is in an operating state to measure the GPS coordinate information of the vehicle body 1, the measured GPS coordinate may be directly shown through a display screen mounted on the excavator or a remote display screen. Also, currently known techniques for measuring GPS coordinates can be applied to the present invention. In an embodiment of the present invention, the positioning antenna 101 of the positioning device 10 may measure radian coordinates based on the received signals, e.g. (113.842475051 °, -262.972776686 °). The measured coordinates are then subjected to the required parametric conversion or scaling (e.g. unit scaling) by corresponding calculation software, and then further to a post-processing procedure with respect to accuracy. For example, the converted coordinate values can be processed to a desired precision range based on a fixed site position or distribution in combination with a pre-built model, so that more accurate excavator body coordinates are obtained for a subsequent calculation process. For example, in one embodiment, the GPS coordinates of the vehicle body 1 may be converted into x-394927.260 mm and y-495564.072 mm. It should be noted, however, that this is merely an example, and that meters (m), centimeters (cm) or other units of length may also be used as units of measurement, and that this will be adjusted according to the particular required accuracy and practical needs. And are not described in excessive detail herein.
The directional antenna 102 is mainly used to measure and acquire the orientation angle information of the bucket 3 of the shovel 100 in a state to be loaded. In the present invention, "orientation of the bucket" refers to a direction in which the bucket is directed, i.e., a direction in which a line connecting the bucket and a body of the excavator is directed along the bucket end. In embodiments of the present invention, the orientation of the dipper and the corresponding orientation angle information may be determined using a connection between a positioning antenna and a directional antenna in the positioning device. Specifically, as shown in fig. 2A, the positioning antenna 101 and the directional antenna 102 may be provided in the positioning device 10 side by side in the horizontal direction. When the excavator driver adjusts the orientation of the bucket 3, the vehicle body 1 and the positioning device 10 on the vehicle body 1 will rotate in the same direction along with the bucket 3. At this time, a line connecting positioning antenna 101 (specifically, an end of positioning antenna 101) and directional antenna 102 (specifically, an end of directional antenna 102) is also deflected, and an angle is formed with respect to a reference angle. In other words, when the true north direction is taken as the reference direction (i.e., the 0 ° direction), the positioning device 10 may calculate and measure the angle θ between the line connecting the end of the positioning antenna 101 and the end of the directional antenna 102 and the true north direction in the clockwise direction, and use the measured angle θ as the current orientation angle θ of the bucket 3.
When the positioning device 10 is in an operating state to measure the orientation angle θ of the bucket 3, the orientation angle information measured in real time may be shown through a display screen mounted on the excavator or a remote display screen provided remote from the excavator. For example, the orientation angle θ of the bucket 3 may be shown in the display manner as shown in fig. 2B, where in fig. 2B, the orientation angle θ measured and acquired by the positioning device 10 is 120 ° in the southeast direction. In another embodiment, the orientation angle of the bucket may be measured and calculated not with the true north direction as a reference direction, but with other directions as reference directions. And optionally, in another embodiment, the bucket's orientation angle may be measured using alternative methods known in the art or any applicable.
By providing a directional antenna in the positioning device to measure the bucket heading angle, the heading of the bucket can be specified more accurately, and since the positioning antenna and the directional antenna are in the same device, this also brings the position of the measurement coordinate and the position of the measurement heading angle close to each other, so that the accuracy of the calculation result can be ensured in the subsequent calculation. Meanwhile, two functions are configured in one device, so that the advantages of equipment simplification, low cost, convenience in use and the like can be realized.
As described above, the positioning device 10 may be installed at the top center position of the cab of the excavator 100. When the excavator 100 is in a ready-to-load condition, typically the excavator driver will control the shovel arm 2 to achieve the most comfortable extended condition, for example to reach a standard bucket-lifting height, in preparation for the loading operation. In this state, the blade arm 2 has a predetermined spread length. As shown in fig. 1, the predetermined spread length is a distance h between a position (r) that is a position of a connecting point between the shovel arm 2 and the bucket 3 and a position (c) that is a position of a connecting point between the shovel arm 2 and the bucket 3, and coordinate information of the bucket 3 will be calculated based on the position (c) hereinafter.
A fixed value for the predetermined spread length h of the shovel arm 2 may be used since the shovel arm 2 is in a substantially similar extended state when in a ready-to-load state for each excavator type or for each excavator. Thus, a predetermined spread length h may be specified for each excavator type or for each excavator by a preliminary simulation test or modeling. Also, the specified predetermined spread length h is stored in the storage device 20 in the specifying system 200, so that the corresponding predetermined spread length h can be directly loaded and acquired from the storage device 20 when the coordinate information of the bucket is subsequently calculated.
Alternatively, in another embodiment, the specified predetermined extension length h may be adjusted accordingly according to the service life of the excavator, the service environment, and the like. For example, the look-up table may be predetermined and formed by simulation testing or modeling. The lookup table can include and record the preset extension length h corresponding to different service lives and service environments of the specific type of excavator. Also, the look-up table may be stored in the storage device to load and acquire the look-up table each time the coordinate position of the bucket is calculated, and then an appropriate predetermined spread length h is selected according to the look-up table, thereby more accurately calculating the coordinate position of the bucket and reducing errors. By predesignating and storing the predetermined spread length h, the calculation process for the bucket coordinates is made simpler, faster, and increases the operability of the designated system, while facilitating system maintenance.
Further, in the present invention, the offset distance, the offset direction, and the offset angle of the bucket 3 with respect to the vehicle body 1 on the selected coordinate system may be calculated based on the information of the excavator 100 itself in the state to be loaded, that is, based on the bucket orientation angle θ and the predetermined span length h of the excavator 100, and further, the coordinate information of the bucket may be calculated based on the measured coordinate information (x, y) of the vehicle body 1, thereby obtaining the position information of the bucket.
As apparent from the above description, according to the method and system of the embodiment of the present invention, it is not necessary to specially install the tilt sensor and the displacement sensor at a plurality of position points of the blade arm to measure the position coordinates and the offset angle of each position point, respectively, and a complicated calculation process for obtaining the position of the bucket is avoided. Moreover, the invention can simplify the calculation process aiming at the position of the bucket, improve the data transmission efficiency, and simultaneously omit the installation of a plurality of sensors on the shovel arm, thereby further improving the problems of instable installation, easy damage, higher cost and the like of the sensor equipment in the prior art. In addition, the invention can freely and accurately appoint the position of the loading point to the mine truck.
In the embodiment of the invention, when the shovel 100 has been in the state to be loaded, as described above, the GPS coordinates (x, y) of the vehicle body 1 and the orientation angle θ of the bucket 3 can be acquired via the positioning device 10, and the predetermined abduction length h of the shovel 100 can be acquired via the storage device 20. Then, via the calculation means 30 in the specification system 200, the GPS coordinate information of the bucket 3 is calculated by the following formula, thereby obtaining the abscissa and ordinate of the bucket 3:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)。
For example, in the above-mentioned example, the GPS coordinates of the vehicle body 1 after conversion and precision processing are x-394927.260 mm and y-495564.072 mm; the orientation angle of the bucket 3 is 120 degrees in the southeast direction; also, the predetermined spread length h that can be loaded to the pre-stored excavator 100 is 7m (i.e., 7000 mm). Then according to the above formula, can be calculated
The abscissa of the bucket is xc＝(394927.260+7000*cos120°)＝391427.260mm；
The ordinate of the bucket is yc＝(495564.072+7000*sin120°)＝501626.250mm。
Therefore, the GPS coordinates (391427.260, 501626.250) of the bucket 3 can be calculated based on the GPS coordinates (394927.260, 495564.072) of the vehicle body 1. Thereafter, the resulting GPS coordinates of the bucket may be converted to arc coordinates, optionally via a corresponding parameter conversion or scaling process.
In this way, coordinate information of the bucket 3 may be obtained, and the loading point position of the mine truck 300 may be specified based on the coordinate information. In some cases, the calculated coordinate information of the bucket 3 may be directly transmitted to the mine truck 300 as a loading point position. However, for other cases, as shown in fig. 1 and 3, there is a positional deviation of the mine truck 300 due to the mounting position of the positioning device 60 of the mine truck 300, and position conversion of the coordinate information of the bucket 3 is required to obtain the loading point position for specifying the mine truck 300.
Specifically, as shown in fig. 1 and 3, the coordinate information of the bucket 3 corresponds to the position point a. In a typical situation, the center position of the container of the mine truck 300 should be parked at position point a. Thus, as shown in fig. 3, location point a corresponds to the center position of the cargo bed of the mine truck 300. However, the locating device 60 of the mine truck 300 is typically mounted at a forward location, position point B. Therefore, there is a positional deviation between the position point a and the position point B. Therefore, in this case, after the coordinate information of the bucket 3 is calculated, it is necessary to perform position conversion on the coordinate information of the bucket 3 in accordance with the position offset. For example, the position offset amount between the position point a and the position point B of the mine truck 300 may be obtained by measurement and/or calculation, and the position offset amount is appropriately compensated into the coordinate information of the bucket 3, thereby obtaining the loading point position suitable for the mine truck 300. In this way, the positioning device 60 of the mine truck 300 is positioned and parked based on the position of the loading point after the position conversion, and the center position of the cargo box of the mine truck 300 corresponds to the position point a.
Through the position conversion to the scraper bowl coordinate, when having realized appointing more accurate load point position to the mining area truck, also strengthened the suitability of this appointed system to unmanned mining area truck. The designation system of the present invention can be applied directly to existing unmanned mine trucks without having to reset or modify the positioning devices in the mine trucks.
Further, the excavator driver can perform man-machine interaction operations with the man-machine interaction device 40 in the designation system 200. In an embodiment of the invention, the excavator driver may input instructions via the human machine interface device 40, for example instructions for triggering the transmission of position information to the respective unmanned vehicle, or for example instructions for triggering the transmission of loading point positions to a mine truck, as will be described below. In addition, the excavator driver can observe and determine the adjustment of the orientation angle of the shovel arm, the parking condition of the mine truck and the like through the man-machine interaction device 40. In an embodiment of the present invention, the human-computer interaction device 40 may comprise a human-computer interaction interface. The human machine interface device 40 may be installed in the excavator 100 and may present a human machine interface to an excavator driver for command input. For example, the excavator driver may input an instruction by means of voice input, tactile input, or the like, but the embodiment is not limited thereto.
Thereafter, the calculated load point location may be transmitted (e.g., via vehicle-to-vehicle communication protocol (V2V) or other vehicle communication mode known in the art) to the target mine truck 300 via the communication device 50 in the designation system 200 so that the mine truck 300 may arrive at the designated load point location based on the received information to engage the excavator 100 in a loading process.
Fig. 5 shows a flow chart of a method for specifying a loading point position.
As shown in fig. 5, a method for specifying a loading point location of an unmanned mine truck includes:
s1: the excavator driver travels the excavator 100 to a desired loading position and adjusts the orientation of the bucket 3 and the reach length of the shovel arm 2 so that the excavator 100 is in a state to be loaded. And coordinate information (x, y) of the vehicle body 1 and the orientation angle information θ of the bucket are acquired by the positioning device 10 in the specifying system 200 applied to the shovel 100. Meanwhile, the predetermined spread length h prestored therein or the look-up table about the predetermined spread length h is acquired by loading from the storage device 20 in the designation system 200 to select the appropriate predetermined spread length h.
In the embodiment of the present invention, the coordinate information of the vehicle body 1 may be GPS coordinate information (x, y), and the orientation angle information of the bucket 3 may be an angle θ at which the bucket is oriented with respect to the true north direction.
S2: by the calculation means 30 in the specification system 200, the coordinate information of the bucket is calculated based on the coordinate information (x, y) of the vehicle body 1, the orientation angle information θ of the bucket 3, and the predetermined spread length h.
In the embodiment of the present invention, the coordinate information of the bucket 3 is calculated by the following formula to obtain the abscissa and the ordinate of the bucket 3, respectively:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)。
S3: the calculated coordinate information of the bucket 3 is position-converted by specifying the communication device 50 in the system 200 to obtain the loading point position, or the coordinate information of the bucket 3 is directly taken as the loading point position and the loading point position is transmitted to the target mine truck 300 via the inter-vehicle communication protocol (V2V), so that the mine truck can be guided to and reach the specified loading point position.
According to the method and system for specifying the loading point position of the unmanned mining area truck according to the various embodiments of the invention, the loading point position for specifying the unmanned mining area truck can be calculated according to the information of the excavator to be loaded, without installing a relevant sensor on the shovel arm of the excavator, so that the excavator driver can freely and freely specify the loading point position, and meanwhile, the unmanned mining area truck can be guaranteed to be accurately parked according to the specified loading point position. In addition, the method is feasible, strong in universality and capable of enabling the unmanned vehicle to easily fall to the ground in the application of the strip mine.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (19)
1. A method of specifying a loading point position of a mine unmanned vehicle, the mine unmanned vehicle performing a loading process in cooperation with an excavator, the excavator including a vehicle body, a bucket, and a shovel arm, the method comprising:
controlling the excavator to be in a to-be-loaded state;
acquiring coordinate information of the vehicle body and orientation angle information of the bucket;
acquiring a preset arm spread length of the shovel arm;
calculating coordinate information of the bucket based on the coordinate information of the vehicle body, the orientation angle information of the bucket, and the predetermined spread length; and is
Assigning the loading point location to the mine unmanned vehicle based on the coordinate information of the dipper.
2. The specification method according to claim 1, wherein the coordinate information of the vehicle body is GPS coordinate information of the vehicle body.
3. The specification method according to claim 2, wherein the orientation angle information of the bucket is an angle of the orientation of the bucket with respect to a true north direction.
4. A specification method according to claim 3, wherein the predetermined spread length is specified in advance by simulation test or modeling or a look-up table about the predetermined spread length is formed.
5. The specification method according to claim 4, wherein the coordinate information of the bucket is calculated according to the following formula:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)
Wherein x and y are respectively the abscissa and the ordinate of the vehicle body; theta is orientation angle information of the bucket; h is the predetermined spread length.
6. The specification method according to any one of claims 1 to 5, wherein the loading point position is obtained by position conversion of coordinate information of the bucket.
7. The designation method of claim 6, wherein the position scaling includes obtaining a respective position offset of the mine driverless vehicle and compensating the position offset to coordinate information of the bucket.
8. The designation method of claim 7, further comprising: sending the loading point location to the mine driverless vehicle to guide the mine driverless vehicle to travel to and park at the loading point location.
9. The designation method according to any one of claims 1 to 5, wherein the mine unmanned vehicle is an unmanned mine truck and is mounted with a locating device.
10. A system for specifying a loading point location of a mine driverless vehicle that cooperates with an excavator to perform a loading process, the excavator including a body, a bucket, and a shovel arm, the system comprising:
a positioning device for acquiring coordinate information of the vehicle body and orientation angle information of the bucket;
a storage device for storing a predetermined spread length of the blade arm;
a calculation device that calculates coordinate information of the bucket based on the position information of the vehicle body, the orientation angle information of the bucket, and the predetermined spread length;
the human-computer interaction device is used for performing human-computer interaction operation with a driver of the excavator; and
a communication device that specifies the loading point location to the mine unmanned vehicle based on the coordinate information of the bucket.
11. The designation system of claim 10, wherein the positioning device includes a positioning antenna for receiving satellite positioning signals and a directional antenna for obtaining orientation angle information of the dipper.
12. The specification system according to claim 11, wherein the satellite positioning signal is a GPS signal, and the acquired coordinate information of the vehicle body is GPS coordinate information of the vehicle body.
13. The designation system according to claim 12, wherein the orientation angle information of the bucket is an angle between a line connecting an end of the positioning antenna and an end of the directional antenna of the shovel and a true north direction.
14. A specification system according to claim 13, wherein the predetermined spread length is pre-specified or a look-up table of the predetermined spread lengths is formed by simulation testing or modelling.
15. The specifying system as defined in claim 14, wherein the coordinate information of the bucket is calculated according to:
abscissa x of bucketc＝(x+h*cosθ)
Ordinate y of the bucketc＝(y+h*sinθ)
Wherein x and y are respectively the abscissa and the ordinate of the vehicle body; theta is orientation angle information of the bucket; h is the predetermined spread length.
16. The specifying system according to any one of claims 10 to 15, wherein the loading point position is obtained by position conversion of coordinate information of the bucket.
17. The designation system of claim 16, wherein the position scaling includes obtaining a corresponding position offset of the mine driverless vehicle and compensating the position offset to coordinate information of the bucket.
18. The designation system of claim 17 wherein the communication device further transmits the loading point location to the mine unmanned vehicle to guide the mine unmanned vehicle to and park at the loading point location.
19. The designation system according to any of claims 10-15, wherein said mine driverless vehicle is a driverless mine truck and is mounted with a locating device.
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