CN115091617A - Agitating lorry control method, agitating operation control system and agitating lorry - Google Patents
Agitating lorry control method, agitating operation control system and agitating lorry Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000002156 mixing Methods 0.000 claims abstract description 177
- 230000036544 posture Effects 0.000 claims description 66
- 238000011068 loading method Methods 0.000 claims description 27
- 238000003756 stirring Methods 0.000 description 52
- 238000007726 management method Methods 0.000 description 16
- 239000000463 material Substances 0.000 description 6
- 238000007599 discharging Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/422—Controlling or measuring devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/42—Apparatus specially adapted for being mounted on vehicles with provision for mixing during transport
- B28C5/4203—Details; Accessories
- B28C5/4206—Control apparatus; Drive systems, e.g. coupled to the vehicle drive-system
- B28C5/4227—Transmission control mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C7/00—Controlling the operation of apparatus for producing mixtures of clay or cement with other substances; Supplying or proportioning the ingredients for mixing clay or cement with other substances; Discharging the mixture
- B28C7/14—Supply means incorporated in, or mounted on, mixers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
The application relates to the technical field of engineering machinery correlation, in particular to a control method of a mixer truck, a mixing operation control system and the mixer truck.
Description
Technical Field
The application relates to the technical field of mixer trucks, in particular to a mixer truck control method, a virtual device and a mixing operation control system.
Background
A plurality of stirring stations of general parcel piece in a stirring place, and a stirring station includes many stirring lines and both unload the passageway again, and when the trucd mixer need be loaded, need confirm stirring station and stirring line, then drive into the stirring line that corresponds the stirring station in, then in the stirring line adjustment automobile body position and automobile body angle, make the feeder hopper of trucd mixer aim at the discharge opening of stirring line to accomplish and load.
However, the light is darker in the stirring line, and the space is narrow, and the blind area is great, and the driver is difficult to control aligns the feeder hopper of trucd mixer with the discharge opening of stirring line, leads to trucd mixer loading efficiency lower.
Disclosure of Invention
In view of the above, the present invention is directed to a mixer truck control method, a virtual device, and a mixing operation control system.
In a first aspect, the present invention provides a mixer truck control method, including:
acquiring pose information and a charging instruction of a mixer truck to be charged, wherein the charging instruction comprises a target mixing line;
determining automatic entry control parameters through a preset algorithm based on the pose information, the loading instruction and preset mixing site information, wherein the automatic entry control parameters comprise vehicle body posture adjustment parameters for adjusting the vehicle body posture of the mixing vehicle to be loaded to a target vehicle body posture;
and controlling the to-be-loaded mixer truck to finally run to a target mixing line in the target body posture based on the automatic driving-in control parameter so as to align a feed hopper of the to-be-loaded mixer truck with a discharge opening of the target mixing line.
Optionally, the preset mixing site information comprises mixing station position information, mixing line position information and vehicle type charging information;
the vehicle type charging information comprises target vehicle body postures of the mixer truck when different vehicle type feed hoppers are aligned with the discharge openings of the mixing lines.
Optionally, the target stir line information includes information of a stirring station to which the target stir line belongs.
Optionally, the determining, by a preset algorithm, an automatic entry control parameter based on the pose information, the loading instruction, and preset mixing site information includes:
determining an initial position and an initial vehicle body posture of the automatic driving-in control parameter based on the pose information;
determining a target position of the automatic access control parameter based on the target mixing line, the mixing line position information and the mixing station position information;
determining a target vehicle body posture of the automatic driving-in control parameter based on the vehicle type information of the mixer vehicle to be charged, the target mixing line and vehicle type charging information corresponding to the vehicle type information and the target mixing line;
and determining the automatic driving-in control parameters of the mixing truck to be loaded through a preset algorithm based on the initial position, the target position, the initial body posture and the target body posture.
Optionally, the preset algorithm includes a hybrid a-star algorithm or a tracking algorithm.
Optionally, the method further comprises the steps of receiving a pose fine adjustment instruction sent by a preset mixing plant server, and adjusting the pose of the mixing truck to be loaded and unloaded based on the pose fine adjustment instruction, so that the feed hopper of the mixing truck to be loaded is aligned with the discharge opening of the mixing plant.
Optionally, the method further comprises receiving an exit instruction, wherein the exit instruction comprises an exit target position;
determining automatic exit control parameters of the filled mixer truck through a preset algorithm based on the target mixing line, the mixing line position information and the exit target position;
and controlling the charged mixer truck to run to a running-out target position based on the automatic running-out control parameter.
In a second aspect, an embodiment of the present application further provides a mixing operation control system, which includes a vehicle computing platform and a mixing station management subsystem;
the mixing station management subsystem is used for sending a charging instruction and preset mixing site information to the vehicle computing platform;
the vehicle computing platform further operable to perform the truck mixer control method of any of claims 1-7.
Optionally, the mixing station management subsystem includes a mixing station server and a mixing operation management subsystem;
the mixing station server is used for sending preset mixing site information to the vehicle management system;
the mixing operation management subsystem is used for sending the charging instruction to the vehicle management system.
In a third aspect, an embodiment of the present application further provides a mixer truck, including a vehicle computing platform, where the vehicle computing platform is configured to execute the mixing operation control method.
The application provides a control method of a mixer truck, a virtual device and a mixing operation control system, wherein the control method of the mixer truck comprises the steps of automatically generating automatic driving-in control parameters including body posture adjustment parameters of the mixer truck to be loaded according to posture information, a loading instruction and mixing field information of the mixer truck to be loaded, controlling the mixer truck to be loaded based on the parameters, and finally driving the mixer truck to be loaded to a target mixing line in a target body posture so as to align a feeding hopper of the mixer truck to be loaded with a discharge opening of the target mixing line without manual alignment of a driver, thereby greatly improving the loading efficiency of the mixer truck.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally indicate like parts or steps.
Fig. 1 is a schematic flow chart of a mixer truck control method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a mixing field planning in a mixer truck control method provided in an embodiment of the present application.
Fig. 3 is a schematic flowchart illustrating the synthesis of automatic entry control parameters in the control method for the mixer truck according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Application overview:
when stirring operation is carried out, the mixer truck needs to be driven to a stirring field, a specific stirring line (discharging channel) of a target stirring station and the mixing station is obtained from an operation management system, then a mixer truck driver drives the mixer truck to drive the mixer truck to the stirring line, the posture of a truck body of the mixer truck is adjusted in the discharging channel, a feed hopper of the mixer truck corresponds to a discharging opening of the stirring line, and therefore materials fall from the discharging opening and are charged.
However, the dead zone of the mixer truck in the mixing station passage is large, the hopper of the mixer truck is aimed at the discharge opening of the mixing station, the driver is often required to get off to view, and the posture of the truck body is adjusted according to the driving experience, time and labor are wasted, the efficiency of the mixer truck is low, and safety accidents can be caused.
The method comprises the following steps:
fig. 1 is a schematic flow chart of a control method of a mixer truck according to an embodiment of the present invention, and as shown in fig. 1, the control method of the mixer truck according to the present application includes:
s101, acquiring pose information and a charging instruction of the stirring vehicle to be charged.
Wherein the charging instructions include a target stir line.
Specifically, the pose information of the to-be-loaded agitating lorry comprises position information and body posture information of the to-be-loaded agitating lorry, namely the current position of the to-be-loaded agitating lorry and the body posture. The information can be acquired through a position sensor and an attitude sensor which are arranged on the stirring truck to be charged or a video monitoring and video recognition device which is preset on a stirring field.
And the charging instruction comprises a target stirring line, namely the stirring truck to be loaded and unloaded needs to go to the stirring line (stirring channel) for charging instruction. It should be noted that, when a plurality of mixing lines in the mixing field are based on a unified plan, the target mixing line in the charging instruction may only include information of the target mixing line, such as the mixing line No. 13. And when the position of the mixing line is determined according to the mixing station to which the mixing line belongs, the target mixing line in the mixing instruction not only includes the information of the target mixing line but also includes the information of the mixing station to which the mixing line belongs, such as the No. 1 mixing line of the No. 2 mixing station.
And S102, determining automatic driving-in control parameters through a preset algorithm based on the pose information, the charging instruction and the preset stirring site information.
Before loading the mixer truck, the position information planning needs to be performed on the mixing field. The method specifically comprises mixing station position information, mixing line position information and vehicle type charging information.
The mixing station position information is position information of each mixing station in a mixing field, and the mixing line position information is position information of each mixing line, wherein the position information of the mixing lines can be established uniformly based on the mixing field, and can also be confirmed on the basis of the mixing station position information. The vehicle model charging information includes target vehicle body postures of the mixer truck when different vehicle model feed hoppers are aligned with the mixing line discharge openings.
It should be noted that, when the types of the mixing stations are different, or the sizes are different, and the body postures of different vehicle types at different mixing lines when the feed hopper and the discharge opening are perfectly aligned may not be necessarily the same, in this application, the target body posture of the mixer vehicle when the feed hopper and the discharge opening are aligned may be the body posture corresponding to each mixing line. For example, the same vehicle model, has multiple target body poses for different blend lines. Of course, when the mixing plant type is the same with size, and the target automobile body gesture of unified motorcycle type to different mixing lines is the same, the target automobile body gesture in this application also can be to the variation, and both unified motorcycle type have only a target automobile body gesture to different mixing lines.
After the information is obtained, automatically generating automatic driving-in control parameters according to the current position information and the body posture information of the mixing truck to be loaded, a specific target mixing line required by the mixing truck to run to load, and the target body posture when the vehicle type feed hopper is perfectly aligned with the mixing line discharge port, wherein the automatic driving-in control parameters comprise body posture adjustment parameters used for adjusting the body posture of the mixing truck to be loaded to the target body posture.
It should be noted that the automatic entry control parameters include not only position information but also body posture information, each node position passed from the start position to the target position, and from the start body posture to a plurality of intermediate body postures and finally to the target body posture, the format may be a plurality of sets of path data in (x, y, phi) format, where phi represents the body posture, and the automatic entry control parameters include a plurality of sets of parameters in the whole process of reaching the target puddle line position and the target body posture from the start position and the start body posture of the mixer truck to be charged, so as to guide the mixer truck to be charged to reach the target puddle line from the initial position, and convert from the start body posture to the target body posture.
S103, controlling the to-be-loaded mixer truck to finally run to a target mixing line in the target body posture based on the automatic driving-in control parameters, so that a feed hopper of the to-be-loaded mixer truck is aligned with a discharge opening of the target mixing line.
Specifically, the mixer truck to be loaded is controlled to reach a target mixing line from an initial position and change from the initial vehicle body position to a target vehicle body position based on the automatic driving-in control parameter, wherein the two processes can be simultaneously performed and finished, or simultaneously performed, and the vehicle body posture adjustment is finished before the position adjustment.
The application provides a control method of a mixer truck, a virtual device and a mixing operation control system, wherein the control method of the mixer truck comprises the steps of automatically generating automatic driving-in control parameters including body posture adjustment parameters of the mixer truck to be loaded according to posture information, a loading instruction and mixing field information of the mixer truck to be loaded, controlling the mixer truck to be loaded based on the parameters, and finally driving the mixer truck to be loaded to a target mixing line in a target body posture so as to align a feeding hopper of the mixer truck to be loaded with a discharge opening of the target mixing line without manual alignment of a driver, thereby greatly improving the loading efficiency of the mixer truck.
Fig. 2 is a schematic diagram of a mixing field plan in a mixing truck control method according to an embodiment of the present application, and as shown in fig. 2, the mixing field may include a waiting area before loading, a loading area, and a waiting area after loading. More specifically, each area is planned in parking spaces and numbered, and the parking spaces in the waiting area before charging are used for parking a mixer truck to be charged, such as I1, I2, I3 and the like in fig. 2; the parking spaces of the waiting area after charging are used for parking the charged mixer trucks, such as OI, O2, O3 and the like in FIG. 2; the loading area comprises various battle line parking spaces, such as 1, 2, 3 and the like in figure 2, of each mixing station, and each reference numeral represents a mixing line. And each number corresponds to actual position information which can be stored in a mixing station server in advance, and when the mixing truck needs to be charged, the information is sent to a vehicle computing platform of the mixing truck for determining automatic driving control parameters.
On the basis of the above planning, the position information of the mixer truck to be loaded in the above embodiment may be a number of a parking space in a waiting area before loading, and the target mixing line may also be represented by a number of a parking space of a mixing line.
Fig. 3 is a schematic flowchart of synthesis of an automatic entry control parameter in the control method of the mixer truck according to the embodiment of the present application, and as shown in fig. 3, a process of synthesizing the automatic entry control parameter includes:
s301, determining the initial position and the initial vehicle body posture of the automatic driving-in control parameter based on the pose information.
Specifically, the pose information includes position information and body posture information, the position information can be represented by a parking space number of a waiting area of the mixer truck to be loaded before the mixer truck is stopped at the loading space, and the body pose information is the body position information of the mixer truck at the parking space.
S302, determining the target position of the automatic driving-in control parameter based on the target mixing line, the mixing line position information and the mixing station position information.
After the stir line is planned, the target position can be obtained only from the stir line number and the pre-stored actual position corresponding to the number. Moreover, the target vehicle body posture and parking space (position information) of each charging hole, which are actually perfectly aligned with the mixer trucks of different vehicle types, can be pre-stored, so that the target position can be obtained by obtaining the pre-stored vehicle type charging information.
S303, determining the target vehicle body posture of the automatic driving-in control parameter based on the vehicle type information of the mixing vehicle to be charged, the target mixing line and the vehicle type charging information corresponding to the vehicle type information and the target mixing line.
Specifically, because the target vehicle body postures of the charging openings which are actually perfectly aligned with the vehicle-type mixer truck are stored in advance, the target vehicle body postures can be obtained by determining the vehicle type of the mixer truck to be charged and the specific mixing line for charging operation.
S304, determining automatic driving-in control parameters of the stirring truck to be loaded through a preset algorithm based on the initial position, the target position, the initial truck body posture and the target truck body posture.
Specifically, after the initial position, the target position, the initial vehicle body posture and the target vehicle body posture are determined and the information of the planned mixing field is realized, a mixed A star algorithm, a tracing algorithm, a Lattice algorithm and the like are adopted, a planned path for guiding the mixer truck to be loaded to automatically drive into a mixing line and directly aligning the feeding hopper with the discharge port is directly obtained, namely, an automatic driving control parameter is obtained.
Further, in some embodiments, the method for controlling the mixer truck further includes receiving a pose fine adjustment instruction sent by a preset mixer station server, and adjusting the pose of the mixer truck to be loaded and unloaded based on the pose fine adjustment instruction, so that the feed hopper of the mixer truck to be loaded is aligned with the discharge opening of the mixer station.
Specifically, under the control of the automatic driving-in control parameters of the mixer truck to be loaded and unloaded, a designated station line is unmanned along the planned path, and at the moment, the mixer station server shoots and identifies the picture in the mixing channel through a preset device, including the relative position of the mixer truck feed hopper and the discharge opening. At the moment, if the identification result shows that the feed hopper is aligned with the discharge opening, the mixing station server can be directly opened to discharge, if the feed hopper is not perfectly aligned with the discharge opening, the mixing station server can generate a control instruction according to the identified position information and send the control instruction to a mixing vehicle control platform such as a vehicle computing platform, so that the vehicle computing platform can adjust the position of the mixing vehicle until the feed hopper is aligned with the discharge opening, and then the mixing vehicle is opened to discharge.
It should be noted that, in the control method of the mixer truck provided by the present application, the mixer truck reaches the designated area in the halved passage, and if the mixer truck is in a pre-planned mixing passage parking space, the adjustment of the posture of the truck body is already completed, so that the posture of the truck body directly meets the condition that the feed hopper is aligned with the discharge opening, and the fine adjustment can be performed only by adjusting the front and rear positions of the mixer truck in the mixing passage, so that the feed hopper is aligned with the discharge opening, and the difficulty of the adjustment is greatly reduced.
On the basis of the above embodiments, in some embodiments, the method further includes receiving an exit instruction, where the exit instruction includes an exit target location; determining automatic exit control parameters of the charged mixer truck through a preset algorithm based on the target mixing line, the mixing line position information and the exit target position; and controlling the loaded mixer truck to run to the running-out target position based on the automatic running-out control parameter.
Specifically, after the loading of the mixer truck is completed, the mixer truck needs to be driven out of the mixing channel, and in the mixer truck control method provided by the application, the vehicle computing platform can receive a driving-out instruction sent by an operation management system such as an ERP system, and the content of the board in the driving-out instruction is driven out of a target position, namely where the mixer truck which completes the loading needs to be driven. On the basis of planning the operation field in the embodiment, the running-out target position can be the number of the parking space in the waiting area after loading, the automatic running-out control parameters are determined by matching with the actual position corresponding to the pre-stored number, and the mixer truck which finishes loading is planned to be guided to run to the running-out target position.
It should be noted that, after the mixer truck is driven out, the mixer truck only needs to wait for the driver to drive away to perform the next process, and the angle of the truck body does not affect the subsequent process, so in some embodiments, the automatic driving-out control parameter may not include angle information. The vehicle body posture can be adjusted continuously in the process of automatically driving out the vehicle, so that the vehicle body can stay in a specific vehicle body posture after reaching the driving-out target position, the safety in the driving-out process is improved, and the vehicle can be parked more reasonably in a loading and unloading waiting area.
In addition, the method for controlling the mixer truck according to the embodiment of the present application may further include sending the position and the state information of the mixer truck to a mobile terminal of a driver, such as a mobile phone, after the mixer truck exits from the mixing channel and reaches a certain parking space in the waiting area after charging, such as when charging is completed. Since the exit target position is acquired from the ERP system, the mixer truck position, the state information and the like can be sent to the driver through the ERP system by feeding back to the ERP system after the vehicle is upright. Of course, the information can also be directly sent to the driver mobile terminal by the vehicle computing platform, wherein the sending mode can be communication software or short messages, a special APP and the like. Therefore, the driver is informed at the first time after the stop is finished, the driver is reminded to carry out the operation of the next procedure, and the working efficiency of the mixer truck is improved.
According to the control method of the mixer truck, firstly, a mixing field is planned according to the mode of the parking space number, then, the automatic entering control parameter is determined according to the initial pose of the mixer truck to be charged, the mixer truck to be charged is controlled to automatically enter the mixing channel which is a mixing line, and the automatic entering control parameter comprises the parameter used for adjusting the body posture of the mixer truck to the target body posture, so that the mixer truck can reach the automatic driving terminal, and the hopper and the discharge opening of the mixer truck can be automatically aligned after the mixing channel discharges materials in an area. When the feeding hopper and the discharge opening are not perfectly aligned, a shooting recognition result can be shot to be finely adjusted through a preset video device of the mixing plant, so that the feeding hopper and the discharge opening are perfectly aligned, and then the material is discharged by opening the gate. And after the automatic charging is finished, automatically generating an automatic driving-out control instruction according to the driving-out instruction, planning an automatic driving-out route, finishing the automatic driving-out of the mixing channel and stopping in a vehicle parking area. The whole stirring channel, the loading channel and the exiting stirring channel are all automatically operated, manual participation is not needed, and the labor is greatly reduced while the accuracy is improved.
The embodiment of the system comprises:
based on the same inventive concept, the application also provides a mixing operation control system, which comprises a vehicle computing platform and a mixing station management subsystem;
the mixing station management subsystem is used for sending a charging instruction and preset mixing site information to the vehicle computing platform; the vehicle computing platform may be disposed on the mixer truck, or may be an independent computing platform communicatively connected to the mixer truck, and is configured to execute the mixer truck control method provided in the foregoing embodiment.
Furthermore, the mixing station management subsystem comprises a mixing station server and a mixing operation management subsystem; the mixing station server is used for sending preset mixing site information to the vehicle management system; the blending operations management subsystem may be an ERP system for sending loading instructions to a vehicle management system.
The working principle of the stirring operation control system provided by the present application will be explained in a complete embodiment as follows:
before stirring operation is carried out, a stirring station manager demarcates parking places of a waiting area before loading, a waiting area after loading, parking places of each station line of a stirring station and the like according to a stirring station field; and then labeling the parking spaces and the stirring lines, generating and collecting the position poses of the discharge openings of the stirring trucks with different vehicle types, which are actually perfectly aligned, and storing the position poses to obtain the information of the stirring field.
When the stirring and charging operation is required, a driver firstly drives the stirring truck to a parking space of an appointed charging waiting area, stops the stirring truck, and can leave the parking area after the automatic driving mode of the stirring truck is started.
After the automatic driving mode of the mixing truck is started, the vehicle computing platform receives a charging instruction sent by an ERP system of the mixing station through a cellular network or WiFi. The instruction content comprises a target stirring line, and the stirring truck needs to go to a specific stirring line or a plurality of stirring station lines of a plurality of stirring stations for charging.
And then, after receiving a charging instruction, the vehicle computing platform plans a path from the current vehicle parking space point to the position and posture of the station line of the appointed mixing station through algorithms such as a hybrid A star algorithm and the like according to a target mixing line in the charging instruction and the target vehicle body posture when the vehicle type feeding hopper is aligned with the discharge opening in the mixing field information, and automatically drives in control parameters.
After the automatic driving-in control parameters of the path are obtained, the vehicle computing platform or the vehicle computing platform is matched with a vehicle control system to control the mixer truck to drive to the designated station line along the planned path in an unmanned mode.
After the path is driven, the mixing station server shoots and identifies the alignment state of the feeding hopper and the discharge opening of the mixing truck through a preset video identification device. At the moment, if the detection is aligned, directly opening the gate to discharge the material; if the detection result shows that the materials are not aligned, a fine adjustment control instruction is generated and sent to a vehicle calculation platform of the mixer truck, the vehicle calculation platform controls the position of the mixer truck to be finely adjusted before and after the mixer truck is controlled by the fine adjustment control instruction, the mixer truck is opened to discharge materials until a feed hopper of the mixer truck is aligned with a discharge opening, and the charging operation is completed.
After the charging operation is completed, the ERP subsystem sends an exit instruction to a vehicle computing platform of the mixer truck, wherein the exit instruction comprises the position of the mixer truck to which charging post-waiting area parking space is stopped.
After a vehicle computing platform of the mixer truck receives the exit instruction, a path from a current vehicle parking space point to a parking space pose of a designated post-loading waiting area is planned through an algorithm of mixing A star and the like according to the exit instruction, so that the control parameters are automatically entered, and the mixer truck is automatically driven to a target area.
And finally, when the mixer truck is unmanned to a designated loading parking space, directly pushing the parking space, position and state information of the truck to a driver (WeChat or short message and the like) through an ERP system, and then quitting the unmanned mode to finish the whole automatic driving and loading operation.
Mixer vehicle example:
based on the same inventive concept, the embodiment of the application further provides a mixer truck, which comprises a vehicle computing platform, wherein the vehicle computing platform is used for executing the mixing operation control method.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A mixer truck control method, comprising:
acquiring pose information and a charging instruction of a mixer truck to be charged, wherein the charging instruction comprises a target mixing line;
determining automatic entry control parameters through a preset algorithm based on the pose information, the loading instruction and preset mixing field information, wherein the automatic entry control parameters comprise vehicle body posture adjustment parameters for adjusting the vehicle body posture of the mixing vehicle to be loaded to a target vehicle body posture;
and controlling the to-be-loaded mixer truck to finally run to a target mixing line in the target body posture based on the automatic driving-in control parameter so as to align a feed hopper of the to-be-loaded mixer truck with a discharge opening of the target mixing line.
2. The mixer truck control method according to claim 1, wherein the preset mixing site information includes mixing station position information, mixing line position information, and vehicle model charging information;
the vehicle type charging information comprises target vehicle body postures of the mixer truck when different vehicle type feed hoppers are aligned with the discharge openings of the mixing lines.
3. The mixer truck control method according to claim 2, characterized in that the target mix line information includes information of a mixing station to which the target mix line belongs.
4. The mixer truck control method according to claim 3, wherein the determining of the automatic driving-in control parameter by a preset algorithm based on the pose information, the charging instruction and preset mixing site information comprises:
determining an initial position and an initial vehicle body posture of the automatic driving-in control parameter based on the pose information;
determining a target position of the automatic access control parameter based on the target mixing line, the mixing line position information and the mixing station position information;
determining the target vehicle body posture of the automatic driving-in control parameter based on the vehicle type information of the mixing vehicle to be charged, the target mixing line and the vehicle type charging information corresponding to the vehicle type information and the target mixing line;
and determining the automatic driving-in control parameters of the mixing truck to be loaded through a preset algorithm based on the initial position, the target position, the initial body posture and the target body posture.
5. The mixer truck control method according to claim 1, characterized in that the preset algorithm comprises a hybrid a-star algorithm or a tracking algorithm.
6. The mixer truck control method according to claim 1, further comprising receiving a pose fine-adjustment instruction sent by a preset mixer station server, and adjusting the pose of the mixer truck to be loaded and unloaded based on the pose fine-adjustment instruction so that the feed hopper of the mixer truck to be loaded is aligned with the discharge opening of the mixer station.
7. The mixer truck control method according to claim 1, further comprising receiving an exit instruction, the exit instruction including an exit target position;
determining automatic exit control parameters of the charged mixer truck through a preset algorithm based on the target mixing line, the mixing line position information and the exit target position;
and controlling the charged mixer truck to run to a running-out target position based on the automatic running-out control parameter.
8. A mixing operation control system is characterized by comprising a vehicle computing platform and a mixing station management subsystem;
the mixing station management subsystem is used for sending a charging instruction and preset mixing site information to the vehicle computing platform;
the vehicle computing platform for performing the mixer truck control method of any of claims 1-7.
9. The blending operation control system of claim 8, wherein the blending station management subsystem comprises a blending station server and a blending operation management subsystem;
the mixing station server is used for sending the preset mixing site information to the vehicle management system;
and the mixing operation management subsystem is used for sending the charging instruction to the vehicle management system.
10. A mixer truck comprising a vehicle computing platform configured to execute the mixing operation control method of any of claims 1-7.
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