CN117406724A - Automatic driving method and system for loader - Google Patents

Abstract

The application relates to a loader automatic driving method and system, which belong to the technical field of automatic control, and the method comprises the following steps: receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point; based on the shoveling operation command, acquiring a real-time positioning signal, and performing operation processing on the positioning signal to acquire current position information of the loader; planning a travel path of the loader from the current position to the working point based on a preset high-precision map; judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path. The automatic loader can overcome the influence of the shovel loading mechanism on the automatic driving of the loader, so that the current requirement of the loader on the automatic driving is met.

Description

Automatic driving method and system for loader

Technical Field

The application relates to the technical field of automatic control, in particular to a loader automatic driving method and system.

Background

The loader is a kind of earth and stone construction machine widely used in construction engineering such as the construction engineering of the soil, the water and electricity engineering, the port and the mine, etc., and is mainly used for shoveling scattered materials such as soil, sand, lime, coal, etc. The loader has the advantages of high operation speed, high efficiency, good maneuverability, light operation and the like, so that the loader becomes one of the main models of earth and stone construction in engineering construction.

At present, in addition to the usual diesel-powered loaders that require human driving/operation, the following innovative directions are seen on the market, according to different classification schemes: full battery powered loaders, hybrid electric powered, remotely operable, remotely spadable. With the gradual popularization of the automatic driving technology and the improvement of the hardware computing capability, the automatic driving reduces the labor investment and the enterprise operation cost.

In view of the above-described related art, the inventors have found that when the loader performs work, the automatic driving of the loader is often required to work in conjunction with the shovel mechanism, and therefore, the shovel mechanism of the loader has a certain influence on the automatic driving of the loader.

Disclosure of Invention

In order to overcome the influence of a shovel loading mechanism on automatic driving of a loader, the application provides an automatic driving method and an automatic driving system of the loader.

In a first aspect, the present application provides a loader automatic driving method, which adopts the following technical scheme.

A loader autopilot method comprising:

receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point;

based on the shoveling operation command, acquiring a real-time positioning signal, and performing operation processing on the positioning signal to acquire current position information of the loader;

planning a travel path of the loader from the current position to the working point based on a preset high-precision map;

judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path.

By adopting the technical scheme, after receiving a shoveling operation command containing the position information of an operation point, the current position information of the loader is obtained by acquiring the positioning signal, and a running path of the loader from the current position to the operation point is planned according to a preset high-precision map; after the travel path planning is completed, judging whether the loader meets the travel condition on the travel path, and if so, the loader goes to the working point according to the travel path. The posture of the shovel loading mechanism of the loader has a certain influence on the automatic driving of the loader, before the loader runs, whether the loader meets the running condition on the running path is judged, and when the running condition is met, the loader can run, so that the influence of the shovel loading mechanism on the automatic driving of the loader is overcome.

Optionally, the method further comprises:

acquiring barrier information around the loader in the running process of the loader;

and adjusting the actual running path of the loader based on the obstacle information.

By adopting the technical scheme, in the running process of the loader, after the obstacle information is acquired, the actual running path of the loader is adjusted so as to avoid the obstacle and improve the automatic driving safety of the loader.

Optionally, the operation points comprise a loading operation point and a discharging operation point; the planning of the travel path of the loader from the current position to the working point based on the preset high-precision map comprises the following steps:

acquiring the full fill rate of the loader, judging whether the full fill rate is larger than a preset full fill rate, if not, planning a first travel path of the loader from the current position to the loading operation point based on the high-precision map;

if so, planning a second driving path of the loader from the current position to the unloading operation point based on the high-precision map.

By adopting the technical scheme, the full fill rate of the loader bucket is used for judging whether the loader is currently going to the loading operation point or the unloading operation point, so that the loader can automatically go to and from the loading operation point and the unloading operation point.

Optionally, the determining whether the loader meets the driving condition on the driving path, if yes, the loader goes to the working point according to the driving path includes:

adjusting a movable arm and a rocker arm of the loader based on the first travel path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

and judging whether the swing arm angle is equal to a preset first swing arm angle value or not and whether the swing arm angle is equal to a preset first swing arm angle value or not, if so, the loader goes to the charging operation point according to the first running path.

Through adopting above-mentioned technical scheme, the gesture of scraper bowl can be adjusted to the angle of adjustment loader's movable arm and rocking arm, when the movable arm angle of obtaining equals first movable arm angle value and rocking arm angle equals first rocking arm angle value, scraper bowl distance ground 400mm, and the scraper bowl bottom is parallel with the ground.

Optionally, the loader is moved to the loading operation point according to the first travel path, and further includes:

judging whether the distance between the loader and the loading operation point is equal to a first preset distance, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the movable arm angle and the rocker arm angle;

judging whether the distance between the loader and the loading operation point is equal to a second preset distance, if so, judging whether the swing arm angle is equal to a preset second swing arm angle value and whether the swing arm angle is equal to a preset second swing arm angle value, and if so, continuing to run according to the first running path by the loader; if not, stopping running of the loader.

Through adopting above-mentioned technical scheme, when the distance of loader and charging operation point equals first default distance, the adjustment the movable arm with the rocking arm, when the movable arm angle that obtains equals second movable arm angle value and rocking arm angle equals second rocking arm angle value, the scraper bowl bottom is parallel and with ground contact, the loader continues to travel to shovel dress material.

Optionally, the determining whether the loader meets the driving condition on the driving path, if yes, the loader goes to the working point according to the driving path includes:

adjusting a movable arm and a rocker arm of the loader based on the second running path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

and judging whether the angle of the movable arm is equal to a preset third movable arm angle value or not and whether the angle of the rocker arm is equal to a preset third rocker arm angle value or not, if so, the loader goes to the unloading operation point according to the second running path.

Through adopting above-mentioned technical scheme, the gesture of scraper bowl can be adjusted to the angle of adjustment loader's movable arm and rocking arm, when the movable arm angle of obtaining equals third movable arm angle value and rocking arm angle equals third rocking arm angle value, scraper bowl distance ground 400mm, and scraper bowl charging hole is parallel with ground.

Optionally, the loader goes to the unloading operation point according to the second running path, and further includes:

judging whether the distance between the loader and the unloading operation point is equal to a third preset distance, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the movable arm angle and the rocker arm angle;

judging whether the distance between the loader and the unloading operation point is equal to a fourth preset distance, if so, judging whether the swing arm angle is equal to a preset fourth swing arm angle value and whether the swing arm angle is equal to a preset fourth swing arm angle value, and if so, continuing to run according to the second running path by the loader; if not, stopping running of the loader.

Through adopting above-mentioned technical scheme, when the distance of loader and unloading operation point equals the third and predetermine the distance, adjustment loader swing arm angle and rocking arm angle, the scraper bowl of loader is risen to make the distance of loader and unloading operation point equal to the fourth predetermine the distance, the bucket lifts the bucket wall that highly is higher than the discharge hopper, and the loader continues to travel according to the second and can place the bucket on the discharge hopper.

Optionally, the loader continues to travel according to the second travel path, and then includes:

judging whether the loader reaches the unloading operation point, if so, adjusting the movable arm and the rocker arm;

judging whether the loader completes a shoveling operation task, if so, planning a third running path of the loader from the current position to a preset stopping point based on the high-precision map;

and judging whether the swing arm angle is equal to the fourth swing arm angle value or not and whether the swing arm angle is equal to the fourth swing arm angle value or not based on the third running path, and if so, enabling the loader to go to the preset stop point according to the third running path.

By adopting the technical scheme, the loader can automatically return to the preset stop point after the shovel material operation task is completed.

In a second aspect, the present application provides a loader automatic driving system, which adopts the following technical scheme.

A loader autopilot system, comprising:

the instruction receiving module is used for receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point;

the positioning module is used for acquiring a real-time positioning signal based on the shoveling operation command, and performing operation processing on the positioning signal to acquire current position information of the loader;

the navigation module is used for planning a travel path of the loader from the current position to the operation point based on a preset high-precision map;

and the running condition judging module is used for judging whether the loader meets the running condition on the running path, and if so, the loader goes to the working point according to the running path.

By adopting the technical scheme, after receiving a shoveling operation command containing the position information of an operation point, the positioning module obtains the current position information of the loader by acquiring a positioning signal, and the navigation module plans a running path of the loader from the current position to the operation point according to a preset high-precision map; after the travel path planning is completed, the travel condition judging module judges whether the loader meets the travel condition on the travel path or not, and if so, the loader goes to the operation point according to the travel path. The attitude of the shovel loading mechanism of the loader has a certain influence on the automatic driving of the loader, before the loader runs, the running condition judging module judges whether the loader meets the running condition on the running path, and when the running condition is met, the loader can run, so that the influence of the shovel loading mechanism on the automatic driving of the loader is overcome.

Optionally, the method further comprises:

the sensing module is used for acquiring obstacle information around the loader in the running process of the loader;

and the obstacle avoidance module is used for adjusting the actual running path of the loader based on the obstacle information.

By adopting the technical scheme, in the running process of the loader, after the sensing module acquires the obstacle information, the obstacle avoidance module adjusts the actual running path of the loader so as to avoid the obstacle and improve the automatic driving safety of the loader.

In a third aspect, the present application provides a loader, which adopts the following technical scheme.

A loader comprising a loader autopilot system as in the second aspect above.

In summary, the present application at least includes the following beneficial effects:

after receiving a shoveling operation command containing the position information of an operation point, acquiring current position information of the loader through acquiring a positioning signal, and planning a running path of the loader from the current position to the operation point according to a preset high-precision map; after the planning of the running path is finished, judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path; before the loader runs, judging whether the loader meets running conditions on a running path, and after the running conditions are met, the loader can run, so that the influence of a shovel loading mechanism on the running of the loader is overcome.

Drawings

FIG. 1 is a flow chart of the loader autopilot method of the present application;

FIG. 2 is a schematic diagram of a specific flow of step S300 of the loader automatic driving method of the present application;

FIG. 3 is a schematic illustration of a specific flow of step S400 of the loader autopilot method of the present application;

FIG. 4 is a schematic diagram of another specific flow of step S400 of the loader automatic driving method of the present application;

FIG. 5 is a schematic illustration of the loader of the present application traveling along a first travel path;

FIG. 6 is a schematic diagram of a specific flow of step S420 of the loader automatic driving method of the present application;

FIG. 7 is a schematic illustration of the loader of the present application traveling along a second travel path;

FIG. 8 is a schematic diagram showing a specific flow of step S440 and a flow after step S440 of the loader automatic driving method of the present application;

fig. 9 is a schematic diagram of a system configuration of the loader autopilot system of the present application.

Reference numerals illustrate: 100. an instruction receiving module; 200. a positioning module; 300. a navigation module; 310. a full bucket rate acquisition unit; 320. a destination judgment unit; 400. a driving condition judging module; 410. a first travel condition judgment unit; 420. a second running condition judgment unit; 430. a third running condition judgment unit; 500. a perception module; 600. and the obstacle avoidance module.

Detailed Description

The present application is further described in detail with reference to fig. 1-6. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

The embodiment of the application discloses a loader automatic driving method.

As shown in fig. 1, a loader automatic driving method includes:

s100, receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point;

specifically, the shoveling operation command is sent by an operator through a control terminal, wherein the control terminal can be a workstation, a cloud server, a PC or a smart phone/tablet, and the operation points comprise a loading operation point and a discharging operation point.

S200, acquiring a real-time positioning signal based on a shoveling operation command, and performing operation processing on the positioning signal to acquire current position information of the loader;

specifically, the loader is provided with a satellite antenna for receiving satellite positioning information, a radio antenna for receiving differential data from a base station and a 4G/5G network module for receiving network differential data; the satellite receiving antenna receives positioning information from a GPS/Beidou satellite, meanwhile, the radio station antenna can receive differential data from a reference station in real time through an internal/external radio station, RTK operation is carried out in real time through a data processor, and current position information of the loader is obtained; and in the place covered by the CORS signal, the 4G/5G network module in the positioning module can also receive the differential data from the network, and RTK operation is performed in real time through the data processor to obtain the current position information of the loader. Under the condition of RTK, the error of positioning information of the loader is less than 2cm; the difference between the internal and external stations is the difference in reception distance, the internal reception distance is short, and the external station mode can be selected when the reference station distance is relatively long. In addition, in order to solve the problem of the orientation of the loader, two GPS receiving antennas are respectively arranged at two different positions, such as a front position and a rear position or a left position and a right position, of a cab of the loader, the position relation of the two receiving antennas and the orientation of the loader have a fixed direction relation, and the judgment of the orientation of the loader is solved through double-antenna orientation.

S300, planning a travel path of the loader from the current position to a working point based on a preset high-precision map;

specifically, a high-precision map accurate to 1 cm in a working place of the loader is drawn in advance, the high-precision map is stored in a file mode and is used in the running process of the loader, one or more of position coordinates, obstacle coordinates, lane lines, virtual lane lines, turning around and working action running positions and areas are stored in the map file, and therefore when a running path of the loader is planned, the loader can turn around or turn around at a specified place, the loader can also run in a running direction corresponding to a lane, and the reverse running, random turning around or turning of automatic driving are reduced.

As shown in fig. 2, the step S300 is performed specifically including S310-S320.

S310, acquiring the full bucket rate of the loader;

specifically, the full fill rate is the ratio of the volume of the loaded material in the loader bucket to the capacity of the loader, the loader controls the lifting and turning of the bucket through two force arms of the rocker arm and the movable arm, the heavier the material in the bucket is, the greater the pressure on the hydraulic cylinders driving the rocker arm and the movable arm is, in the embodiment, the pressure sensors are arranged on the rocker arm and the movable arm of the loader, the full fill rate of the loader is obtained through calculation by the data transmitted by the pressure sensors, and for different materials, the same weight has different volumes due to different densities, so the shovel material operation command also comprises the material information of the operation point, thereby correcting the full fill rate of the loader.

S320, judging whether the full fill rate is larger than a preset full fill rate, if not, planning a first travel path of the loader from the current position to a loading operation point based on a high-precision map;

if yes, a second driving path of the loader from the current position to the unloading operation point is planned based on the high-precision map.

Specifically, after the loader is started at the standby point, a shovel operation command is received, at the moment, the loader is empty, the full fill rate is smaller than the preset full fill rate, the loader needs to be automatically driven to the loading operation point to carry out shovel loading operation, and at the moment, a first travel path of the loader from the current position (namely the standby point) to the loading operation point is planned based on a high-precision map; after the loading operation point of the loader is loaded, the full fill rate is larger than the preset full fill rate, and the loader needs to go to the unloading operation for unloading, at this time, a second driving path of the loader from the current position (namely the loading operation point) to the unloading operation point is planned based on a high-precision map, wherein the preset full fill rate is set by combining historical experience manually.

S400, judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path.

Specifically, since the automatic driving of the loader needs to cooperate with the shovel loading control to complete the task, the automatic driving of the loader needs to determine the posture of the bucket before driving, as shown in fig. 3 and fig. 4, the step S400 may be performed by performing the steps S410 to S420 or by performing the steps S430 to S440.

S410, adjusting a movable arm and a rocker arm of the loader based on the first travel path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

specifically, when the loader bucket is empty and needs to travel to a loading operation point based on the first travel path, the shovel loading control needs to adjust the height of the bucket to be about 400mm away from the ground, however, before that, the loader is generally in a parking state, the hydraulic cylinder is in a non-pressure state, the bucket is horizontally placed on the ground, or the unloading is completed, and the bucket is in a lifting state, so that the requirement of automatic driving of the loader is not met. Therefore, the angles of the boom and the arm need to be adjusted to adjust the bucket attitude.

S420, judging whether the angle of the movable arm is equal to a preset first movable arm angle value and whether the angle of the rocker arm is equal to a preset first rocker arm angle value, if so, the loader goes to a loading operation point according to a first running path;

specifically, angle sensors are installed on a movable arm and a rocker arm of the loader, a first movable arm angle value and a first rocker arm angle value are set through artificial combination of historical experience, when the movable arm angle transmitted by the angle sensors is equal to a preset first movable arm angle value and a preset rocker arm angle value, the bucket is in a flat-lying posture, the bucket is placed at about 400mm away from the ground, the bottom of the bucket is parallel to the ground, and after the posture of the bucket meets the requirement of no-load running of the bucket of the loader, the loader is driven to a loading operation point according to a first running path.

It should be noted that, as shown in fig. 5 and 6, step S420 further includes S421 to S422

S421, judging whether the distance between the loader and a loading operation point is equal to a first preset distance d1, if so, adjusting a movable arm and a rocker arm, and continuously acquiring the angle of the movable arm and the angle of the rocker arm;

specifically, the first preset distance d1 is set by combining manual experience with historical experience, as shown in fig. 5, in the first travel path, when the distance between the loader and the loading operation point is equal to the first preset distance d1, the loader will reach the loading operation point, the loader adjusts the angle of the movable arm and the angle of the rocker arm while traveling, and the angle sensor acquires the angle of the movable arm and the angle of the rocker arm again, so that the posture of the loader bucket is in a shovel posture capable of shovel loading materials before the loader reaches the loading operation point.

S422, judging whether the distance between the loader and the loading operation point is equal to a second preset distance d2, if so, judging whether the angle of the movable arm is equal to a preset second angle value of the movable arm and whether the angle of the rocker arm is equal to a preset second angle value of the rocker arm, and if so, continuing to drive the loader according to the first driving path; if not, the loader stops running.

Specifically, the second preset distance d2, the second boom angle value and the second rocker angle value are set by combining with historical experience by people, as shown in fig. 5, in the first travel path, when the distance between the loader and the loading operation point is equal to the second preset distance d2, the bucket of the loader is positioned in front of the material to be scooped, if the boom angle is equal to the preset second boom angle value and the rocker angle is equal to the preset second rocker angle value, the bottom of the bucket is parallel to the place and is abutted with the ground, the bucket is in a scooping posture, and the loader continues to travel according to the first travel path to scoop the material; if the bucket is not in the shovel loading posture at this time, the loader stops running and waits for the adjustment of the bucket posture.

During the loading process of the loader, the pressure sensor also detects the pressure on the movable arm and the rocker arm of the loader in real time so as to obtain the full bucket rate of the bucket.

S430, adjusting a movable arm and a rocker arm of the loader based on the second running path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

specifically, when the loader bucket load is required to travel to the unloading operation point based on the second travel path, the shovel loading control is required to adjust the height of the bucket to be about 400mm away from the ground, and the loading opening of the bucket is required to be parallel to the ground so as to prevent the material from being scattered, and at this time, the angles of the movable arm and the rocker arm are required to be adjusted to adjust the posture of the bucket.

S440, judging whether the angle of the movable arm is equal to a preset third movable arm angle value and whether the angle of the rocker arm is equal to a preset third rocker arm angle value, if so, the loader goes to a discharging operation point according to a second running path.

Specifically, angle sensors are arranged on a movable arm and a rocker arm of the loader, a third movable arm angle value and a third rocker arm angle value are set through artificial combination of historical experience, when the movable arm angle transmitted by the angle sensors is equal to a preset third movable arm angle value and the rocker arm angle is equal to a preset third rocker arm angle value, the bucket is in a shovel loading completion state, the bucket is placed at about 400mm away from the ground, a loading opening of the bucket is parallel to the ground, and after the posture of the bucket meets the requirement of loading and running of the bucket of the loader, the loader is moved to a unloading operation point according to a second running path.

It should be noted that, as shown in fig. 7 and 8, step S440 further includes S441 to S442

S441, judging whether the distance between the loader and a discharging operation point is equal to a third preset distance d3, if so, adjusting a movable arm and a rocker arm, and continuously acquiring the angle of the movable arm and the angle of the rocker arm;

specifically, the loader dumps the loaded material into a discharge hopper located at a discharge point, and when the load reaches the discharge point, the bucket of the loader lifts to a position right above the discharge hopper. As shown in fig. 7, in the second traveling path, when the distance between the loader and the unloading operation point is equal to the third preset distance d3, the loader will reach the unloading operation point, the loader adjusts the boom angle and the rocker angle while traveling, and the angle sensor acquires the boom angle and the rocker angle again, so that the loader can continue traveling to avoid the bucket from colliding with the unloading hopper before reaching the unloading operation point, wherein the third preset distance is also manually set by the staff in combination with the historical experience.

S442, judging whether the distance between the loader and the unloading operation point is equal to a fourth preset distance d4, if so, judging whether the angle of the movable arm is equal to a preset fourth movable arm angle value and whether the angle of the rocker arm is equal to a preset fourth rocker arm angle value, and if so, continuing to drive the loader according to a second driving path; if not, the loader stops running.

Specifically, the fourth preset distance d4, the fourth boom angle value and the fourth rocker angle value are set by combining with historical experience by people, as shown in fig. 7, in the second driving path, when the distance between the loader and the unloading operation point is equal to the fourth preset distance d4, the bucket of the loader is positioned in front of the unloading hopper, if the boom angle is equal to the preset fourth boom angle value and the rocker angle is equal to the preset fourth rocker angle value at this time, the bucket charging opening is parallel to the place, the height of the bucket is higher than the height of the unloading hopper wall, and the loader can be placed right above the unloading hopper by continuing to drive according to the second driving path. Step S442 also includes steps S450-S470

S450, judging whether the loader reaches a discharging operation point, if so, stopping running of the loader, and adjusting the movable arm and the rocker arm;

specifically, after the loader reaches a discharging operation point, the loader stops running, and the movable arm and the rocker arm are adjusted to enable the bucket to rotate reversely, so that materials in the bucket naturally fall into the discharging hopper under the action of gravity.

S460, judging whether the loader completes a shoveling operation task, if so, planning a third driving path of the loader from the current position to a preset stopping point based on a high-precision map;

specifically, when the full fill rate is changed from greater than the preset full fill rate to zero, the loader completes the shoveling operation task, and in addition, the shoveling operation command may further include shoveling operation times, for example, the shoveling operation command may further include shoveling operation times of 3 times, and when the full fill rate is changed from greater than the preset full fill rate to zero for 3 times, the loader completes the shoveling operation task.

And S470, judging whether the angle of the movable arm is equal to a fourth angle value of the movable arm and whether the angle of the rocker arm is equal to a fourth angle value of the rocker arm based on the third running path, and if so, the loader goes to a preset stop point according to the third running path.

Specifically, in the third travel path, the loader is moved from the current position (unloading operation point) to the preset stop point, and the boom angle is kept equal to the fourth boom angle value and the rocker angle is kept equal to the fourth rocker angle value, so that the bucket does not collide with the unloading hopper when the loader exits from the unloading operation point.

In the third travel path, when the distance between the loader and the unloading operation point is equal to the fourth preset distance d4, the boom angle and the rocker angle of the loader are adjusted, and when the distance between the loader and the unloading operation point is equal to the third preset distance d3, the boom angle is required to be equal to a preset first boom angle value and the rocker angle is required to be equal to a preset first rocker angle value, and after the bucket is in a flat-down posture, the bucket can continue to travel to a preset stop point according to the third travel path.

As a further embodiment of the loader autopilot, it may further include: steps S500-S600.

S500, obtaining obstacle information around the loader;

specifically, in a completely unmanned scene, obstacle avoidance can be realized according to a high-precision map; of course, for the safety of automatic driving, obstacle information in the surrounding environment of the loader is perceived in a completely unmanned scene, and data sampling devices such as an ultrasonic radar, a millimeter wave radar, a camera and the like are selectively added; the loader senses the change of the surrounding environment so as to avoid emergency and further improve the safety of automatic driving.

S600, adjusting the actual running path of the loader based on the obstacle information.

Specifically, according to the artificial intelligence algorithm, the sampled obstacle information is analyzed, and under the condition that the possible accident is calculated according to the known data, the operation of the loader is interfered at any time, such as obstacle avoidance, path re-planning, emergency braking and the like.

The embodiment of the application discloses a loader automatic driving system.

As shown in fig. 9, a loader autopilot system, comprising:

the instruction receiving module 100 is configured to receive a shoveling operation command, where the shoveling operation command includes position information of an operation point;

the positioning module 200 is used for acquiring a real-time positioning signal based on a shoveling operation command, and performing operation processing on the positioning signal to acquire current position information of the loader;

the navigation module 300 is used for planning a driving path of the loader from the current position to the working point based on a preset high-precision map;

the running condition judging module 400 is configured to judge whether the loader meets the running condition on the running path, if yes, the loader goes to the working point according to the running path.

In this embodiment, after receiving a shoveling operation command including position information of an operation point, the positioning module 200 obtains current position information of the loader by obtaining a positioning signal, and the navigation module 300 plans a travel path of the loader from the current position to the operation point according to a preset high-precision map; after the travel path is planned, the travel condition determining module 400 determines whether the loader satisfies the travel condition on the travel path, and if yes, the loader proceeds to the working point according to the travel path. The attitude of the shovel loading mechanism of the loader has a certain influence on the automatic driving of the loader, before the loader runs, the running condition judging module 400 judges whether the loader meets the running condition on the running path, and after the running condition is met, the loader can run, so that the influence of the shovel loading mechanism on the automatic driving of the loader is overcome.

As a further embodiment of the loader automatic driving system, further comprising:

the sensing module 500 is used for acquiring obstacle information around the loader in the running process of the loader;

the obstacle avoidance module 600 is configured to adjust an actual travel path of the loader based on the obstacle information.

In this embodiment, in the running process of the loader, after the sensing module 500 acquires the obstacle information, the obstacle avoidance module 600 adjusts the actual running path of the loader to avoid the obstacle, so as to improve the safety of the automatic driving of the loader.

As one embodiment of the navigation module 300, the navigation module 300 includes:

a full bucket rate obtaining unit 310 for obtaining the full bucket rate of the loader;

the destination determining unit 320 is configured to determine whether the full rate is greater than a preset full rate, and if not, the navigation module 300 plans a first travel path of the loader from the current position to the loading operation point based on the high-precision map with the loading operation point as a destination;

if so, the navigation module 300 plans a second travel path of the loader from the current position to the unloading operation point based on the high-precision map with the unloading operation point as a destination.

In the present embodiment, the full rate of the loader bucket is acquired by the full rate acquisition unit 310, and the destination judgment unit 320 judges whether the loader should currently travel to the loading operation point or the unloading operation point by the full rate, and the navigation module 300 plans the travel path, so that the loader can automatically travel to and from the loading operation point and the unloading operation point.

As one embodiment of the running condition determination module 400, the running condition determination module 400 includes:

a first driving condition determining unit 410 for adjusting a boom and a rocker arm of the loader based on the first driving path, and continuously acquiring a boom angle and a rocker arm angle of the loader; judging whether the angle of the movable arm is equal to a preset first movable arm angle value or not and whether the angle of the rocker arm is equal to a preset first rocker arm angle value or not, if so, the loader goes to a loading operation point according to a first running path;

in the present embodiment, the first driving condition determination unit 410 further includes:

the first judging subunit is used for judging whether the distance between the loader and the charging operation point is equal to a first preset distance d1, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the angle of the movable arm and the angle of the rocker arm;

the second judging subunit is used for judging whether the distance between the loader and the charging operation point is equal to a second preset distance d2, if so, judging whether the angle of the movable arm is equal to a preset second angle value of the movable arm and whether the angle of the rocker arm is equal to a preset second angle value of the rocker arm, and if so, continuing to drive the loader according to the first driving path; if not, the loader stops running.

A second driving condition judging unit 420 for adjusting a boom and a rocker arm of the loader based on the second driving path, and continuously acquiring a boom angle and a rocker arm angle of the loader; and judging whether the angle of the movable arm is equal to a preset third movable arm angle value or not and whether the angle of the rocker arm is equal to a preset third rocker arm angle value or not, if so, the loader goes to a discharging operation point according to a second running path.

In the present embodiment, the second running condition determination unit 420 further includes:

the third judging subunit is used for judging whether the distance between the loader and the unloading operation point is equal to a third preset distance d3, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the angle of the movable arm and the angle of the rocker arm;

a fourth judging subunit, configured to judge whether the distance between the loader and the unloading operation point is equal to a fourth preset distance d4, if so, judge whether the boom angle is equal to a preset fourth boom angle value and whether the rocker angle is equal to a preset fourth rocker angle value, if so, the loader continues to travel according to the second travel path; if not, the loader stops running.

And a third driving condition judging unit 430, configured to judge whether the boom angle is equal to the fourth boom angle value and whether the swing arm angle is equal to the fourth swing arm angle value based on the third driving path, if yes, the loader proceeds to a preset stop point according to the third driving path.

Note that the third running condition determination unit 430 further includes:

a fifth judging subunit, configured to judge whether the distance between the loader and the unloading operation point is equal to a fourth preset distance d4, and if so, adjust the boom and the rocker, and continuously obtain the boom angle and the rocker angle;

a sixth judging subunit, configured to judge whether the distance between the loader and the unloading operation point is equal to a third preset distance d3, if so, judge whether the boom angle is equal to a preset first boom angle value and whether the rocker angle is equal to a preset first rocker angle value, if so, the loader continues to travel according to a third travel path; if not, the loader stops running.

In this embodiment, before the loader runs, the first running condition determining unit 410, the second running condition determining unit 420 or the third running condition determining unit 430 determines whether the loader meets the running condition on the corresponding running path, and when the running condition is met, the loader can run, thereby overcoming the influence of the shovel mechanism on the automatic driving of the loader.

In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The embodiment of the application discloses a loader.

A loader comprises the loader automatic driving system.

It should be noted that, for convenience and brevity of description, only the above-mentioned division of each functional unit and module is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules, so as to perform all or part of the functions described above.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (10)

1. A method of automatically driving a loader, comprising:

receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point;

based on the shoveling operation command, acquiring a real-time positioning signal, and performing operation processing on the positioning signal to acquire current position information of the loader;

planning a travel path of the loader from the current position to the working point based on a preset high-precision map;

judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path.

2. The loader automatic driving method according to claim 1, further comprising:

acquiring barrier information around the loader in the running process of the loader;

and adjusting the actual running path of the loader based on the obstacle information.

3. The automatic loader driving method according to claim 2, wherein the operating points include a loading operating point and a unloading operating point; the planning of the travel path of the loader from the current position to the working point based on the preset high-precision map comprises the following steps:

acquiring the full fill rate of the loader, judging whether the full fill rate is larger than a preset full fill rate, if not, planning a first travel path of the loader from the current position to the loading operation point based on the high-precision map;

if so, planning a second driving path of the loader from the current position to the unloading operation point based on the high-precision map.

4. A loader autopilot method according to claim 3, wherein: and judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path, and the method comprises the following steps:

adjusting a movable arm and a rocker arm of the loader based on the first travel path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

and judging whether the swing arm angle is equal to a preset first swing arm angle value or not and whether the swing arm angle is equal to a preset first swing arm angle value or not, if so, the loader goes to the charging operation point according to the first running path.

5. The loader automatic driving method according to claim 4, wherein: the loader is moved to the loading operation point according to the first travel path, and further includes:

judging whether the distance between the loader and the loading operation point is equal to a first preset distance, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the movable arm angle and the rocker arm angle;

judging whether the distance between the loader and the loading operation point is equal to a second preset distance, if so, judging whether the swing arm angle is equal to a preset second swing arm angle value and whether the swing arm angle is equal to a preset second swing arm angle value, and if so, continuing to run according to the first running path by the loader; if not, stopping running of the loader.

6. A loader autopilot method according to claim 3, wherein: and judging whether the loader meets the running condition on the running path, if so, the loader goes to the working point according to the running path, and the method comprises the following steps:

adjusting a movable arm and a rocker arm of the loader based on the second running path, and continuously acquiring the angle of the movable arm and the angle of the rocker arm of the loader;

and judging whether the angle of the movable arm is equal to a preset third movable arm angle value or not and whether the angle of the rocker arm is equal to a preset third rocker arm angle value or not, if so, the loader goes to the unloading operation point according to the second running path.

7. The loader automatic driving method according to claim 6, wherein: the loader goes to the unloading operation point according to the second running path, and further comprises:

judging whether the distance between the loader and the unloading operation point is equal to a third preset distance, if so, adjusting the movable arm and the rocker arm, and continuously acquiring the movable arm angle and the rocker arm angle;

judging whether the distance between the loader and the unloading operation point is equal to a fourth preset distance, if so, judging whether the swing arm angle is equal to a preset fourth swing arm angle value and whether the swing arm angle is equal to a preset fourth swing arm angle value, and if so, continuing to run according to the second running path by the loader; if not, stopping running of the loader.

8. The method of automated loader driving according to claim 7, wherein said loader continues to travel along said second travel path, and thereafter comprising:

judging whether the loader reaches the unloading operation point, if so, adjusting the movable arm and the rocker arm;

judging whether the loader completes a shoveling operation task, if so, planning a third running path of the loader from the current position to a preset stopping point based on the high-precision map;

and judging whether the swing arm angle is equal to the fourth swing arm angle value or not and whether the swing arm angle is equal to the fourth swing arm angle value or not based on the third running path, and if so, enabling the loader to go to the preset stop point according to the third running path.

9. A loader autopilot system, comprising:

the instruction receiving module (100) is used for receiving a shoveling operation command, wherein the shoveling operation command comprises position information of an operation point;

the positioning module (200) is used for acquiring a real-time positioning signal based on the shoveling operation command, and performing operation processing on the positioning signal to acquire current position information of the loader;

the navigation module (300) is used for planning a travel path of the loader from the current position to the operation point based on a preset high-precision map;

and the running condition judging module (400) is used for judging whether the loader meets the running condition on the running path, and if so, the loader goes to the working point according to the running path.

10. A loader, characterized in that: comprising a loader autopilot system according to claim 9.